CN114051831A

CN114051831A - Multi-arm cooperative wolfberry harvesting machine

Info

Publication number: CN114051831A
Application number: CN202010792381.7A
Authority: CN
Inventors: 陈军; 王妙海; 周建国; 陈清宇; 高泽宁
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2020-08-09
Filing date: 2020-08-09
Publication date: 2022-02-18

Abstract

The invention discloses a multi-arm cooperative medlar harvester, which comprises a rack, travelling wheels, an operating board, a mechanical arm, a vibrating brush head, a collecting box, an automatic unloading device and the like, wherein the travelling wheels, the operating board, the mechanical arm, the collecting box and the automatic unloading device are arranged on the rack, one end of the automatic unloading device is arranged on a chassis of the rack, the other end of the automatic unloading device is connected with the collecting box, the vibrating brush head and a camera are arranged on the mechanical arm, and the multi-arm cooperative robot harvester is suitable for standardized planting orchards such as a double-lead double-layer hedge frame and the like, can realize continuous harvesting, has the potential of improving the harvesting efficiency, and can change the vibration frequency and the material of the vibrating brush head during the picking operation so as to adapt to different types of medlar and improve the quality of harvesting of medlar.

Description

Multi-arm cooperative wolfberry harvesting machine

Technical Field

The invention relates to a harvester, in particular to a medlar harvester, and belongs to the technical field of orchard picking machines.

Background

The traditional Chinese wolfberry picking method is manual picking, the picking speed is low, the efficiency is low, and the development of the Chinese wolfberry industry is severely restricted due to the fact that the picking period is short and the labor demand is huge. Picking is a work with strong seasonality and labor intensity, the labor force is less and less in the aging population and the rural areas at present, and the development of a mechanical picking technology is more necessary.

At present, the research results of small-sized portable medlar picking machines are rich, and the main picking modes can be divided into vibration, carding, shearing, air suction and the like. The small-size portable matrimony vine picking machine simple structure, small and exquisite light, and the cost is lower, and the technique is also mature relatively, but has picking efficiency lower, great to the manpower dependence, easily injures matrimony vine fruit tree, picking personnel can't last work for a long time scheduling problem. The large-scale self-propelled medlar picking machine has relatively few research results, adopts a vibration picking mode more, can greatly improve medlar picking efficiency and reduce dependence on manpower, but has the problems of poor picking effect, large damage to medlar, poor working trafficability and the like. With the continuous deepening of the concept of agricultural and agricultural technology combination, the traditional wolfberry cultivation mode is developing towards the modern orchard with higher yield and more suitable for mechanized harvesting, such as a hedge frame type orchard, a Y-type orchard and a double-gantry orchard, and the like, and the existing wolfberry harvesting machine is not suitable for the standardized novel orchard.

Disclosure of Invention

The invention provides a multi-arm cooperative wolfberry picking machine, which is a picking machine suitable for a standardized orchard, such as a double-lead double-layer trellis type orchard, and can effectively solve the problems of low manual picking efficiency, high cost, general picking quality of the existing vibrating type picking machine, poor working trafficability of a large self-propelled wolfberry picking machine and the like.

In order to solve the technical problems, the invention provides a multi-arm cooperative medlar harvester which comprises a rack, traveling wheels, a control console, a mechanical arm, a camera, a vibration brush head, a collecting box and an automatic unloading device.

As a preferable technical scheme of the invention, the number of the mechanical arms is two.

As a preferred technical scheme of the invention, a collecting box is arranged below the mechanical arm.

As a preferable technical scheme of the invention, the bottom of the collecting box is connected with an automatic unloading device.

As a preferred technical scheme of the invention, the vibrating brush head is composed of a rubber rod, and the rubber rod is fixedly connected with the tail end of the mechanical arm through a bolt.

As a preferable technical scheme of the invention, the vibration frequency of the vibration brush head can be adjusted through a motor.

As a preferable technical scheme, the mechanical arm can be used for picking the Chinese wolfberry fruits at different positions at the same time.

The invention has the following beneficial effects: the multi-arm cooperative medlar harvester is suitable for standardized planting orchards such as 'double-lead double-layer trellis type' orchards, the labor intensity of picking work can be reduced, and when the multi-arm cooperative medlar harvester works, the vibrating brush head is in direct contact with branches and stems of medlar, so that the link of directly contacting the surface of medlar is reduced, the efficiency is improved, and the fruit damage rate is reduced. The multi-arm cooperative wolfberry harvesting machine can realize continuous harvesting, has the potential of improving harvesting efficiency, and can change the vibration frequency and the material of the vibration brush head during the picking operation so as to adapt to different varieties of wolfberries and reduce the damage to the wolfberries, thereby improving the quality of harvesting the wolfberries.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 and 2 are schematic structural diagrams of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Example 1

As shown in fig. 1 and 2, the multi-arm cooperative medlar harvester comprises a rack 2, traveling wheels 1, a console 3, a mechanical arm 4, a camera 5, a vibrating brush head 6, a collecting box 7 and an automatic unloading device 8, and is characterized in that the console 3, the mechanical arm 4, the collecting box 7 and the automatic unloading device 8 are mounted on the rack 2, the camera 5 and the vibrating brush head 6 are mounted on the mechanical arm 4, one end of the automatic unloading device 8 is mounted on a chassis of the rack 2, and the other end of the automatic unloading device is connected with the collecting box 7.

Furthermore, the number of the mechanical arms 4 is two, so that the efficiency can be improved compared with that of a single mechanical arm, and compared with that of a plurality of mechanical arms (three or more), the required execution programs and operations are simpler.

Further, 4 belows of arm set up a collecting box 7, gather the integration, save time and manpower.

Furthermore, the bottom of the collecting box 7 is connected with an automatic unloading device 8, and the collection of the picked wolfberry fruits is more convenient by adjusting the inclination of the collecting box 7

Further, the vibrating brush head 6 is composed of a rubber rod, the rubber rod is fixedly connected with the tail end of the mechanical arm 4 through a bolt, and the vibrating brush head 6 is convenient to replace so as to adapt to different wolfberry varieties.

Furthermore, the vibration frequency of the vibrating brush head 6 can be adjusted through a motor so as to adapt to picking of the Chinese wolfberries of different maturity in different periods.

Further, the mechanical arms 4 can pick the matrimony vine of different positions simultaneously, and one of them mechanical arm 4 is picked in the up-and-down direction, and another mechanical arm 4 is picked in the left-and-right direction to better improvement is picked efficiency.

The working principle of the invention is as follows: control operation panel 3, make the dolly advance to carry out image acquisition through camera 5 and treat the picking fruit tree, the analysis location, brush head 6 that shakes is inserted the branch root, and motor drive shakes brush head 6 and vibrates the branch, makes the ripe fruit of matrimony vine drop, and the green fruit remains, and after picking, the fruit drops in collecting box 7, adjusts collecting box 7 gradient, makes the fruit drop in the fruit case, accomplishes the task of gathering.

The multi-arm cooperative medlar harvester is suitable for standardized planting orchards such as 'double-lead double-layer trellis type' orchards, the labor intensity of picking work can be reduced, and when the multi-arm cooperative medlar harvester works, the flexible combing and brushing rod at the tail end is in direct contact with branches and stems of medlar, so that the link of directly contacting the surface of medlar is reduced, the efficiency is improved, and the fruit damage rate is reduced. The multi-arm cooperative wolfberry harvesting machine can realize continuous harvesting, has the potential of improving harvesting efficiency, and can change the material laid on the surface of the collecting device and the tail end material of the flexible tail end combing and brushing rod during the picking operation so as to adapt to different varieties of wolfberries, reduce the damage to the wolfberries and improve the quality of the harvested wolfberries.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The multi-arm cooperative wolfberry harvester comprises a rack (2), walking wheels (1), an operating board (3), a mechanical arm (4), a camera (5), a vibrating brush head (6), a collecting box (7) and an automatic unloading device (8), and is characterized in that the operating board (3), the mechanical arm (4), the collecting box (6) and the automatic unloading device (8) are installed on the rack (2), the vibrating brush head (6) and the camera (5) are installed on the mechanical arm (4), one end of the automatic unloading device (8) is installed on a chassis of the rack (2), and the other end of the automatic unloading device is connected with the collecting box (6).

2. The multi-arm cooperative medlar harvester according to claim 1, wherein the number of the mechanical arms (4) is two.

3. A multi-arm cooperative lycium barbarum harvester according to claim 1, characterised in that a collection box (6) is placed under the mechanical arm (4).

4. The multi-arm cooperative medlar harvester according to claim 1, wherein the bottom of the collecting box (7) is connected with an automatic unloading device (8), and the medlar collection after the picking is more convenient by adjusting the inclination of the collecting box (7).

5. The multi-arm cooperative medlar harvester according to claim 1, wherein the vibrating brush head (6) is composed of a rubber rod, the rubber rod is fixedly connected with the tail end of the mechanical arm (4) through a bolt, and the material of the vibrating brush head (6) can be changed conveniently to adapt to different medlar varieties.

6. The multi-arm cooperative medlar harvester according to claim 1, wherein the vibration frequency of the vibration brush head (6) can be adjusted by a motor to adapt to picking medlar with different ripeness degrees at different periods.

7. The multi-arm cooperative medlar harvesting machine according to claim 1, wherein the mechanical arms (4) can harvest medlar at different positions simultaneously, one mechanical arm (4) picks up medlar in the up-down direction, and the other mechanical arm (4) picks up medlar in the left-right direction, so that the picking efficiency is improved better.