CN209659973U - A kind of pineapple automatic harvester - Google Patents
A kind of pineapple automatic harvester Download PDFInfo
- Publication number
- CN209659973U CN209659973U CN201920309341.5U CN201920309341U CN209659973U CN 209659973 U CN209659973 U CN 209659973U CN 201920309341 U CN201920309341 U CN 201920309341U CN 209659973 U CN209659973 U CN 209659973U
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- China
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- pineapple
- picker
- driving assembly
- pieces
- automatic harvester
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Abstract
The utility model discloses a kind of pineapple automatic harvester, including vehicle frame, power device, picker and apparatus for adjusting position, picker includes bottom plate, several pieces of blades, fixed plate, sliding electromagnet and distance rod, bottom plate is provided centrally with first through hole, several blades are rotatably arranged in around first through hole, fixed plate is located above bottom plate, and sliding electromagnet is fixedly mounted in fixed plate and drives several pieces of blade rotations by distance rod；Apparatus for adjusting position includes the longitudinal CCD visual identity device and transverse direction CCD visual identity device of pineapple for identification, X that is matched with picker and adjusting picker position is to driving assembly, Y-direction driving assembly and Z-direction driving assembly, and the controller connecting with visual identity device, driving assembly.The utility model gathers in the pineapple for concentrating plantation using CCD Visual identification technology, automated control technology etc. automatically, reduces pineapple and gathers in labour-intensive demand and reduce labor intensity, improves picking efficiency.
Description
Technical field
The embodiments of the present invention are related to field of agricultural machinery, in particular to a kind of pineapple automatic harvester.
Background technique
Pineapple is that a kind of pair of soil suitability is strong, and resistance to lean drought-enduring, pest and disease damage is less, is easily cultivated, the high Important Agricultural of yield
Industrial crops, the soft and smooth succulence of the pulp of pineapple, sweet tea acid is moderate, can both eat raw, and also can be processed into can, before having wide industry
Scape.However the blade of pineapple plant is in spiral-shaped arrangement, and on stem, when pineapple maturation, pineapple leaf finished leather shape, shape
Similar to sword-shaped, some pineapples can also grow spinule at the edge of blade, be easy to scratch hand in picking, and pick work
Low efficiency, large labor intensity.For this phenomenon, occurs the device much about pineapple picking on the market, but some are filled
It sets when being picked to pineapple, still manual operation, there is the very big amount of labour, be not suitable for large area picking；And it is most of
Picker use scissor cutting mode, when encounter pineapple root it is larger when, using this cutting mode it is possible that not
The phenomenon that picking can be smoothly completed, therefore, the research of pineapple picking mechanical need further develop and it is perfect.
Utility model content
The purpose of this utility model is that aiming at the problems existing in the prior art, providing a kind of picking efficiency height, manually
Pineapple automatic harvester at low cost, suitable for large area operation.
To realize above-mentioned purpose of utility model, the utility model adopts the technical scheme that a kind of pineapple is gathered in automatically
Machine, including vehicle frame, power device, picker and apparatus for adjusting position；Picker includes bottom plate, several pieces of blades, consolidates
Fixed board, sliding electromagnet and distance rod, bottom plate are provided centrally with first through hole, and several blades are rotatably arranged in first through hole
Around, fixed plate is located above bottom plate, and sliding electromagnet is fixedly mounted in fixed plate and drives several pieces by distance rod
Blade rotation；Apparatus for adjusting position includes the longitudinal CCD visual identity device and transverse direction CCD visual identity device of pineapple for identification,
And X that is matched with picker respectively and adjusting picker position drives to driving assembly, Y-direction driving assembly and Z-direction
Component, and connect with longitudinal CCD visual identity device and transverse direction CCD visual identity device signal, and control X to driving assembly, Y-direction
The controller of driving assembly and Z-direction driving assembly.
In addition, the utility model also provides following attached technical scheme:
Vehicle frame is frame vehicle frame.
Power device includes power source, belt wheel one, belt wheel two and chain；Vehicle frame includes wheel；Power source and one phase of belt wheel
Mating and driving pulley one, belt wheel two and wheel are matched, and belt wheel one and belt wheel two are connected with each other by chain.
Picker further includes guiding annulus and several pull rods, and guiding annulus is installed in rotation on bottom plate, and
Matched with distance rod, several pull rods are connected between guiding annulus and several pieces of blades.
The edge of bottom plate is provided with raised fence, and elongated hole is equipped on the protrusion fence；It is oriented to annulus outer wall and is equipped with the
A connection piece, the first connector pass through elongated hole and are hinged with distance rod.
Several pieces of blades are arc side triangular blade, and one of angle is connect by a shaft with bottom plate, another angle is logical
Another shaft is crossed to connect with a pull rod.
Fixed plate center is equipped with the second through-hole, for passing through for pineapple.
Longitudinal CCD visual identity device is located at the top of picker, for identification the shape of pineapple；Lateral CCD vision is known
Other device is located at the rear of picker, for identification the height and position of pineapple.
X includes X to stepper motor, two X to connecting rod and two pieces of X to sliding block to driving assembly, and two X are mounted on to connecting rod
On vehicle frame, two pieces of X are separately mounted at two X on connecting rod to sliding block, and X is coupled with a wherein X to connecting rod to stepper motor；Y
Include Y-direction stepping motor, two Y-direction connecting rods and two pieces of Y-direction sliding blocks to driving assembly, two Y-direction connecting rods be installed in two pieces of X to
Between sliding block, two pieces of Y-direction sliding blocks are installed on two Y-direction connecting rods, and Y-direction stepping motor is coupled with a wherein Y-direction connecting rod；Z
It include Z-direction stepping motor and two Z-direction connecting rods to driving assembly, two Z-direction connecting rods are connected to two pieces of Y-direction sliding blocks and picking
Between device, Z-direction stepping motor is coupled with a wherein Z-direction connecting rod.
Pineapple automatic harvester further includes feed bin and transports belt, transports belt and is arranged between picker and feed bin,
It transports belt and is equipped with supporting plate, supporting plate connect with belt is transported, or is integrally formed with belt is transported.
Compared with the prior art, the advantage of the pineapple automatic harvester of the utility model is: filling including vehicle frame, power
It sets, picker and apparatus for adjusting position, wherein vehicle frame is used to support power device, picker and apparatus for adjusting position,
For power device for driving overall operation, apparatus for adjusting position includes that longitudinally, laterally CCD visual identity device and X, Y, Z-direction drive
Component, the CCD Visual identification technology using longitudinally, laterally CCD visual identity device judges the position of pineapple, then utilizes
X, Y, Z-direction driving assembly are adjusted at picker to pineapple position, the blade closure of starting sliding electromagnet control picker,
Cut the picking that pineapple carpopodium completes pineapple.The present apparatus use Visual identification technology and automatic control technology to pineapple into
Row picking, reduces cost of labor, improves picking efficiency.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, embodiment or the relevant technologies will be retouched below
Attached drawing needed in stating is briefly described, it should be apparent that, it is practical new that the accompanying drawings in the following description merely relates to this
Some embodiments of type, are not limitation of the utility model.
Fig. 1 is the complete machine structure figure of the pineapple automatic harvester of the present embodiment.
Fig. 2 is the structural schematic diagram of the picker of the pineapple automatic harvester of the present embodiment.
Structural schematic diagram when Fig. 3 is the blade closure of the picker of the pineapple automatic harvester of the present embodiment.
Fig. 4 is the structural schematic diagram when blade of the picker of the pineapple automatic harvester of the present embodiment is opened.
Fig. 5 is the picker and apparatus for adjusting position attachment structure schematic diagram of the pineapple automatic harvester of the present embodiment.
Fig. 6 is that the picker of the pineapple automatic harvester of the present embodiment connect main view with apparatus for adjusting position.
Fig. 7 is that the picker of the pineapple automatic harvester of the present embodiment connect top view with apparatus for adjusting position.
Fig. 8 is the power device belt wheel and chain connection schematic diagram of the pineapple automatic harvester of the present embodiment.
Specific embodiment
In order to be more clearly understood that the above objects, features, and advantages of the utility model, with reference to the accompanying drawing and have
Body embodiment makees further unrestricted detailed description to technical solutions of the utility model.
As shown in Figures 1 to 8, pineapple automatic harvester includes vehicle frame 1, power device 2, picker 3, position adjusting dress
It sets, feed bin 4 and the transport belt 5 between picker 3 and feed bin 4.Vehicle frame is used to support power device 2, picking dress
It sets 3, apparatus for adjusting position, feed bin 4 and transports belt 5, the front end of vehicle frame 1 is arranged in power device 2, for providing entire dress
Set the power of advance；Picker 3 is located among vehicle frame 1, for picking to pineapple；Apparatus for adjusting position and picker
3 are connected with each other, for judging the position of pineapple and adjusting picker 3 to corresponding position；Belt 5 is transported for picking pineapple
The pineapple to get off is transported in the feed bin 4 that 1 rear end of vehicle frame is arranged in.
Vehicle frame 1 is frame vehicle frame, is equipped with supporting beam 11 and crossbeam 12 in frame vehicle frame, convenient for filling power device 2, picking
It sets 3, apparatus for adjusting position and feed bin 4 is firmly installed in above, be equipped with the wheel 13 for walking in frame vehicle frame lower end.
The front end of vehicle frame 1 is arranged in power device 2, and power device 2 includes power source, belt wheel 1, belt wheel 2 22 and chain
The output end of item 23, power source is connect with belt wheel 1, and belt wheel 1 and belt wheel 2 22 are connect by chain 23, belt wheel 2 22 with
Wheel 13 is matched.Starting power source, power source drive belt wheel 1 is rotated and is rotated by chain 23 with movable belt pulley 2 22,
The forward movement of wheel 13 is connect with belt wheel 2 22, so that whole device be made to move forward.
The setting of picker 3 at the middle part of vehicle frame 1, picker 3 include fixed plate 31, sliding electromagnet 32, distance rod 33,
Bottom plate 34, several pieces of blades 35, guiding annulus 36 and several pull rods 37,31 center of fixed plate are equipped with the second through-hole (in figure
To mark), fixed plate 31 is arranged above 34 plate of bottom, and sliding electromagnet 32 is fixedly mounted in fixed plate 31 and passes through thrust
Bar 33 is connect with guiding annulus 36；Bottom plate 34 is equipped with the first through hole 341 for passing through for pineapple, the edge setting of bottom plate 34
There is raised fence, elongated hole 342 is equipped on the fence, outer 36 walls of guiding annulus are equipped with the first connector 361, the first connector
361, which pass through elongated hole 342, is rotatably coupled on bottom plate 34；Pull rod 37 is arc-shaped, and one end is rotatably coupled to guiding circle
On ring 36, one jiao of the other end and blade 35 is connect by shaft, and blade 35 is arc side triangular blade, and another angle passes through a shaft
It is spindle rotationally arranged in around the first through hole 341 of bottom plate 34.When being picked, start sliding electromagnet 32, distance rod 33 pushes away
Action-oriented annulus 36 does the circle swing of certain amplitude along the center of circle, thus rotating closed with cutting blade 35, cutting pineapple carpopodium is complete.
Apparatus for adjusting position includes longitudinal direction CCD visual identity device 61, transverse direction CCD visual identity device 62 and X to driving group
Part, Y-direction driving assembly and Z-direction driving assembly, controller.Longitudinal CCD visual identity device 61, transverse direction CCD visual identity device 62 are used
In the position of identification pineapple, X is matched to driving assembly, Y-direction driving assembly and Z-direction driving assembly and picker and adjusting is adopted
Device and picking position, controller are connect with longitudinal direction CCD visual identity device and transverse direction CCD visual identity device signal, and for control X to
Driving assembly, Y-direction driving assembly and Z-direction driving assembly.
Above-mentioned longitudinal direction CCD visual identity device 61 is located at the top of picker, for identification the shape of pineapple；Lateral CCD
Visual identity device 62 is located at the rear of picker, for identification the height and position of pineapple, longitudinal CCD visual identity device 61, cross
The information after identification is passed into controller to CCD visual identity device 62.
Above-mentioned X to driving assembly include X to 70, two X of stepper motor to connecting rod 71 and two pieces of X to sliding block 72, two X to
Connecting rod 71 is parallel to each other and is all connected on vehicle frame 1, and two pieces of X are slidably mounted on two X to connecting rod 71 to sliding block 72 respectively
On, X is installed therein the wherein one end of an X to connecting rod 71 to stepper motor 70, in X upward for controlling picker 3
It is mobile.With X to the X that stepper motor 70 is connect to connecting rod be screw rod, another X to connecting rod be slide bar.
Above-mentioned Y-direction driving assembly includes 73, two Y-direction connecting rods 74 of Y-direction stepping motor and two pieces of Y-direction sliding blocks 75, two Y-directions
Connecting rod 74 is connected to two pieces of X between sliding block 72, two pieces of Y-direction sliding blocks can 75 slidings settings on two Y-direction connecting rods 74, Y-direction
Stepper motor 73 is installed therein wherein one end of a Y-direction connecting rod 74, for controlling movement of the picker 3 in Y-direction.With
The Y-direction connecting rod that Y-direction stepping motor 73 connects is screw rod, and another Y-direction connecting rod is slide bar.
Above-mentioned Z-direction driving assembly includes 76, two Z-direction connecting rods 77 of Z-direction stepping motor, and two Z-direction connecting rods 77 are separately connected
Between two pieces of Y-direction sliding blocks 75 and picker 3, Z-direction stepping motor 76 is mounted on the upper end of any one Z-direction connecting rod 77, uses
In movement of the control picker 3 in Z-direction.The Z-direction connecting rod connecting with Z-direction stepping motor 76 is screw rod, another Z-direction connecting rod
For slide bar.
Above controller receive longitudinal CCD visual identity device 61, transverse direction CCD visual identity device 6 transmit signal after,
By control X to stepper motor 70, Y-direction stepping motor 73 and Z-direction stepping motor 76 control X to connecting rod 71, Y-direction connecting rod 72 and
Z-direction connecting rod 77 rotating in the forward direction or reversely rotating, and realizes flexible shifting of the picker 3 in X-direction, Y-direction and Z-direction
It is dynamic.
The rear end of vehicle frame 1 is arranged in feed bin 4, is provided between picker 3 and feed bin 4 and transports belt 5, transports belt
The lower section of picker 3 is arranged in the rotation axis 51 of 5 one end, and the top of feed bin 4 is arranged in the rotation axis 51 of the other end, is transporting
Belt 5 is sent to be equipped with supporting plate 52, supporting plate 52 connect with belt 5 is transported, or is integrally formed with belt 5 is transported.In order to avoid defeated
It send band to damage pineapple, transports belt 5 and be made of soft elastic material.
The pineapple automatic harvester of the utility model is under the driving of power source, and driving device is in a line pineapple tree upper end row
It walks, captures the position of pineapple in walking process with transverse direction CCD visual identity device 62 by longitudinal CCD visual identity device 61, and
Information is transmitted to controller, controller controls X according to the information received and walks to stepper motor 70, Y-direction stepping motor 73, Z-direction
It is mobile to pineapple that picker 3 is controlled into motor 76, after being moved to above pineapple position, picker is in Z-direction stepping motor
It is extracted at pineapple to pineapple carpopodium from top to bottom under 76 drive, then starts sliding electromagnet 32 in picker, push-and-pull electricity
Magnet 32 is rotated with cutting blade 35, cuts off pineapple carpopodium.Picker will be in X to stepper motor 70, Y-direction stepping after completing cutting
Motor 73, Z-direction stepping motor 76 cooperating under, pineapple is transported to and is transported on belt 5, by transporting belt 5 for pineapple
It is sent into feed bin 4, completes primary harvesting, then close to next plant, move in circles, to complete picking work.
It should be pointed out that above-mentioned preferred embodiment is only to illustrate the technical ideas and features of the present invention, purpose
It is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly, this reality can not be limited with this
With novel protection scope.All equivalent change or modifications according to made by the spirit of the present invention essence, should all cover in this reality
Within novel protection scope.
Claims (10)
1. a kind of pineapple automatic harvester, it is characterised in that: adjust and fill including vehicle frame, power device, picker and position
It sets；The picker includes bottom plate, several pieces of blades, fixed plate, sliding electromagnet and distance rod, and bottom plate is provided centrally with
One through-hole, several blades are rotatably arranged in around first through hole, and fixed plate is located above bottom plate, and sliding electromagnet is fixed
It is mounted in fixed plate and several pieces of blade rotations is driven by distance rod；Apparatus for adjusting position includes pineapple for identification
Longitudinal CCD visual identity device and transverse direction CCD visual identity device, and it is matched with picker respectively and adjust picker position
The X set to driving assembly, Y-direction driving assembly and Z-direction driving assembly, and with longitudinal CCD visual identity device and transverse direction CCD vision
The connection of identifier signal, and X is controlled to driving assembly, the controller of Y-direction driving assembly and Z-direction driving assembly.
2. a kind of pineapple automatic harvester according to claim 1, it is characterised in that: the vehicle frame is frame vehicle frame.
3. a kind of pineapple automatic harvester according to claim 1, it is characterised in that: the power device includes power
Source, belt wheel one, belt wheel two and chain；The vehicle frame includes wheel；Power source and belt wheel one is matched, and driving pulley one, band
Wheel two is matched with wheel, and belt wheel one and belt wheel two are connected with each other by chain.
4. a kind of pineapple automatic harvester according to claim 1, it is characterised in that: the picker further includes guiding
Annulus and several pull rods, guiding annulus are installed in rotation on bottom plate, and matched with distance rod, and several pull rods connect
It connects between guiding annulus and several pieces of blades.
5. a kind of pineapple automatic harvester according to claim 4, it is characterised in that: the edge of the bottom plate is provided with convex
Fence is played, elongated hole is equipped on the protrusion fence；The guiding annulus outer wall is equipped with the first connector, and the first connector passes through
Elongated hole is simultaneously hinged with distance rod.
6. a kind of pineapple automatic harvester according to claim 4, it is characterised in that: several pieces of blades are arc side
Triangular blade, one of angle are connect by a shaft with bottom plate, another angle is connect by another shaft with a pull rod.
7. a kind of pineapple automatic harvester according to claim 4, it is characterised in that: the fixed plate center is equipped with second
Through-hole, for being passed through for pineapple.
8. a kind of pineapple automatic harvester according to claim 1, it is characterised in that: the longitudinal direction CCD visual identity device
Positioned at the top of picker, the shape of pineapple for identification；After the transverse direction CCD visual identity device is located at picker
Side, for identification height and position of pineapple.
9. a kind of pineapple automatic harvester according to claim 1, it is characterised in that: the X to driving assembly include X to
Stepper motor, two X are to connecting rod and two pieces of X to sliding block, and two X are mounted on vehicle frame to connecting rod, and two pieces of X are installed separately to sliding block
In two X on connecting rod, X is coupled with a wherein X to connecting rod to stepper motor；
The Y-direction driving assembly includes Y-direction stepping motor, two Y-direction connecting rods and two pieces of Y-direction sliding blocks, and two Y-direction connecting rods are respectively mounted
In two pieces of X between sliding block, two pieces of Y-direction sliding blocks are installed on two Y-direction connecting rods, and Y-direction stepping motor connects with a wherein Y-direction
Bar mating；
The Z-direction driving assembly includes Z-direction stepping motor and two Z-direction connecting rods, and two Z-direction connecting rods are connected to two pieces of Y-directions
Between sliding block and picker, Z-direction stepping motor is coupled with a wherein Z-direction connecting rod.
10. a kind of pineapple automatic harvester according to claim 1, it is characterised in that: further include feed bin and transport belt,
The transport belt is arranged between picker and feed bin, transports belt and is equipped with supporting plate, and supporting plate is connect with belt is transported, or
Person is integrally formed with belt is transported.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920309341.5U CN209659973U (en) | 2019-03-12 | 2019-03-12 | A kind of pineapple automatic harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920309341.5U CN209659973U (en) | 2019-03-12 | 2019-03-12 | A kind of pineapple automatic harvester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209659973U true CN209659973U (en) | 2019-11-22 |
Family
ID=68571202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920309341.5U Expired - Fee Related CN209659973U (en) | 2019-03-12 | 2019-03-12 | A kind of pineapple automatic harvester |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209659973U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109716921A (en) * | 2019-03-12 | 2019-05-07 | 南宁职业技术学院 | A kind of pineapple automatic harvester |
-
2019
- 2019-03-12 CN CN201920309341.5U patent/CN209659973U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109716921A (en) * | 2019-03-12 | 2019-05-07 | 南宁职业技术学院 | A kind of pineapple automatic harvester |
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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: 20191122 Termination date: 20210312 |