Citrus picking and collecting device

Abstract

The present invention relates to a citrus picking and collecting device, comprising a citrus stem cutting mechanism and a citrus collecting trolley, wherein the citrus stem cutting mechanism comprises a frame, a controller, a first cutting mechanism, a second cutting mechanism and an up-and-down moving mechanism, wherein the controller is used to control the cutting knife of the first cutting mechanism to rotate toward the center of the frame and stay at the center of the frame after the citrus completely enters the frame, and then control the up-and-down moving mechanism to drive the frame to move downward, and when the contact sensor on the first cutting mechanism contacts the upper surface of the citrus, the moving frame is stopped, and the cutting knife of the second cutting mechanism is controlled to rotate toward the center of the frame to shear the citrus stem. The present invention can sense whether the citrus completely enters the frame, and can automatically adjust the cutting mechanism to be close to the upper surface of the citrus after the citrus completely enters, so as to cut the stem flush along the top of the citrus, and the cut citrus directly falls into the citrus collecting trolley, which is convenient to operate and greatly improves the picking efficiency of the citrus.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural and forestry machinery, and in particular relates to a citrus picking and collecting device. Background Art

[0002] Citrus is a fruit that many people like. When citrus grows on citrus trees, they are connected to the trees by tough stalks, so that they absorb nutrients from the trees through the stalks. The tough texture of the stalks prevents citrus from falling off the trees in bad weather, such as strong winds or heavy rains, thus ensuring the fruit-bearing rate of citrus. After the citrus is ripe, it is necessary to pick the citrus from the trees. Because the citrus stalks are hard and have a certain length, in order to avoid the citrus stalks being too long and piercing other citrus, when picking citrus in citrus orchards, it is usually done manually by using shearing tools to cut the stalks flush with the top of the citrus. However, manual picking is both physically demanding and inefficient. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a citrus picking and collecting device.

[0004] The technical solution of the present invention to solve the above technical problems is as follows:

[0005] A citrus picking and collecting device comprises a citrus stalk cutting mechanism, the citrus stalk cutting mechanism is used to cut off the citrus stalks, the citrus stalk cutting mechanism comprises a frame, a controller, a first cutting mechanism, a second cutting mechanism and an up-and-down moving mechanism, the frame is fixed on the up-and-down moving mechanism, the up-and-down moving mechanism is used to drive the frame to move up and down, the first cutting mechanism and the second cutting mechanism are both arranged on the frame, the blades of the first cutting mechanism and the second cutting mechanism can both rotate on a horizontal plane and move in opposite directions, the frame is also provided with a first sensor, the first sensor A sensor is used to detect whether the citrus has completely entered the frame. A contact sensor is also provided on the first cutting mechanism. The controller is used to control the cutting knife of the first cutting mechanism to rotate toward the center of the frame and stay at the center position of the frame after the first sensor detects that the citrus has completely entered the frame, and then control the up and down moving mechanism to drive the frame to move downward. When the contact sensor contacts the upper surface of the citrus, the controller controls the up and down moving mechanism to stop moving, and then controls the cutting knife of the second cutting mechanism to rotate toward the center of the frame, and the cutting knife of the second cutting mechanism forms a shear with the cutting knife of the first cutting mechanism.

[0006] Furthermore, the first cutter mechanism includes a first drive mechanism and a first cutter, and the second cutter mechanism includes a second drive mechanism and a second cutter, the first drive mechanism is used to drive the first cutter to rotate on a horizontal plane, and the second drive mechanism is used to drive the second cutter to rotate on a horizontal plane, the blades of the first cutter and the second cutter are arranged facing each other, and the second cutter is located above the first cutter.

[0007] Furthermore, the first sensor is a laser sensor, the up-and-down moving mechanism is a slide mechanism, the slide mechanism includes a guide rod and a slide sleeved on the guide rod, the slide is connected to the frame and is used to drive the frame to reciprocate along the axial direction of the guide rod.

[0008] Furthermore, it also includes a citrus collecting cart, on which the citrus stalk cutting mechanism is arranged, and the citrus collecting cart is used to collect the citrus picked by the citrus stalk cutting mechanism.

[0009] Furthermore, the citrus collection cart includes a mobile cart, a connecting rod mechanism, a conveying mechanism and a fruit receiving net, the connecting rod mechanism and the conveying mechanism are both installed on the mobile cart, the citrus stalk cutting mechanism is fixed on the connecting rod mechanism, the fruit receiving net is fixed on the conveying mechanism and is located below the citrus stalk cutting mechanism, and a silo is also provided on the mobile cart, which is located below the conveying mechanism and is used to store citrus.

[0010] Furthermore, the connecting rod mechanism includes a fixed connecting rod, a telescopic connecting rod, a first support rod and a second support rod, one end of the fixed connecting rod is fixed to the moving vehicle, and the other end is hinged to the telescopic connecting rod, one end of the first support rod is hinged to the fixed connecting rod, and the other end is movably connected to the telescopic connecting rod, one end of the conveying mechanism is hinged to the moving vehicle, and the other end is fixed with a fruit receiving net, and one end of the second support rod is hinged to the conveying mechanism, and the other end is movably connected to the moving vehicle.

[0011] Furthermore, an angle adjustment mechanism is also provided on the telescopic link, and the angle adjustment mechanism includes a first sliding sleeve, a second sliding sleeve, a connecting rod and an adjusting rod. The first sliding sleeve and the second sliding sleeve are sleeved on the outside of the connecting rod and can slide along the connecting rod. The first sliding sleeve is connected to the second sliding sleeve through the connecting rod, and the two ends of the adjusting rod are respectively hinged to the second sliding sleeve and the up and down moving mechanism.

[0012] The beneficial effects of the present invention are as follows: the citrus collecting trolley of the present invention can conveniently move the citrus stalk cutting mechanism to a suitable position for picking, the position angle of the citrus stalk cutting mechanism is conveniently adjustable, and the adaptability is strong. The present invention can automatically sense whether the citrus has completely entered the frame, and after the citrus has completely entered, the cutting mechanism can be automatically adjusted to be close to the upper surface of the citrus, so as to cut the stalk flush along the top of the citrus, and the cut citrus directly falls into the fruit receiving net and is transported to the silo via the conveying mechanism, which is easy to operate and greatly improves the picking efficiency of the citrus. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0014] Figure 2 It is a structural schematic diagram of a citrus stem cutting mechanism;

[0015] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0016] 1. Citrus stem cutting mechanism; 2. Citrus collection trolley; 11. Rack; 12. First cutting mechanism; 13. Second cutting mechanism; 14. Up and down moving mechanism; 15. First sensor; 16. Contact sensor; 21. Moving vehicle; 22. Conveying mechanism; 23. Fruit receiving net; 24. Fixed connecting rod; 25. Telescopic connecting rod; 26. First sliding sleeve; 27. Second sliding sleeve; 28. Connecting rod; 29. ​​Adjusting rod; 30. First supporting rod; 31. Second supporting rod; 32. Material bin DETAILED DESCRIPTION

[0017] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0018] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise", "counterclockwise", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0019] A citrus picking and collecting device comprises a citrus stem cutting mechanism 1, wherein the citrus stem cutting mechanism 1 is used to cut off the citrus stems, and the citrus stem cutting mechanism 1 comprises a frame 11, a controller, a first cutting mechanism 12, a second cutting mechanism 13 and an up-and-down moving mechanism 14, wherein the frame 11 is fixed on the up-and-down moving mechanism 14. In this embodiment, the frame is a hollow cylinder; the up-and-down moving mechanism 14 is used to drive the frame 11 to move up and down, the first cutting mechanism 12 and the second cutting mechanism 13 are both arranged on the frame 11, and the blades of the first cutting mechanism 12 and the second cutting mechanism 13 can both rotate on a horizontal plane and move in opposite directions, and the frame 11 is also provided with a first sensor 15, the first sensor The sensor 15 is used to detect whether the citrus has completely entered the frame 11. The first cutting mechanism 12 is also provided with a contact sensor 16. The controller is used to control the first cutting mechanism 12 to start after the citrus has completely entered the frame 11, so that the cutting knife of the first cutting mechanism 12 rotates toward the center of the frame 11 and stays in the central position of the frame 11, and then the controller controls the up and down moving mechanism 14 to drive the frame 11 to move downward. When the contact sensor 16 contacts the upper surface of the citrus, the controller controls the up and down moving mechanism 14 to stop moving; then the controller controls the second cutting mechanism 13 to start, and the cutting knife of the second cutting mechanism 13 gradually rotates from the periphery of the frame 11 to the center of the frame 11, and forms a shear with the cutting knife of the first cutting mechanism 12.

[0020] As an embodiment, the first cutter mechanism 12 includes a first drive mechanism and a first cutter, and the second cutter mechanism 13 includes a second drive mechanism and a second cutter, the first drive mechanism is used to drive the first cutter to rotate on a horizontal plane, and the second drive mechanism is used to drive the second cutter to rotate on a horizontal plane, the blades of the first cutter and the second cutter are arranged facing each other, and the second cutter is located above the first cutter.

[0021] As an implementation mode, the first sensor 15 is a laser sensor, the up-and-down moving mechanism 14 is a slide mechanism, the slide mechanism includes a guide rod and a slide sleeved on the guide rod, the slide is connected to the frame, and is used to drive the frame to reciprocate along the axial direction of the guide rod.

[0022] As an embodiment, it also includes a citrus collecting cart 2, and the citrus stalk cutting mechanism 1 is arranged on the citrus collecting cart 2, and the citrus collecting cart 2 is used to collect citrus picked by the citrus stalk cutting mechanism 1.

[0023] As an embodiment, the citrus collection cart 2 includes a mobile cart 21, a connecting rod mechanism, a conveying mechanism 22 and a fruit receiving net 23, the connecting rod mechanism and the conveying mechanism 22 are both installed on the mobile cart 21, the citrus stalk cutting mechanism 1 is fixed on the connecting rod mechanism, the fruit receiving net 23 is fixed on the conveying mechanism 22 and is located below the citrus stalk cutting mechanism 1, and a silo 32 is also provided on the mobile cart 21, the silo 32 is located below the conveying mechanism 22 and is used to store citrus.

[0024] As an embodiment, the connecting rod mechanism includes a fixed link 24, a telescopic link 25, a first support rod 30 and a second support rod 31, one end of the fixed link 24 is fixed to the moving vehicle 21, and the other end is hinged to the telescopic link 25, one end of the first support rod 30 is hinged to the fixed link 24, and the other end is movably connected to the telescopic link 25, one end of the conveying mechanism 22 is hinged to the conveying mechanism 22, and the other end is fixed with a fruit receiving net 23, one end of the second support rod 31 is hinged to the moving vehicle 21, and the other end is movably connected to the moving vehicle 21.

[0025] As an embodiment, the telescopic link 25 is also provided with an angle adjustment mechanism, and the angle adjustment mechanism includes a first sliding sleeve 26, a second sliding sleeve 27, a connecting rod 28 and an adjusting rod 29. The first sliding sleeve 26 and the second sliding sleeve 27 are sleeved on the outside of the connecting rod 28 and can slide along the connecting rod 28. The first sliding sleeve 26 is connected to the second sliding sleeve 27 through the connecting rod 28, and the two ends of the adjusting rod 29 are respectively hinged to the second sliding sleeve 27 and the up and down moving mechanism 14.

[0026] The method of use of the present invention is:

[0027] First, operate the citrus collection trolley, move the citrus collection trolley under the citrus tree, insert the second support rod 31 into the moving vehicle 21, fix the conveying mechanism 22, insert the first support rod 30 into the telescopic link 25, fix the telescopic link 25, extend the telescopic link 25, and move the citrus stalk cutting mechanism 1 to the bottom of the citrus; by pushing the first slide sleeve 26 up and down, the second slide sleeve 27 can be driven to move up and down, and the second slide sleeve 27 can drive the adjustment rod 29 to rotate, thereby adjusting the angle and position of the citrus stalk cutting mechanism 1, so that the citrus can enter the frame 11 more easily, and the controller controls the slide mechanism to drive the frame 11 to move upward, so that the citrus can enter the frame 11; then, the two first sensors 15 symmetrically arranged at the entrance of the frame detect the distance between themselves and the citrus, when the citrus completely enters the frame 11, the distance detected by the first sensor 15 becomes the diameter of the frame, and the controller determines that the citrus has completely entered the frame 11 according to the detection signal of the first sensor 15, and controls the slide mechanism to stop moving upward; then, The controller controls the first cutter mechanism to start, and the first cutter rotates from the periphery of the frame 11 to the center of the frame 11 and stays in the center of the frame 11 to hold the citrus stems; then the frame 11 is driven to move downward by controlling the slide mechanism. When the contact sensor 16 located below the first cutter contacts the upper surface of the citrus, it indicates that the first cutter has moved to a position close to the upper surface of the citrus. At this time, the controller receives a signal sent by the contact sensor 16, and then controls the slide mechanism to stop moving; then the controller controls the second cutter mechanism 13 to start, that is, the second cutter gradually rotates from the periphery of the frame 11 to the center of the frame 11, and forms a shear with the first cutter, thereby achieving the cutting of the stalks flush with the top of the citrus. The citrus falls downward onto the fruit receiving net 23 due to gravity, and then enters the silo 32 via the conveying mechanism 22, completing a citrus picking. After the citrus stem cutting mechanism 1 cuts off the stalk, the controller controls the first cutter mechanism 12, the second cutter mechanism 13 and the slide mechanism to return to the initial position, and the next picking can be carried out.

[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A citrus picking and collecting device, characterized in that: The invention comprises a citrus stalk cutting mechanism (1), the citrus stalk cutting mechanism (1) being used for cutting off the citrus stalks, the citrus stalk cutting mechanism (1) comprising a frame (11), a controller, a first cutting mechanism (12), a second cutting mechanism (13) and an up-and-down moving mechanism (14), the frame (11) being fixed on the up-and-down moving mechanism (14), the up-and-down moving mechanism (14) being used for driving the frame (11) to move up and down, the first cutting mechanism (12) and the second cutting mechanism (13) being both arranged on the frame (11), the blades of the first cutting mechanism (12) and the second cutting mechanism (13) being both able to rotate on a horizontal plane and moving in opposite directions, the frame (11) being further provided with a first sensor (15), the first sensor (15) being able to rotate on a horizontal plane and moving in opposite directions, 5) is used to detect whether the citrus has completely entered the frame (11), the first cutting mechanism (12) is also provided with a contact sensor (16), and the controller is used to control the cutting knife of the first cutting mechanism (12) to rotate toward the center of the frame (11) and stay at the center position of the frame (11) after the first sensor (15) detects that the citrus has completely entered the frame (11), and then control the up-down moving mechanism (14) to drive the frame (11) to move downward. When the contact sensor (16) contacts the upper surface of the citrus, the controller controls the up-down moving mechanism (14) to stop moving, and then controls the cutting knife of the second cutting mechanism (13) to rotate toward the center of the frame (11), so that the cutting knife of the second cutting mechanism (13) and the cutting knife of the first cutting mechanism (12) form a shearing.

2. The citrus picking and collecting device according to claim 1, characterized in that: The first cutter mechanism (12) comprises a first drive mechanism and a first cutter, and the second cutter mechanism (13) comprises a second drive mechanism and a second cutter, the first drive mechanism is used to drive the first cutter to rotate on a horizontal plane, and the second drive mechanism is used to drive the second cutter to rotate on a horizontal plane, the blades of the first cutter and the second cutter are arranged facing each other, and the second cutter is located above the first cutter.

3. The citrus picking and collecting device according to claim 1, characterized in that: The first sensor (15) is a laser sensor, the up-and-down moving mechanism (14) is a slide mechanism, the slide mechanism comprises a guide rod and a slide sleeved on the guide rod, the slide is connected to the frame and is used to drive the frame to reciprocate along the axial direction of the guide rod.

4. The citrus picking and collecting device according to claim 1, characterized in that: It also comprises a citrus collecting trolley (2), on which the citrus stalk cutting mechanism (1) is arranged, and the citrus collecting trolley (2) is used to collect the citrus picked by the citrus stalk cutting mechanism (1).

5. The citrus picking and collecting device according to claim 4, characterized in that: The citrus collecting trolley (2) comprises a moving vehicle (21), a connecting rod mechanism, a conveying mechanism (22) and a fruit receiving net (23); the connecting rod mechanism and the conveying mechanism (22) are both mounted on the moving vehicle (21); the citrus stalk cutting mechanism (1) is fixed on the connecting rod mechanism; the fruit receiving net (23) is fixed on the conveying mechanism (22) and is located below the citrus stalk cutting mechanism (1); and a silo (32) is also provided on the moving vehicle (21); the silo (32) is located below the conveying mechanism (22) and is used to store citrus.

6. The citrus picking and collecting device according to claim 5, characterized in that: The connecting rod mechanism comprises a fixed connecting rod (24), a telescopic connecting rod (25), a first support rod (30) and a second support rod (31); one end of the fixed connecting rod (24) is fixed on the moving vehicle (21), and the other end is hinged to the telescopic connecting rod (25); one end of the first support rod (30) is hinged to the fixed connecting rod (24), and the other end is movably connected to the telescopic connecting rod (25); one end of the conveying mechanism (22) is hinged to the moving vehicle (21), and the other end is fixed with a fruit receiving net (23); one end of the second support rod (31) is connected to the conveying mechanism (22), and the other end is movably connected to the moving vehicle (21).

7. The citrus picking and collecting device according to claim 6, characterized in that: The telescopic connecting rod (25) is also provided with an angle adjustment mechanism, which comprises a first sliding sleeve (26), a second sliding sleeve (27), a connecting rod (28) and an adjustment rod (29); the first sliding sleeve (26) and the second sliding sleeve (27) are sleeved on the outside of the connecting rod (28) and can slide along the connecting rod (28); the first sliding sleeve (26) is connected to the second sliding sleeve (27) via the connecting rod (28); and the two ends of the adjustment rod (29) are respectively hinged to the second sliding sleeve (27) and the up-and-down moving mechanism (14).

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