Fruit picking and collecting device and harvesting method

Abstract

The invention discloses a fruit picking and collecting device which comprises a bearing and collecting mechanism and a picking mechanism. The bearing and collecting mechanism comprises a first-stage bearing plate, a second-stage bearing plate, a first rack, a first linear guide rail module, a first motor gear module, a collecting box tray, a collecting box, a fourth-stage bearing plate, a second motor gear module, a second linear guide rail module, a second rack, a third-stage bearing plate, a lifting platform and a supporting rod. The picking mechanism comprises a scissor mounting plate, a third linear guide rail module, a third rack, a miniature air cylinder, an air cylinder fixing base, a third motor gear module, a scissor upper top plate, a scissor lower bottom plate, scissor blades, fruits, a right picking container, a left picking container, a push rod fixing plate, a fixing cushion block, a miniature electric push rod, a first hexagonal copper column, an L-shaped sliding block and a cam follower. And a scissor fixing bolt and a hexagonal copper column 2. The harvester has the advantages of being high in harvesting efficiency, small in fruit damage, simple in mechanism movement control, reliable in structure, convenient to manufacture and the like.

Description

Technical Field

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

[0002] In recent years, the fruit and vegetable planting model in solar greenhouses has developed rapidly. The emergence of new planting models has not only improved the utilization rate of planting space, but also provided more possibilities for mechanized operations. However, there are relatively few types of fruit and vegetable harvesting devices for new planting models at home and abroad, and most of them still use traditional mechanical harvesting devices, which results in their harvesting efficiency not being well adapted to the new planting model, seriously affecting the harvesting period. Therefore, it is very important to develop a harvesting device that is adapted to the new fruit and vegetable planting model for the promotion of the new planting model and the improvement of harvesting efficiency.

[0003] After investigation and research on a large number of planting patterns and harvesting devices, the present invention targets the new pattern of horizontal fruit planting and takes the matching harvesting device as the research target. By analyzing the parameters and requirements of the planting racks, a fruit picking and collecting device and a harvesting method are invented and designed. Summary of the invention

[0004] Based on the above background, the technical problem to be solved by the present invention is to provide a fruit picking and collecting device and a harvesting method that are adapted to the horizontal fruit planting mode and have a higher harvesting efficiency.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: Provided is a fruit picking and collecting device, characterized in that it includes: a bearing and collecting mechanism and a picking mechanism; the bearing and collecting mechanism includes a primary bearing plate, a secondary bearing plate, a rack 1, a linear guide module 1, a motor gear module 1, a collection box tray, a collection box, a fourth bearing plate, a motor gear module 2, a linear guide module 2, a rack 2, a third bearing plate, a lifting platform and a support rod. The picking mechanism includes a scissor mounting plate, a linear guide module 3, a rack 3, a micro cylinder, a cylinder fixing seat, a motor gear module 3, a scissor upper top plate, a scissor lower bottom plate, a scissor blade, a fruit, a right picking container, a left picking container, a push rod fixing plate, a fixing pad, a micro electric push rod, a hexagonal copper column 1, an L-shaped slider, a cam follower, a scissor fixing bolt and a hexagonal copper column 2.

[0006] Furthermore, the primary load-bearing plate and the secondary load-bearing plate in the load-bearing and collecting mechanism are provided with holes through which four linear light rods pass, and the vertical lifting and lowering of the entire device is achieved through the guidance of chains and linear light rods.

[0007] Furthermore, the support rod is connected between the primary bearing plate and the secondary bearing plate by means of bolts and nuts to ensure the distance between the two bearing plates.

[0008] Furthermore, the bottom end of the lifting platform is fixed on the secondary bearing plate, and the upper end is connected to a fixed collection box tray, and the collection box tray uses its own groove to carry and position the collection box.

[0009] Furthermore, a rectangular hole is opened on the secondary bearing plate, and the lifting platform drives the collection box tray and the collection box to rise and fall through the rectangular hole.

[0010] Furthermore, the linear guide module 1 is combined with the 30x30 aluminum profile and fixed to the secondary bearing plate by means of bolts and nuts, and the tertiary bearing plate is connected by a slider.

[0011] Furthermore, the tooth surface of rack 1 is parallel to the vertical direction and is fixed to the secondary load-bearing plate by bolts and nuts. The motor gear module 1 is fixed to the tertiary load-bearing plate. The gear faces downward and meshes with rack 1. The motor rotates to drive the tertiary load-bearing plate to move horizontally.

[0012] Furthermore, the linear guide module 2 is fixed to the third-level bearing plate by means of bolts and nuts, and is connected to the fourth-level bearing plate by means of a slider.

[0013] Furthermore, the tooth surface of rack 2 faces upward and is fixed to the third-level bearing plate with bolts and nuts. The motor gear module 2 is fixed to the fourth-level bearing plate through the motor seat. The gear is meshed with rack 2, and the motor rotates to drive the fourth-level bearing plate to move horizontally.

[0014] Furthermore, the linear guide module three is fixed to the fourth-level bearing plate by means of bolts and nuts, and is connected to the scissor mounting plate by a slider.

[0015] Furthermore, the three teeth of the rack face upward and are fixed to the four-stage bearing plate with bolts and nuts. The motor gear module three is fixed to the scissors mounting plate through the motor seat. The gear is meshed with the rack three, and the motor rotates to drive the scissors mounting plate to move horizontally.

[0016] Furthermore, the upper top plate of the scissors is fixed to the lower bottom plate of the scissors through bolts and a hexagonal copper column, and the lower bottom plate of the scissors is fixed to the scissors mounting plate through bolts and nuts.

[0017] Furthermore, the micro cylinder is combined with the cylinder fixing seat and fixed to the lower bottom plate of the scissors through bolts and nuts, and the cylinder head bolt is connected to the L-shaped slider, driving the L-shaped slider to move horizontally in the U-shaped groove.

[0018] Furthermore, the two scissor blades are placed crosswise and are connected and fixed on the L-shaped slider by scissor fixing bolts.

[0019] Furthermore, the cam follower is fixed on the second hexagonal copper column, and its movement trajectory is limited in the U-shaped groove of the top plate of the scissors. The second hexagonal copper column is connected and fixed to the rear end of the scissors blade.

[0020] Furthermore, the upper end of the left picking container is fixed to the scissors mounting plate by bolts and nuts, the micro electric push rod is fixed to the bottom surface of the push rod fixing plate by bolts and nuts, and the push rod fixing plate is fixed to the lower end of the left picking container by bolts and nuts.

[0021] Furthermore, the right picking container is fixed to the front section of the micro electric push rod in combination with a fixed pad by means of bolts and nuts, and the electric push rod is extended and retracted to drive the micro electric push rod to move in the horizontal direction.

[0022] Furthermore, when the micro electric push rods are retracted, the left picking container and the right picking container form a V-shaped closed structure.

[0023] The benefits of the present invention include: The fruit picking and collecting device of the present invention can realize continuous picking of fruits during the movement of the device for the horizontal fruit planting mode, and the picking method will not cause damage to the top and skin of the fruit. After picking, the fruits can be neatly packed into containers, and the packing process avoids secondary damage to the fruits, and the harvesting efficiency is greatly improved. The whole device has simple control and structure, and is easy to manufacture. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is an isometric view of the fruit picking and collecting device of the present invention; Figure 2 is an isometric view of the load-bearing collection mechanism of the present invention; Figure 3 It is an isometric view of the carrying and collecting mechanism of the present invention collecting fruits for packing; Figure 4 is an isometric view of the picking mechanism of the present invention; Figure 5 It is an enlarged view of some details of the picking mechanism of the present invention; Description of reference numerals: 1-carrying and collecting mechanism; 2-picking mechanism; 101-first-level carrying plate; 102-second-level carrying plate; 103-rack one; 104-linear guide module one; 105-motor gear module one; 106-collection box tray; 107-collection box; 108-fourth-level carrying plate; 109-motor gear module two; 110-linear guide module two; 111-rack two; 112-third-level carrying plate; 113-lifting platform; 114-support rod; 20 1-Scissor mounting plate; 202-Linear guide module three; 203-Rack three; 204-Micro cylinder; 205-Cylinder fixing seat; 206-Motor gear module three; 207-Scissor upper top plate; 208-Scissor lower bottom plate; 209-Scissor blade; 210-Fruit; 211-Right picking container; 212-Left picking container; 213-Push rod fixing plate; 214-Fixed pad; 215-Micro electric push rod; 216-Hexagonal copper column one; 217-L-type slider; 218-Cam follower; 219-Scissor fixing bolt; 220-Hexagonal copper column two. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0026] The technical solution adopted by the present invention is a fruit picking and collecting device, which includes a bearing and collecting mechanism and a picking mechanism. The bearing and collecting mechanism includes a first-level bearing plate, a second-level bearing plate, a rack 1, a linear guide module 1, a motor gear module 1, a collection box tray, a collection box, a fourth-level bearing plate, a motor gear module 2, a linear guide module 2, a rack 2, a third-level bearing plate, a lifting platform and a support rod; the picking mechanism includes a scissors mounting plate, a linear guide module 3, a rack 3, a micro cylinder, a cylinder fixing seat, a motor gear module 3, a scissors upper top plate, a scissors lower bottom plate, a scissors blade, a fruit, a right picking container, a left picking container, a push rod fixing plate, a fixing pad, a micro electric push rod, a hexagonal copper column 1, an L-shaped slider, a cam follower, a scissors fixing bolt and a hexagonal copper column 2. The entire device is driven to move vertically by chains and linear light rods. The motor gear module 1 drives the three-stage load-bearing plate to move horizontally left and right. The motor gear module 2 drives the four-stage load-bearing plate to move horizontally left and right. The motor gear module 3 drives the scissor mounting plate to move horizontally forward and backward to complete the fruit positioning before picking and the fruit collection and movement after picking. The lifting platform can drive the collection box to move upward to reduce the falling distance between the fruit and the bottom of the box. The fruit picking and collection device can realize continuous picking of the equipment during movement, and can neatly pack the picked fruits. The present invention has the advantages of high harvesting efficiency, little damage to the fruit, simple mechanism motion control, reliable structure, and easy manufacturing.

[0027] See attached Figure 1A fruit picking and collecting device, characterized in that it includes: a carrying and collecting mechanism 1 and a picking mechanism 2; the carrying and collecting mechanism 1 includes a primary carrying plate 101, a secondary carrying plate 102, a rack 103, a linear guide module 104, a motor gear module 105, a collection box tray 106, a collection box 107, a fourth-level carrying plate 108, a motor gear module 109, a linear guide module 110, a rack 111, a third-level carrying plate 112, a lifting platform 113 and a support rod 114. The picking mechanism 2 includes a scissors mounting plate 201, a linear guide module three 202, a rack three 203, a micro cylinder 204, a cylinder fixing seat 205, a motor gear module three 206, a scissors upper top plate 207, a scissors lower bottom plate 208, a scissors blade 209, a fruit 210, a right picking container 211, a left picking container 212, a push rod fixing plate 213, a fixing pad 214, a micro electric push rod 215, a hexagonal copper column one 216, an L-shaped slider 217, a cam follower 218, a scissors fixing bolt 219 and a hexagonal copper column two 220.

[0028] The present invention can realize continuous picking of fruits during the movement of the equipment, thereby improving the picking efficiency. The carrying and collecting mechanism 1 is responsible for driving a part of the picking mechanism 2, and can also well collect the fruits picked by the picking mechanism 2 into containers.

[0029] See attached Figure 2 The first-stage carrier plate 101 and the second-stage carrier plate 102 in the carrying and collecting mechanism 1 are provided with holes for four straight light rods to pass through, and the vertical lifting of the entire device is realized by the chain and the straight light rod guide. The motor gear module 105 is meshed with the rack 103 to drive the third-stage carrier plate 112 to move horizontally, and the motor gear module 2 109 on the fourth-stage carrier plate 108 is meshed with the rack 2 111 on the third-stage carrier plate 112 to drive the fourth-stage carrier plate 108 to move horizontally. The present invention adopts a two-stage moving mode, which makes the movement of the picking mechanism 2 more flexible, which can not only meet the needs of picking fruits at different distances in the horizontal direction, but also meet the movement requirements of the fruit collection container.

[0030] See attached Figure 3 , the third-level bearing plate 112 and the fourth-level bearing plate 108 are moved to the leftmost side of the device, and the lifting platform 113 raises the collection box 107 to collect the fruits. The present invention can effectively prevent the fruits from being injured by falling and reduce the damage rate of the fruits.

[0031] See attached Figure 4The motor gear module 3 206 meshes with the rack 3 203, driving the scissor mounting plate 201 to move in the forward direction, and the fruit 210 will tilt into the V-shaped structure. The scissors will cut the fruit handle, and the fruit 210 will lie horizontally into the V-shaped structure. When picking begins, the scissor mounting plate 201 is located at the rear, and when the staged picking is finished or it needs to be packed, it is located at the front. The present invention can prevent interference between the device and the planting rack.

[0032] See attached Figure 5 The power drive of the scissors is a cylinder, and the trajectory control is realized by the movement of the cam follower 218 and the L-shaped slider 217 in the slideway. The present invention has simple control and reliable form.

[0033] A harvesting method of a fruit picking and collecting device, the method comprising the following steps: S1: Before the picking work begins, the micro cylinder 204 and the micro electric push rod 215 are all in a retracted state.

[0034] S2: After the picking work starts, the image information is collected through visual recognition and transmitted to the control module, which drives the chain and linear light rod installed and fixed on the first-level bearing plate 101 and the second-level bearing plate 102 to drive the entire device to the layer height area where the fruit needs to be harvested. The motor gear module 109 drives the fourth-level bearing plate 108 to move to the rightmost side of the linear guide module 110. The motor gear module 105 drives the third-level bearing plate 112 to move according to the right shift required to reach the starting point of picking. After reaching the target point, the motor gear module 3 206 drives the scissor mounting plate 201 to move forward. During this process, the fruit 210 will enter the V-shaped structure formed by the left picking container 212 and the right picking container 211 in an inclined posture. When the fruit handle enters the scissor area, the micro cylinder 204 extends to drive the scissors to cut the fruit handle. The fruit is temporarily stored in the V-shaped structure. For unripe small fruits, they can pass directly above the V-shaped structure until the temporary storage of fruit is sufficient or the picking work is completed, and the fruit collection container begins.

[0035] S3: The collection work begins, the third-level supporting plate 112 and the fourth-level supporting plate 108 move to the leftmost end, at which time the V-shaped structure is located directly above the collection box 107, and the lifting platform 113 raises the collection box 107 so that the V-shaped structure enters the box, and the micro electric push rod 215 extends to push open the right picking container 211, so that the fruit falls into the box, and the fruit collection container is completed.

[0036] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A fruit picking and collecting device, characterized in that: include: Carrying a collecting mechanism (1) and a picking mechanism (2); In the load-bearing and collecting mechanism (1), a support rod (114) is connected between a primary load-bearing plate (101) and a secondary load-bearing plate (102) by means of bolts and nuts to ensure the distance between the two load-bearing plates; the bottom end of the lifting platform (113) is fixed on the secondary load-bearing plate (102), and the upper end is connected to and fixed to a collection box tray (106), and the collection box tray (106) uses its own groove to carry and position the collection box (107); the tooth surface of the rack 1 (103) is parallel to the vertical direction and is fixed to the secondary load-bearing plate (102) by means of bolts and nuts; the motor gear module 1 (105) is fixed to the tertiary load-bearing plate (112), and the gear faces downward and meshes with the rack 1 (103), and the motor rotates to drive the tertiary load-bearing plate (112) to move in the horizontal direction; the secondary load-bearing plate (102) is provided with The lifting platform (113) drives the collection box tray (106) and the collection box (107) to move up and down through the rectangular hole; the linear guide module (104) is fixed to the secondary load-bearing plate (102) by bolts and nuts in combination with the aluminum profile, and is connected to the tertiary load-bearing plate (112) through a slider; the linear guide module (110) is fixed to the tertiary load-bearing plate (112) by bolts and nuts, and is connected to the quaternary load-bearing plate (108) through a slider; the tooth surface of the rack (111) faces upward and is fixed to the tertiary load-bearing plate (112) by bolts and nuts; the motor gear module (109) is fixed to the quaternary load-bearing plate (108) through a motor seat; the gear is meshed with the rack (111), and the motor rotates to drive the quaternary load-bearing plate (108) to move horizontally; In the picking mechanism (2), the linear guide module three (202) is fixed to the four-stage bearing plate (108) by means of bolts and nuts, and is connected to the scissor mounting plate (201) by means of a slider; the tooth surface of the rack three (203) faces upward and is fixed to the four-stage bearing plate (108) by means of bolts and nuts; the motor gear module three (206) is fixed to the scissor mounting plate (201) by means of a motor seat; the gear is meshed with the rack three (203), and the rotation of the motor drives the scissor mounting plate (201) to move horizontally; the scissor upper top plate (207) is screwed The bolt and the hexagonal copper column (216) are fixed to the scissors lower bottom plate (208), and the scissors lower bottom plate (208) is fixed to the scissors mounting plate (201) by bolts and nuts; the micro cylinder (204) is combined with the cylinder fixing seat (205) and fixed to the scissors lower bottom plate (208) by bolts and nuts, and the cylinder head bolt is connected to the L-shaped slider (217), driving the L-shaped slider (217) to move horizontally in the U-shaped groove; the two scissors blades (209) are placed crosswise and connected and fixed to the L-shaped slider (217) by the scissors fixing bolts (219); The cam follower (218) is fixed on the second hexagonal copper column (220), and its movement trajectory is limited in the U-shaped groove of the upper top plate (207) of the scissors. The second hexagonal copper column (220) is connected and fixed to the rear end of the scissors blade (209); The upper end of the left picking container (212) is fixed to the scissor mounting plate (201) by bolts and nuts, the micro electric push rod (215) is fixed to the bottom surface of the push rod fixing plate (213) by bolts and nuts, and the push rod fixing plate (213) is fixed to the lower end of the left picking container (212) by bolts and nuts; The right picking container (211) is combined with the fixing pad (214) and fixed to the front section of the micro electric push rod (215) by means of bolts and nuts, and the electric push rod is extended and retracted to drive the micro electric push rod to move in the horizontal direction.

2. The fruit picking and collecting device according to claim 1, characterized in that: The primary load-bearing plate (101) and the secondary load-bearing plate (102) in the load-bearing and collecting mechanism (1) are provided with holes through which four straight light rods pass, and the vertical lifting of the entire device is achieved through the guidance of chains and straight light rods.

3. The picking mechanism (2) according to claim 1, characterized in that: When the micro electric push rod (215) is in a retracted state, the left picking container (212) and the right picking container (211) form a V-shaped closed structure.

4. A harvesting method using the fruit picking and collecting device according to any one of claims 1 to 3, characterized in that: The method comprises the following steps: S1: Before the picking work begins, the micro cylinder (204) and the micro electric push rod (215) are all in a retracted state; S2: After the picking work starts, the image information is collected through visual recognition and transmitted to the control module, which drives the chain and linear light rod installed and fixed on the first-level bearing plate (101) and the second-level bearing plate (102) to drive the entire device to reach the layer height area where the fruit needs to be harvested. The motor gear module (109) drives the fourth-level bearing plate (108) to move to the rightmost side of the linear guide module (110). The motor gear module (105) drives the third-level bearing plate (112) to move according to the rightward displacement required to reach the picking starting point. After reaching the target point, the motor gear module 3 (206) drives the scissor mounting plate (201) to move forward. During this process, the fruit (210) will enter the V-shaped structure formed by the left picking container (212) and the right picking container (211) in an inclined posture. When the fruit stem enters the scissor area, the micro cylinder (204) extends to drive the scissors to cut the fruit stem. The fruit is temporarily stored in the V-shaped structure. For unripe small fruits, they can pass directly above the V-shaped structure until the amount of temporarily stored fruit is sufficient or the picking work is completed, and the fruit collection container begins; S3: The collection work starts, the third-level carrying plate (112) and the fourth-level carrying plate (108) move to the leftmost end, at which time the V-shaped structure is located directly above the collection box (107), the lifting platform (113) raises the collection box (107), so that the V-shaped structure enters the box, and the micro electric push rod (215) extends to push open the right picking container (211), so that the fruit falls into the box, and the fruit collection container is completed.

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