Integrated device for automatically picking and sorting blueberries

Abstract

The invention belongs to the technical field of agricultural mechanical equipment, and particularly relates to an automatic blueberry picking and sorting integrated device which comprises a body. The grading picking mechanism is arranged on the main body, and the grading picking mechanism is used for picking the blueberries and sorting the blueberries according to the diameters of the fruits; the fruit and leaf separating mechanism is arranged on the main body, located below the grading picking mechanism and used for separating blueberry leaves and blueberry fruits; the vibration mechanism is arranged at the bottom end in the main body, and the vibration mechanism is arranged at the bottom end in the main body and used for vibrating the blueberry leaves and the blueberry fruits entering the main body; the fruit collecting mechanism is arranged on the main body, the fruit collecting mechanism and the grading picking mechanism are located on the two sides of the vibrating mechanism respectively, the fruit collecting mechanism is located behind the grading picking mechanism, and the fruit collecting mechanism is used for discharging the blueberry leaves out of the main body. According to the blueberry picking device, blueberries and leaves can be separated, and meanwhile automatic sorting is achieved in the blueberry picking process.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery and equipment, and in particular relates to an integrated device for automatic picking and sorting of blueberries. Background Art

[0002] The invention patent with patent number CN201620910860.3 discloses a blueberry picking device, including a motion controller, a walking mechanism, a support platform connected to the walking mechanism, a displacement device arranged on the support platform, a robot body connected to the displacement device, a picking device arranged on the end effector of the robot body, and a collecting device arranged on the edge of the support platform and extending outward. The data output interface of the motion controller is respectively connected to the data input interface of the walking mechanism, the displacement device, and the robot body. The picking device includes a rake handle and a plurality of rake teeth equidistantly arranged on the rake handle. The power source interface of the walking mechanism, the displacement device, and the robot body is connected to a power electric or air compressor. However, the disadvantage of the invention is that there is no way to separate blueberries and leaves, and the quality of the collected blueberries is not high.

[0003] Therefore, it is necessary to design an integrated device for automatic blueberry picking and sorting to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide an integrated device for automatic blueberry picking and sorting to solve the above-mentioned problem, achieve the purpose of separating blueberries from leaves, and realize automatic sorting in the process of blueberry picking.

[0005] To achieve the above object, the present invention provides the following solution: an integrated device for automatic blueberry picking and sorting, comprising:

[0006] main body;

[0007] A grading and picking mechanism is arranged on the main body, and is used to pick blueberries and sort the blueberries according to the fruit diameter;

[0008] A fruit and leaf separation mechanism is arranged on the main body, the fruit and leaf separation mechanism is located below the grading and picking mechanism, and the fruit and leaf separation mechanism is used to separate blueberry leaves and blueberry fruits;

[0009] A vibration mechanism is arranged at the bottom of the main body, and the vibration mechanism is arranged at the bottom of the main body, and the vibration mechanism is used to vibrate the blueberry leaves and blueberry fruits entering the main body;

[0010] A fruit collecting mechanism is arranged on the main body. The fruit collecting mechanism and the grading and picking mechanism are respectively located on both sides of the vibration mechanism. The fruit collecting mechanism is located behind the grading and picking mechanism. The fruit collecting mechanism is used to discharge blueberry leaves from the main body.

[0011] An integrated device for automatic blueberry picking and sorting based on the present invention, the grading and picking mechanism includes a first vibrator, a second vibrator, and a third vibrator, the first vibrator, the second vibrator, and the third vibrator are arranged in parallel on the main body from top to bottom, the first vibrator, the second vibrator, and the third vibrator are all provided with a picking part, and the size of the plurality of picking parts decreases from top to bottom.

[0012] An integrated device for automatic picking and sorting of blueberries based on the present invention, the picking part includes a plurality of harvesting cylinders arranged in parallel, one end of the harvesting cylinder is fixedly connected to the vibrating end of the first vibrator through a small cylinder, the other end of the harvesting cylinder is rotatably connected to a large rotating cone head, the outer wall of the harvesting cylinder is fixedly connected to a plurality of cylindrical rotating drums arranged at equal intervals, the plurality of cylindrical rotating drums are symmetrically arranged on both sides of the axis of the harvesting cylinder in the horizontal direction, one end of the cylindrical rotating drum away from the harvesting cylinder is rotatably connected to a small rotating cone head, the distance between two adjacent harvesting cylinders on the first vibrator, the distance between two adjacent harvesting cylinders on the second vibrator, and the distance between two adjacent harvesting cylinders on the third vibrator decrease in sequence.

[0013] According to the integrated device for automatic blueberry picking and sorting of the present invention, the fruit-leaf separation mechanism includes a ventilation box, which is arranged on the main body and below the third vibrator. A plurality of fans are correspondingly arranged on one side of the ventilation box close to the inside of the main body, and the plurality of fans are arranged at equal intervals.

[0014] In the integrated device for automatic blueberry picking and sorting according to the present invention, the fan is tilted upward, and the inclination angle of the fan is 15°.

[0015] According to the integrated device for automatic blueberry picking and sorting of the present invention, the vibration part includes a frame, the frame is fixedly connected to the main body, a motor is fixedly connected to the frame, the output shaft of the motor is fixedly connected to one end of the second shaft sleeve, the other end of the second shaft sleeve is rotatably connected to one end of the first shaft sleeve, and the other end of the first shaft sleeve is movably connected to the connecting buckle.

[0016] According to the integrated device for automatic blueberry picking and sorting of the present invention, the vibration part includes a frame, the frame is fixedly connected to the main body, a motor is fixedly connected to the frame, the output shaft of the motor is fixedly connected to one end of a first shaft sleeve, the other end of the first shaft sleeve is rotatably connected to one end of a second shaft sleeve, and the other end of the second shaft sleeve is movably connected to the connecting buckle.

[0017] An integrated device for automatic picking and sorting of blueberries based on the present invention, the fruit collecting mechanism includes a cylindrical handle, the cylindrical handle is fixedly arranged on the main body, one end of an opening and closing part is movably arranged on the cylindrical handle, the other end of the opening and closing part is fixedly connected to a movable baffle, the movable baffle is slidably arranged on the main body, and the movable baffle is locked with the main body by a magnetic locking part.

[0018] According to the integrated device for automatic picking and sorting of blueberries of the present invention, the opening and closing part includes a connecting ring, the connecting ring is movably mounted on the cylindrical handle, a movable handle is provided on the connecting ring, one end of the cable is fixedly connected to the connecting ring, and the other end of the cable is fixedly connected to the movable baffle via a second cable fixing frame.

[0019] According to the integrated device for automatic picking and sorting of blueberries of the present invention, the magnetic locking part includes a first magnet buckle and a second magnet buckle, the first magnet buckle and the second magnet buckle are arranged correspondingly, the first magnet buckle is fixedly connected to the main body, and the second magnet buckle is fixedly connected to the movable baffle.

[0020] Compared with the prior art, the present invention has the following advantages and technical effects:

[0021] The present invention can directly sort out large, medium and small blueberries at one time through the arranged grading picking mechanism, optimize the sorting process, improve the picking efficiency, and avoid damage to blueberries due to improper operation, ensure the smooth flow of blueberries during the picking and sorting process, reduce friction and damage between fruits, optimize the collection process of blueberries, and improve the efficiency of sorting and collection; the arranged fruit collection mechanism allows flexible control of the flow of blueberries to adapt to different picking and sorting requirements, and can prevent fruit loss; the arranged fruit and leaf separation mechanism can effectively remove leaves on blueberries and improve fruit quality. The present invention improves the efficiency of blueberry picking, leaf removal and collection, and simplifies the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work:

[0023] Figure 1 The present invention is generally illustrated Figure 1 ;

[0024] Figure 2 It is a bottom schematic diagram of the present invention;

[0025] Figure 3 The present invention is generally illustrated Figure 2 ;

[0026] Figure 4 It is a schematic diagram of the interior of the main body of the present invention.

[0027] Among them, 1. main body; 2. first vibrator; 3. second vibrator; 4. third vibrator; 5. cylindrical handle; 6. ventilation box; 7. fan; 8. small cylinder; 9. harvesting cylinder; 10. cylindrical drum; 11. small rotating cone head; 12. large rotating cone head; 13. connecting ring buckle; 14. movable handle; 15. first cable fixing frame; 16. baffle; 17. movable bearing; 18. second cable fixing frame; 19. movable baffle; 20. first magnet buckle; 21. second magnet buckle; 22. connecting buckle; 23. sieve plate; 24. motor; 25. first bushing; 26. second bushing; 27. frame. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] Reference Figures 1 to 4 As shown, the present invention provides an integrated device for automatic blueberry picking and sorting, comprising:

[0031] Subject 1;

[0032] A grading picking mechanism is arranged on the main body 1, and is used to pick blueberries and sort the blueberries according to the fruit diameter;

[0033] A fruit and leaf separation mechanism is provided on the main body 1, and the fruit and leaf separation mechanism is located below the grading and picking mechanism, and the fruit and leaf separation mechanism is used to separate blueberry leaves and blueberry fruits;

[0034] A vibration mechanism is arranged at the bottom of the main body 1, and is used to vibrate the blueberry leaves and blueberry fruits entering the main body 1;

[0035] The fruit collecting mechanism is arranged on the main body 1 . The fruit collecting mechanism and the grading and picking mechanism are respectively located on both sides of the vibration mechanism. The fruit collecting mechanism is located behind the grading and picking mechanism. The fruit collecting mechanism is used to discharge the blueberry leaves out of the main body 1 .

[0036] The present invention can directly sort out large, medium and small blueberries at one time, optimizing the sorting process; by adopting vibration picking technology, the picking efficiency is improved; the device is equipped with a rotatable small rotating cone head 11 and a large rotating cone head 12 to avoid damage to blueberries due to improper operation; the introduction of the harvesting cylinder 9 ensures the smooth flow of blueberries during picking and sorting, reduces friction and damage between fruits, and the design of the cylindrical drum 10 further optimizes the collection process of blueberries and improves the efficiency of sorting and collection; the movable baffle 19 allows flexible control of the flow of blueberries to adapt to different picking and sorting requirements; the first magnet buckle 20 and the second magnet buckle 21 simplify the operation of the movable baffle 19, ensure tight closure, and prevent fruit loss; the mechanism combining the fan 7 with the sieve plate 23 effectively removes the leaves on the blueberries and improves the fruit quality. The design of the above mechanism improves the efficiency of blueberry picking, leaf removal and collection, and simplifies the operation process.

[0037] The main body 1 is the basic structure of the blueberry picker. It is made of high-strength steel or aluminum alloy that has undergone special heat treatment. The high yield strength and good toughness of the material ensure the stability of the frame when it is subjected to large loads. At the same time, it also optimizes the connection nodes and support layout, effectively disperses and absorbs the vibration generated during the operation, and enhances the overall seismic performance.

[0038] Furthermore, the grading and picking mechanism includes a first vibrator 2, a second vibrator 3, and a third vibrator 4. The first vibrator 2, the second vibrator 3, and the third vibrator 4 are arranged side by side on the main body 1 from top to bottom. The first vibrator 2, the second vibrator 3, and the third vibrator 4 are all provided with a picking part, and the size of the picking parts decreases from top to bottom.

[0039] Furthermore, the picking part includes a plurality of harvesting cylinders 9 arranged in parallel, one end of the harvesting cylinder 9 is fixedly connected to the vibrating end of the first vibrator 2 through a small cylinder 8, the other end of the harvesting cylinder 9 is rotatably connected to a large rotating cone head 12, the outer wall of the harvesting cylinder 9 is fixedly connected to a plurality of cylindrical drums 10 arranged at equal intervals, the plurality of cylindrical drums 10 are symmetrically arranged on both sides of the axis of the harvesting cylinder 9 in the horizontal direction, one end of the cylindrical drum 10 away from the harvesting cylinder 9 is rotatably connected to a small rotating cone head 11, the distance between two adjacent harvesting cylinders 9 on the first vibrator 2, the distance between two adjacent harvesting cylinders 9 on the second vibrator 3, and the distance between two adjacent harvesting cylinders 9 on the third vibrator 4 decreases successively.

[0040] When the device is close to blueberries, the plants are gently vibrated by the first vibrator 2, the second vibrator 3, and the third vibrator 4, thereby improving the efficiency of picking blueberries. The large rotating cone head 12 can achieve a guiding function, and each layer of the horizontal cylindrical drum 10 and the small rotating cone head 11 can reduce the contact stress of the blueberry fruit, thereby avoiding the pressure loss of the blueberry fruit caused by excessive contact stress, and playing a protective role on the blueberry fruit during picking.

[0041] The first vibrator 2 harvests large blueberries; the second vibrator 3 harvests medium-sized blueberries; and the third vibrator 4 harvests small blueberries. This allows the blueberries to be sorted by particle size while being picked.

[0042] Furthermore, the fruit-leaf separation mechanism includes a ventilation box 6, which is arranged on the main body 1 and located below the third vibrator 4. A plurality of fans 7 are correspondingly arranged on one side of the ventilation box 6 close to the inside of the main body 1, and the plurality of fans 7 are arranged at equal intervals.

[0043] Furthermore, the fan 7 is tilted upward, and the tilt angle of the fan 7 is 15°.

[0044] Furthermore, the vibration mechanism includes a vibration part, which is fixedly arranged at the bottom end of the main body 1 , and the vibration end of the vibration part is movably connected with a connecting buckle 22 , and the connecting buckle 22 is fixedly connected with a sieve plate 23 movably arranged inside the main body 1 .

[0045] Furthermore, the vibration part includes a frame 27, which is fixedly connected to the main body 1, and a motor 24 is fixedly connected to the frame 27. The output shaft of the motor 24 is fixedly connected to one end of the second sleeve 26, and the other end of the second sleeve 26 is rotatably connected to one end of the first sleeve 25, and the other end of the first sleeve 25 is movably connected to the connecting buckle 22.

[0046] The picked blueberries will enter the main body 1. During this process, the fan 7, which is tilted upward by 15 degrees, is started, which will generate an oblique upward airflow. At the same time, the screen plate 23 drives the second sleeve 26 through the motor 24. The second sleeve 26 performs a circular motion, thereby driving the first sleeve 25 to move up and down. The moving first sleeve 25 will drive the connecting buckle 22, so that the screen plate 23 can vibrate up and down, which is more conducive to blowing out the leaves.

[0047] Furthermore, the fruit collection mechanism includes a cylindrical handle 5, which is fixedly arranged on the main body 1. One end of the cylindrical handle 5 is movably provided with an opening and closing part, and the other end of the opening and closing part is fixedly connected to a movable baffle 19. The movable baffle 19 is slidably arranged on the main body 1, and the movable baffle 19 is locked with the main body 1 through a magnetic locking part.

[0048] The removed leaves are discharged through the movable baffle 19, and during this process, the movable baffle 19 can be closed or opened manually.

[0049] Furthermore, the opening and closing part includes a connecting ring buckle 13, which is movably mounted on the cylindrical handle 5, and a movable handle 14 is provided on the connecting ring buckle 13. The connecting ring buckle 13 is fixedly connected to one end of a cable, and the other end of the cable is fixedly connected to a movable baffle 19 through a second cable fixing frame 18.

[0050] As an embodiment that can be added to the present invention, a baffle 16 is fixedly provided on the top of one end of the main body 1 close to the movable baffle door 19, and a first cable fixing frame 15 is fixedly provided on the baffle 16. The first cable fixing frame 15 is rotatably connected to a movable bearing 17, and the other end of the cable is fixedly connected to the second cable fixing frame 18 after passing around the movable bearing 17.

[0051] Furthermore, the magnetic locking portion includes a first magnet buckle 20 and a second magnet buckle 21, and the first magnet buckle 20 and the second magnet buckle 21 are correspondingly arranged, the first magnet buckle 20 is fixedly connected to the main body 1, and the second magnet buckle 21 is fixedly connected to the movable baffle 19.

[0052] The staff manually controls the door opening and closing device by holding and operating the movable handle 14, which is the starting point of the entire manual control process. The transmission of force begins with the movable handle 14, which is connected to the movable bearing 17 through a cable. When the staff applies force to the movable handle 14, the force is transmitted to the movable bearing 17 through the cable. The function of the movable bearing 17 is to adjust the direction and method of force transmission to ensure that the force can effectively act on the movable baffle 19. Subsequently, the force is transmitted through the movable bearing 17, driving the movable baffle 19 to move up and down, realizing the opening and closing function of the baffle 16. The movement of the movable baffle 19 directly determines the opening and closing state of the baffle 16: when the leaves need to be removed, the staff operates the movable handle 14 to move the movable baffle 19 to open the baffle 16; when the leaves do not need to be removed, the staff also operates the movable handle 14 to move the movable baffle 19 to close the baffle 16. In order to ensure stable transmission of force, the cable will be wound around once after passing through the movable bearing 17 and then fixed on the second cable fixing frame 18 to prevent the cable from loosening or falling off.

[0053] When the movable baffle 19 is closed, the first magnet buckle 20 and the second magnet buckle 21 will attract each other due to the magnetic attraction principle, thereby preventing the movable baffle 19 from opening due to the shaking of the entire mechanism, thereby preventing the loss of fruits.

[0054] The working process of the present invention is as follows:

[0055] Blueberries are picked through three layers of picking parts of different sizes, where the first vibrator 2, the second vibrator 3 and the third vibrator 4 correspond to the upper, middle and lower layers respectively, which improves the picking efficiency and reduces the damage of the fruit; the picked blueberries enter the sieve plate 23, and the oblique upward airflow generated by the fan 7 and the vibration of the sieve plate 23 work together to remove the leaves on the blueberries; then, the removed leaves are discharged through the movable baffle 19, which is controlled by the movable handle 14 and connected to the movable bearing 17 through a cable to achieve precise control; finally, the blueberries with leaves removed fall through the sieve plate 23 into the collection device. The magnetic attraction principle of the first magnet buckle 20 and the second magnet buckle 21 is used to ensure that the movable baffle 19 is tightly closed to prevent the loss of fruit.

[0056] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0057] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope of the present invention.

Claims

1. An integrated device for automatic blueberry picking and sorting, characterized in that: include Subject (1); A grading and picking mechanism, arranged on the main body (1), the grading and picking mechanism is used to pick blueberries and sort the blueberries according to the diameter of the fruit; A fruit and leaf separation mechanism, arranged on the main body (1), the fruit and leaf separation mechanism being located below the grading and picking mechanism, and the fruit and leaf separation mechanism being used to separate blueberry leaves from blueberry fruits; A vibration mechanism is arranged at the bottom end of the interior of the main body (1), and the vibration mechanism is arranged at the bottom end of the interior of the main body (1), and the vibration mechanism is used to vibrate the blueberry leaves and blueberry fruits entering the main body (1); A fruit collecting mechanism is arranged on the main body (1); the fruit collecting mechanism and the grading and picking mechanism are respectively located on both sides of the vibration mechanism; the fruit collecting mechanism is located behind the grading and picking mechanism; and the fruit collecting mechanism is used to discharge blueberry leaves from the main body (1).

2. The integrated device for automatic blueberry picking and sorting according to claim 1, characterized in that: The grading and picking mechanism comprises a first vibrator (2), a second vibrator (3), and a third vibrator (4); the first vibrator (2), the second vibrator (3), and the third vibrator (4) are arranged in parallel from top to bottom on the main body (1); the first vibrator (2), the second vibrator (3), and the third vibrator (4) are all provided with a picking part, and the size of the plurality of picking parts decreases from top to bottom.

3. The integrated device for automatic blueberry picking and sorting according to claim 2, characterized in that: The picking part comprises a plurality of harvesting cylinders (9) arranged in parallel, one end of the harvesting cylinder (9) is fixedly connected to the vibrating end of the first vibrator (2) through a small cylinder (8), the other end of the harvesting cylinder (9) is rotatably connected to a large rotating cone head (12), the outer wall of the harvesting cylinder (9) is fixedly connected to a plurality of cylindrical rotating drums (10) arranged at equal intervals, the plurality of cylindrical rotating drums (10) are symmetrically arranged on both sides of the axis of the harvesting cylinder (9) in the horizontal direction, the end of the cylindrical rotating drum (10) away from the harvesting cylinder (9) is rotatably connected to a small rotating cone head (11), the distance between two adjacent harvesting cylinders (9) on the first vibrator (2), the distance between two adjacent harvesting cylinders (9) on the second vibrator (3), and the distance between two adjacent harvesting cylinders (9) on the third vibrator (4) decrease in sequence.

4. The integrated device for automatic blueberry picking and sorting according to claim 2, characterized in that: The fruit-leaf separation mechanism comprises a ventilation box (6), which is arranged on the main body (1) and located below the third vibrator (4), and a plurality of fans (7) are correspondingly arranged on one side of the ventilation box (6) close to the inside of the main body (1), and the plurality of fans (7) are arranged at equal intervals.

5. The integrated device for automatic blueberry picking and sorting according to claim 4, characterized in that: The fan (7) is tilted upward, and the tilt angle of the fan (7) is 15°.

6. The integrated device for automatic blueberry picking and sorting according to claim 1, characterized in that: The vibration mechanism comprises a vibration part, the vibration part is fixedly arranged at the bottom end inside the main body (1), the vibration end of the vibration part is movably connected to a connecting buckle (22), the connecting buckle (22) is fixedly connected to a sieve plate (23), and the sieve plate (23) is movably arranged inside the main body (1).

7. The integrated device for automatic blueberry picking and sorting according to claim 6, characterized in that: The vibration part comprises a frame (27), the frame (27) is fixedly connected to the main body (1), a motor (24) is fixedly connected to the frame (27), an output shaft of the motor (24) is fixedly connected to one end of a second shaft sleeve (26), the other end of the second shaft sleeve (26) is rotatably connected to one end of a first shaft sleeve (25), and the other end of the first shaft sleeve (25) is movably connected to the connecting buckle (22).

8. The integrated device for automatic blueberry picking and sorting according to claim 1, characterized in that: The fruit collecting mechanism comprises a cylindrical handle (5), wherein the cylindrical handle (5) is fixedly arranged on the main body (1), one end of an opening and closing portion is movably arranged on the cylindrical handle (5), and the other end of the opening and closing portion is fixedly connected to a movable baffle (19), wherein the movable baffle (19) is slidably arranged on the main body (1), and the movable baffle (19) is locked with the main body (1) via a magnetic locking portion.

9. The integrated device for automatic blueberry picking and sorting according to claim 8, characterized in that: The opening and closing portion comprises a connecting ring (13), the connecting ring (13) being movably mounted on the cylindrical handle (5), a movable handle (14) being arranged on the connecting ring (13), one end of a cable being fixedly connected to the connecting ring (13), and the other end of the cable being fixedly connected to the movable baffle (19) via a second cable fixing frame (18).

10. The integrated device for automatic blueberry picking and sorting according to claim 8, characterized in that: The magnetic locking portion comprises a first magnet buckle (20) and a second magnet buckle (21), the first magnet buckle (20) and the second magnet buckle (21) are arranged correspondingly, the first magnet buckle (20) is fixedly connected to the main body (1), and the second magnet buckle (21) is fixedly connected to the movable baffle (19).

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