CN209949889U - Automatic apple picking and screening machine - Google Patents
Automatic apple picking and screening machine Download PDFInfo
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- CN209949889U CN209949889U CN201920453906.7U CN201920453906U CN209949889U CN 209949889 U CN209949889 U CN 209949889U CN 201920453906 U CN201920453906 U CN 201920453906U CN 209949889 U CN209949889 U CN 209949889U
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- fruit
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- screening machine
- storehouse
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Abstract
The utility model discloses an automatic screening machine of picking of apple, handle the storehouse including the fruit, one side that the storehouse was handled to the fruit is provided with a left side and reaps the room, the opposite side that the storehouse was handled to the fruit is provided with the right side and reaps the room, the front end that the storehouse was handled to the fruit is provided with the driver's cabin, a left side reaps the room and the right lower extreme that reaps the room all is provided with the track. Automatic screening machine of plucking of apple, net and fruit processing storehouse are collected through rack and trunk fixing device that set up, manipulator, fruit are picked the fruit on the fruit tree through rocking trees, the completion is plucked the ripe fruit that does not drop, and sieve according to its size and go into the frame, accomplish the screening to the fruit, save the work of plucking of manual work in the later stage with this, can replace traditional machinery manual operation, can realize full-automatic production and reap the mode, accomplish in the true sense automaticly, do benefit to people's use, bring better use prospect.
Description
Technical Field
The utility model relates to an agricultural device field, in particular to automatic screening machine of plucking of apple.
Background
Because the fruit on modern fruit tree is taken work and is all required that the manual work of taking has certain damage and the efficiency is extremely slow to the cervical vertebra, need pick the fruit one by one, can not realize automatic harvesting and sieve, brought certain influence to people's use, for this reason, we propose the automatic screening machine of taking of apple.
Disclosure of Invention
The utility model discloses a main aim at provides the automatic screening machine of picking of apple can effectively solve the problem in the background art.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
automatic screening machine of picking of apple is including fruit processing storehouse, one side in fruit processing storehouse is provided with a left room of reaping, the opposite side in fruit processing storehouse is provided with the right room of reaping, the front end in fruit processing storehouse is provided with the driver's cabin, the lower extreme that room and the right room of reaping all is provided with the track in a left side.
1. As an optimal technical scheme of the utility model, be provided with the fruit conveyer belt between fruit processing bin and the left side room of reaping, the middle part of fruit conveyer belt is provided with the band pulley, one side fixed surface of fruit conveyer belt installs the rectangular plate, the quantity of rectangular plate is a plurality of groups, the quantity of band pulley is a plurality of groups.
2. As a preferred technical scheme of the utility model, one side fixed mounting that a left side reaped the room has rack fixed link rod, rack fixed link rod's middle part is provided with the motor storehouse, one side surface of rack fixed link rod is provided with the rack, be provided with the pneumatic cylinder between rack fixed link rod and the rack, the one end surface of rack fixed link rod and the one end surface swing joint of rack, the quantity of rack is a plurality of groups, the middle part of rack is provided with the rack and links up the round pin, the inside fixed mounting in motor storehouse has step motor.
3. As a preferred technical scheme of the utility model, one side surface of rack is provided with rack and trunk fixing device, rack and trunk fixing device's inside is provided with ring rail and servo motor, the below of rack is provided with the fruit and collects the net, the fruit is collected and is provided with four-bar linkage between net and the rack, the quantity of rack is a plurality of groups, rack and trunk fixing device's internal surface is provided with the rubber layer, and the surface on rubber layer is provided with metal baffle.
4. As a preferred technical scheme of the utility model, rack and trunk fixing device's front end is provided with the manipulator, the middle part of manipulator is provided with and links up the pin, the inside of manipulator is provided with turbine transmission and space dislocation gear.
5. As an optimal technical scheme of the utility model, the inner structure that the room was reaped on a left side is the same with the inner structure that the room was reaped on the right side, the quantity of track is four groups, the upper end of track is provided with drive mechanism, and drive mechanism is inside to be provided with step motor and drive gear.
6. As a preferred technical scheme of the utility model, the inside fixed mounting in fruit processing storehouse has fruit sensor, central controller and cylinder, central controller's output and the input electric connection of cylinder, the output of fruit sensor and central controller's input electric connection.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. through the rack and the trunk fixing device that set up, constitute by two semicircle loop configuration, the very lower extreme of the trees of tightly blocking (be equipped with rubber protection device with trees chain link end and prevent to damage trees trunk body when fixed establishment), it strengthens fixing machinery to have the telescopic link that can imbed underground in semicircle loop mechanism below, the top is equipped with the annular and embraces tree mechanical device, every loop configuration department utilizes the catch of blocking to connect two halves loop configuration. The motor drives the gears to rotate the cams, so that the two semi-annular mechanisms rotate in a staggered manner, the left and right swinging of the upper annular tree holding machine is realized, the rubber layer is arranged on the inner ring layer of the upper annular tree holding device to prevent trees from scratching trunks in the swinging of large torque, the metal baffle is arranged outside the rubber layer to prevent the rubber layer from twisting out in the twisting process, and apple picking is facilitated;
2. the mechanical arm can rotate 360 degrees on the whole annular mechanism by belt transmission, a turbine transmission and device and a space dislocation gear are arranged in the mechanical arm, so that the mechanical arm can move up and down, a connecting point is arranged at the end point of each section of mechanical arm, the mechanical arm is bent and stretched forwards by external hydraulic transmission, and the picking of the mature fruits which do not fall off is completed, so that the picking work of manpower in the later period is saved;
3. through the fruit collection net and the fruit processing bin, the fruit collection net is controlled by six four-bar mechanisms, and is driven by a motor to open when in use, and a parallelogram mechanism in the four-bar mechanisms is utilized to drive a main wheel to swing a rocker to open and drive other three bars to open. Forming an annular net, catching fruits falling down when the fruit trees shake or pick up, completing the recovery of fruits, waiting for the next instruction that the apples are harvested, inclining upwards to form a funnel-shaped net, transporting the apples downwards to a conveying belt from a net-shaped recoverer through a 'gear belt' and transporting the apples to a sorting station, detecting whether the fruits are over-ripe or not through a sensor again, screening the over-ripe fruits, the under-ripe fruits and the fruits which do not accord with the 'fruits' by using an air cylinder according to the sizes of the fruits and entering a frame to complete the screening of the fruits.
Drawings
FIG. 1 is a schematic view of the whole structure of the automatic apple picking and sieving machine of the present invention;
FIG. 2 is a schematic view of a partial structure of the automatic apple picking and sieving machine of the present invention;
FIG. 3 is a view showing the internal structure of the left harvesting chamber 2 of the automatic apple picking and screening machine of the present invention;
FIG. 4 is a partial side view of the left harvesting chamber 2 of the automatic apple picking and screening machine of the present invention;
fig. 5 is a front structure diagram of the net rack 10 in the automatic apple picking and screening machine of the present invention.
In the figure 1, a fruit treatment bin; 2. a left harvesting chamber; 3. a cab; 4. a right harvesting chamber; 5. a fruit conveyor belt; 6. a rectangular plate; 7. a pulley; 8. the net rack is fixed with a connecting rod; 9. a fruit collecting net; 10. a net frame; 11. a motor compartment; 12. the net rack and the trunk fixing device; 13. a hydraulic cylinder; 14. a net rack connecting pin; 15. a manipulator; 16. a crawler belt; 17. an engagement pin.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected or detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-5, the automatic apple picking and screening machine comprises a fruit processing bin 1, wherein a left harvesting chamber 2 is arranged on one side of the fruit processing bin 1, a right harvesting chamber 4 is arranged on the other side of the fruit processing bin 1, a cab 3 is arranged at the front end of the fruit processing bin 1, and crawler belts 16 are arranged at the lower ends of the left harvesting chamber 2 and the right harvesting chamber 4;
the partial structure of the device is expressed, in the embodiment, preferably, a fruit conveying belt 5 is arranged between the fruit processing bin 1 and the left harvesting chamber 2, a belt wheel 7 is arranged in the middle of the fruit conveying belt 5, a rectangular plate 6 is fixedly arranged on the outer surface of one side of the fruit conveying belt 5, the number of the rectangular plates 6 is a plurality of groups, and the number of the belt wheels 7 is a plurality of groups.
Can do benefit to the seat and reap 2 plays roles in room, in this embodiment, it is preferred, one side fixed mounting that room 2 was reaped on a left side has rack fixed connecting rod 8, rack fixed connecting rod 8's middle part is provided with motor storehouse 11, one side surface of rack fixed connecting rod 8 is provided with rack 10, be provided with pneumatic cylinder 13 between rack fixed connecting rod 8 and the rack 10, rack fixed connecting rod 8's one end surface and rack 10's one end surface swing joint, rack 10's quantity is a plurality of groups, rack 10's middle part is provided with rack linking pin 14, the inside fixed mounting of motor storehouse 11 has step motor.
Can exert the effect that net 9 was collected to the fruit, in this embodiment, it is preferred, one side surface of rack 10 is provided with rack and trunk fixing device 12, rack and trunk fixing device 12's inside is provided with ring rail and servo motor, rack 10's below is provided with the fruit and collects net 9, the fruit is collected and is provided with four-bar linkage between net 9 and the rack 10, the quantity of rack 10 is a plurality of groups, rack and trunk fixing device 12's internal surface is provided with the rubber layer, the surface on rubber layer is provided with metal baffle.
The structure of the manipulator 15 is expressed, which is beneficial to the operation of the manipulator 15, in the embodiment, preferably, the manipulator 15 is arranged at the front end of the net rack and trunk fixing device 12, the connecting pin 17 is arranged in the middle of the manipulator 15, and the turbine transmission device and the space dislocation gear are arranged in the manipulator 15;
part of the structural relationship is expressed, in the embodiment, preferably, the internal structure of the left harvesting chamber 2 is the same as that of the right harvesting chamber 4, the number of the crawler belts 16 is four, the upper ends of the crawler belts 16 are provided with transmission mechanisms, and stepping motors and transmission gears are arranged in the transmission mechanisms;
do benefit to fruit processing storehouse 1 and filter the fruit, in this embodiment, preferred, the inside fixed mounting in fruit processing storehouse 1 has fruit sensor, central controller and cylinder, the output of central controller and the input electric connection of cylinder, the output of fruit sensor and the input electric connection of central controller.
The most front end of the manipulator is provided with a ring-shaped hook (which can be shaken and stretched) and a clamp, the ring-shaped hook extends to the joint of the fruit and the trunk branch after the manipulator is in place, one of the ring-shaped hook clamps the branches of the fruit tree, and the ring-shaped hook rapidly retracts to separate the fruit from the branches.
The fruit collecting net is opened into a funnel shape by a parallelogram mechanism in a four-bar mechanism, and the funnel shape is inclined to the ground by 25 degrees.
The device picks the apples completely, the apples are stacked on the outer ring of the lower annular mechanism at the moment, four square holes allowing only a single apple to pass through are opened around the lower annular mechanism after harvesting is completed, and the apples sequentially pass through the square holes to reach the gear belt driven up and down and are sequentially conveyed to the sorting belt.
The telescopic device of the mechanical arm controls the telescopic of the mechanical arm by utilizing hydraulic pressure, three joints are arranged on one mechanical arm and are similar to the arm of a person, and each joint can control the telescopic of the mechanical arm by hydraulic pressure.
Three shaking grades with different degrees are arranged in the machine, the shaking degree can be controlled by adjusting the link position of the upper awakening mechanism and the connecting rod, and the other three shaking methods only need to press three buttons with different colors; the main functional system of the manipulator is integrally connected with the shell of the apple harvester. The system automatically shoots and positions the whole fruit tree, transmits the image to the CPU to process the whole image and position the fruits one by one, and presses a starting button picked by the mechanical arm when the whole system finishes work.
The utility model relates to an automatic apple picking and screening machine, which comprises a fruit processing bin 1, a left harvesting bin 2, a cab 3, a right harvesting bin 4, a fruit conveying belt 5, a rectangular plate 6, a belt wheel 7, a net rack fixing and connecting rod 8, a fruit collecting net 9, a net rack 10, a motor bin 11, a net rack and trunk fixing device 12, a hydraulic cylinder 13, a net rack connecting pin 14, a mechanical arm 15, a crawler belt 16 and a connecting pin 17, wherein when in use, the device is driven by the crawler belt 16 to the side of a fruit tree, the cab 3 controls the net rack and trunk fixing device 12, two semicircular annular structures tightly clamp the lowest end of the tree (a rubber protection device is arranged at the end of the tree to prevent the tree trunk from being damaged when the tree trunk is fixed by the fixing mechanism), a telescopic rod which can be embedded into the ground is arranged below the semicircular mechanism to strengthen the fixation of the machine, an annular tree holding mechanical device is arranged above, the combination part of each annular device is connected with two half annular devices by a blocking lock ring, a motor with large transmission power and four groups of spatial dislocation cam mechanisms are arranged in an annular structure at the lower part, the motor drives a gear to rotate the cam, so that the two half annular mechanisms rotate in a dislocation way, the left and right swinging of an annular tree holding machine at the upper part is realized, a rubber layer is arranged on the inner ring layer of the annular tree holding device at the upper part to prevent trees from scratching trunks in the swinging of large torque, a metal baffle is arranged outside the rubber layer to prevent the rubber layer from twisting out in the twisting process, which is beneficial to picking apples, and as fruits on fruit trees still have a part which can not fall by self gravity to achieve the picking effect, a manipulator 15 is arranged on the annular machine at the lower part of the machine, an annular guide rail and a servo motor are arranged inside the annular structure, and the manipulator 15 can realize the 360-degree rotation on the whole annular mechanism by belt transmission, a turbine transmission and device and a spatial dislocation gear are arranged in a manipulator 15 to realize the up-and-down movement of the manipulator 15, a connecting point is arranged at the end position of each section of manipulator arm, the bending and the forward extension of the manipulator arm are realized by utilizing hydraulic transmission outside the manipulator arm to finish picking mature fruits which do not fall off, so that the picking work of manpower in the later period is saved, a fruit collecting net 9 is controlled by six four-bar mechanisms, the fruit collecting net is driven by a motor to open when in use, a main wheel is driven by a parallelogram mechanism in the four-bar mechanisms to shake and open a rocker and drive other three bars to open to form an annular net, then the fruits falling off when the fruit trees shake or pick up are ' caught ', the fruits are recovered, six bars are upwards inclined into a ' funnel-shaped ' net after the next instruction of harvesting is finished, and the apples are transported downwards to a fruit conveyer belt 5 to be sorted by a ' gear belt Standing, detecting again through the fruit sensor and detecting whether "the ripe", utilize the cylinder with the fruit that has ripe and not ripe and the fruit that does not conform to "achievement", sieve according to its size and go into the frame, accomplish the screening to the fruit, it is comparatively practical.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. Automatic screening machine of plucking of apple is including fruit processing storehouse (1), its characterized in that: one side of fruit processing bin (1) is provided with left harvesting chamber (2), the opposite side of fruit processing bin (1) is provided with right harvesting chamber (4), the front end of fruit processing bin (1) is provided with driver's cabin (3), the lower extreme of left side harvesting chamber (2) and right harvesting chamber (4) all is provided with track (16).
2. The automatic apple picking and screening machine according to claim 1, characterized in that: fruit is handled and is provided with fruit conveyer belt (5) between storehouse (1) and the left room (2) of reaping, the middle part of fruit conveyer belt (5) is provided with band pulley (7), one side fixed surface of fruit conveyer belt (5) installs rectangular plate (6), the quantity of rectangular plate (6) is a plurality of groups, the quantity of band pulley (7) is a plurality of groups.
3. The automatic apple picking and screening machine according to claim 1, characterized in that: one side fixed mounting that a left side reaped room (2) has rack fixed link pole (8), the middle part of rack fixed link pole (8) is provided with motor storehouse (11), one side surface of rack fixed link pole (8) is provided with rack (10), be provided with pneumatic cylinder (13) between rack fixed link pole (8) and rack (10), the one end surface of rack fixed link pole (8) and the one end surface swing joint of rack (10), the quantity of rack (10) is a plurality of groups, the middle part of rack (10) is provided with rack linking pin (14), the inside fixed mounting of motor storehouse (11) has step motor.
4. The automatic apple picking and screening machine according to claim 3, characterized in that: the utility model discloses a fruit harvesting machine, including rack (10), rack and trunk fixing device (12), one side surface of rack (10) is provided with rack and trunk fixing device (12), the inside of rack and trunk fixing device (12) is provided with ring rail and servo motor, the below of rack (10) is provided with fruit and collects net (9), it is provided with four-bar linkage between net (9) and rack (10) to collect the fruit, the quantity of rack (10) is a plurality of groups, the rack is provided with the rubber layer with the internal surface of trunk fixing device (12), and the surface on rubber layer is provided with metal baffle.
5. The automatic apple picking and screening machine according to claim 4, characterized in that: the rack is provided with manipulator (15) with the front end of trunk fixing device (12), the middle part of manipulator (15) is provided with linking pin (17), the inside of manipulator (15) is provided with turbine transmission and space dislocation gear.
6. The automatic apple picking and screening machine according to claim 1, characterized in that: the inner structure of the left harvesting chamber (2) is the same as that of the right harvesting chamber (4), the number of the tracks (16) is four, a transmission mechanism is arranged at the upper end of each track (16), and a stepping motor and a transmission gear are arranged inside each transmission mechanism.
7. The automatic apple picking and screening machine according to claim 1, characterized in that: the fruit processing bin is characterized in that a fruit sensor, a central controller and an air cylinder are fixedly mounted inside the fruit processing bin (1), the output end of the central controller is electrically connected with the input end of the air cylinder, and the output end of the fruit sensor is electrically connected with the input end of the central controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920453906.7U CN209949889U (en) | 2019-04-04 | 2019-04-04 | Automatic apple picking and screening machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920453906.7U CN209949889U (en) | 2019-04-04 | 2019-04-04 | Automatic apple picking and screening machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209949889U true CN209949889U (en) | 2020-01-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920453906.7U Expired - Fee Related CN209949889U (en) | 2019-04-04 | 2019-04-04 | Automatic apple picking and screening machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209949889U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109997511A (en) * | 2019-04-04 | 2019-07-12 | 聊城职业技术学院 | Apple automatic picking screening machine |
| CN115836618A (en) * | 2022-07-20 | 2023-03-24 | 西南科技大学 | Radix ophiopogonis damage-free fruit picking system and method |
-
2019
- 2019-04-04 CN CN201920453906.7U patent/CN209949889U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109997511A (en) * | 2019-04-04 | 2019-07-12 | 聊城职业技术学院 | Apple automatic picking screening machine |
| CN115836618A (en) * | 2022-07-20 | 2023-03-24 | 西南科技大学 | Radix ophiopogonis damage-free fruit picking system and method |
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| Date | Code | Title | Description |
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| 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: 20200117 Termination date: 20210404 |