CN212936772U - Fruit picking machine - Google Patents

Abstract

The utility model relates to a fruit picker, include: a fruit taking part for receiving the fruit body and cutting the fruit stem, wherein the fruit taking part is provided with a fruit body outlet; the fruit conveying pipeline is connected and communicated with the fruit body outlet; the supporting device is used for adjusting the position of the fruit taking part, and the fruit taking part is arranged on the supporting device; and the power transmission device is used for driving the fruit taking part to cut the fruit stems. Based on the utility model discloses a fruit picker can realize that the fruit body is picked fast, saves time and manpower.

Description

Fruit picking machine

Technical Field

The utility model belongs to fruit picking equipment field especially relates to a fruit picker.

Background

At present, fruit picking equipment or tools at home and abroad are used for picking fruits by lifting tools alone instead of standing on a fruit picking machine by a plurality of persons, the technical means is not advanced enough, the fruit picking efficiency is lower, the labor cost is high, China is a big country for fruit production, and the picking efficiency is low because the technical content of the used machines or tools is not high in every fruit harvesting season.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that will solve is: provides a fruit picking machine, can realize the quick picking of fruit bodies and save time and labor.

The utility model provides a fruit picker, include: the fruit picking part is used for receiving the fruit body and cutting the fruit stem and is provided with a fruit body outlet; the fruit conveying pipeline is connected and communicated with the fruit body outlet; the supporting device is used for adjusting the position of the fruit taking part, and the fruit taking part is arranged on the supporting device; and the power transmission device is used for driving the fruit taking part to cut the fruit stems.

Therefore, the power transmission device drives the fruit taking part to cut, pick and accept the fruit bodies, and the fruit bodies are conveyed through the fruit conveying pipeline, so that the fruit body picking is carried out by fewer people without manual conveying, and the picking efficiency is high.

On the basis of the above scheme, the utility model discloses can also carry out following improvement:

furthermore, get fruit portion including the first casing that is used for accepting the fruit body and cut the cutting assembly of fruit stem, first casing set up in strutting arrangement is last, power transmission drives cutting assembly cuts the fruit stem.

Further, the first shell is provided with a nest-shaped structure, the first shell is provided with the fruit body outlet, the cutting assembly comprises a first tooth body and a second tooth body, the first tooth body and the second tooth body are located at the nest opening of the first shell, the first tooth body is connected with the power output end of the power transmission device, and the second tooth body is fixedly connected with the supporting device.

Therefore, when fruits are taken, the supporting device is adjusted to enable the fruits to enter the fruit taking part from the nest opening, the fruit stems are clamped into the first tooth bodies and/or the second tooth bodies, then the power transmission device is used for driving the first tooth bodies to move, the first tooth bodies and the second tooth bodies move relatively, and the fruit stems are cut.

Specifically, the first gear body is fixedly arranged on the first shell, and the first shell is connected with a power output end of the power transmission device.

Preferably, the fruit picking part further comprises a second shell with a bird nest structure, the first shell is sleeved in the second shell, an opening corresponding to the fruit outlet is formed in the second shell, the second shell is provided with the second tooth body, the second shell is fixedly connected with the supporting device, and the first rack and the second rack are overlapped and have consistent radian.

Therefore, the first tooth body is coincided with the second tooth body, the opening on the fruit body outlet of the first shell body is coincided with the opening on the second shell body, when cutting operation is needed, the power transmission device is used for driving the first tooth body and the second tooth body to be subjected to staggered cutting, rapid cutting of fruit stalks can be achieved, after cutting is completed, the power transmission device drives the first tooth body and the second tooth body to be coincided, the fruit body outlet of the first shell body is coincided with the opening on the second shell body, fruit bodies are output from the transmission pipeline, and conveying time of the fruit bodies is convenient to control.

Optionally, the first housing has a bird nest structure, the first housing is provided with the fruit body outlet, the cutting assembly includes a first tooth body and a second tooth body located at the nest of the first housing, the second tooth body is fixedly disposed on the first housing, and the second tooth body is connected to the power output end of the power transmission device.

Therefore, when fruits are taken, the supporting device is adjusted to enable the fruits to enter the fruit taking part from the nest opening, the fruit stems are clamped into the first tooth bodies, then the power transmission device is used for driving the second tooth bodies to move, the first tooth bodies and the second tooth bodies move relatively, and the fruit stems are cut.

Furthermore, the supporting device comprises a vertical supporting rod, an adjusting rod and a universal ball head bearing connected with the vertical supporting rod and the adjusting rod, the upper end of the vertical supporting rod is fixedly connected with a ball head of the universal ball head bearing, the adjusting rod is fixedly connected with a ball shell of the universal ball head bearing, and the fruit picking part is positioned at the upper end of the adjusting rod.

The ball bearing is one of the common parts in the mechanical field, and is mainly used for the transmission, support or operation connecting piece of various machines. The universal ball head bearing comprises a ball head, a ball shell and a steel ball, the ball shell is arranged on the outer side of the ball head, the steel ball is assembled between the ball head and the ball shell, and therefore the adjusting rod can rotate up and down and rotate left and right for a supporting point through the universal ball head bearing, so that the fruit taking part at the upper end of the adjusting rod is adjusted in position, and the fruit body is rapidly accepted and cut.

Preferably, the lower end of the vertical support rod is provided with a tripod or a roller device, so that the vertical support rod is convenient to fix and move manually.

Further, power transmission includes power device and drive assembly, drive assembly includes the main shaft, be fixed in first sprocket on the main shaft and with first sprocket matched with chain, the main shaft rotate install in adjust the pole upper end, first casing is fixed in on the main shaft, power device is used for driving the chain is reciprocating motion.

Specifically, one end of the main shaft penetrates through a fifth through hole in the upper end of the adjusting rod and a sixth through hole in the second shell to be fixedly connected with the first shell, the rotating shaft is rotatably connected with the upper end of the adjusting rod, and the second shell is fixed on the adjusting rod.

Preferably, the second housing is fixed to the adjustment rod through a mounting seat, so that the mounting firmness of the second housing is improved.

Preferably, the first housing and the spindle, the second housing and the mounting seat, and the mounting seat and the spindle are detachably connected, respectively.

Therefore, each part is convenient to disassemble, clean and replace.

Furthermore, power device includes two hand grips and two trigger mechanisms, it forms two to adjust the branching of pole lower extreme the hand grip, each be provided with one respectively on the hand grip trigger mechanism, the chain both ends respectively with one trigger mechanism is connected, be provided with in the regulation pole and make trigger mechanism reset's elasticity subassembly that resets.

Specifically, each trigger mechanism includes trigger, trigger pivot and third sprocket respectively, the trigger pass through the trigger pivot install in the hand (hold), be fixed with one in the trigger pivot the third sprocket, the chain both ends are fixed in one respectively on the third sprocket.

From this, detain one of them trigger, the chain drives the sprocket and rotates to drive the main shaft and rotate, the main shaft drives first casing and rotates, thereby drives first tooth body on the first casing and takes place the dislocation cutting with the second tooth body, loosens the trigger, under the effect of elasticity reset assembly, the chain drives trigger, first sprocket, third sprocket, main shaft, first casing and first tooth body and resets, prepares for next cutting operation.

Further, the adjusting rod is a rod body with a cavity structure, the first chain wheel and the chain are respectively located in the cavity of the adjusting rod, the elastic reset assembly comprises a fixed plate, a sliding plate and a reset spring which are located in the cavity of the adjusting rod, the fixed plate is fixedly connected with the adjusting rod, the sliding plate is slidably connected with the adjusting rod, two ends of the reset spring are respectively connected with the fixed plate and the sliding plate, the fixed plate is respectively provided with a first through hole and a second through hole, the chain is fixedly provided with a first limiting block and a second limiting block, the sliding plate is provided with a third through hole corresponding to the first through hole and a fourth through hole corresponding to the second through hole, one end of the chain sequentially penetrates through the first limiting block, the first through hole and the third through hole to be connected with the trigger mechanism, and the other end of the chain sequentially penetrates through the second limiting block, The second through hole and the fourth through hole are connected with the other trigger mechanism.

Therefore, when one trigger is pulled, one end of a chain connected with the trigger drives one limiting block (a first limiting block or a second limiting block) to push the sliding plate to compress the return spring when a fruit is cut and taken, the trigger is loosened, the sliding plate, the first limiting block and the second limiting block are reset under the action of the return force of the return spring, and the two triggers, the two third chain wheels, the main shaft, the first shell and the first tooth body are driven to reset, so that preparation is made for next cutting operation.

Therefore, most components of the power transmission device are positioned in the cavity of the adjusting rod, so that the space occupation of the instrument is saved, the instrument is small and flexible, and the operation and the movement are convenient.

As another alternative of the present invention, the power device includes a driving motor and a second sprocket engaged with the chain, the second sprocket is fixedly disposed on the output shaft of the driving motor.

Specifically, the power transmission device is electrically powered by an external power source.

Preferably, the adjusting rod is a rod body with a cavity structure, and the first chain wheel, the second chain wheel and the chain are all arranged in the cavity of the adjusting rod.

Therefore, the power driving can be realized by adopting an electric driving mode besides the manual driving mode, and the labor is saved and the speed is high.

Further, still include information acquisition device, display device and control system, information acquisition system is including the camera of shooing that is used for gathering the fruit state, the camera device is installed and is close to in strutting arrangement get fruit end, display device installs and keeps away from in strutting arrangement get fruit end, the camera of shooing and display device respectively with control system connects.

Preferably, the driving motor is connected with the control system.

Specifically, control system includes computer control system and PLC control system, and computer control system is connected with PLC control system, it respectively with PLC control system connects to take photo camera, display device and driving motor. Therefore, the computer control and the PLC control are connected together, the electric control and the intelligent control can be achieved, and the PLC can be programmed on the computer.

Specifically, based on the utility model discloses a camera takes a picture to fruit condition position and takes a picture the sample to in sending the picture of taking to computer control system, computer control system discerns the picture of taking, and according to the ripe situation of having set for the algorithm judgement current fruit, carry out location tracking or catch fruit, computer control system sends the fruit image at that time and situation on every side to the display demonstration simultaneously, and PLC control system receives the instruction control motor operation that comes from computer control system.

Specifically, the camera and the computer control system identify the mature fruit by using a color difference principle.

Preferably, the camera is a rotary camera.

From this, PLC control system receives the command control who comes from computer control system rotatory camera rotates, and the camera can diversely shoot, acquire the specific position and the distance between branch, leaf and the fruit of fruit in the fruit tree crown, the fruit of being convenient for is gathered.

Preferably, shown display device is the display screen, computer control system, PLC control system set up in the display screen, be provided with a plurality of operation buttons on the display screen, the operation button is including being used for controlling the starting key that motor, camera and nondestructive test mechanism opened or closed, searches for the search key with the location to ripe fruit for the control motor carries out the pivoted cutting key and is used for controlling the motor and carries out the end key that the reversal resets.

Therefore, the corresponding instruction is sent out through the operation key, and the corresponding operation is realized.

Preferably, the operation keys are different in color.

Furthermore, a plurality of resistance reducing holes are formed in the fruit conveying pipeline body, and fruit protection is arranged on the inner wall of the fruit conveying pipeline.

Specifically, the fruit conveying pipeline is a long and thin hose belt, fine-grain canvas or nylon cloth is preferably selected as a material, so that the fruit conveying belt can move in multiple directions and at multiple angles, and an outlet of the fruit conveying belt can directly extend into a packing box or a related container for placing fruits.

Specifically, the fruit conveying pipeline is detachably arranged at the fruit body outlet, so that the fruit conveying pipelines (different lengths, calibers and materials) of different fruits can be replaced according to needs, and the actual picking requirements are met.

Preferably, the resistance reducing holes are uniformly distributed on the fruit conveying pipeline and used for reducing air resistance when fruits slide down in the conveying pipeline.

Preferably, the fruit protecting velvet is elastic or tough fine silk floss, and is woven or stuck on the inner wall of the fruit conveying pipeline to buffer the gliding speed of fruits and avoid scratches on the surface of the fruits.

Drawings

Fig. 1 is a schematic structural diagram according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of another embodiment according to the present invention.

Fig. 3 is an assembly structure diagram of the fruit picking part in the embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a transmission assembly according to an embodiment of the present invention.

Fig. 5 is a schematic view of the internal structure at a in fig. 4.

Fig. 6 is a schematic structural diagram of a trigger mechanism according to an embodiment of the present invention.

Fig. 7 is a schematic view of the internal structure of the fruit conveying pipe in the embodiment of the present invention.

In the accompanying fig. 1-7, the components represented by the respective reference numerals are as follows:

a fruit taking part 1; a first housing 11; a fruit body outlet 111; a nest opening 112; a first tooth body 12; a second gear body 13; a second housing 14; an opening 141; a mounting seat 142; a sixth through hole 143;

a fruit conveying pipeline 2; a drag reduction hole 21; a fruit protecting fleece 22;

a support device 3; a vertical support rod 31; a tripod 311; an adjustment lever 32; a fifth through hole 321; a universal ball bearing 33;

a power plant 4; a handle 41; a trigger mechanism 42; a trigger 421; a trigger shaft 422; a third sprocket 423; a drive motor 43;

a transmission assembly 5; a main shaft 51; a first sprocket 52; a chain 53; a first stopper 531; a second stopper 532;

an elastic reset component 6; a fixed plate 61; a first through hole 611; a second through hole 612; a return spring 62; a slide plate 63; a third through hole 631; a fourth through-hole 632;

a photographing camera 7;

a nondestructive testing mechanism 8;

and a display device 9.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

The invention is described below with reference to specific embodiments in conjunction with fig. 1-7.

As shown in fig. 1 or 2, the fruit picking machine according to the embodiment of the present invention comprises: a fruit taking part 1 for receiving the fruit body and cutting the fruit stem, wherein the fruit taking part 1 is provided with a fruit body outlet 111; the fruit conveying pipeline 2 is connected and communicated with the fruit body outlet 111; the supporting device 3 is used for adjusting the position of the fruit taking part 1, and the fruit taking part 1 is arranged on the supporting device 3; and the power transmission device is used for driving the fruit taking part 1 to cut the fruit stems.

Therefore, the fruit picking part is driven by the power transmission device to cut, pick and accept the fruit bodies, and the fruit bodies are conveyed through the fruit conveying pipeline 2, so that the fruit body picking is carried out by fewer people without manual conveying, and the picking efficiency is high.

Based on the utility model discloses fruit picking machine gets fruit portion 1 including the cutting assembly that is used for accepting first casing 11 of the fruit body and cutting fruit stem, and first casing 11 sets up on strutting arrangement 3, and power transmission drives cutting assembly cuts the fruit stem.

As shown in fig. 1 and 3, based on the utility model discloses fruit picking machine, first casing 11 has a nest structure, is provided with fruit body export 111 on the first casing 11, and the cutting assembly is including the first tooth 12 and the second tooth 13 that are located nest mouth 112 department of first casing 112, and power transmission's power take off end is connected to first tooth 12, second tooth 13 and strutting arrangement 3 fixed connection.

Therefore, when fruits are taken, the supporting device 3 is adjusted to enable the fruits to enter the fruit taking part 1 from the nest opening 112, the fruit stems are clamped into the first tooth body 12 and/or the second tooth body 13, then the power transmission device is used for driving the first tooth body 12 to move, the first tooth body 12 and the second tooth body 13 move relatively, and the fruit stems are cut.

Specifically, the first gear 12 is fixedly disposed on the first housing 11, and the first housing 11 is connected to a power output end of the power transmission device.

Preferably, as shown in fig. 3, the fruit picking part 1 further includes a second housing 14 having a bird nest structure, the first housing 11 is nested in the second housing 14, the second housing 14 is provided with an opening 141 corresponding to the fruit outlet 111, the second housing 14 is provided with a second gear 13, the second housing 14 is fixedly connected to the supporting device 3, and the first rack 12 and the second rack 13 are overlapped and have the same radian.

Therefore, the first tooth body 12 is overlapped with the second tooth body 13, the fruit body outlet 111 of the first shell body 11 is overlapped with the opening 141 on the second shell body 14, when cutting operation is needed, the power transmission device is used for driving the first tooth body 12 and the second tooth body 13 to be subjected to staggered cutting, rapid cutting of fruit stems can be achieved, after cutting is completed, the power transmission device drives the first tooth body 12 to be overlapped with the second tooth body 13, the fruit body outlet 111 of the first shell body 11 is overlapped with the opening 141 on the second shell body 14, fruit bodies are output from the transmission pipeline 2, and conveying time of the fruit bodies is convenient to control.

Optionally, the first housing 11 has a bird's nest structure, the first housing 11 is provided with a fruit outlet 111, the cutting assembly includes a first tooth 12 and a second tooth 13 located at the nest 112 of the first housing 111, the second tooth 13 is fixedly disposed on the first housing 11, and the second tooth 13 is connected to the power output end of the power transmission device.

Therefore, when fruits are taken, the supporting device 3 is adjusted to enable the fruits to enter the fruit taking part 1 from the nest opening 112, the fruit stems are clamped into the first tooth body 12, then the power transmission device is used for driving the second tooth body 13 to move, the first tooth body 12 and the second tooth body 13 move relatively, and the fruit stems are cut.

Based on the utility model discloses fruit picking machine, strutting arrangement 3 includes vertical support rod 31, adjusts pole 32 and connects vertical support rod 31 and the universal bulb bearing 33 who adjusts pole 32, vertical support rod 31 upper end and universal bulb bearing 33's bulb fixed connection, adjusts the ball casing fixed connection of pole 32 and universal bulb bearing, gets fruit portion 1 and is located and adjusts pole 32 upper end.

The ball bearing is one of the common parts in the mechanical field, and is mainly used for the transmission, support or operation connecting piece of various machines. Specifically, the universal ball head bearing comprises a ball head, a ball shell and a steel ball, the ball shell is arranged on the outer side of the ball head, and the steel ball is assembled between the ball head and the ball shell, so that the adjusting rod can rotate up and down and rotate left and right as a supporting point by the universal ball head bearing 33, the position of a fruit taking part at the upper end of the adjusting rod is adjusted, and the fruit body is rapidly accepted and cut.

Preferably, the lower end of the vertical support rod 31 is provided with a tripod 311 or a roller device for easy fixing and manual movement.

Based on the utility model discloses fruit picking machine, power transmission includes power device 4 and drive assembly 5, as shown in fig. 4 and 5, drive assembly 5 includes main shaft 51, is fixed in main shaft 51 on first sprocket 52 and with first sprocket 52 matched with chain 53, main shaft 51 rotates and installs in adjusting pole 32 upper end, on first casing 11 is fixed in main shaft 51, power device 4 is used for driving chain 53 to do reciprocating motion.

Specifically, one end of the main shaft 51 passes through the fifth through hole 321 at the upper end of the adjusting rod 32 and the sixth through hole 143 on the second housing 11 to be fixedly connected with the first housing 11, the rotating shaft 51 is rotatably connected with the upper end of the adjusting rod 32, and the second housing 14 is fixed on the adjusting rod 32.

Preferably, as shown in fig. 3, the second housing 14 is fixed to the adjustment rod 32 by a mounting seat 142, so that the mounting firmness of the second housing 14 can be improved.

Preferably, the first housing 11 and the main shaft 51, the second housing 14 and the mounting seat 142, and the mounting seat 142 and the main shaft 51 are detachably connected, respectively.

Specifically, the first housing 11 may be fixed to the main shaft by a fastening nut, the second housing 14 and the mounting base 142, and the mounting base 142 and the main shaft 51 are fixed by a bolt and a nut, respectively.

Therefore, each part is convenient to disassemble, clean and replace.

As shown in fig. 1, based on the utility model discloses a fruit picking machine, power device 4 includes two hand (hold) 41 and two trigger mechanism 42, adjusts the branching of pole 32 lower extreme and forms two hand (hold) 41, is provided with a trigger mechanism 42 on each hand (hold) 41 respectively, and the chain 53 both ends are connected with a trigger mechanism 42 respectively, are provided with the elasticity subassembly 6 that resets that can make trigger mechanism 42 reset in adjusting pole 32.

Specifically, as shown in fig. 6, each trigger mechanism 42 includes a trigger 421, a trigger rotating shaft 422, and a third chain wheel 423, the trigger 421 is installed in the handle 41 through the trigger rotating shaft 422, the third chain wheel 423 is fixed to the trigger rotating shaft 422, and both ends of the chain 53 are fixed to the third chain wheel 423.

Therefore, one of the triggers 421 is pulled, the chain 53 drives the first chain wheel to rotate, so as to drive the main shaft 51 to rotate, the main shaft 51 drives the first shell 11 to rotate, thereby driving the first tooth body 12 and the second tooth body 13 on the first shell to perform dislocation cutting, the trigger is loosened, under the action of the elastic reset component 6, the chain 53 drives the trigger, the first chain wheel 52, the third chain wheel 423, the main shaft 51, the first shell 11 and the first tooth body 12 to reset, and preparation is made for next cutting operation.

Based on the fruit picking machine of the embodiment of the utility model, the adjusting rod 32 is a rod body with a cavity structure, the first chain wheel 52 and the chain 53 are respectively positioned in the cavity of the adjusting rod 32, the elastic reset component 6 comprises a fixing plate 61, a sliding plate 63 and a reset spring 62 which are positioned in the cavity of the adjusting rod 32, the fixing plate 621 is fixedly connected with the adjusting rod 32, the sliding plate 63 is slidably connected with the adjusting rod 32, two ends of the reset spring 62 are respectively connected with the fixing plate 61 and the sliding plate 63, the fixing plate 61 is respectively provided with a first through hole 611 and a second through hole 612, the chain 53 is fixedly provided with a first limiting block 531 and a second limiting block 532, the sliding plate 63 is provided with a third through hole 631 corresponding to the first through hole 611 and a fourth through hole 632 corresponding to the second through hole 612, one end of the chain 53 sequentially passes through the first limiting block 531, the first through hole 611, the other end of the chain 53 passes through the second limiting block 532, the second through hole 612 and the fourth through hole 632 in sequence to be connected with the other trigger mechanism 42.

Therefore, when one of the triggers 421 is pulled to cut and take fruits, one end of the chain 53 connected with the trigger 421 drives one of the first limit blocks 531 or the second limit blocks 532 to push the sliding plate to compress the return spring 62, the trigger 421 is loosened, the sliding plate 63, the first limit blocks 531 and the second limit blocks 532 are all reset under the action of the return force of the return spring 62, and the two triggers 421, the two third chain wheels 423, the main shaft 423, the first shell 11 and the first tooth body 2 are driven to reset, so that preparation is made for the next cutting operation.

Therefore, most components of the power transmission device are positioned in the cavity of the adjusting rod 32, so that the space occupation of the instrument is saved, and the instrument is small, exquisite, flexible and convenient to operate and move.

As another alternative of the present invention, the power device includes a driving motor 43 and a second chain wheel engaged with the chain, and the second chain wheel is fixedly disposed on the output shaft of the driving motor (not shown).

Specifically, the power transmission is electrically powered by an external power source.

Preferably, the adjusting rod 32 is a rod body having a hollow structure, and the first chain wheel 52, the second chain wheel and the chain 53 are all disposed in the hollow of the adjusting rod 52.

Specifically, the second sprocket is a driving pulley, and the first sprocket 52 is a driven pulley and is driven by the chain 53 to rotate, and the driven pulley drives the main shaft 51 to rotate. Therefore, the power driving can be realized by adopting an electric driving mode besides the manual driving mode, and the labor is saved and the speed is high.

As shown in fig. 1, based on the utility model discloses fruit picking machine still includes information acquisition device, display device 9 and control system, and information acquisition system is including the camera 7 of shooing that is used for gathering the fruit state, and the camera device is installed and is close to the 1 end of getting fruit portion in strutting arrangement 3, and display device 9 is installed and is kept away from in strutting arrangement 3 and get 1 end of fruit portion, and camera 7 and the display device of shooing are connected with control system respectively.

Preferably, the drive motor is connected to the control system.

Specifically, the control system comprises a computer control system and a PLC control system, the computer control system is connected with the PLC control system, and the photographing camera 7, the display device 9 and the driving motor are respectively connected with the PLC control system. Therefore, the computer control and the PLC control are connected together, the electric control and the intelligent control can be achieved, and the PLC can be programmed on the computer.

Specifically, based on the utility model discloses a camera takes a picture to fruit condition position and takes a picture the sample to in sending the picture of taking to computer control system, computer control system discerns the picture of taking, and judge the ripe situation of current fruit according to having set for the algorithm, carry out location tracking or catch fruit, computer control system sends the fruit image at that time and situation on every side to the display demonstration simultaneously, PLC control system receives the instruction control driving motor operation that comes from computer control system.

Specifically, the camera and the computer control system identify the mature fruit by using a color difference principle.

Preferably, the camera is a rotary camera.

From this, PLC control system receives the rotatory camera of instruction control who comes from computer control system and rotates, and the camera can diversely shoot, acquire the specific position and the distance between branch, leaf and the fruit of fruit in the fruit tree crown, the fruit collection of being convenient for.

Preferably, the information acquisition device further comprises a nondestructive testing device, the nondestructive testing device is arranged at the inlet end of the fruit body conveyed through the pipeline, and the nondestructive testing mechanism comprises an external light emitter, a light splitter, a light collector and a photoelectric converter. From this, adopt the infrared light to carry out nondestructive test to fruit, prevent that rotten and damaged fruit from mixing inside high-quality fruit, can guarantee the quality of fruit according to reminding the fruit of handling rotten and damage.

Preferably, the nondestructive testing device is connected with the control system.

Preferably, the display device 9 is a display screen, the computer control system and the PLC control system are disposed in the display screen, and the display screen is provided with a plurality of operation keys, where the operation keys include a start key for controlling the opening or closing of the motor, the camera 7 and the nondestructive testing mechanism, a search key for searching and positioning the ripe fruit, a cut key for controlling the driving motor to rotate, and an end key for controlling the motor to perform reverse reset.

Therefore, the corresponding instruction is sent out through the operation key, and the corresponding operation is realized.

Preferably, the operation keys are different in color.

Based on the utility model discloses fruit picking machine is provided with a plurality of drag reduction holes 21 on the fruit conveying pipeline 2 body, is provided with on the 2 inner walls of fruit conveying pipeline and protects fruit 22.

Specifically, the fruit conveying pipeline 2 is a long and thin hose belt, and fine-grain canvas or nylon cloth is preferably selected as a material, so that the fruit conveying belt can move in multiple directions and at multiple angles, and an outlet of the fruit conveying belt can directly extend into a packing box or a related container for placing fruits.

Specifically, defeated fruit pipeline 2 sets up in fruit body export 111 with detachable mode, from this, can change the defeated fruit pipeline (different length, bore, material) of different fruit as required, satisfies the actual demand of picking.

Preferably, the resistance reducing holes 21 are uniformly distributed on the fruit conveying pipeline and used for reducing air resistance when fruits slide down in the conveying pipeline.

Preferably, the fruit protecting velvet 22 is a fine silk floss with elasticity or toughness, and is woven or stuck on the inner wall of the fruit conveying pipeline for buffering the gliding speed of the fruits and avoiding the skin abrasion of the fruits.

Based on the utility model discloses a fruit picking machine of an embodiment, when adopting hand (hold) and trigger to carry out power drive, as shown in figure 1, its method of use includes the following step:

(1) transplanting the supporting device below the crown of the picked fruit tree;

(2) operating the handle 41 to enable the adjusting rod end to upwarp and the fruit taking part 1 to swing at multiple angles at the same time, so that the fruit taking part 1 approaches to the fruit in the crown;

(3) operating a start key, and turning on a display, a camera and a driving motor;

(4) operating a search key, rotating a camera, and displaying the distribution of all ripe fruits in the tree crown by a display;

(5) the handle 41 is operated, the universal ball bearing rotates up and down/left and right, the lifting rod 32 lifts/rotates, the lifting rod 32 drives the fruit taking part 1 to lift/lower to be close to and lock a fruit target to be picked, the display displays a successful butt joint signal, the nest opening 112 swallows the fruit, and the fruit stem is squeezed into the gap between the first tooth body and the second tooth body;

(6) the trigger 421 is manually operated, the chain 53 is tensioned by the trigger 421, the chain 53 drives the first chain wheel 53, the first chain wheel 53 drives the main shaft 51, the main shaft 51 drives the first shell 11, the first shell 11 rotates, the first tooth body 12 and the first tooth body 13 are dislocated, the fruit stem is cut off, and the fruit falls into the fruit conveying pipeline 2;

(7) the fruits continuously slide down the fruit conveying pipeline 2, the velvet in the fruit conveying pipeline 2 protects the fruits from falling at a uniform speed, and the fruits flow out of the outlet of the pipeline;

(8) automatically returning to the fourth step, and starting the picking procedure of the next fruit until the fruits near the crown are picked;

(9) operating the end key to end picking or restart the first step.

Based on the utility model discloses a fruit picking machine of an embodiment, when adopting driving motor drive, as shown in fig. 1, the application method includes following step:

(1) transplanting the supporting device below the crown of the picked fruit tree;

(2) operating the handle 41 to enable the adjusting rod end to upwarp and the fruit taking part 1 to swing at multiple angles at the same time, so that the fruit taking part 1 approaches to the fruit in the crown;

(3) operating a start key, and turning on a display, a camera and a driving motor;

(4) operating a search key, rotating a camera, and displaying the distribution of all ripe fruits in the tree crown by a display;

(6) the handle 41 is operated, the universal ball bearing rotates up and down/left and right, the lifting rod 32 lifts/rotates, the lifting rod 32 drives the fruit taking part 1 to lift/lower to be close to a fruit target needing to be picked, the fruit is swallowed by the nest opening 112, and the fruit stem is squeezed into the gap between the first tooth body and the second tooth body;

(7) when the cutting key is operated, a driving motor in the power device drives a second chain wheel, the second chain wheel drives a driving chain, the chain drives a first chain wheel 51, a first chain wheel 52 drives a main shaft 51, the main shaft 51 drives a first shell 11, the first shell 11 rotates, the first tooth body 12 and the first tooth body 13 are dislocated, the fruit stem is cut off, and the fruit falls into the fruit conveying pipeline 2;

(8) the fruits continuously slide down the fruit conveying pipeline 2, the velvet in the fruit conveying pipeline protects the fruits from falling at a uniform speed, and the fruits flow out of the outlet of the pipeline;

(9) automatically returning to the fourth step, and starting the picking procedure of the next fruit until the fruits near the crown are picked;

(10) operating the end key to end picking or restart the first step.

Although embodiments of the present invention have been described in detail above, those of ordinary skill in the art will understand that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A fruit picker, comprising:

the fruit picking part (1) is used for receiving fruit bodies and cutting fruit stems, and the fruit picking part (1) is provided with a fruit body outlet (111);

the fruit conveying pipeline (2), the fruit conveying pipeline (2) is connected and communicated with the fruit body outlet (111);

the supporting device (3) is used for adjusting the position of the fruit taking part (1), and the fruit taking part (1) is arranged on the supporting device (3);

the power transmission device is used for driving the fruit taking part (1) to cut the fruit stems.

2. The fruit picking machine of claim 1, characterized in that the fruit picking part (1) comprises a first housing (11) for receiving the fruit body and a cutting assembly for cutting the fruit stem, the first housing (11) being arranged on the supporting device (3), the power transmission driving the cutting assembly to cut the fruit stem.

3. The fruit picking machine of claim 2, characterized in that the first housing (11) has a bird's nest structure, the first housing (11) is provided with the fruit body outlet (111), the cutting assembly comprises a first tooth body (12) and a second tooth body (13) at a nest opening (112) of the first housing (11), the first tooth body (12) is connected to a power output end of the power transmission device, and the second tooth body (13) is fixedly connected to the support device (3).

4. The fruit picking machine according to claim 3, characterized in that the supporting device (3) comprises a vertical supporting rod (31), an adjusting rod (32) and a universal ball head bearing (33) connecting the vertical supporting rod (31) and the adjusting rod (32), the upper end of the vertical supporting rod (31) is fixedly connected with the ball head of the universal ball head bearing (33), the adjusting rod (32) is fixedly connected with the ball shell of the universal ball head bearing (33), and the fruit picking part (1) is positioned at the upper end of the adjusting rod (32).

5. The fruit picking machine of claim 4, characterized in that the power transmission device comprises a power device (4) and a transmission assembly (5), the transmission assembly (5) comprises a main shaft (51), a first chain wheel (52) fixed on the main shaft (51) and a chain (53) matched with the first chain wheel (52), the main shaft (51) is rotatably mounted at the upper end of the adjusting rod (32), the first housing (11) is fixed on the main shaft (51), and the power device (4) is used for driving the chain (53) to reciprocate.

6. The fruit picking machine according to claim 5, characterized in that the power device (4) comprises two handles (41) and two trigger mechanisms (42), the lower end of the adjusting rod (32) is bifurcated to form the two handles (41), each handle (41) is provided with one trigger mechanism (42), two ends of the chain (53) are connected with one trigger mechanism (42), and the adjusting rod (32) is internally provided with an elastic reset assembly (6) which can reset the trigger mechanisms (42).

7. The fruit picking machine of claim 6, characterized in that the adjusting lever (32) is a lever body with a cavity structure, the first chain wheel (52) and the chain (53) are respectively located in the cavity of the adjusting lever (32), the elastic return assembly (6) comprises a fixing plate (61), a sliding plate (63) and a return spring (62) which are located in the cavity of the adjusting lever (32), the fixing plate (61) is fixedly connected with the adjusting lever (32), the sliding plate (63) is slidably connected with the adjusting lever (32), two ends of the return spring (62) are respectively connected with the fixing plate (61) and the sliding plate (63), the fixing plate (61) is respectively provided with a first through hole (611) and a second through hole (612), and the chain (53) is fixedly provided with a first limiting block (531) and a second limiting block (532), be provided with on slide (63) with third through-hole (631) that first through-hole (611) correspond and with fourth through-hole (632) that second through-hole (612) correspond, chain (53) one end passes in proper order first stopper block (531), first through-hole (611), third through-hole (631) and one trigger mechanism (42) are connected, chain (53) other end passes in proper order second stopper block (532), second through-hole (612), fourth through-hole (632) and another trigger mechanism (42) are connected.

8. The fruit picker according to claim 5, wherein the power means (4) comprises a drive motor and a second sprocket engaged with the chain, the second sprocket being fixedly arranged on an output shaft of the drive motor.

9. The fruit picking machine according to any one of claims 1 to 8, further comprising an information acquisition device, a display device (9) and a control system, wherein the information acquisition system comprises a photographing camera (7) for acquiring the state of the fruit, the camera device is mounted at the end of the supporting device (3) close to the fruit picking part (1), the display device (9) is mounted at the end of the supporting device (3) far away from the fruit picking part (1), and the photographing camera (7) and the display device are respectively connected with the control system.

10. The fruit picking machine of claim 1, characterized in that the fruit conveying pipe (2) body is provided with a plurality of resistance reducing holes (21), and the inner wall of the fruit conveying pipe (2) is provided with fruit protecting wool (22).

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