CN209151622U - A kind of suction-type strawberry automatic picking apparatus - Google Patents
A kind of suction-type strawberry automatic picking apparatus Download PDFInfo
- Publication number
- CN209151622U CN209151622U CN201821882603.9U CN201821882603U CN209151622U CN 209151622 U CN209151622 U CN 209151622U CN 201821882603 U CN201821882603 U CN 201821882603U CN 209151622 U CN209151622 U CN 209151622U
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- China
- Prior art keywords
- cam
- absorbing barrel
- suction
- strawberry
- picking
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model discloses a kind of suction-type strawberry automatic picking apparatus, including car body, locating module, absorption picking module, collection module；Locating module includes the lead screw for being mutually perpendicular to installation, electric pushrod, absorbing picking module includes cam cutting mechanism, cam motor, shear motor, absorbing barrel, air pump, three-way connector, cam cutting mechanism is installed on above absorbing barrel, absorbing barrel upper front end has cut groove, lower opening, opening connects three-way connector by transport hose, absorbs tube rear end and connect with electric pushrod；Collection module includes conveyer belt, collection box, and conveyer belt is installed on car body, is located at immediately below three-way connector, and the direction of motion is vertical with absorbing barrel, and collection box is installed on the car body, is located on the downside of conveyer belt rear.Vacantly adsorb picking strawberry using air negative pressure, it is at low cost, from heavy and light, easy to operate, maintenance is simple, and be applicable to the strawberry picking of field cultivation mode and high-level cultivating mode.
Description
Technical field
The utility model relates to a kind of strawberry picking vehicle more particularly to a kind of suction-type strawberry automatic picking apparatus.
Background technique
In recent years, people's living standard is continuously improved, so that people further increase the demand of fruit, and with grass
The continuous improvement of certain kind of berries planting technology and the Prevention Technique of pest and disease damage, strawberry cultivating have obtained further popularization.But current strawberry
The harvest overwhelming majority by manually being picked, heavy workload, labor intensity is high, and because strawberry growth position is lower, picks
When need to bend over for a long time work, damage human health.
It is that strawberry is soft by the current Major Difficulties of mechanical picking strawberry, fresh and tender succulence, mechanical grip is easy damage
Hurt strawberry, therefore there are no relevant seed harvester and picking methods in the prior art.
Utility model content
The purpose of the utility model is to provide a kind of vacantly to adsorb the suction-type grass that strawberry is picked using air negative pressure
Certain kind of berries automatic picking apparatus.
The purpose of this utility model is achieved through the following technical solutions:
The suction-type strawberry automatic picking apparatus of the utility model, preferable specific embodiment is:
Including car body, locating module, absorb picking module, collection module；
The locating module includes the lead screw for being mutually perpendicular to installation, electric pushrod, and the electric pushrod passes through screw and institute
State lead screw engagement；
The absorption picking module includes cam cutting mechanism, absorbing barrel, air pump, three-way connector, the cam shearing
Mechanism is installed on above absorbing barrel, and the absorbing barrel upper front end has cut groove, lower opening, and the opening passes through transport hose
Three-way connector is connected, the absorption tube rear end is connect with the electric pushrod；
The collection module includes conveyer belt, collection box, and the conveyer belt is installed on car body, is being located at three-way connector just
Lower section, the direction of motion is vertical with absorbing barrel, and the collection box installation on the car body, is located on the downside of conveyer belt rear.
The suction-type grass provided by the embodiment of the utility model it can be seen from above-mentioned technical solution provided by the utility model
Certain kind of berries automatic picking apparatus, vacantly adsorbs picking strawberry using air negative pressure, it is at low cost, from heavy and light, easy to operate, maintenance is simple,
And it is applicable to the strawberry picking of field cultivation mode and high-level cultivating mode.
Detailed description of the invention
Fig. 1 is suction-type strawberry automatic picking apparatus overall structure diagram one provided by the embodiment of the utility model；
Fig. 2 is suction-type strawberry automatic picking apparatus overall structure diagram two provided by the embodiment of the utility model；
Fig. 3 is the absorbing barrel structure chart of the utility model embodiment；
Fig. 4 is the cam shear mechanism map of the utility model embodiment；
In figure:
Car body 1, lead screw 201, electric pushrod 202, cam cutting mechanism 301, absorbing barrel 302, air pump 303, threeway connection
Part 304, cam motor 305, shear motor 306, conveyer belt 401, collection box 402.
Specific embodiment
The utility model embodiment will be described in further detail below.Do not make in the utility model embodiment in detail
The content of description belongs to the prior art well known to professional and technical personnel in the field.
The suction-type strawberry automatic picking apparatus of the utility model, preferable specific embodiment is:
Including car body, locating module, absorb picking module, collection module；
The locating module includes the lead screw for being mutually perpendicular to installation, electric pushrod, and the electric pushrod passes through screw and institute
State lead screw engagement；
The absorption picking module includes cam cutting mechanism, absorbing barrel, air pump, three-way connector, the cam shearing
Mechanism is installed on above absorbing barrel, and the absorbing barrel upper front end has cut groove, lower opening, and the opening passes through transport hose
Three-way connector is connected, the absorption tube rear end is connect with the electric pushrod；
The collection module includes conveyer belt, collection box, and the conveyer belt is installed on car body, is being located at three-way connector just
Lower section, the direction of motion is vertical with absorbing barrel, and the collection box installation on the car body, is located on the downside of conveyer belt rear.
The cam cutting mechanism includes cam motor, shear motor, and the output shaft of the shear motor is equipped with cutter
The output shaft of piece, the cam motor is equipped with cam, and the cam is connect with the mounting base of the cam motor.
The absorbing barrel, three-way connector, the soft silica gel material that 10mm is provided in collection box.
The cut groove gap width is 25mm.
The nozzle diameter of the absorbing barrel is 120mm.
It further include Strawberry recognition device and running gear.
The suction-type strawberry automatic picking apparatus of the utility model vacantly adsorbs picking strawberry, cost using air negative pressure
It is low, from heavy and light, easy to operate, maintenance is simple, and be applicable to the strawberry picking of field cultivation mode and high-level cultivating mode.
The above-mentioned technical proposal that the utility model uses, compared with prior art, the advantage is that:
The present apparatus innovatively uses the Softening of suction-type, clipping compared to Apery manipulator and absorption type picking
Mode can effectively reduce strawberry damage.
The diameter of absorbing barrel is 2-3 times of general strawberry diameter, can be primary for the cluster growth characteristics of strawberry
2-3 strawberry is drawn and sheared, picking efficiency is effectively improved.
Cylinder upper wall is provided with cut groove, and first carpopodium can be caught in shearing, then is cut, and scissors and strawberry have barrel
Stop, more effectively strawberry is avoided to damage
Using cam cutting mechanism, the shearing of high-speed revolving blade extension, shearing are finished when completing to draw using cam characteristic
After return to cylinder after, not only protect blade, but also strawberry is not picked in protection.
Specific embodiment:
The suction-type strawberry automatic picking apparatus of the utility model is by way of negative-pressure adsorption, simultaneously by strawberry Suspension adsorption
It is sheared, and nozzle diameter design is 2-3 times of strawberry diameter, to make up the deficiency in positioning original part precision, it is ensured that not
Under the premise of damaging strawberry, the positioning of strawberry is completed, picking is absorbed and collects process, realizes the autonomous harvesting operation of strawberry.
As shown in Figures 1 to 4, a kind of suction-type strawberry automatic picking apparatus includes car body 1, locating module 2, absorbs picking
Module 3, collection module 4.The car body 1 adopts a split structure, and low layer car body is convenient for placement power supply equal power device, upper deck
Body is convenient for placement air pump 303 and collection module 4.The driving mechanism for driving car body 1 to walk is ratcheting mechanism, belongs to well known skill
Art is not the protection point of this patent, and which is not described herein again.
As shown in Figures 1 to 4, the locating module is made of lead screw 201, electric pushrod 202, the two right angle setting, by
Lead screw 201 controls the position of short transverse, controls absorbing barrel 302 close to strawberry by electric pushrod 202.Electric pushrod and lead screw
Structure and control technology belong to well known technology, are not the protection points of this patent, which is not described herein again.
As shown in Figures 1 to 4, meanwhile, identification positioning mechanism here further includes maturity and its space for judging strawberry
The vision control system of position, belongs to well-known technique, such as uses visual sensor, and color mark sensor etc. utilizes binocular vision side
Method positions strawberry, when picking, calculates strawberry position by vision control system, then will be absorbed by locating module 2 and pick mould
Block 3 is moved at the front 30-50mm of strawberry, is picked.Since vision control system is only applied in this patent, technology
Scheme is not in the protection scope of this patent, and which is not described herein again.
As shown in Figures 1 to 4, the absorption picking module 3 includes cam cutting mechanism 301, absorbing barrel 302, air pump
303, three-way connector 304, cam motor 305, shear motor 306.It is characterized in that: the cam cutting mechanism 301 is installed on
Blade can be placed on absorbing barrel by the separate and close carpopodium of cam driven cutting blade when not cutting by 302 top of absorbing barrel
Edge avoids direct contact with strawberry.
As shown in Figures 1 to 4,302 upper front end of absorbing barrel has cut groove, so that strawberry carpopodium enters in picking
In cut groove, avoid accidentally injuring strawberry fruit；Lower opening connects three-way connector 304 by transport hose；Rear end and electric pushrod
202 connections.The three-way connector 304 is installed on car body, and one end is located at 401 top of conveyer belt, and another both ends one end connection is inhaled
302 lower opening of cylinder is received, one end connects air pump 303.The collection module is made of conveyer belt 401, collection box 402, conveyer belt
401 are installed on car body 1, and it is vertical with absorbing barrel to be located at the 304 underface direction of motion of three-way connector；Collection box 402 is mounted on
On car body 1, it is located on the downside of conveyer belt rear.
As shown in Figures 1 to 4, it is preferable that the absorbing barrel 302, three-way connector 304, collection box 402 are provided with
The soft silica gel material of 10mm.
As shown in Figure 3, it is preferable that the cut groove gap width is 25mm.
As shown in Figure 3, it is preferable that the nozzle diameter of the absorbing barrel 302 is 120mm, is the 2-3 of general strawberry diameter
Times, more strawberries can be once sucked, picking efficiency is improved.
In order to help to understand the basic implementation engineering of the utility model, referring to Fig.1 or Fig. 2 carries out course of work explanation, by
Identification device identifies the spatial position of strawberry, is positioned absorbing barrel to strawberry by locating module after identification and waits picking grass
In front of the certain kind of berries at 30-50mm, the air pump 303 of control system control at this time is started to work, and negative pressure is generated in absorbing barrel 302, and negative pressure generates
Adsorption capacity by strawberry suspend be sucked into absorbing barrel 302, the shear motor 306 of cam cutting mechanism 301 first works, cam electricity
Machine 305 works again is sent to front for cutting blade, and the carpopodium in cut groove is cut off, and completes to absorb shear history, shearing terminates
Later, strawberry is transported on conveyer belt 401 by transport hose, and strawberry is transported in collection box 402 by conveyer belt 401, completes to adopt
Pluck collection process.
Method is preferably used in the above, only the utility model, it should be noted that the protection model of the utility model
It encloses and is not limited thereto, anyone skilled in the art without departing from the concept of the premise utility, goes back
The changes and improvements that can be readily occurred in belong to the protection scope of the utility model.Therefore, the protection scope of the utility model is answered
This is subject to the scope of protection of the claims.
Claims (6)
1. a kind of suction-type strawberry automatic picking apparatus, which is characterized in that including car body (1), locating module, absorb picking mould
Block, collection module；
The locating module includes the lead screw (201) for being mutually perpendicular to installation, electric pushrod (202), and the electric pushrod (202) is logical
Screw is crossed to engage with the lead screw (201)；
The absorption picking module includes cam cutting mechanism (301), absorbing barrel (302), air pump (303), three-way connector
(304), the cam cutting mechanism (301) is installed on above absorbing barrel (302), and absorbing barrel (302) upper front end is cut
Grooving, lower opening, the opening pass through transport hose connection three-way connector (304), absorbing barrel (302) rear end and institute
State electric pushrod (202) connection；
The collection module includes conveyer belt (401), collection box (402), and the conveyer belt (401) is installed on car body (1), position
Immediately below three-way connector (304), the direction of motion is vertical with absorbing barrel (302), and the collection box (402) is mounted on car body
(1) on, it is located on the downside of conveyer belt (401) rear.
2. suction-type strawberry automatic picking apparatus according to claim 1, which is characterized in that the cam cutting mechanism
It (301) include cam motor (305), shear motor (306), the output shaft of the shear motor (306) is equipped with cutting blade, institute
The output shaft of cam motor (305) is stated equipped with cam, the cam is connect with the mounting base of the cam motor (305).
3. suction-type strawberry automatic picking apparatus according to claim 2, which is characterized in that the absorbing barrel (302), three
Lead to the soft silica gel material that 10mm is provided in fitting (304), collection box (402).
4. suction-type strawberry automatic picking apparatus according to claim 3, which is characterized in that the cut groove gap width
For 25mm.
5. suction-type strawberry automatic picking apparatus according to claim 4, which is characterized in that the absorbing barrel (302)
Nozzle diameter is 120mm.
6. suction-type strawberry automatic picking apparatus according to any one of claims 1 to 5, which is characterized in that further include grass
Certain kind of berries identification device and running gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821882603.9U CN209151622U (en) | 2018-11-15 | 2018-11-15 | A kind of suction-type strawberry automatic picking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821882603.9U CN209151622U (en) | 2018-11-15 | 2018-11-15 | A kind of suction-type strawberry automatic picking apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209151622U true CN209151622U (en) | 2019-07-26 |
Family
ID=67338340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821882603.9U Expired - Fee Related CN209151622U (en) | 2018-11-15 | 2018-11-15 | A kind of suction-type strawberry automatic picking apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209151622U (en) |
-
2018
- 2018-11-15 CN CN201821882603.9U patent/CN209151622U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190726 Termination date: 20191115 |