CN217905204U

CN217905204U - Fruit picking and collecting device

Info

Publication number: CN217905204U
Application number: CN202221342445.4U
Authority: CN
Inventors: 夏尔冬; 马文宝; 王春荣
Original assignee: Sanming University
Current assignee: Sanming University
Priority date: 2022-05-31
Filing date: 2022-05-31
Publication date: 2022-11-29
Anticipated expiration: 2032-05-31

Abstract

The utility model provides a collection device is picked to fruit, including mobilizable automobile body, still include: the picking device comprises a conveying device, a frame collecting device, a picking device and a frame unloading device; the conveying device is arranged on the vehicle body and used for driving the collecting frame to move; the collecting frame device is arranged at one end of the conveying device, is used for placing the collecting frames and is configured to be capable of discharging the collecting frames one by one to move on the conveying device; the picking device is used for picking fruits and conveying the fruits to a designated collecting frame; the frame unloading device is arranged at one end of the conveying device far away from the frame collecting device and can unload the collecting frame from the vehicle body. Through the utility model discloses, improved fruit picking efficiency, reduced the production of bad fruit, made fruit picking equipment more automatic.

Description

Fruit picking and collecting device

Technical Field

The utility model relates to an equipment technical field is picked to fruit particularly, relates to a collection device is picked to fruit.

Background

At present, the picking of most fruits such as apples, pears, oranges and the like in the world is purely manual, so that the efficiency is low and the labor intensity is high. In recent years, the growing area of fruit growing has increased, and with the problems of increased labor cost and shortage of labor force, the demand and expectation of fruit farmers on fruit picking machines have also increased continuously. Although some fruit picking devices have appeared at present, the fruits can be picked basically only and then are transported to a centralized frame, and then need to be loaded for the second time, which is not automatic enough and easy to damage the fruits, resulting in the damage of the fruits.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a collection device is picked to fruit, simple structure, the operation is convenient, aims at improving above-mentioned problem.

The utility model adopts the following scheme: a fruit picking collection device comprising a movable cart body, further comprising: the picking device comprises a conveying device, a frame collecting device, a picking device and a frame unloading device; the conveying device is arranged on the vehicle body and used for driving the collecting frame to move; the collecting frame device is arranged at one end of the conveying device, is used for placing the collecting frames and is configured to be capable of discharging the collecting frames one by one to enable the collecting frames to move on the conveying device; the picking device is used for picking fruits and conveying the fruits to a designated collecting frame; the frame unloading device is arranged at one end of the conveying device far away from the frame collecting device and can unload the collecting frame from the vehicle body.

Further, the conveying device comprises a conveying belt which is arranged above the vehicle body and used for conveying the collecting frame.

Further, the frame collecting device comprises two clamping devices and a lifting frame, and the clamping devices are suitable for moving up and down on the lifting frame; each clamping device comprises a clamping jaw, a clamping arm and a first telescopic cylinder, and the clamping jaw is hinged to the clamping arm; one end of the first telescopic cylinder is rotatably arranged on the clamping arm, and the other end of the first telescopic cylinder is hinged to the clamping jaw and used for driving the clamping jaw to rotate around the clamping arm.

Further, the picking device comprises a picking tube and a fan, wherein the fan is communicated with the picking tube and is suitable for generating suction in the picking tube to suck the fruit; one end of the picking tube communicates to the conveyor area to convey the aspirated fruit onto a designated collection frame.

Furthermore, the picking device also comprises a connecting rod, a moving rod and a second telescopic cylinder; the moving rod is provided with a moving block; the picking tube is symmetrically provided with two connecting rods, each connecting rod comprises a first connecting rod and a second connecting rod, two ends of each first connecting rod are hinged to the picking tube and the corresponding second connecting rod respectively, and the other end of each second connecting rod is hinged to the corresponding moving block; and two ends of the second telescopic cylinder are respectively hinged on the first connecting rod and the second connecting rod and are used for driving the first connecting rod to move.

Furthermore, a moving rod is connected with a driving motor, and the moving rod and the moving block form a ball screw structure; the driving motor can drive the moving rod to control the moving block to move on the moving rod.

Furthermore, two picking devices are symmetrically arranged on two sides of the conveying device.

Further, the conveying device further comprises a blocking frame device, the blocking frame device is arranged above the conveying belt and used for limiting the collecting frame moving to the area of the picking device in the area of the fruit picking device when picking.

Furthermore, the frame unloading device is arranged at one end of the conveying device far away from the frame collecting device and comprises a lifting mechanism and a placing plate; the placing plate is arranged on the lifting mechanism and used for receiving the collecting frames conveyed from the conveying device, and the lifting mechanism is suitable for lifting the placing plate.

Furthermore, a foot rest is arranged on one side, close to the vehicle body, of the bottom of the placing plate, and the bottom of the placing plate is rotatably arranged on the lifting mechanism.

By adopting the technical scheme, the utility model discloses can gain following technological effect: through setting up the frame device of collection and unloading for can divide the frame automatically when picking fruit, reduce and need carry out the unnecessary trouble of dividing the frame to handle once more after picking, set up the picking mode of fan suction type simultaneously, can reduce the damage to fruit, improve and pick the effect.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings which are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained according to these drawings without inventive efforts.

Fig. 1 is a schematic structural view of a fruit picking and collecting device according to an embodiment of the present invention;

fig. 2 is another schematic structural diagram of a fruit picking and collecting device according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a gripping device of a fruit picking and collecting device according to an embodiment of the present invention;

icon: the device comprises a vehicle body 10, crawler wheels 11, a conveying device 20, a conveying belt 21, a baffle 22, a frame blocking device 23, a frame collecting device 30, a clamping device 31, a clamping jaw 311, a clamping arm 312, a first telescopic cylinder 313, a lifting frame 32, a stand column 321, a hydraulic mechanism 322, a guide column 323, a picking device 40, a telescopic pipe 41, a cover 411, a fan 42, a connecting rod 43, a first connecting rod 431, a second connecting rod 432, a second telescopic cylinder 433, a moving connecting rod 44, a moving block 45, a frame placing device 50, a lifting mechanism 51, a placing plate 52, a foot rest 521, a sloping plate 53 and a collecting frame 60.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and for simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

Examples

As shown in fig. 1 and 2, the present embodiment provides a fruit picking and collecting device, which includes a movable vehicle body 10, and further includes: a conveying device 20, a frame collecting device 30, a picking device 40, a frame placing device 50 and a control system; the conveying device 20 is arranged on the vehicle body 10 and used for driving the collecting frame 60 to move; the frame collecting device 30 is arranged at one end of the conveying device 20 and is used for placing the collecting frame 60 and taking out the collecting frame 60 under the control of the control system so as to move on the conveying device 20; the picking device 40 is used to pick and transfer fruit into a collection frame 60 that moves into the picking device 40; the frame placing device 50 is arranged at one end of the conveying device 20 far away from the frame collecting device 30, and can be used for detaching the collecting frame 60 from the conveying device 20.

In this embodiment, the vehicle body 10 is used for mounting the conveying device 20, the frame collecting device 30, the picking device 40, the frame placing device 50 and the control system, and is further provided with crawler wheels 11 for moving in fields and mountain roads, so that the vehicle body can be conveniently moved in orchards with complex terrains. The vehicle body 10 can be directly controlled by a user, and an automatic driving technology can be added, and the control mode is not the focus of the invention and is not additionally described here.

The vehicle body 10 is provided with a conveying device 20, the conveying device 20 comprises a conveyor belt 21, and the conveyor belt 21 can be driven by a motor to rotate continuously and is used for conveying the collecting frames 60 from the collecting frame device 30 to the frame placing device 50. Baffles 22 are arranged on both sides of the conveyor belt 21 to prevent the collection frame 60 from deviating. In a preferred embodiment, the baffles 22 are provided with a frame stop 23 at the position of the picking device 40, and the frame stop 23 is connected between the two baffles 22 for stopping the collecting frame 60 in the picking area so that the fruit picked by the picking device 40 can be placed in the collecting frame 60. Here, the blocking frame device 23 may be a rectangular plate, the rectangular plate may be rotatably disposed on the blocking plate 22, one end of the rectangular plate is provided with a motor, the motor is connected to the control system, when the fruit of the collecting frame 60 is filled with the fruit, the rectangular plate is driven by the motor to rotate by a certain range, so that the collecting frame 60 can pass through, and the collecting frame 60 is driven again after passing through the rectangular plate to return to the initial position to limit the next collecting frame 60. Of course, the frame stop device 23 is only one of the modes, and other modes capable of achieving the function are also within the scope of the present invention.

As shown in fig. 1 to 3, the frame-collecting device 30 is provided at one end of the conveyor belt 21, and can place a plurality of collecting frames 60 by stacking, where the collecting frames 60 are provided with handles at opposite sides thereof. The frame collecting device 30 comprises two clamping devices 31 and two lifting frames 32, each lifting frame 32 comprises an upright post 321, a hydraulic mechanism 322 and a guide post 323, the hydraulic mechanism 322 is connected with the clamping devices 31, and the two clamping devices 31 are respectively arranged on two sides of the collecting frame 60. The upright column 321 is used for installing the hydraulic mechanism 322 and the clamping device 31, and the guide column 323 is used for connecting the upright column 321 and the clamping device 31 and making the clamping device 31 more stable during lifting; the hydraulic mechanism 322 is used for driving the gripping device 31 to move up and down on the upright column 321; the clamping device 31 comprises a clamping jaw 311, a clamping arm 312 and a first telescopic cylinder 313, the clamping jaw 311 is hinged to the clamping arm 312, one end of the first telescopic cylinder 313 is rotatably arranged on the clamping arm 312, and the other end of the first telescopic cylinder 313 is hinged to the clamping jaw 311, so that the clamping jaw 311 is driven to rotate around the clamping arm 312. Here, the gripping device 31 is disposed above the conveyor belt 21, the gripping jaws 311 can grip onto two handles of the collecting frame 60 to lift the collecting frame 60, when the collecting frame 60 needs to be released, the conveyor belt 21 stops rotating first, the hydraulic mechanism 322 is driven to lower the collecting frame 60, at this time, the gripping jaws 311 are driven to release and the hydraulic mechanism 322 is driven to rise again, so that the gripping jaws 311 move to the handles of the penultimate collecting frame 60 to grip, then the hydraulic mechanism 322 is continuously lifted to lift the penultimate collecting frame 60 and the collecting frame 60 above, at this time, the conveyor belt 21 is driven again to transport the bottommost collecting frame 60 away, and then one-time frame releasing can be completed. Here, the hydraulic mechanism 322 may be replaced by a cylinder or a roller screw, which can perform the lifting function. By providing the collection frame 60 on the vehicle body 10, which can be directly transported away, the subsequent work flow of re-framing is reduced.

The picking devices 40 are disposed at two sides of the conveyor belt 21, and the picking devices 40 include telescopic pipes 41 and a fan 42, wherein the telescopic pipes 41 may be made of plastic pipes with telescopic function, and are suitable for moving and rotating to meet the requirement of multi-directional movement. The fan 42 is communicated with the telescopic pipe 41 and is suitable for generating suction force in the telescopic pipe to suck the fruit, wherein the fan 42 is provided with a left fan and a right fan to improve the suction force, the fan can be arranged behind the telescopic pipe 41, and the air suction of the fan 42 forms a pressure difference, so that the fruit is picked; one end of the bellows 41 communicates with the region of the conveyor 20 for conveying the sucked fruit to the collecting frame 60 on the conveyor belt 21. The picking device 40 further comprises connecting rods 43, moving connecting rods 44 and a second telescopic cylinder 433, wherein the moving rods are provided with moving blocks 45, the telescopic pipes 41 are symmetrically provided with two connecting rods 43, each connecting rod 43 comprises a first connecting rod 431 and a second connecting rod 432, the first connecting rods 431 are hinged on the telescopic pipes 41, one ends of the second connecting rods 432 are hinged on the moving blocks 45, and the other ends of the second connecting rods 432 are hinged with the first connecting rods 431; the second telescopic cylinder 433 is hinged to the first link 431 and the second link 432 and is used for driving the first link 431 to move, so that the telescopic pipe 41 can move back and forth, left and right on the movable frame. Here, a driving motor is connected to the moving link 44, the moving link 44 and the moving block 45 form a ball screw structure, and the driving motor drives the moving link 44 to control the moving block 45 to move on the moving link 44. In the preferred embodiment, two picking devices 40 are symmetrically arranged on both sides of the conveying device 20 to improve picking efficiency, and when there is fruit on both sides, the fruit on both sides can be picked without turning around. In another preferred embodiment, the end of the telescopic tube 41 extending into the conveyor belt 21 is provided with a rotatable cover 411, the cover 411 covers the nozzle of the telescopic tube 41 when no fruit is entering, so that the suction force of the fan 42 is concentrated to the nozzle at the other end, and here, the telescopic tube 41 is delimited by the connection of the fan 42, and a section of the connection to the conveyor belt 21 is arranged to be inclined downwards, so that the fruit can slide down the inclined pipeline after being sucked in and push the cover 411 open to fall into the collecting frame 60.

The frame placing device 50 is arranged at one end of the conveying device 20 far away from the frame collecting device 30 and comprises a lifting mechanism 51, a placing plate 52 and an inclined plate 53, wherein the placing plate 52 is arranged on the lifting mechanism 51 and is suitable for receiving the collecting frame 60 conveyed from the conveying device 20, and the lifting mechanism 51 is suitable for lifting the placing plate 52; the inclined plate 53 is coupled to the placing plate 52 and adapted to allow the collection frame 60 to slide down. The elevating mechanism 51 may employ a ball screw mechanism, and the placing plate 52 is provided on the ball screw mechanism, and the elevating or lowering of the placing plate 52 is controlled by driving a ball screw by a motor. Of course, the elevating mechanism 51 may be lifted by a hydraulic elevating mechanism 51 or the like. In a preferred embodiment, two foot rests 521 are provided at a bottom of the placing plate 52 near a side of the vehicle body 10, and the bottom of the placing plate 52 is rotatably provided on the lifting mechanism 51. Through the arrangement, when the collecting frame 60 descends along with the placing plate 52, as the foot stool 521 firstly touches the ground in the ascending and descending process, the end provided with the foot stool 521 can be lifted, so that the placing plate 52 rotates around the lifting mechanism 51 to form the inclined plate 53, the collecting frame 60 automatically slides on the inclined plate 53 and then slides on the bottom surface, the frame unloading work is completed, the frame unloading is also automatically completed here, and the pressure of manually unloading the frame is reduced.

The utility model discloses in, can prescribe a limit to the position of picking device 40, set up its to collection frame device 30 and put frame device 50 apart from the same for when picking, collection frame device 30 just can put down the collection frame 60 of bottom, wait to the collection frame 60 of picking device 40 position fills up the back, with the collection frame 60 synchronous motion who fills up fruit, also can pick simultaneously when making and unloading the frame, in order to improve and pick efficiency.

The utility model discloses in, be provided with control system for the work of electrical component such as coordinated motor, telescopic cylinder, control system is CPU or MPU etc. commonly used here, belongs to control system commonly used, does not add the explanation more here.

The utility model discloses can be more rapidly and the efficient gather fruit, save time raises the efficiency. The automatic frame conveying device is formed by the conveyor belt 21 and the frame collecting device 30, secondary damage to fruits is avoided by adding the structure of the automatic frame conveying device, the time for storing the fruits at later time is increased, income is increased, and the occurrence of waste and bad fruits is reduced. Meanwhile, the automatic frame placing device 50 can stably and slowly place the frames filled with fruits on the ground when the conveyor belt 21 conveys the collected frames to the tail part, does not influence the picking process, and improves the working efficiency.

Above only the utility model discloses a preferred embodiment, the utility model discloses a scope not only limits in above-mentioned embodiment, and the fan belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope.

Claims

1. The utility model provides a collection device is picked to fruit, includes mobilizable automobile body, its characterized in that still includes: the picking device comprises a conveying device, a frame collecting device, a picking device and a frame unloading device; wherein, the first and the second end of the pipe are connected with each other,

the conveying device is arranged on the vehicle body and used for driving the collecting frame to move;

the collecting frame device is arranged at one end of the conveying device, is used for placing the collecting frames and is configured to be capable of discharging the collecting frames one by one to enable the collecting frames to move on the conveying device;

the picking device is used for picking fruits and conveying the fruits to a designated collecting frame;

the frame unloading device is arranged at one end of the conveying device far away from the frame collecting device and can unload the collecting frame from the vehicle body.

2. The fruit picking collection device of claim 1, wherein the conveyor comprises a conveyor belt disposed above the cart body for conveying the collection frame.

3. The fruit picking collection device of claim 1, wherein the frame device comprises two gripping devices and a crane, the gripping devices being adapted to move up and down on the crane; each clamping device comprises a clamping jaw, a clamping arm and a first telescopic cylinder, and the clamping jaw is hinged to the clamping arm; one end of the first telescopic cylinder is rotatably arranged on the clamping arm, and the other end of the first telescopic cylinder is hinged to the clamping jaw and used for driving the clamping jaw to rotate around the clamping arm.

4. The fruit picking collection device of claim 1, wherein the picking device comprises a picking tube and a fan, wherein the fan is in communication with the picking tube and adapted to create suction in the picking tube to draw fruit in; one end of the picking tube communicates to the conveyor area to convey the sucked fruit onto a designated collection frame.

5. The fruit picking collection device of claim 4, wherein the picking device further comprises a connecting rod, a moving rod, a second telescopic cylinder; wherein the moving rod is provided with a moving block; the picking tube is symmetrically provided with two connecting rods, each connecting rod comprises a first connecting rod and a second connecting rod, two ends of each first connecting rod are hinged to the picking tube and the corresponding second connecting rod respectively, and the other end of each second connecting rod is hinged to the corresponding moving block; and two ends of the second telescopic cylinder are respectively hinged on the first connecting rod and the second connecting rod and used for driving the first connecting rod to move.

6. The fruit picking and collecting device according to claim 5, wherein a driving motor is connected to a moving rod, and the moving rod and the moving block form a ball screw structure; the driving motor can drive the moving rod to control the moving block to move on the moving rod.

7. Fruit picking collection device according to claim 4, characterised in that two picking devices are symmetrically arranged on either side of the conveyor.

8. The fruit picking collection device of claim 2, further comprising a catch frame device on the conveyor, the catch frame device disposed above the conveyor for confining a collection frame moving into the picking device area within the picking device area while picking.

9. The fruit picking collection device of claim 1, wherein the frame unloading device is disposed at an end of the conveying device away from the frame collecting device and comprises a lifting mechanism and a placing plate; the placing plate is arranged on the lifting mechanism and used for receiving the collecting frame conveyed from the conveying device, and the lifting mechanism is suitable for lifting the placing plate.

10. The fruit picking and collecting device according to claim 9, wherein a foot rest is arranged on one side of the bottom of the placing plate close to the vehicle body, and the bottom of the placing plate is rotatably arranged on the lifting mechanism.