CN214282216U

CN214282216U - Automatic tomato picking device

Info

Publication number: CN214282216U
Application number: CN202120166182.5U
Authority: CN
Inventors: 付道鸿; 王云川
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2021-09-28
Anticipated expiration: 2031-01-21

Abstract

The utility model discloses an automatic device of picking of tomato mainly relates to the tomato field of picking. Including the storehouse of storing, arm, control chip, the device of picking that connects gradually, it includes the manipulator to pick the device, detects the ring, it has a plurality of color sensor to detect circular array on the ring inner wall, fixing base one side is equipped with image acquisition device, it still includes distance sensor to pick the device, one side that the fixing base is close to the manipulator is equipped with and stores the transport section of thick bamboo of storehouse intercommunication, it is equipped with the deflector to store the storehouse internal slope, it has a plurality of discharge gates from small to big, a plurality of to open along the incline direction on the deflector the discharge gate bottom all is equipped with the collecting box. The beneficial effects of the utility model reside in that: the tomato can be picked automatically, the tomato picked automatically is classified preliminarily, the classified tomato is subpackaged, the sorting time of the workers is further saved, and the labor intensity of the workers is further reduced.

Description

Automatic tomato picking device

Technical Field

The utility model relates to a field is picked to the tomato, specifically is an automatic device of picking of tomato.

Background

The tomato fruit is rich in nutrition and has special flavor. Can be eaten raw or boiled, processed into tomato paste, juice or canned whole fruit. The edible part of tomato is juicy berry. It has a great variety, and can be divided into round, oblate, oblong and pointed round according to the shape of the fruit; there are reddish, pink, orange-red and yellow colors, depending on the color of the peel. The quality requirements of the tomatoes are as follows: generally, the fruit shape is well-rounded, no crack or insect bite exists, the maturity is moderate, the sour and sweet taste is proper, the meat is fat and the ventricle is small. The ripe and proper tomatoes are preferably selected, so that the tomato sauce is good in taste and high in nutritional value.

Current automatic picking device, mostly just concentrate on together storing after picking tomato automatically, but the staff also can classify according to the experience to the fruit according to the standard of big or small individual head at the picking in-process to subsequent stage is sold, the automatic picking device has saved the process of artifical picking, nevertheless after finishing picking, the staff still need follow in the whole pile of tomato one pick the classification, still can occupy a large amount of operating time, and the classification of picking of a large amount of tomatoes also can increase staff's intensity of labour.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic device of picking of tomato, it can pick the tomato automatically, and carries out preliminary classification to the tomato of automatic picking to with categorised tomato partial shipment, further save the time of staff's letter sorting, thereby further reduce staff's intensity of labour.

The utility model discloses a realize above-mentioned purpose, realize through following technical scheme:

the utility model provides an automatic tomato picking device, includes the storage storehouse, arm, control chip, the picking device that connect gradually, the picking device includes the fixing base of being connected with the arm, be equipped with on the fixing base by motor drive pivoted connecting block, connecting block one side is rotated and is equipped with the manipulator, the direction that the connecting block was kept away from to the connecting block of connecting block opposite side stretches out there is detection ring, circular array has a plurality of color sensor on the detection ring inner wall, fixing base one side is equipped with image acquisition device, the picking device still includes distance sensor, one side that the fixing base is close to the manipulator is equipped with and stores the transport cylinder of storehouse intercommunication, it is equipped with the deflector to store the storehouse internal slope, it has a plurality of discharge gates from small to big to open along the incline direction on the deflector, it is a plurality of the discharge gate bottom all is equipped with the collecting box, color sensor, image acquisition device, The distance sensor and the motor are respectively connected with the control chip through signals.

Furthermore, a horn-shaped clamping cover is arranged at the clamping end of the manipulator.

Furthermore, an inclined material guide net is arranged at the bottom of the discharge port, and the collecting box is positioned at the bottom end of the material guide net.

Furthermore, a conveying cylinder and a communication position of the storage bin are provided with weighing sensors in signal connection with a control chip, each weighing sensor is arranged in the discharge port and is provided with an automatic blocking device, each automatic blocking device corresponds to a weight interval, and the weighing result of the weighing device controls the automatic blocking device corresponding to the interval to run.

Further, automatic lead to stifled device is including setting up the wedge in the discharge gate, discharge gate one side is the inclined plane that suits with the wedge, the wedge bottom is equipped with the mount pad, wedge and mount pad sliding connection, be connected with the spring between the bottom surface in wedge bottom and the mount pad, mount pad one side is connected with the electric push rod of installing on storing the storehouse, drives the wedge horizontal slip through the electric push rod and opens or the shutoff discharge gate.

Furthermore, a plurality of speed reduction brushes are arranged on the guide plate corresponding to the discharge port, and each speed reduction brush is arranged in front of the corresponding discharge port.

Furthermore, baffles are arranged between two sides of the guide plate and the inner wall of the storage bin respectively, and one side of each baffle, which is close to the guide plate, is lower than one side of each baffle, which is close to the inner wall of the storage bin.

Contrast prior art, the beneficial effects of the utility model reside in that:

1. the picking device is driven to move by the mechanical arm, the image acquisition device on the picking device compares the acquired image with the image information input in advance to find the tomato fruits, the positions of the fruits are positioned by the distance sensor, the fruits are detected by the color sensor on the detection ring in a 360-degree dead angle-free mode, so that the mature fruits are identified, then the fruits are clamped by the mechanical arm, rotated and screwed off, and sent to the storage bin from the transport cylinder, the automatic identification and positioning picking of the tomato fruits is realized, the immature fruits are avoided, the manual picking time is saved, and the picking efficiency is improved;

2. the tomato fruit under picking gets into to store the storehouse back and rolls along the deflector of slope to when the discharge gate that sets gradually by little to big, the fruit of corresponding size leaks down at the discharge gate that corresponds, falls into the collecting box that this discharge gate corresponds, classifies according to the size to the tomato fruit of automatic picking and deposits, saves the artifical categorised time of choosing in later stage, further reduces workman's intensity of labour, thereby further improves work efficiency.

Drawings

Fig. 1 is a schematic view of the structure of the present invention.

Figure 2 is the utility model discloses a store storehouse and look sideways at structural schematic.

Fig. 3 is a schematic structural view of the picking device of the present invention.

Fig. 4 is a schematic structural view of the automatic blockage removing device of the present invention.

Reference numerals shown in the drawings:

1. a storage bin; 2. a mechanical arm; 3. a fixed seat; 4. connecting blocks; 5. a manipulator; 6. a detection ring; 7. a color sensor; 8. an image acquisition device; 9. a transport cylinder; 10. a guide plate; 11. a discharge port; 12. a collection box; 13. a clamping cover; 14. a material guiding net; 15. a weighing sensor; 16. a wedge block; 17. a mounting seat; 18. a spring; 19. an electric push rod; 20. a decelerating brush; 21. and a baffle plate.

Detailed Description

The present invention will be further described with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teachings of the present invention, and these equivalents also fall within the scope defined in the present application.

The utility model relates to an automatic tomato picking device, which comprises a storage bin 1, an arm 2, a control chip and a picking device which are connected in sequence, wherein the picking device comprises a fixed seat 3 which is connected with the arm 2 and has a concave section, a connecting block 4 which is driven by a motor to rotate is arranged in a groove in the middle of the fixed seat 3, the connecting block 4 is L-shaped, one end of the connecting block 4L-shaped is rotationally provided with a mechanical arm 5 through a rotating seat which is driven by the motor, the other end of the connecting block 4L-shaped extends to a direction far away from the connecting block 4 through a plurality of connecting rods to form a detecting ring 6, the inner diameter of the detecting ring 6 is larger than the maximum outer diameter of normal ripe tomato fruits, a circular array on the inner wall of the detecting ring 6 is provided with a plurality of color sensors 7, the color of the fruits is identified through the color sensors 7, and the control chip compares the identified color with a color image which is input in advance, therefore, the ripeness of the tomatoes can be known, 360-degree dead-angle-free detection of the tomatoes can be realized through the annular distribution of the color sensors 7, the picked fruits are prevented from being partially ripened or having too large immature area, the image acquisition device 8 is arranged on one side of the fixed seat 3, the image acquisition device 8 transmits acquired images to the control chip in real time, the control chip is compared with a picture input in advance, the tomato fruits are identified, the color identification and the image identification can update supplement information at any time along with use, the identification accuracy of the equipment is improved by means of machine learning, the picking device further comprises a distance sensor, a transport cylinder 9 communicated with the storage bin 1 is arranged on one side of the fixed seat 3 close to the mechanical arm 5, the transport cylinder 9 is made of elastic soft materials, on one hand, the transport cylinder can extend along with the movement of the mechanical arm, on the other hand, the fruits are prevented from being knocked and damaged when rolling in the transport cylinder, the storage bin 1 is obliquely provided with a guide plate 10, the guide plate 10 is provided with a plurality of discharge ports 11 from small to large along the oblique direction, the bottoms of the discharge ports 11 are respectively provided with a collecting box 12 for classifying and collecting picked tomato fruits according to sizes, the time for subsequent manual sorting is saved, the labor intensity is reduced, the working efficiency is improved, the color sensor 7, the image acquisition device 8, the distance sensor and the motor are respectively in signal connection with a control chip,

tomato fruits are identified through an image acquisition device 8, the positions of the fruits are positioned through a distance sensor, then a detection ring 6 penetrates through the fruits to detect the colors of the fruits through a color sensor 7 to distinguish the maturity, then the detection ring 6 penetrates out, the connecting block 4 is controlled to rotate, the manipulator 5 is positioned at a working position, the manipulator 5 is controlled to rotate after being clamped by the manipulator 5 to screw down the fruits, the fruits can be quickly picked off on the premise of not damaging the fruits and plants, then the connecting block 4 is turned over, the detection ring 6 is positioned at the working position, the next fruit is conveniently detected, meanwhile, the manipulator 5 is controlled to clamp the fruits and rotate to the position above an opening of a transportation cylinder 9, the manipulator 5 loosens the fruits to be thrown into the transportation cylinder 9 and then transported into a storage bin 1, the fruits fall into a collection box 12 at the bottom of a discharge port 11 when rolling to the discharge port 11 with a proper size on a guide plate 10, and the whole equipment realizes automatic identification, positioning and sorting of the tomato fruits through a control chip, the labor intensity is reduced, and the working efficiency is improved.

Preferably, the holding end of manipulator 5 is equipped with tubaeform grip cover 13, and grip cover 13 chooses for use the elastic rubber material, increases the area of contact of manipulator 5 holding end and fruit crust, can be more tight with the fruit centre gripping under the condition of not hindering the fruit, prevents that the fruit from dropping at the picking in-process.

Preferably, the bottom of the discharge port 11 is provided with an inclined material guiding net 14, the collecting box 12 is arranged at the bottom end of the material guiding net 14, and the material guiding net 14 can be made of elastic materials, so that the impact of fruits falling into the collecting box 12 can be reduced and buffered, the fruits can be prevented from being broken, and the fruits can also be prevented from being knocked and broken in the buffering process.

Preferably, a weighing sensor 15 in signal connection with a control chip is arranged on the bottom bin wall of a communication part between the transport cylinder 9 and the storage bin 1, an automatic blocking device is arranged in each discharge port 11, each automatic blocking device corresponds to a preset weight interval, the weighing result of the weighing sensor 15 controls the automatic blocking device in the corresponding interval to operate, the discharge port 11 is blocked by the automatic blocking device in a general state, when a fruit enters the storage bin 1 from the transport cylinder 9, the fruit rolls on the weighing sensor 15, the weighing sensor 15 transmits the weight of the fruit to the control chip, the control chip controls the automatic blocking device in the corresponding weight interval to open to expose the discharge port 11, and other discharge ports 11 are blocked, the fruit directly enters the corresponding discharge port 11, and then the automatic blocking device is controlled to block the discharge port 11 again, the fruits can enter the corresponding collecting boxes 12, and the accuracy of automatic fruit sorting is further improved.

Preferably, the automatic blockage passing device comprises a wedge block 16 arranged in the discharge port 11, one side of the discharge port 11 is an inclined surface adapted to the wedge block 16, an installation seat 17 is arranged at the bottom of the wedge block 16, two ends of the bottom of the wedge block 16 are connected with sliding grooves in the inner wall of the installation seat 17 in a sliding manner through a sliding block, the wedge block 16 is prevented from falling off from the installation seat 17, a spring 18 is connected between the bottom of the wedge block 16 and the inner bottom surface of the installation seat 17, one side of the installation seat 17 is connected with an electric push rod 19 arranged on the storage bin 1, the wedge block 16 is driven by the electric push rod 19 to horizontally slide towards the inclined surface of the discharge port 11, the inclined surface of the wedge block 16 slides towards the installation seat 17 along the inclined surface of one side of the discharge port 11 to extrude the spring 18, and the discharge port 11 is opened; the electric push rod 19 drives the mounting seat 17 to move reversely, under the action of the elastic force of the spring 18, the wedge block 16 moves towards the direction far away from the mounting seat 17 along the inclined plane on one side of the discharge port 11, so that the discharge port 11 is blocked, and the automatic blocking of the discharge port 11 is realized by matching with the control of the control chip.

Preferably, a plurality of decelerating brushes 20 are arranged on the guide plate 10 corresponding to the discharge port 11, each decelerating brush 20 is arranged in front of the corresponding discharge port 11, the rolling speed of the fruits is reduced when the fruits roll to the discharge port 11, the small fruits are prevented from rolling to pass through the corresponding discharge port 11 and enter the discharge port 11 with a larger size due to an excessively high rolling speed, sufficient time can be reserved for the wedge block 16 to slide to open the discharge port 11, and the sorting of the fruits is further ensured.

Preferably, be equipped with baffle 21 between deflector 10 both sides and the 1 inner wall of storage storehouse respectively, one side that baffle 21 is close to deflector 10 is less than one side that baffle 21 is close to the 1 inner wall of storage storehouse, plays certain effect that keeps off the direction of keeping off to the fruit, guarantees that the fruit all rolls from deflector 10 and can both be collected by discharge gate 11 after sorting.

Can realize the automatic identification location of tomato fruit through this device and pick, and can classify according to the difference of size or weight to the tomato fruit after picking, save artifical manual letter sorting in later stage, reduce intensity of labour, improve work efficiency.

Claims

1. The utility model provides an automatic device of picking of tomato which characterized in that: comprises a storage bin (1), a mechanical arm (2), a control chip and a picking device which are connected in sequence, wherein the picking device comprises a fixed seat (3) connected with the mechanical arm (2), a connecting block (4) driven by a motor to rotate is arranged on the fixed seat (3), a mechanical arm (5) is rotatably arranged on one side of the connecting block (4), a detection ring (6) extends out from the other side of the connecting block (4) to the direction away from the connecting block (4), a plurality of color sensors (7) are arranged on the inner wall of the detection ring (6) in a circular array, an image acquisition device (8) is arranged on one side of the fixed seat (3), the picking device further comprises a distance sensor, a transport cylinder (9) communicated with the storage bin (1) is arranged on one side of the fixed seat (3) close to the mechanical arm (5), and a guide plate (10) is obliquely arranged in the storage bin (1), a plurality of discharge ports (11) from small to large are formed in the guide plate (10) in the inclined direction, a plurality of collecting boxes (12) are arranged at the bottoms of the discharge ports (11), and the color sensor (7), the image acquisition device (8), the distance sensor and the motor are respectively in signal connection with the control chip.

2. The automatic tomato picking device according to claim 1, characterized in that: and a horn-shaped clamping cover (13) is arranged at the clamping end of the manipulator (5).

3. The automatic tomato picking device according to claim 1, characterized in that: an inclined material guiding net (14) is arranged at the bottom of the discharging port (11), and the collecting box (12) is located at the bottom end of the material guiding net (14).

4. The automatic tomato picking device according to claim 1, characterized in that: conveying section of thick bamboo (9) and the intercommunication department of storing storehouse (1) are equipped with weighing sensor (15) with control chip signal connection, each all be equipped with automatic stifled device that leads to in discharge gate (11), each automatic lead to stifled device all corresponds a weight interval, through weighing sensor's (15) weighing result controls the automatic stifled device operation that leads to that corresponds the interval.

5. The automatic tomato picking device according to claim 4, characterized in that: automatic lead to stifled device is including setting up wedge (16) in discharge gate (11), discharge gate (11) one side is the inclined plane that suits with wedge (16), wedge (16) bottom is equipped with mount pad (17), wedge (16) and mount pad (17) sliding connection, be connected with spring (18) between the bottom surface in wedge (16) bottom and mount pad (17), mount pad (17) one side is connected with electric push rod (19) of installing on storing storehouse (1), drives wedge (16) horizontal slip through electric push rod (19) and opens or shutoff discharge gate (11).

6. An automatic tomato picking device according to any one of claims 1 to 5, wherein: a plurality of speed reducing brushes (20) are arranged on the guide plate (10) corresponding to the discharge hole (11), and each speed reducing brush (20) is arranged in front of the corresponding discharge hole (11).

7. The automatic tomato picking device according to claim 1, characterized in that: baffle (21) are respectively arranged between the two sides of the guide plate (10) and the inner wall of the storage bin (1), and one side, close to the guide plate (10), of the baffle (21) is lower than one side, close to the inner wall of the storage bin (1), of the baffle (21).