A human-robot collaborative Chinese wolfberry fruit harvesting machine

Abstract

The application discloses a man-machine cooperation Chinese wolfberry picking machine and relates to the technical field of Chinese wolfberry picking, which comprises a portal frame, a caterpillar mechanism, a fruit conveying mechanism, a position adjusting mechanism, a closing mechanism, a controller, a fruit receiving mechanism, a manual auxiliary picking seat and a driving mechanism are arranged on the portal frame; the position adjusting mechanism is used for assisting the fruit conveying mechanism and the fruit receiving mechanism to adjust the height and the lateral position, so that the fruit receiving mechanism is prevented from being too high to scratch the fruit and the fruit is prevented from being missed in the man-machine picking condition; the flexible fruit receiving plate can be reciprocally rotated under the driving of the third motor, so that the fruit is received and poured into the fruit conveying mechanism; the three mechanisms are cooperated with each other, and the fruit picking efficiency and the fruit integrity are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wolfberry harvesting, and particularly relates to a man-machine cooperative wolfberry harvesting machine. BACKGROUND

[0002] At present, the traditional man-machine cooperative wolfberry harvesting machine is often difficult to adapt to different growth states of plants when the fruits are picked, resulting in low picking efficiency and even damage to the fruits. At the same time, due to the influence of environmental and climatic factors, the main stems of part of non-fence wolfberry are prone to lodging, which makes it difficult for the traditional man-machine cooperative wolfberry harvesting machine to pass and pick the fruits. In addition, during the wolfberry harvesting process, the mixture of wolfberry fruits and leaves will cause poor fruit flowability and easy accumulation on the fruit picking device of the man-machine cooperative wolfberry harvesting machine.

[0003] The existing man-machine cooperative wolfberry harvesting machine lacks universality, flexibility and intelligence, and cannot meet the needs of modern agriculture for efficient and accurate harvesting. Therefore, how to develop a man-machine cooperative wolfberry harvesting machine that can solve the above problems has become a difficult problem to be solved by the technical personnel in the field. SUMMARY

[0004] The purpose of the present application is to provide a man-machine cooperative wolfberry harvesting machine, which solves the problem that the existing man-machine cooperative wolfberry harvesting machine lacks universality, flexibility and intelligence, and cannot meet the needs of modern agriculture for efficient and accurate harvesting.

[0005] To solve the above technical problems, the technical scheme adopted by the present application is as follows:

[0006] The present application provides a man-machine cooperative wolfberry harvesting machine, which comprises a gantry frame, the overall shape of the gantry frame is frame-shaped, two symmetrical track mechanisms are installed at the bottom of the gantry frame, two symmetrical fruit conveying mechanisms are installed at the left and right sides below the inside of the gantry frame, a fruit picking mechanism is installed above the fruit conveying mechanism, a position adjusting mechanism is installed on the vertical support frame of the gantry frame, the position adjusting mechanism drives the fruit conveying mechanism to displace in the horizontal direction or the vertical direction, the fruit picking mechanism displaces synchronously with the fruit conveying mechanism, a sealing mechanism is arranged on the front and rear sides of the gantry frame, a controller is symmetrically installed on the vertical support frame of the left and right sides of the gantry frame, a manual auxiliary picking seat is symmetrically installed on the left and right sides of the gantry frame, a driving mechanism is further arranged on the two sides of the gantry frame, and the driving mechanism is in transmission connection with the track mechanism.

[0007] Optionally, the track mechanism comprises a transmission track, a load wheel, a tensioning wheel and a driving wheel, the driving wheel and the tensioning wheel are respectively located at the front and rear ends above the load wheel, a plurality of load wheels are horizontally arranged, and the load wheel, the tensioning wheel and the driving wheel are in transmission connection through the transmission track.

[0008] Optionally, the driving mechanism comprises a first motor and a gearbox, one end of the gearbox is in transmission connection with the output shaft of the first motor, and the other end is in transmission connection with the driving wheel, and the first motor is in electrical connection with the controller.

[0009] Optionally, a plurality of position adjusting mechanisms are symmetrically installed on the gantry frame, each position adjusting mechanism comprises a first electric push rod and a second electric push rod, the tail end of the first electric push rod is vertically installed on the gantry frame, the tail end of the second electric push rod is horizontally installed on the output end of the first electric push rod, and the first electric push rod and the second electric push rod are both in electrical connection with the controller, and the fruit conveying mechanism is installed on the output end of the second electric push rod.

[0010] Optionally, the fruit conveying mechanism comprises a support plate, a transmission shaft and a conveying belt, the support plate is installed on the output end of the second electric push rod, the transmission shaft is rotatably arranged on the support plate, a plurality of transmission shafts are provided and are in transmission connection through the conveying belt, the conveying belt forms a front slope part and a rear horizontal part when in transmission connection between the plurality of transmission shafts, the frontmost transmission shaft is in transmission connection with the output shaft of a second motor, and the second motor is in electrical connection with the controller.

[0011] Optionally, a fan fixing frame is installed below the front slope part of the conveying belt, a directional air outlet and a fan are installed on the fan fixing frame, the wind blown by the fan is rectified through the directional air outlet and then blown to the conveying belt, and a storage box is further installed below the conveying belt.

[0012] Optionally, the fruit receiving mechanism comprises a flexible fruit receiving plate and a third motor, the flexible fruit receiving plate is installed on the support plate through a support rod, the flexible fruit receiving plate is located above the conveying belt and corresponds to the conveying belt, the third motor is installed at the top end of the support rod, the output end of the third motor is hingedly connected to the flexible fruit receiving plate through a connecting rod, the third motor is in electrical connection with the controller, and the third motor drives the flexible fruit receiving plate to swing through the connecting rod when working.

[0013] Optionally, the closing mechanism comprises a guide rail, two guide rails are symmetrically installed at the front ends of the gantry frame, a plurality of sliding blocks are slidably connected to the guide rails, hooks are installed on the sliding blocks, a curtain is hung on the hooks, and a plurality of magnets are arranged on the curtain, when the curtain is pulled up, the plurality of curtains are attracted to each other through the plurality of magnets.

[0014] Optionally, a power supply is further installed on the top of the gantry frame, and the power supply supplies power to the controller, the fruit conveying mechanism, the fruit receiving mechanism, the driving mechanism and the position adjusting mechanism.

[0015] Compared with the prior art, the present application has the beneficial technical effects:

[0016] 1) The present application adjusts the height and lateral position of the fruit conveying mechanism and the fruit receiving mechanism through the height and lateral position adjustment mechanism, avoids the injury of the fruit and the missing of the fruit in the human-machine picking condition, and realizes the reciprocating rotation of the flexible fruit receiving plate under the driving of the third motor, so that the fruit receiving and dumping are realized to the fruit conveying mechanism. The present application greatly improves the picking efficiency and integrity of the fruit through the cooperation of the above three mechanisms.

[0017] 2) The present application is provided with the blocking mechanism on the front and rear sides of the gantry frame, so that the fallen fruit is blocked in the front and rear directions and falls on the fruit conveying mechanism in the human-machine interactive operation.

[0018] 3) The present application adjusts the height and lateral position of the fruit conveying mechanism and the fruit receiving mechanism through the position adjustment mechanism, effectively realizes the obstacle avoidance function. BRIEF DESCRIPTION OF DRAWINGS

[0019] The present application will be further described below in combination with the description of the drawings.

[0020] Figure 1 It is a structure schematic view of the present application of the human-machine cooperative wolfberry picking machine.

[0021] Figure 2 It is a side view of the present application of the human-machine cooperative wolfberry picking machine.

[0022] Figure 3 It is a front view of the present application of the human-machine cooperative wolfberry picking machine.

[0023] Figure 4 It is a structure schematic view of the present application of the fruit receiving mechanism.

[0024] Figure 5 It is a structure schematic view of the present application of the fruit conveying mechanism front end.

[0025] Figure 6 It is a front view of the present application of the blocking mechanism.

[0026] Explanation of reference signs: 1, track mechanism; 2, fruit conveying mechanism; 3, position adjustment mechanism; 4, blocking mechanism; 5, gantry frame; 6, controller; 7, fruit receiving mechanism; 8, artificial auxiliary picking seat; 9, driving mechanism;

[0027] 10, driving track; 11, bearing wheel; 12, tensioning wheel;

[0028] 91, first motor; 92, gearbox;

[0029] 31, first electric push rod; 32, second electric push rod;

[0030] 21, support plate; 22, transmission shaft; 23, conveying belt; 24, second motor;

[0031] 51, fan fixing frame; 52, directional air outlet;

[0032] 71, flexible fruit receiving plate; 72, third motor;

[0033] 41, guide rail; 42, sliding block; 43, hook. DETAILED DESCRIPTION

[0034] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clear, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not to limit the present application.

[0035] As shown in Figures 1-6 A man-machine cooperative Chinese wolfberry picking machine, comprising a gantry frame 5, the whole of the gantry frame 5 is frame-shaped, track mechanisms 1 are symmetrically installed on the bottom of the gantry frame 5, fruit conveying mechanisms 2 are symmetrically arranged on the left and right sides below the inside of the gantry frame 5, fruit receiving mechanisms 7 are installed above the fruit conveying mechanisms 2, position adjusting mechanisms 3 are installed on the vertical support frames of the gantry frame 5, the position adjusting mechanisms 3 drive the fruit conveying mechanisms 2 to displace in the horizontal direction or the vertical direction, the fruit receiving mechanisms 7 displace synchronously with the fruit conveying mechanisms 2, closed mechanisms 4 are arranged on the front and rear sides of the gantry frame 5, controllers 6 are symmetrically installed on the vertical support frames of the left and right sides of the gantry frame 5, artificial auxiliary picking seats 8 are also symmetrically installed on the left and right sides of the gantry frame 5, drive mechanisms 9 are also arranged on the left and right sides of the gantry frame 5, and the drive mechanisms 9 are in transmission connection with the track mechanisms 1.

[0036] Among them, at least two artificial auxiliary picking seats 8 are arranged on each side, the artificial auxiliary picking seats 8 are used for assisting manual picking of Chinese wolfberry by hand vibration to improve the Chinese wolfberry picking efficiency. The height of the artificial auxiliary picking seat 8 is adjustable, and at the same time, in view of the requirements of starting and stopping and speed changing of the fruit conveying mechanism 2, height and transverse distance control of the fruit receiving mechanism 7 and swing control of the flexible fruit receiving plate, a humanized controller is designed on the stand column to assist in control. In addition, the track mechanism 1 can also adopt an independent remote control system, and a single person can hold a remote control handle to control the machine to shuttle in the Chinese wolfberry garden. And other control functions of the whole machine are independently integrated in the controller on the stand column.

[0037] The fruit conveying mechanism 2 is arranged on the inner side of the gantry frame 5, which improves the safety of the device, and compared with the traditional structure in which the fruit conveying mechanism is arranged on the outer side of the gantry frame, the gantry frame 5 in the present scheme does not need to consider the influence of the fruit conveying mechanism on the surrounding environment when the track mechanism 2 is driven to run, which improves the flexibility of the device operation.

[0038] The controller adopts an independent programmable logic controller (PLC), which ensures the coordination and efficiency of various operations. Meanwhile, the track mechanism 1 is controlled by an independent remote control system, which ensures the flexibility and reliability of the walking function. Through the independent control system design of walking and operation, the machine can operate reliably and safely, which significantly improves the harvesting efficiency and fruit quality, and meets the demand of modern agriculture for intelligent and automatic harvesting equipment.

[0039] Specifically, the track mechanism 1 includes a transmission track 10, a load wheel 11, a tensioning wheel 12, and a drive wheel. The drive wheel and the tensioning wheel 12 are respectively located at the front and rear ends above the load wheel 11. The load wheel 11 is horizontally provided with a plurality of load wheels 11. The load wheel 11, the tensioning wheel 12, and the drive wheel are drivingly connected through the transmission track 10.

[0040] In specific implementation, the positions of the drive wheel and the tensioning wheel 12 can be interchanged, such as arranging the drive wheel at the rear end of the track 10 and arranging the tensioning wheel at the front end of the track 10.

[0041] Specifically, the drive mechanism 9 includes a first motor 91 and a gearbox 92. One end of the gearbox 92 is drivingly connected with the output shaft of the first motor 91, and the other end is drivingly connected with the drive wheel. The first motor 91 is electrically connected with the controller 6.

[0042] Specifically, the position adjusting mechanism 3 is provided with a plurality of symmetrically installed position adjusting mechanisms 3 on the gantry frame 5. The position adjusting mechanism 3 includes a first electric push rod 31 and a second electric push rod 32. The tail end of the first electric push rod 31 is vertically installed on the gantry frame 5. The tail end of the second electric push rod 32 is horizontally installed on the output end of the first electric push rod 31. The first electric push rod 31 and the second electric push rod 32 are both electrically connected with the controller 6. The fruit conveying mechanism 2 is installed on the output end of the second electric push rod 32.

[0043] The output end of the first electric push rod 31 is connected with the second electric push rod 32 through a plurality of arm telescopic slide rails, so as to reduce the machine volume occupied by the traditional track design, save space, and improve the universal performance of the machine.

[0044] Specifically, the fruit conveying mechanism 2 comprises a support plate 21, a transmission shaft 22 and a conveying belt 23, the support plate 21 is installed on the output end of the second electric push rod 32, the transmission shaft 22 is rotationally arranged on the support plate 21, the transmission shaft 22 is provided with a plurality of transmission shafts 22, and the plurality of transmission shafts 22 are drivingly connected through the conveying belt 23; the conveying belt 23 forms a front slope part and a rear horizontal part when drivingly connected between the plurality of transmission shafts 22, the frontmost transmission shaft 22 is drivingly connected with the output shaft of the second motor 24, and the second motor 24 is electrically connected with the controller 6.

[0045] Specifically, a fan fixing frame 51 is installed below the front slope part of the conveying belt 23, a directional air outlet 52 and a fan are installed on the fan fixing frame 51, the air blown by the fan is rectified through the directional air outlet 52 and then blown to the conveying belt 23, and a storage box is further installed below the conveying belt 23.

[0046] When the fruit leaves on the conveying belt 23 roll down the front slope part, the leaves are taken away by the airflow blown by the fan, and the fruits fall into the storage box.

[0047] The start-stop and frequency conversion control of the fan are manually operated through the fan start-stop and frequency conversion adjustment buttons on the controller 6. The fan is used for air separation, and by manually adjusting the operating state and rotating speed of the fan, the operator can flexibly control the working rotating speed of the fan according to the mixed condition of fruit leaves, effectively remove the leaves mixed in the fruits, and improve the purity and quality of the fruits.

[0048] Specifically, the fruit receiving mechanism 7 comprises a flexible fruit receiving plate 71 and a third motor 72, the flexible fruit receiving plate 71 is installed on the support plate 21 through a support rod, the flexible fruit receiving plate 71 is located above the conveying belt 23 and corresponds to the conveying belt 23, the third motor 72 is installed at the top end of the support rod, the output end of the third motor 72 is hinged to the flexible fruit receiving plate 71 through a connecting rod, the third motor 72 is electrically connected with the controller, and the third motor 72 drives the flexible fruit receiving plate 71 to swing through the connecting rod when working.

[0049] Among them, the swing start-stop and swing frequency of the flexible fruit receiving plate 71 are manually adjusted by the swing start-stop and frequency control buttons on the controller 6, and by adjusting the working frequency of the motor, the operator can control the reciprocating swing speed of the flexible fruit receiving plate 71 to reduce the damage to the fruits.

[0050] Specifically, the closing mechanism 4 comprises two guide rails 41 horizontally arranged and symmetrically mounted on both sides of the front end of the gantry frame 5, a plurality of sliding blocks 42 slidingly connected on the guide rails 41, hooks 43 mounted on the sliding blocks 42, a curtain hung on the hooks 43, and a plurality of magnets arranged on the curtain, wherein the plurality of curtains are attracted to each other by the plurality of magnets when the curtain is pulled up.

[0051] Specifically, the top of the gantry frame 5 is further provided with a power supply for supplying power to the controller 6, the fruit conveying mechanism 2, the fruit receiving mechanism 7, the driving mechanism 9, and the position adjusting mechanism 3.

[0052] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0053] The above-described embodiments are only preferred modes of the present application, and are not intended to limit the scope of the present application. Any modifications and improvements made by those skilled in the art to the technical solutions of the present application without departing from the design spirit of the present application shall fall within the protection scope of the present application as defined by the claims.

Claims

1. A human-machine collaborative wolfberry harvesting machine, characterized in that: The system includes a gantry frame (5), which is frame-shaped. Track mechanisms (1) are symmetrically installed on both sides of the bottom of the gantry frame (5). Fruit conveying mechanisms (2) are symmetrically arranged on the left and right sides of the lower part of the gantry frame (5). A fruit receiving mechanism (7) is installed above the fruit conveying mechanism (2). A position adjustment mechanism (3) is installed on the vertical support frame of the gantry frame (5). The position adjustment mechanism (3) drives the fruit conveying mechanism (2) to move horizontally or vertically. The vertical displacement of the fruit receiving mechanism (7) is synchronized with the fruit conveying mechanism (2). The front and rear sides of the gantry frame (5) are provided with a closing mechanism (4). The vertical support frames on the left and right sides of the gantry frame (5) are symmetrically equipped with controllers (6). The left and right sides of the gantry frame (5) are also symmetrically equipped with manual assisted picking seats (8). The sides of the gantry frame (5) are also equipped with a drive mechanism (9). The drive mechanism (9) is connected to the track mechanism (1) in a transmission manner. The position adjustment mechanism (3) is provided in multiple and symmetrically installed on the gantry frame (5). The position adjustment mechanism (3) includes a first electric push rod (31) and a second electric push rod (32). The tail end of the first electric push rod (31) is vertically installed on the gantry frame (5), and the tail end of the second electric push rod (32) is horizontally installed on the output end of the first electric push rod (31). The first electric push rod (31) and the second electric push rod (32) are both electrically connected to the controller (6). The fruit conveying mechanism (2) is installed on the output end of the second electric push rod (32). The fruit conveying mechanism (2) includes a support plate (21), a drive shaft (22), and a conveyor belt (23). The support plate (21) is mounted on the output end of the second electric push rod (32). The drive shaft (22) is rotatably mounted on the support plate (21). Multiple drive shafts (22) are provided, and the multiple drive shafts (22) are connected to each other through the conveyor belt (23). When the multiple drive shafts (22) are connected to each other, the conveyor belt (23) forms a front slope and a rear horizontal section. The frontmost drive shaft (22) is connected to the output shaft of the second motor (24). The second motor (24) is electrically connected to the controller (6). The fruit receiving mechanism (7) includes a flexible fruit receiving plate (71) and a third motor (72). The flexible fruit receiving plate (71) is mounted on the support plate (21) by a support rod. The flexible fruit receiving plate (71) is located above the conveyor belt (23) and corresponds to the conveyor belt (23). The third motor (72) is mounted on the top of the support rod and the output end of the third motor (72) is hinged to the flexible fruit receiving plate (71) by a connecting rod. The third motor (72) is electrically connected to the controller. When the third motor (72) is working, it drives the flexible fruit receiving plate (71) to swing through the connecting rod.

2. The human-machine collaborative wolfberry harvesting machine according to claim 1, characterized in that: The track mechanism (1) includes a transmission track (10), a load-bearing wheel (11), a tension wheel (12), and a drive wheel. The drive wheel and the tension wheel (12) are located at the front and rear ends above the load-bearing wheel (11), respectively. Multiple load-bearing wheels (11) are arranged horizontally. The load-bearing wheel (11), the tension wheel (12), and the drive wheel are connected by the transmission track (10).

3. The human-machine collaborative wolfberry harvesting machine according to claim 2, characterized in that: The drive mechanism (9) includes a first motor (91) and a gearbox (92). One end of the gearbox (92) is connected to the output shaft of the first motor (91) and the other end is connected to the drive wheel. The first motor (91) is electrically connected to the controller (6).

4. The human-machine collaborative wolfberry harvesting machine according to claim 1, characterized in that: A fan mounting bracket (51) is installed below the front slope of the conveyor belt (23). A directional air outlet (52) and a fan are installed on the fan mounting bracket (51). The air blown out by the fan is rectified by the directional air outlet (52) and blown towards the conveyor belt (23). A storage box is also installed below the conveyor belt (23).

5. The human-machine collaborative wolfberry harvesting machine according to claim 1, characterized in that: The closing mechanism (4) includes a guide rail (41). Two guide rails (41) are horizontally arranged and symmetrically installed on both sides of the front end of the gantry frame (5). Multiple sliders (42) are slidably connected on the guide rails (41). Hooks (43) are installed on the sliders (42). A door curtain is hung on the hook (43) and multiple magnets are provided on the door curtain. When the door curtain is pulled up, the multiple door curtains are attracted together by the multiple magnets.

6. The human-machine collaborative wolfberry harvesting machine according to claim 1, characterized in that: The top of the gantry frame (5) is also equipped with a power supply, which supplies power to the controller (6), the fruit conveying mechanism (2), the fruit receiving mechanism (7), the drive mechanism (9), and the position adjustment mechanism (3).

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