CN109220205B - Electric fruit picking and collecting integrated machine - Google Patents

Abstract

Electric fruit picking and collecting integrated machine belongs to the field of mechanical transmission and is characterized by providing a semi-automatic device integrating fruit picking and collecting. The device comprises a picking module, a telescopic module and a collecting module. The picking module comprises a picking frame, a bucket water lifting type cutting blade and a photosensitive sensor, so that the function of automatically cutting off fruit stalks after the sensor identifies fruits is realized; the telescopic module comprises a mechanical arm main bracket and a mechanical arm cross arm, so that the function of accurately conveying the picker to the picking object position is realized; the collecting module comprises a collecting basket and a fruit conveyor, and realizes the function of classifying fruits according to different picking objects; the whole system realizes fruit picking and classified collection through mechanical transmission, control of a control rod and a key, sensor identification feedback and automatic cutting of a bucket water lifting type cutting blade.

Description

Electric fruit picking and collecting integrated machine

Technical Field

The invention belongs to the field of mechanical transmission, and particularly relates to an electric fruit picking and collecting integrated machine.

Background

With the advent of the Internet age, the labor force of young and strong years has been rushed into large cities, the majority of the orchards with middle-aged and small-sized operations are middle-aged and elderly people, and the problem that apples need to be picked up by ascending height is caused by the growing positions of the apples. Purely manual picking can not meet the requirements of the current age, most of the machines for picking fruits face the advanced technology in foreign countries, the machines are picking harvesters for large orchards, the requirements of the machines on the terrains of the orchards are very high, most of the orchards using the machines are large farm-type orchards, planned fruit tree distribution and regulation of terrains are carried out in the fruit tree planting period, and most of the existing large machines adopt mechanical energy generated by vibrating trunks to enable fruits to fall off, so that the damage to the fruits is serious. The orchards in China are mostly small and medium-sized home-operated orchards, are mostly distributed on mountain tops or half-hills with rough terrains, have complex terrains and more rubble in the orchards, and the foreign technology is not in line with the national conditions of China and cannot be well applied to the agricultural production process of China. Ecological agriculture in China is actively developed, the number of compound ecological orchards is rapidly increased, and low-cost, high-efficiency and semi-automatic production equipment is more needed for the type of orchards.

Disclosure of Invention

Aiming at the problems, the invention provides an electric fruit picking and collecting integrated machine.

Electric fruit picking and collecting integrated machine, which is characterized in that: the electric fruit picking and collecting integrated machine realizes manual identification and positioning of fruits under the control of a program, and realizes the rotation of a control blade through a photosensitive sensor positioned on the picker so as to cut the fruits; the flexible module can realize X axle, Y axle, Z axial displacement and around the rotation of Y axle and Z axle, flexible module drives and picks the module and can do 360 rotations, vertical direction's removal and the flexible of horizontal direction can let the picking module reach arbitrary picking object below and pick, photosensitive sensor in the picker senses the apple, the blade is rotatory, the cutting carpopodium, the apple that falls gets into the apple conveyer along the collector, the texture is soft in the apple conveyer, can furthest's protection fruit, the fruit will fall into the collection module at last, the collection module can be according to the fruit is different, place the fruit in different collection baskets, manual classification's heavy operation has been reduced.

The picking module comprises a fruit basket, a fruit carrying device main body, a photosensitive sensor, a bucket handle type cutting blade and an apple conveyer, when a fruit grower operates the picking module, the photosensitive sensor is triggered to control the program start of the picking module when aiming at fruits, a motor capable of rotating positively and negatively is driven to rotate, the bucket handle type cutting blade connected to the motor is driven to rotate, the bucket handle type cutting blade cuts off fruit handles, fruits fall into the apple conveyer and slide down to a collecting module, the whole picking device always keeps a vertical state by utilizing the bucket handle principle, and the fruit picking module is more convenient and efficient in the whole fruit picking process.

The telescopic module consists of a cross arm and a vertical arm, the cross arm consists of a screw rod, a cross arm rotating disc, a supporting plate, a 180-degree rotating disc, a worm gear, a strut, an air cylinder, two slide ways and an electromagnetic valve, the opening of the electromagnetic valve is controlled by a program, the expansion and the contraction of the air cylinder can be controlled under the action of air pressure, the picking of fruits on a fruit tree from inside to outside can be realized, and the 180-degree gear disc at the root of the cross arm rotates to change the height of a picker; the vertical arm is composed of supporting columns, a screw rod and worm gears, the four supporting columns are integrally supported, the screw rod is used for driving the cross arm to move up and down in the vertical direction, the height of the cross arm can be adjusted according to the height distribution of fruits, fruit farmers can conveniently pick fruits at a plurality of positions through 360-degree rotation of the base, the cross arm and the vertical arm are combined, the picker at the tail end of the cross arm can reach the lower part of a designated picking object, and fruit picking on all spatial points from inside to outside is completed at the top, the middle and the bottom of a crown of a fruit tree.

The collecting module comprises a screw rod, a collecting interface, a support column, a gear rack, four collecting frames, a screw rod base and a direct current motor, when a picking object is determined, the apple conveyor is controlled to select the collecting frame through a control button, the screw rod is controlled to move in the X direction, the gear rack is controlled to move in the Y direction, the apple conveyor is accurately positioned above the corresponding collecting frame, the picker can cut off fruits picked by the fruit handle, the fruits fall into different collecting frames according to the maturity and the size of the fruits, and compared with the equipment with one collecting frame, the trouble of manual classification is reduced, and the fruit collecting efficiency is improved.

The invention has the advantages that: 1. and the manual positioning, the identification of the photosensitive sensor and the cutting of the blade reduce the damage to fruits and fruit trees. 2. The collection module is used for realizing fruit classification in the picking process, so that the follow-up work of picking operation is reduced. 3. The telescopic mechanical arm is suitable for single person operation, adjustable in length and suitable for picking fruits with high branches.

Drawings

Fig. 1 is an assembly drawing of an electric fruit picking and collecting integrated machine.

Fig. 2 is a collection module.

Fig. 3 is a picking module.

Fig. 4 is a telescoping module.

Fig. 5 is a process diagram of a picking module.

FIG. 6 is a collection module program diagram.

FIG. 7 is a collection module subroutine diagram.

In fig. 1, a collecting module 1, a picking module 2 and a telescopic module 3; in fig. 2, a screw rod 1.1, a collecting interface 1.2, a strut 1.3, a gear rack 1.4, a collecting frame 1.5, a base 1.6 and a direct current motor 1.7; in the figure 3, a screw rod 2.1, a cross arm rotating disc 2.2, a supporting plate 2.3, a 180-degree rotating disc 2.4, a worm gear 2.5, a support column 2.6, an air cylinder 2.7 and two slide ways 2.8; in fig. 4, a fruit conveyor joint 3.1, a fruit carrier 3.2, a bucket handle type cutting blade 3.3 and a photosensitive sensor 3.4 are shown.

Detailed Description

Further description will be made with reference to the drawings and specific examples.

And (5) constructing an electric fruit picking and collecting integrated machine by using the coma model.

When the electric fruit picking and collecting integrated machine determines a picking object, the fruit conveyer is controlled by the control button to select a collecting basket (1.5), the lead screw (1.1) is driven to control the fruit conveyer to move back and forth, the gear rack (1.4) is driven to control the fruit conveyer to move left and right, and the fruit picking and collecting integrated machine is accurately positioned above the corresponding collecting basket. The operating handle controls the telescopic module, the worm gear chassis (2.5) can rotate by 360 degrees, the screw rod of the vertical arm is driven to control up-and-down motion, the air cylinder (2.7) of the cross arm is controlled to stretch and retract through the action of air pressure, and the tail end of the telescopic module can pick the module to the lower part of a designated picking object. When the photosensitive sensor (3.4) in the picking device detects apples, the bucket handle type cutting blade (3.3) rotates to cut off fruit stalks, and fallen apples enter the apple conveyor along the collector and are conveyed to the designated collecting basket. The fruit conveyer is the rubber tube, connects picking ware and collection basket, has reduced the fruit damage rate. And resetting each module after picking is finished, and finishing one-time fruit picking operation.

The control panel programming is as follows, picking module program is as shown in fig. 5, operation switch I2, I3 makes motor M1 rotate, and motor M1 stops rotating when touching switch I4, realizes that the arm drives the picker to reach the below of fruit, and when operating the arm, photosensitive sensor I1 in the picker is judged always, and when the numerical value of I1 is greater than 12000, motor M2 corotation one second is reversed one second, and the numerical value of I1 is less than 13000, and motor M2 stops rotating, realizes that the arm drives the picker to reach the function of fruit below cutting off the fruit handle. The collecting module program is shown in fig. 6 and 7, the collecting program starts to judge the switch states of I1, I7, I3 and I8, when an operator presses the switch I1, the program enters a subprogram, M2 rotates, when the operator touches the switch I2 or I5 in a moving way, the M2 motor stops rotating, M1 rotates, when the operator touches the switch I6, the subprogram jumps out, the M1 stops rotating, the accurate positioning of the apple transmitter above the first collecting basket is realized, and similarly, when the switches I7, I3 and I8 are operated, the fruit transmitter can be accurately positioned above the corresponding second collecting basket, the third collecting basket and the fourth collecting basket.

Claims (1)

1. Electric fruit picking and collecting integrated machine, which is characterized in that: the fruit picking device comprises a picking module, a telescopic module and a collecting module, wherein the picking module consists of a fruit basket, a fruit carrying device main body, a photosensitive sensor, a bucket handle type cutting blade and an apple conveyor;

The telescopic module consists of a cross arm and a vertical arm, the opening of the electromagnetic valve is controlled by a program, the air cylinder of the cross arm is controlled to stretch and retract under the action of air pressure, the picking of fruits from the inside to the outside on the fruit trees is realized, and the 180-degree rotary disc at the root of the cross arm rotates, so that the height of the picking module is changed; the vertical arm consists of four support posts, a screw rod and a worm gear, wherein the four support posts are integrally supported, the screw rod is used for driving and controlling the cross arm to move up and down in the vertical direction, the height of the cross arm is regulated according to the height distribution of fruits, and the base is rotated for 360 degrees, so that fruit farmers can conveniently pick fruits at a plurality of positions at one position;

The collecting module consists of a screw rod, a collecting interface, a support column, a gear rack, four collecting baskets, a screw rod base and a direct current motor, after a picking object is determined, the collecting basket is selected by controlling the apple conveyor through a control button, the screw rod is driven to control the movement of the apple conveyor in the X direction, and the gear rack is driven to control the movement of the apple conveyor in the Y direction, so that the apple conveyor is accurately positioned above the corresponding collecting basket, and the picking module is driven to cut off fruit stalks to pick fruits;

The electric fruit picking and collecting integrated machine realizes manual identification and positioning of fruits under the control of a program, the photosensitive sensor positioned at the picking module part is used for controlling the rotation of the bucket handle type cutting blade, the cutting of the fruits is realized, the telescopic module can realize the axial movement of an X axis, a Y axis and a Z axis and the rotation around the Y axis and the Z axis, the telescopic module drives the picking module to rotate 360 degrees, the movement in the vertical direction and the stretching in the horizontal direction can lead the picking module to reach the position below any picking object for picking, the photosensitive sensor in the picking module senses apples, the bucket handle type cutting blade rotates to cut fruit handles, the fallen apples enter the apple conveyor along the collector, the texture in the apple conveyor is soft, the fruits can be protected to the greatest extent, and finally the fruits can fall into the collecting module which can place the fruits in different collecting baskets according to different fruits, so that the heavy operation of manual classification is reduced.