CN211745429U - Agricultural picking device - Google Patents
Agricultural picking device Download PDFInfo
- Publication number
- CN211745429U CN211745429U CN201922421288.0U CN201922421288U CN211745429U CN 211745429 U CN211745429 U CN 211745429U CN 201922421288 U CN201922421288 U CN 201922421288U CN 211745429 U CN211745429 U CN 211745429U
- Authority
- CN
- China
- Prior art keywords
- shearing
- driving mechanism
- pipe
- agricultural
- adsorption tube
- Prior art date
- 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.)
- Active
Links
Images
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model provides an agricultural picking device, belonging to the technical field of agricultural equipment, comprising a vehicle body, an adsorption tube, a collecting tube, a first driving mechanism and a shearing mechanism, wherein the vehicle body is provided with a collecting bag; the adsorption tube is connected with the vehicle body, an elastic limiting sleeve and a ventilating plate are arranged in the adsorption tube, and the adsorption tube adsorbs the fruits in the limiting sleeve by means of vacuum suction and penetrates through the limiting sleeve to slide along the adsorption tube; one end of the collecting pipe is connected with the adsorption pipe, the other end of the collecting pipe is communicated with the collecting bag, and fruits sliding along the adsorption pipe are guided into the collecting pipe through the ventilating plate and are conveyed to the collecting bag; the first driving mechanism is used for driving the adsorption tube to align the fruit; the shearing mechanism is used for shearing the joint of the fruit adsorbed by the adsorption tube, the shearing mechanism is connected with the vehicle body through a second driving mechanism, and the second driving mechanism is used for controlling the position of the shearing mechanism. The utility model provides a device is picked to agricultural has liberated the labour, has improved and has picked efficiency.
Description
Technical Field
The utility model belongs to the technical field of agricultural equipment, more specifically say, relate to an agricultural harvesting device.
Background
The farming area in China is large, the agricultural yield is large, and agricultural picking is a huge work. The existing fruit trees are picked by farmers in bare hands, and the higher fruits need to be picked by carrying ladders, so that a large amount of manpower is consumed, and the picking efficiency is low.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a device is picked to agricultural aims at solving and has now picked fruit and consume a large amount of manpowers and pick the problem of inefficiency.
In order to achieve the above object, the utility model adopts the following technical scheme: the agricultural picking device comprises a vehicle body, an adsorption pipe, a collecting pipe, a first driving mechanism and a shearing mechanism, wherein the vehicle body is provided with a collecting bag; the adsorption tube is connected with the vehicle body, an elastic limiting sleeve and a ventilating plate are arranged in the adsorption tube, and the adsorption tube adsorbs the fruits in the limiting sleeve by means of vacuum suction and penetrates through the limiting sleeve to slide along the adsorption tube; one end of the collecting pipe is connected with the adsorption pipe, the other end of the collecting pipe is communicated with the collecting bag, and fruits sliding along the adsorption pipe are guided into the collecting pipe through the ventilating plate and are conveyed to the collecting bag; the first driving mechanism is used for driving the adsorption tube to align the fruit; the shearing mechanism is used for shearing the joint of the fruit adsorbed by the adsorption tube, the shearing mechanism is connected with the vehicle body through a second driving mechanism, and the second driving mechanism is used for controlling the position of the shearing mechanism.
As another embodiment of the present application, the shearing mechanism includes a shearing slide rail and a shearing knife, and the shearing slide rail is connected to the second driving mechanism; the shearing knives are arranged on the shearing sliding rail in a sliding mode, and the two shearing knives shear the joint of the fruit through opposite movement.
According to another embodiment of the application, the shearing slide rail is a screw rod, the screw rod is rotatably arranged on the supporting seat and is connected with the second driving mechanism through the supporting seat, the screw rod is coaxially connected with the shearing motor, two nuts with opposite rotation directions are in threaded connection with the screw rod, the two nuts are respectively connected with two shearing knives, and the shearing knives move in opposite directions by means of the screw rod and the nuts.
As another embodiment of the present application, the second driving mechanism includes a turntable, a fixed seat, a first arm lever, and a second arm lever, and the turntable is disposed on the vehicle body and can rotate; the fixing seat is arranged on the rotary table: the first arm lever is rotatably connected with the fixed seat; the second arm lever rotates with first arm lever to be connected, and the supporting seat rotates with the second arm lever to be connected, and carousel, first arm lever, second arm lever, supporting seat all rotate through driving motor drive.
As another embodiment of the present application, the first driving mechanism includes a first cylinder and a second cylinder, the first cylinder is rotatably disposed on the second arm rod and perpendicular to the second arm rod, and the first cylinder is driven to rotate by means of a fine tuning motor; the second cylinder is connected with the cylinder rod of the first cylinder and is vertical to the first cylinder, and the cylinder rod of the second cylinder is connected with the adsorption pipe.
In another embodiment of the present application, a circular truncated cone-shaped suction hole is provided in the stopper sleeve.
As another embodiment of the present application, the stop collar is a rubber member.
As another embodiment of this application, the adsorption tube is connected with the breather pipe, and the breather pipe links to each other with the vacuum pump, and the vacuum pump links to each other with the automobile body.
As another embodiment of the present application, the vent tube is a hose.
According to another embodiment of the application, the detecting head is arranged on the supporting seat and electrically connected with the control part, and the control part is used for controlling the first driving mechanism, the second driving mechanism and the shearing mechanism to move.
The utility model provides a device is picked to agricultural beneficial effect lies in: compared with the prior art, the utility model discloses device is picked to agricultural is equipped with on the automobile body and collects the pocket, is equipped with the adsorption tube on the automobile body and shears the mechanism, is equipped with elastic stop collar and ventilating plate in the adsorption tube, and the adsorption tube is connected with the collecting pipe, and the collecting pipe accesss to and collects the pocket. The adsorption tube moves under the action of the first driving mechanism and is aligned with the fruit, then the fruit is adsorbed and fixed by controlling the size of the vacuum suction force, the fruit is limited in the limit sleeve, the shearing mechanism moves to the shearing position under the action of the second driving mechanism, the fruit is sheared from the joint of the fruit and the fruit tree, then the vacuum suction force is increased, the fruit rolls to the ventilating plate along the adsorption tube through the limit sleeve, the vacuum suction force stops being provided after the limiting sleeve passes through, the fruit enters the collecting tube under the guiding action of gravity and the ventilating plate, the fruit is conveyed to the collecting bag through the collecting tube, the picking is completed, the mechanical picking is realized, the labor force is liberated, and the picking efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of an agricultural picking device provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a shearing mechanism of an agricultural picking apparatus provided in an embodiment of the present invention;
fig. 3 is a schematic view of a connection structure of an adsorption tube, a collection tube and a limit sleeve of the agricultural picking device provided by the embodiment of the present invention;
fig. 4 is a sectional view of the structure taken along line a-a of fig. 3.
In the figure: 1. a shearing knife; 2. a supporting seat; 3. a second arm; 4. a first arm; 5. a vehicle body; 6. a fixed seat; 7. a turntable; 8. a vacuum pump; 9. collecting bags; 10. a collection pipe; 11. a breather pipe; 12. a first cylinder; 13. a second cylinder; 14. an adsorption tube; 15. shearing the sliding rail; 16. a probe head; 17. a gas permeable plate; 18. a limiting sleeve.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 and 2 together, the agricultural picking apparatus of the present invention will now be described. The agricultural picking device comprises a vehicle body 5, an adsorption pipe 14, a collecting pipe 10, a first driving mechanism and a shearing mechanism, wherein the vehicle body 5 is provided with a collecting bag 9; the adsorption tube 14 is connected with the vehicle body 5, an elastic limiting sleeve 18 and a ventilating plate 17 are arranged in the adsorption tube 14, and the adsorption tube 14 adsorbs the fruits in the limiting sleeve 18 by means of vacuum suction and penetrates through the limiting sleeve 18 to slide along the adsorption tube 14; one end of the collecting pipe 10 is connected with the adsorption pipe 14, the other end of the collecting pipe is communicated with the collecting bag 9, and fruits sliding along the adsorption pipe 14 are guided into the collecting pipe 10 through the ventilating plate 17 and are conveyed to the collecting bag 9; the first driving mechanism is used for driving the adsorption tube 14 to be aligned with the fruit; the shearing mechanism is used for shearing the joint of the fruits adsorbed by the adsorption tube 14, the shearing mechanism is connected with the vehicle body 5 through a second driving mechanism, and the second driving mechanism is used for controlling the position of the shearing mechanism.
The utility model provides a device is picked to agricultural compares with prior art, is equipped with on the automobile body 5 and collects pocket 9, is equipped with adsorption tube 14 on the automobile body 5 and shears the mechanism, is equipped with in the adsorption tube 14 to have elastic stop collar 18 and ventilating plate 17, and adsorption tube 14 is connected with collecting pipe 10, and collecting pipe 10 leads to and collects pocket 9. The adsorption tube 14 moves under the action of the first driving mechanism to be aligned with fruits, then the fruits are adsorbed and fixed by controlling the size of vacuum suction, the fruits are limited in the limiting sleeve 18, the shearing mechanism moves to a shearing position under the action of the second driving mechanism, the fruits and the joints of fruit trees are sheared, then the vacuum suction is increased, the fruits roll to the ventilating plate 17 along the adsorption tube 14 through the limiting sleeve 18, the vacuum suction is stopped to be provided after the fruits pass through the limiting sleeve 18, the fruits enter the collecting tube 10 under the guiding action of gravity and the ventilating plate 17, the fruits are conveyed to the collecting bag 9 through the collecting tube 10, the picking is completed, the mechanical picking is realized, the labor force is liberated, and the picking efficiency is improved.
As a specific embodiment of the agricultural picking apparatus provided by the present invention, please refer to fig. 1 to 2, the shearing mechanism includes a shearing slide rail 15 and a shearing knife 1, the shearing slide rail 15 is connected to the second driving mechanism; the number of the shearing knives 1 is two, the shearing knives 1 are arranged on the shearing sliding rail 15 in a sliding mode, and the two shearing knives 1 shear the joint of the fruit through opposite movement. The two shearing knives 1 move oppositely to cut off the joint of the fruit and the fruit tree.
As the utility model provides a concrete implementation mode of device is picked to agricultural please refer to and draw together 1 to fig. 2, cut slide rail 15 and be the lead screw, on the supporting seat 2 was located in the lead screw rotation, the lead screw passed through supporting seat 2 and links to each other with second actuating mechanism, lead screw coaxial coupling shearing motor, two screws that revolve to opposite on the lead screw of threaded connection, two screws are connected respectively and are cut sword 1, cut sword 1 with the help of lead screw and screw motion in opposite directions.
As a specific embodiment of the agricultural picking device provided by the present invention, please refer to fig. 1 to 2, the second driving mechanism includes a rotating disc 7, a fixed seat 6, a first arm 4, and a second arm 3, the rotating disc 7 is disposed on the vehicle body 5 and can rotate; fixing base 6 is located on carousel 7: the first arm lever 4 is rotatably connected with the fixed seat 6; second armed lever 3 rotates with first armed lever 4 to be connected, and supporting seat 2 rotates with second armed lever 3 to be connected, and carousel 7, first armed lever 4, second armed lever 3, supporting seat 2 all rotate through driving motor drive.
In this embodiment, the turntable 7, the first arm lever 4, the second arm lever 3, and the support base 2 are respectively and coaxially connected to a driving motor, and the turntable 7 is connected to the vehicle body 5 through the driving motor.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 1 to 4, the first driving mechanism includes a first cylinder 12 and a second cylinder 13, the first cylinder 12 is rotatably disposed on the second arm 3 and perpendicular to the second arm 3, and the first cylinder 12 is driven to rotate by a fine tuning motor; the second cylinder 13 is connected with the cylinder rod of the first cylinder 12 and is perpendicular to the first cylinder 12, and the cylinder rod of the second cylinder 13 is connected with the adsorption pipe 14.
In this embodiment, the first driving mechanism is connected to the second driving mechanism, and when adjusting the position, the second driving mechanism adjusts the position in a large range, and then the first driving mechanism and the rotation between the supporting seat 2 and the second arm 3 finely adjust the positions of the adsorption tube 14 and the shearing knife 1, respectively, so that the shearing knife 1 and the adsorption tube 14 are adjusted to appropriate positions.
As a specific implementation manner of the embodiment of the present invention, referring to fig. 3 and 4, a circular truncated cone-shaped adsorption hole is provided in the position-limiting sleeve 18.
In this embodiment, the limiting sleeve 18 has elasticity, and when the vacuum suction is small, the small holes of the truncated cone-shaped adsorption holes prevent fruits from passing through; when the vacuum suction increases, the fruit squeezes the stop collar 18 under the vacuum suction for the suction hole increases, and the fruit passes through the suction hole.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 3 to 4, the position-limiting sleeve 18 is a rubber component. The fruit-bearing roller is made of rubber parts, so that the fruits can be prevented from being scratched when passing through the roller.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 1, the adsorption pipe 14 is connected to a vent pipe 11, the vent pipe 11 is connected to a vacuum pump 8, and the vacuum pump 8 is connected to the vehicle body 5.
In this embodiment, the ventilation holes are formed on the ventilation plate 17.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 1, the air pipe 11 is a hose.
Referring to fig. 1, a detecting head 16 is disposed on the supporting base 2, the detecting head 16 is electrically connected to a control portion, and the control portion is used for controlling the movement of the first driving mechanism and the second driving mechanism.
In this embodiment, it is troublesome to control the first driving mechanism, the second driving mechanism, the shearing mechanism, the vacuum pump 8, and the like through the manual operation panel. Set up detecting head 16, through control program automatic identification fruit, detecting head 16 transmits the signal for the control part, and the first actuating mechanism of control part control, second actuating mechanism, shear motion such as mechanism have realized automatic control, and is more convenient and intelligent.
The detector head 16 in this embodiment is a CCD camera, which transmits an image to the control unit, and the control unit processes the image to identify the fruit and the position of the fruit, thereby picking the fruit.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 1, the inner wall of the collecting bag 9 is laid with an elastic material. Elastic materials are laid in the collecting bag 9 to prevent the fruits from being damaged when falling into the collecting bag 9.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. Device is picked to agricultural, its characterized in that includes:
the vehicle body is provided with a collecting bag;
the adsorption tube is connected with the vehicle body, an elastic limiting sleeve and a ventilating plate are arranged in the adsorption tube, and the adsorption tube adsorbs the fruits in the limiting sleeve by means of vacuum suction and penetrates through the limiting sleeve to slide along the adsorption tube;
one end of the collecting pipe is connected with the adsorption pipe, the other end of the collecting pipe is communicated with the collecting bag, and fruits sliding along the adsorption pipe are guided into the collecting pipe through the ventilating plate and are conveyed to the collecting bag;
the first driving mechanism is used for driving the adsorption tube to align the fruit;
and the shearing mechanism is used for shearing the joint of the fruit adsorbed by the adsorption tube, the shearing mechanism is connected with the vehicle body through a second driving mechanism, and the second driving mechanism is used for controlling the position of the shearing mechanism.
2. An agricultural harvesting apparatus according to claim 1, wherein the shearing mechanism comprises;
the shearing sliding rail is connected with the second driving mechanism;
the two shearing knives are arranged on the shearing sliding rail in a sliding mode and shear the joint of the fruit through opposite movement.
3. An agricultural picking apparatus according to claim 2, wherein the shearing slide is a screw rod, the screw rod is rotatably disposed on a support base, the screw rod is connected with the second driving mechanism through the support base, the screw rod is coaxially connected with the shearing motor, two nuts with opposite rotation directions are screwed on the screw rod, the two nuts are respectively connected with two shearing knives, and the shearing knives are moved towards each other by means of the screw rod and the nuts.
4. An agricultural picking apparatus according to claim 3, characterised in that the second drive mechanism comprises:
the turntable is arranged on the vehicle body and can rotate;
the fixing base is arranged on the rotary disc:
the first arm lever is rotatably connected with the fixed seat; and
the second arm lever, with first arm lever rotates to be connected, the supporting seat with the second arm lever rotates to be connected, carousel, first arm lever, second arm lever, supporting seat all rotate through driving motor drive.
5. An agricultural picking apparatus according to claim 4, in which the first drive mechanism comprises:
the first air cylinder is rotatably arranged on the second arm rod and is perpendicular to the second arm rod, and the first air cylinder is driven to rotate by means of a fine adjustment motor;
and the second cylinder is connected with the cylinder rod of the first cylinder and is vertical to the first cylinder, and the cylinder rod of the second cylinder is connected with the adsorption pipe.
6. An agricultural harvesting apparatus according to claim 1, wherein a truncated cone shaped suction hole is provided in the stop collar.
7. An agricultural picking device according to claim 6, characterised in that the stop collar is a rubber member.
8. An agricultural harvesting apparatus according to claim 1, wherein the suction pipe is connected to a vent pipe, the vent pipe being connected to a vacuum pump, the vacuum pump being connected to the vehicle body.
9. An agricultural harvesting apparatus according to claim 8, wherein the vent tube is a hose.
10. An agricultural picking device according to claim 3, wherein the support base is provided with a probe, the probe is electrically connected with a control part, and the control part is used for controlling the movement of the first driving mechanism, the second driving mechanism and the shearing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922421288.0U CN211745429U (en) | 2019-12-27 | 2019-12-27 | Agricultural picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922421288.0U CN211745429U (en) | 2019-12-27 | 2019-12-27 | Agricultural picking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211745429U true CN211745429U (en) | 2020-10-27 |
Family
ID=72978188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922421288.0U Active CN211745429U (en) | 2019-12-27 | 2019-12-27 | Agricultural picking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211745429U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116784103A (en) * | 2023-07-26 | 2023-09-22 | 广东海洋大学 | Fruit is picked and detection device based on control of intelligence wifi |
-
2019
- 2019-12-27 CN CN201922421288.0U patent/CN211745429U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116784103A (en) * | 2023-07-26 | 2023-09-22 | 广东海洋大学 | Fruit is picked and detection device based on control of intelligence wifi |
| CN116784103B (en) * | 2023-07-26 | 2024-03-01 | 广东海洋大学 | Fruit is picked and detection device based on control of intelligence wifi |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109997514B (en) | Fruit picking platform | |
| CN211745429U (en) | Agricultural picking device | |
| CN206301885U (en) | Battery side gummed paper patch wraps up in machine | |
| CN108476740B (en) | Ridge-crossing type strawberry picking vehicle | |
| CN110235607B (en) | End effector of fruit stem clamping and cutting type picking robot | |
| CN207915774U (en) | A kind of glass drilling machine | |
| CN114175926A (en) | Picking machine gripper capable of adsorbing fruits | |
| CN210059585U (en) | Flaring processing equipment is used in production of air conditioner connecting pipe | |
| CN208496972U (en) | A kind of soil sampling machine people | |
| CN113001520A (en) | Robot hand-eye calibration device and method | |
| CN211651670U (en) | Agricultural information acquisition device based on big data | |
| CN204514694U (en) | A kind of there is real-time monitoring and control get pipe device | |
| CN216982645U (en) | Fruit picking manipulator with adsorption function | |
| CN109644702A (en) | A kind of ensiling forage cutting machine | |
| CN203843461U (en) | Plastic sleeve assembling structure used on automatic fuse assembling machine | |
| CN104328619A (en) | Vertical efficient thread end trimming machine | |
| CN209314334U (en) | Fruit picker | |
| CN208739625U (en) | A kind of automatic recovering device of intelligence fruits and vegetables | |
| CN106885716B (en) | A kind of multimembrane sampling meausring apparatus | |
| CN111788997A (en) | Machine equipment is picked to red ball lid mushroom of wine | |
| CN219563479U (en) | Material cutting machine with positioning function | |
| CN219709465U (en) | Liquid medicine filter bacterium interception experimental device | |
| CN219224284U (en) | Automatic sampling device for volatile organic compounds | |
| CN216359068U (en) | Agriculture and forestry waste garbage crushing dust control equipment | |
| CN220224166U (en) | Microorganism sample sampling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221230 Address after: 050000 Room 2903, Unit 1, Building 5, Ximei Huajie Apartment, No. 8, Huifeng Road, Qiaoxi District, Shijiazhuang, Hebei Patentee after: Qiaoxi District Junyida Literature and Seal Society Address before: 050091 no.626, Hongqi Street, Shijiazhuang City, Hebei Province Patentee before: HEBEI College OF INDUSTRY AND TECHNOLOGY |