CN209473048U - An intelligent strawberry picking machine - Google Patents
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Abstract
一种智能草莓采摘机，可解决传统草莓采摘机收摘草莓时不能保证草莓质量，工作效率低下的技术问题。包括机架、驱动覆带轮和控制器，驱动覆带轮可带动机架行走，还包括采摘装置，所述采摘装置设置在机架的底部，所述采摘装置包括采摘爪、固定套筒和刀片，所述固定套筒为三角形柱状结构，在三角柱的每一个棱上与固定套筒垂直设置一排采摘爪，每排采摘爪中相邻的两个采摘爪之间设置刀片，还包括依次靠近采摘装置的外侧设置的所述拨动装置、筛分装置和草莓收集仓，所述草莓收集仓设置在筛分装置的下方，所述拨动装置和筛分装置分别与控制器连接。本实用新型采用了滚轮式梳分，不仅可以在果实稠密处采摘，而且可以同时进行大量采摘。
An intelligent strawberry picking machine can solve the technical problems that the traditional strawberry picking machine cannot guarantee the quality of strawberries and low working efficiency when picking strawberries. It includes a frame, a drive covering pulley and a controller, the driving covering pulley can drive the frame to walk, and a picking device, which is arranged at the bottom of the frame, and the picking device includes a picking claw, a fixed sleeve and The blade, the fixed sleeve is a triangular columnar structure, a row of picking claws is vertically arranged on each edge of the triangular column and the fixed sleeve, and a blade is arranged between two adjacent picking claws in each row of picking claws, and the The toggle device, the screening device and the strawberry collecting bin are arranged near the outside of the picking device, the strawberry collecting bin is arranged below the screening device, and the toggle device and the screening device are respectively connected to the controller. The utility model adopts a roller type comb, which can not only be picked at the dense fruit, but also can be picked in large quantities at the same time.
Description
技术领域technical field
本实用新型涉及瓜果采摘机技术领域，具体涉及一种智能草莓采摘机。The utility model relates to the technical field of melon and fruit picking machines, in particular to an intelligent strawberry picking machine.
背景技术Background technique
随着科技的发展我们利用机械电子等技术解决了很多生活和生产上的问题，但是草莓的采摘却一直以来都是科技突破的一个难点。草莓不同于其他的农作物，它具有成熟周期长、果实存放时间短、果实较软且易破、种植效益高等特点。如何区分草莓的成熟、如何对草莓进行高效快速的采摘并保证其完整性成为了每一个设计草莓采摘机械的设计人面临的一大难题。With the development of science and technology, we have solved many problems in life and production by using mechatronics and other technologies, but strawberry picking has always been a difficult point for technological breakthroughs. Different from other crops, strawberry has the characteristics of long maturity period, short fruit storage time, soft and easily broken fruit, and high planting efficiency. How to distinguish the ripeness of strawberries, how to pick strawberries efficiently and quickly and ensure their integrity has become a major problem faced by every designer of strawberry picking machinery.
目前市面上的草莓采摘机采用的是梳子式结构，梳子式结构对采摘后的草莓进行收集时不易稳定托举，导致草莓易烂，并且传统梳子式结构也不能对草莓大小和成熟度进行筛分，导致草莓收集回来之后还有大量的后续工作，也即传统梳子式结构工作效率较低。At present, the strawberry picking machine on the market adopts a comb-type structure. The comb-type structure is not easy to stably lift the strawberries after picking, which makes the strawberries easy to rot, and the traditional comb-type structure cannot screen the size and maturity of the strawberries. After the strawberries are collected, there is still a lot of follow-up work, that is, the traditional comb-type structure has low work efficiency.
实用新型内容Utility model content
本实用新型提出的一种智能草莓采摘机，可解决传统草莓采摘机收摘草莓时不能保证草莓质量，工作效率低下的技术问题。The intelligent strawberry picking machine proposed by the utility model can solve the technical problems that the traditional strawberry picking machine cannot guarantee the quality of strawberries and low working efficiency when picking strawberries.
为实现上述目的，本实用新型采用了以下技术方案：To achieve the above object, the utility model adopts the following technical solutions:
一种智能草莓采摘机，包括机架、驱动覆带轮和控制器，驱动覆带轮设置在机架的底部，控制器设置在机架上，驱动覆带轮和控制器连接，驱动覆带轮可带动机架行走，还包括采摘装置，所述采摘装置设置在机架的底部，所述采摘装置包括采摘爪、固定套筒和刀片，所述固定套筒为三角形柱状结构，在三角柱的每一个棱上与固定套筒垂直设置一排采摘爪，每排采摘爪中相邻的两个采摘爪之间设置刀片，所述固定套筒与控制器连接，控制器可控制固定套筒转动；An intelligent strawberry picking machine, comprising a frame, a driving belt pulley and a controller, the driving belt wheel is arranged at the bottom of the frame, the controller is arranged on the frame, the driving belt wheel is connected with the controller, and the driving belt is driven The wheel can drive the frame to walk, and also includes a picking device. The picking device is arranged at the bottom of the frame. The picking device includes a picking claw, a fixed sleeve and a blade. The fixed sleeve is a triangular column structure. Each edge is provided with a row of picking claws perpendicular to the fixed sleeve, a blade is arranged between two adjacent picking claws in each row of picking claws, the fixed sleeve is connected with the controller, and the controller can control the rotation of the fixed sleeve ;
还包括设置在机架上的拨动装置、筛分装置和草莓收集仓，所述拨动装置、筛分装置和草莓收集仓依次靠近采摘装置的外侧设置；所述草莓收集仓设置在筛分装置的下方，所述拨动装置和筛分装置分别与控制器连接。It also includes a toggle device, a screening device and a strawberry collecting bin arranged on the frame, the toggle device, the screening device and the strawberry collecting bin are arranged in sequence close to the outside of the picking device; the strawberry collecting bin is set on the screening device. Below the device, the toggle device and the screening device are respectively connected with the controller.
进一步的，还包括设置在机架上的上下控制装置和左右控制装置，所述上下控制装置和左右控制装置分别与控制器和采摘装置连接。Further, it also includes an up-down control device and a left-right control device arranged on the frame, and the up-down control device and the left-right control device are respectively connected with the controller and the picking device.
进一步的，还包括设置在机架上的拨动控制装置，所述拨动控制装置分别与控制器和拨动装置连接，所述拨动控制装置可控制拨动装置旋转。Further, it also includes a toggle control device disposed on the frame, the toggle control device is respectively connected with the controller and the toggle device, and the toggle control device can control the toggle device to rotate.
进一步的，所述上下控制装置、左右控制装置及拨动控制装置分别包括电机和丝杆，电机和丝杆通过联轴器进行连接。Further, the up-down control device, the left-right control device and the toggle control device respectively comprise a motor and a screw rod, and the motor and the screw rod are connected by a coupling.
进一步的，所述拨动装置为旋转式叶片结构，所述拨动装置为旋转式叶片结构，所述旋转式叶片结构设置与采摘爪适配的梳齿，所述梳齿上设置毛刷。Further, the toggle device is a rotary vane structure, the toggle device is a rotary vane structure, the rotary vane structure is provided with comb teeth adapted to the picking claws, and brushes are provided on the comb teeth.
进一步的，所述筛分装置为筛网结构，所述筛网结构上设置不同大小的孔洞。Further, the screening device is a screen structure, and holes of different sizes are arranged on the screen structure.
进一步的，所述草莓收集仓内设置隔间。Further, a compartment is arranged in the strawberry collecting bin.
进一步的，所述采摘爪的端部为弯钩状。Further, the ends of the picking claws are hook-shaped.
进一步的，所述采摘爪的端部设置橡胶包装。Further, the ends of the picking claws are provided with rubber packaging.
进一步的，所述固定套筒的外部设置橡胶包装。Further, a rubber package is provided on the outside of the fixing sleeve.
由上述技术方案可知，本实用新型的智能草莓采摘机采用像滚轮式旋转切割一样的手爪转动着梳过草莓，将草莓的叶子和果实分离。通过控制齿间的间距可以控制摘下草莓的大小，并以此来区分果实的成熟度。在两根弯勾的根部加装一个刀片，用来割断草莓的果实上的茎，摘好的草莓经过拨动装置的拨动会滚落到筛分装置进而到收集仓中，再经过传送带，利用收集仓往复和伸缩运动，将草莓按阵列摆放，筛选分拣，完成采摘。行走机构采用履带轮，适用性比较强。手爪的高度和手爪间的宽度可以用丝杠进行调整，可适用于各种不同的草莓园的采摘作业。As can be seen from the above technical solutions, the smart strawberry picking machine of the present utility model uses the claws like a roller-type rotary cutter to rotate and comb through the strawberries to separate the leaves and fruits of the strawberries. By controlling the spacing between the teeth, the size of the picked strawberries can be controlled, and the ripeness of the fruit can be distinguished by this. A blade is added to the roots of the two hooks to cut off the stems of the strawberries. The picked strawberries will roll down to the screening device and then to the collection bin after being toggled by the toggle device, and then pass through the conveyor belt. Using the reciprocating and telescopic motion of the collection bin, the strawberries are placed in an array, screened and sorted, and the picking is completed. The walking mechanism adopts crawler wheels, which has strong applicability. The height of the claws and the width between the claws can be adjusted with a lead screw, which can be applied to various strawberry orchard picking operations.
综上本实用新型的有益效果如下:In sum, the beneficial effects of the present utility model are as follows:
1、采用了滚轮式梳分，不仅可以在果实稠密处采摘，而且可以同时进行大量采摘。1. The roller type comb is adopted, which can not only be picked at the dense fruit, but also can be picked in large quantities at the same time.
2、在滚轮及其弯勾外部进行橡胶包装，使滚轮式采摘本身不会对草莓进行挤压从而进行破坏。2. Rubber packaging is carried out on the outside of the roller and its hook, so that the roller picking itself will not crush the strawberries and damage them.
3、利用调整弯勾之间距离对果径大小进行筛分进而筛分成熟度。3. Screen the fruit diameter by adjusting the distance between the hooks and then screen the maturity.
4、可以调整行宽和高度，适用于不同的草莓园地情况，适应性强。4. The row width and height can be adjusted, which is suitable for different strawberry fields and has strong adaptability.
附图说明Description of drawings
图1是本实用新型实施例的结构示意图；Fig. 1 is the structural representation of the embodiment of the present utility model;
图2是本实用新型实施例采摘装置结构示意图一；Fig. 2 is the first structural schematic diagram of the picking device according to the embodiment of the present invention;
图3是本实用新型实施例采摘装置结构示意图二；3 is a second structural schematic diagram of a picking device according to an embodiment of the present invention;
图4是本实用新型实施例局部结构示意图；4 is a schematic diagram of a partial structure of an embodiment of the present invention;
图5是本实用新型实施例拨动装置结构示意图。5 is a schematic structural diagram of a toggle device according to an embodiment of the present invention.
具体实施方式Detailed ways
为使本实用新型实施例的目的、技术方案和优点更加清楚，下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本实用新型一部分实施例，而不是全部的实施例。In order to make the purposes, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. The embodiments described above are a part of the embodiments of the present invention, but not all of the embodiments.
如图1和图4所示，本实施例所述的智能草莓采摘机，包括机架8、驱动覆带轮9和控制器7，驱动覆带轮9设置在机架8的底部，控制器7设置在机架8上，驱动覆带轮9和控制器7连接，驱动覆带轮9经电机驱动可带动机架8行走；As shown in FIG. 1 and FIG. 4 , the intelligent strawberry picking machine described in this embodiment includes a frame 8 , a driving pulley 9 and a controller 7 . The driving pulley 9 is arranged at the bottom of the frame 8 , and the controller 7 is arranged on the frame 8, the drive covering pulley 9 is connected with the controller 7, and the driving covering pulley 9 can drive the frame 8 to walk through the motor drive;
如图2和图3所示，还包括采摘装置1，所述采摘装置1设置在机架8 的底部，所述采摘装置1包括采摘爪11、固定套筒12和刀片13，所述固定套筒12为三角形柱状结构，三角柱的每一个棱上设置一排采摘爪11，每排采摘爪11中相邻的两个采摘爪11之间设置刀片13，所述采摘爪11 的端部为弯钩状，固定套筒12与控制器7连接，控制器7可控制固定套筒12转动，进而带动采摘爪11以固定套筒12为中心旋转，从而使带刀片13的采摘爪11在整机行走中旋转，实现对草莓的切割。As shown in FIG. 2 and FIG. 3 , it also includes a picking device 1 , which is arranged at the bottom of the frame 8 . The picking device 1 includes a picking claw 11 , a fixed sleeve 12 and a blade 13 . The fixed sleeve The barrel 12 is a triangular columnar structure, a row of picking claws 11 is arranged on each edge of the triangular column, and a blade 13 is arranged between two adjacent picking claws 11 in each row of picking claws 11, and the ends of the picking claws 11 are curved. Hook-shaped, the fixed sleeve 12 is connected to the controller 7, the controller 7 can control the rotation of the fixed sleeve 12, and then drive the picking claw 11 to rotate around the fixed sleeve 12, so that the picking claw 11 with the blade 13 is in the whole machine. Rotate while walking to cut strawberries.
同时采摘爪11之间的间距可调，以适应不同种类的草莓。At the same time, the spacing between the picking claws 11 is adjustable to suit different kinds of strawberries.
所述采摘爪11的端部弯钩处和固定套筒12的外部均设置橡胶包装，减少对草莓的破坏。Rubber packaging is provided at the end hooks of the picking claw 11 and the outside of the fixing sleeve 12 to reduce damage to the strawberries.
还包括拨动装置6、筛分装置2和草莓收集仓10，所述拨动装置6、筛分装置2和草莓收集仓10依次设置在采摘装置1的外侧，并且彼此靠近设置；所述拨动装置6为旋转式叶片结构，所述拨动装置6与控制器7 连接，控制器7可控制拨动装置6旋转通过叶片结构把草莓拨动到筛分装置2；筛分装置2为筛网结构，筛网结构上设置不同大小的孔洞，用来筛分不同大小的草莓，草莓从筛分装置2上经孔洞筛分后落入到草莓收集仓10，草莓收集仓10设置不同隔间，即筛分装置2上不同的筛分孔洞对应不同的草莓收集仓10的隔间。可见，草莓经采摘装置1切割后，经在不停旋转的拨动装置6的叶片结构拨动下，进入到筛分装置2，经过筛分装置2不同大小的孔洞筛分后进入到草莓收集仓10的对应大小的隔间。It also includes a toggle device 6, a screening device 2 and a strawberry collection bin 10. The toggle device 6, the screening device 2 and the strawberry collection bin 10 are sequentially arranged on the outside of the picking device 1 and are set close to each other; the dial The moving device 6 is a rotary vane structure, the toggle device 6 is connected with the controller 7, and the controller 7 can control the toggle device 6 to rotate through the blade structure to toggle the strawberries to the screening device 2; the screening device 2 is a screen Net structure, holes of different sizes are arranged on the screen structure to screen strawberries of different sizes. The strawberries are screened by the holes on the screening device 2 and then fall into the strawberry collecting bin 10, and the strawberry collecting bin 10 is provided with different compartments , that is, different sieving holes on the sieving device 2 correspond to different compartments of the strawberry collecting bin 10 . It can be seen that after the strawberries are cut by the picking device 1, they enter the screening device 2 by being toggled by the blade structure of the constantly rotating toggle device 6, and enter the strawberry collection after being screened by holes of different sizes in the screening device 2. Compartments of the corresponding size of the bin 10 .
如图5所示，所述拨动装置6为旋转式叶片结构，所述叶片结构设置与采摘爪11适配的梳齿61，所述梳齿61上设置毛刷。在工作时，采摘爪11可从梳齿61间隙穿过，而草莓会被毛刷阻拦实现拨动，进而落入到筛分装置2中。As shown in FIG. 5 , the toggle device 6 is a rotary blade structure, the blade structure is provided with comb teeth 61 adapted to the picking claws 11 , and brushes are provided on the comb teeth 61 . During operation, the picking claws 11 can pass through the gaps of the comb teeth 61 , and the strawberries will be blocked by the brush to realize the toggling, and then fall into the screening device 2 .
所述筛分装置2与控制器7连接，控制器7可控制筛分装置2抖动。The screening device 2 is connected with a controller 7, and the controller 7 can control the screening device 2 to shake.
还包括上下控制装置3和左右控制装置4，所述上下控制装置3和左右控制装置4分别与控制器7和采摘装置1连接，左右控制装置3和上下控制装置4分别控制采摘装置1左右移动和上下移动；It also includes an up-down control device 3 and a left-right control device 4. The up-down control device 3 and the left-right control device 4 are respectively connected with the controller 7 and the picking device 1. The left-right control device 3 and the up-down control device 4 respectively control the picking device 1 to move left and right. and move up and down;
还包括拨动控制装置5，所述拨动控制装置5分别与控制器7和拨动装置6连接，所述拨动控制装置5可控制拨动装置6旋转；Also includes a toggle control device 5, the toggle control device 5 is respectively connected with the controller 7 and the toggle device 6, and the toggle control device 5 can control the toggle device 6 to rotate;
所述上下控制装置3、左右控制装置4及拨动控制装置5分别包括电机和丝杆，电机和丝杆通过联轴器进行连接。The up-down control device 3, the left-right control device 4 and the toggle control device 5 respectively comprise a motor and a screw rod, and the motor and the screw rod are connected by a coupling.
本实施例的智能草莓采摘机的左右两侧分别对称设置采摘装置1、拨动装置6、筛分装置2和草莓收集仓10。The left and right sides of the smart strawberry picking machine of this embodiment are symmetrically provided with a picking device 1 , a toggle device 6 , a screening device 2 and a strawberry collecting bin 10 , respectively.
在使用时，开启电源，电机带动驱动覆带轮9行走，调整好位置，使整机沿着草莓种植行行走，采摘装置1通过固定套筒12带动采摘爪11 旋转，经采摘爪11间的刀片13切割草莓，然后经拨动装置6拨动，落入到筛分装置2，筛分装置2在拨动控制装置5的控制下抖动，使不同大小的草莓从相应大小的孔洞落入到草莓收集仓10的隔间里，实现草莓的采摘工作。When in use, turn on the power, the motor drives the driving pulley 9 to walk, adjust the position so that the whole machine walks along the strawberry planting line, the picking device 1 drives the picking claw 11 to rotate through the fixed sleeve 12, The blade 13 cuts the strawberries, and then is toggled by the toggle device 6 and falls into the screening device 2. The screening device 2 shakes under the control of the toggle control device 5, so that strawberries of different sizes fall into the corresponding holes from the corresponding size. In the compartment of the strawberry collecting bin 10, strawberry picking is realized.
为了减轻车架质量，本实施例采用铝合金杆件搭建机械的整体结构。采用矩形结构增大机械储存的空间，在机械中加入直角三角形支撑提高框架的稳定性。全架采用统一规格角铁，使用螺钉螺母连接便于拆卸和维护(承受力最大的杆上的力经过仿真计算，并没有超出铝合金材料的刚度和强度)整体结构稳定。In order to reduce the weight of the frame, in this embodiment, aluminum alloy rods are used to build the overall structure of the machine. The rectangular structure is used to increase the storage space of the machine, and the right-angled triangle support is added to the machine to improve the stability of the frame. The whole frame adopts uniform angle iron, which is connected by screws and nuts for easy disassembly and maintenance (the force on the rod with the greatest load is calculated by simulation, and does not exceed the rigidity and strength of the aluminum alloy material). The overall structure is stable.
由上可知，本实施例的智能草莓采摘机可以快速高效对草莓进行采摘收集筛分；能实现行走，分离，断茎，调整间距，收集五大功能；模块单独设计，便于维护适应性强。It can be seen from the above that the smart strawberry picking machine of this embodiment can quickly and efficiently pick, collect, and sieve strawberries; it can realize five functions of walking, separation, stem breaking, spacing adjustment, and collection; the modules are individually designed, which is easy to maintain and has strong adaptability.
以上实施例仅用以说明本实用新型的技术方案，而非对其限制；尽管参照前述实施例对本实用新型进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本实用新型各实施例技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present utility model, but not to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be used for the foregoing implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113455193A (en) * | 2021-06-21 | 2021-10-01 | 浙江理工大学 | Self-propelled height-adjustable's blueberry is picked hierarchical integrated device |
| CN113892342A (en) * | 2021-09-06 | 2022-01-07 | 中国热带农业科学院南亚热带作物研究所 | Comb-tooth reel type pineapple harvesting machine |
| CN115004944A (en) * | 2022-05-23 | 2022-09-06 | 安徽有余跨越瓜蒌食品开发有限公司 | Processing of trichosanthes is with receiving fruit device |
| CN118511734A (en) * | 2024-06-06 | 2024-08-20 | 三峡大学 | A fully automatic comb-scissor type citrus fruit picking machine and use method |
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2018
- 2018-09-21 CN CN201821546100.4U patent/CN209473048U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113455193A (en) * | 2021-06-21 | 2021-10-01 | 浙江理工大学 | Self-propelled height-adjustable's blueberry is picked hierarchical integrated device |
| CN113892342A (en) * | 2021-09-06 | 2022-01-07 | 中国热带农业科学院南亚热带作物研究所 | Comb-tooth reel type pineapple harvesting machine |
| CN115004944A (en) * | 2022-05-23 | 2022-09-06 | 安徽有余跨越瓜蒌食品开发有限公司 | Processing of trichosanthes is with receiving fruit device |
| CN118511734A (en) * | 2024-06-06 | 2024-08-20 | 三峡大学 | A fully automatic comb-scissor type citrus fruit picking machine and use method |
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