Tomato fruit harvesting equipment

Abstract

The utility model discloses tomato fruit harvesting equipment, and relates to the technical field of agriculture. Comprising a moving guide rail and a moving base moving on the moving guide rail, a lifting module is arranged at the top of the moving base, a multi-shaft transmission mechanism is slidably mounted on the lifting module, a fruit clamping assembly is arranged at the end of the multi-shaft transmission mechanism, and a discharging assembly for separate storage according to weight values is arranged below the fruit clamping assembly; the machine vision technology and the multi-shaft transmission mechanism are combined to drive the fruit clamping assembly to reach the fruit harvesting position, the fruit clamping assembly achieves clamping and deflection separation operation on fruits at the same time through reciprocating motion of an air cylinder, and fruit picking is completed under the condition that plants are not damaged; picked fruits fall into a discharging pipe below a clamping rod and then enter a material distributing box to be weighed, the fruits are directly distinguished according to the weighing result, and the fruits enter independent inner cavities of a movable base through different pipelines to be stored respectively.

Description

Technical Field

[0001] The utility model relates to the technical field of agriculture, in particular to a tomato fruit harvesting device. Background Art

[0002] In the traditional planting industry, tomatoes grown on large areas of land generally require a lot of manual labor to harvest after they mature. Compared with mechanical harvesting, this method can minimize damage to tomato fruits, but it requires a lot of manpower and the labor intensity is very high. Mechanical harvesting and screening is to uproot the entire plant, separate the plant from the fruit, and then pack it. This method solves the problems of labor cost and labor intensity, but it damages the quality of the tomato fruit itself, and the unripe fruits on the plant are separated and removed together, causing great waste.

[0003] In view of greenhouse soilless farming in modern agriculture, it is necessary to preserve the integrity of the plants as much as possible while saving labor costs, and automatically harvest and classify the ripe tomatoes on the plants; for this purpose, we provide a tomato fruit harvesting equipment. Utility Model Content

[0004] The utility model aims to provide a tomato fruit harvesting device.

[0005] The technical problem solved by the utility model is: how to harvest tomato fruits while keeping the plants intact and store them separately according to their weight;

[0006] The utility model can be implemented through the following technical scheme: a tomato fruit harvesting device, comprising a movable guide rail and a movable base moving thereon, a lifting module is arranged on the top of the movable base, a multi-axis transmission mechanism is slidably mounted on the lifting module, a fruit clamping assembly is arranged at the end of the multi-axis transmission mechanism, and a material discharge assembly for storage according to weight value is arranged below the fruit clamping assembly;

[0007] The fruit clamping assembly comprises a plurality of clamping rods and a movable disk for controlling the clamping rods to perform a clamping action. The movable disk is provided with a plurality of yielding grooves, and each clamping rod slides through a corresponding yielding groove.

[0008] A further technical improvement of the utility model is that the lifting module is a ball screw lifting structure, and the multi-axis transmission mechanism includes a rotating seat fixed at the output end of the lifting module, a moving arm is rotatably installed at the bottom of the rotating seat, the moving arm is two support arms that rotate with each other, and a clamping rotating table is rotatably installed at the farthest end of the support arm of the moving arm.

[0009] A further technical improvement of the utility model is that the rotating seat and the moving arm are driven by a motor or a rotating electric cylinder, and the two supporting arms of the moving arm are driven by a motor or a rotating electric cylinder.

[0010] A further technical improvement of the utility model is that a mounting box is fixed on one side of the clamping rotating table, a cylinder is arranged on the side wall of the mounting cavity of the mounting box, a driving shaft is fixedly connected to the output end of the cylinder, and the end of the driving shaft away from the cylinder is fixedly connected to the movable disk.

[0011] The further technical improvement of the utility model is that: a fixing sleeve is fixedly embedded on the opening side of the installation box, a rotating block is rotatably arranged on the side of the fixing sleeve, and each clamping rod is hinged at an equal angle on the side of the rotating block;

[0012] A clearance hole is provided at the center of the fixed sleeve, and the drive shaft passes through the clearance hole. At least one guide pin is provided in the clearance hole. A deflection groove matching with the guide pin is provided on the outer surface of the middle section of the drive shaft, and the end of the guide pin is arranged in the deflection groove. The deflection groove includes a straight groove and an arc groove covering the surface of the drive shaft.

[0013] A further technical improvement of the utility model is that an opening is provided on one side wall of each give way groove, a floating seat is floatingly arranged in the opening, the surface where the floating seat contacts the clamping rod is arranged as an arc surface, and the corresponding side surface of the clamping rod is arranged as a smooth curved surface with a continuously changing curvature.

[0014] A further technical improvement of the utility model is that the unloading assembly includes a unloading pipe fixedly disposed just below the clamping position of the clamping rod, the bottom end of the unloading pipe is connected and fixed to a distribution box fixed at the bottom side wall of the lifting module, a weighing unit is arranged in the distribution box, and according to the weighing result of the weighing unit, the corresponding valve is opened to allow tomatoes to enter the two independent inner chambers of the mobile base through different pipes installed at the bottom of the distribution box for storage.

[0015] A further technical improvement of the utility model is that a camera for visual inspection is arranged above the clamping rotating table.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] 1. The fruit gripping assembly is driven to the fruit picking position by combining machine vision technology and a multi-axis transmission mechanism to pick the fruit. The fruit gripping assembly simultaneously realizes the gripping and deflection separation operations of the fruit through a reciprocating motion of the cylinder, thus completing the picking of the fruit without damaging the plant.

[0018] 2. The picked fruits fall into the feeding pipe under the clamping rod, and then enter the feeding box for weighing. The size of the fruits is directly distinguished according to the weighing results and enters the independent inner cavity of the mobile base through different pipes for storage;

[0019] 3. At the working surface where the clamping rod and the movable disk are clamped, a floating seat is installed with a spring to squeeze the clamping rod to prevent hard contact from damaging the fruit surface and affecting the quality of the fruit. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings.

[0021] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model;

[0022] Figure 2 For this utility model Figure 1 A partial enlarged view of the middle A;

[0023] Figure 3 This is a schematic diagram of the connection of the clamping rod driving structure of the utility model;

[0024] Figure 4 This is a schematic diagram of the mobile disk connection structure of the utility model;

[0025] Figure 5 For this utility model Figure 4 A partial enlarged view of point B in the middle.

[0026] In the figure: 1. moving base; 2. moving guide rail; 3. lifting module; 4. rotating seat; 5. moving arm; 6. clamping rotating table; 7. mounting plate; 8. mounting box; 9. fixing sleeve; 10. rotating block; 11. support; 12. clamping rod; 13. moving plate; 14. cylinder; 15. connector; 16. driving shaft; 17. guide pin; 18. sliding sleeve; 19. floating seat; 20. spring; 21. feeding pipe; 22. material distribution box; 131. clearance groove; 161. deflection groove. DETAILED DESCRIPTION

[0027] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0028] See also Figure 1-5 As shown, a tomato fruit harvesting device comprises a moving guide rail 2 laid in a greenhouse, a moving base 1 which is rollingly mounted on the moving guide rail 2 and driven to move by a motor, a vertically mounted lifting module 3 fixedly mounted on the top of the moving base 1, a slide groove is arranged on one side of the lifting module 3, a rotating base 4 is slidably mounted in the slide groove, and a moving arm 5 is rotatably mounted on the bottom of the rotating base 4;

[0029] Specifically, in this embodiment, the lifting module 3 uses a ball screw to drive the rotating seat 4 to slide up and down, and the moving arm 5 includes two arms that can control the rotation of each other. The rotation between the moving arm 5 and the rotating seat 4 and the rotation between the two arms can be driven by a motor or a rotary cylinder;

[0030] A gripping rotary table 6 is controllably mounted below the outermost support arm of the moving arm 5. Similarly, the rotation between the gripping rotary table 6 and the moving arm 5 can be driven by a motor or a rotary electric cylinder.

[0031] One side of the clamping rotating table 6 is set as a mounting plane, in which a mounting plate 7 is fixed, and a mounting box 8 is fixedly installed on the side of the mounting plate 7. A mounting cavity is provided inside the mounting box 8, and a cylinder 14 is fixedly installed in the side wall of the mounting cavity. A driving shaft 16 is horizontally arranged on one side of the output end of the cylinder 14, and the output end of the cylinder 14 and the end of the driving shaft 16 are fixedly connected together through a connector 15. A fixing sleeve 9 is fixedly embedded in the side opening position of the mounting box 8, and a rotating block 10 is rotatably arranged on one side of the fixing sleeve 9 through a bearing. Three supports 11 are evenly fixedly installed at equal angles on the side of the rotating block 10 away from the fixing sleeve 9, and a clamping rod 12 for clamping tomatoes is hinged on each support 11; a moving plate 13 is coaxially fixed on the end of the driving shaft 16 away from the cylinder 14, and a side of the moving plate 13 is provided with a makeshift groove 131 for the clamping rod 12 to pass through and the same number as the clamping rod 12;

[0032] A clearance hole is provided at the center of the fixed sleeve 9, and the drive shaft 16 passes through the clearance hole. At least one deflection groove 161 is provided on the outer surface of the middle section of the drive shaft 16. The deflection groove 161 is composed of a straight groove provided axially and an arc groove covering its outer surface. The connection between the straight groove and the arc groove is smoothly transitioned. Guide pins 17 corresponding to the number and position of the deflection grooves 161 are fixedly installed on the side wall of the clearance hole on the fixed sleeve 9. Steel balls are provided at the ends of the guide pins 17. The steel balls are rollingly matched with the deflection grooves 161. It should be noted that the position of the arc groove is close to the cylinder 14, and the position of the straight groove is far away from the cylinder 14.

[0033] More specifically, each side wall of the give way groove 131 is provided with an opening, a sliding sleeve 18 is fixed in the opening, a floating seat 19 is slidably arranged in the sliding sleeve 18, the floating seat 19 is floatingly connected to the moving plate 13 through a spring 20, and one end of the floating seat 19 away from the spring 20 is set as an arc surface to reduce the friction between the moving base 1 and the corresponding side wall of the clamping rod 12;

[0034] Furthermore, a camera for visual inspection is arranged above the clamping rotating table 6, and a fixing frame is installed at the bottom of the clamping rotating table 6. One end of a feeding tube 21 is installed on the fixing frame, and the opening of the feeding tube 21 is located directly below the clamping end of the clamping rod 12. The other end of the feeding tube 21 is connected and fixed to a distribution box 22 fixed to the bottom side wall of the lifting module 3. A weighing unit is arranged in the distribution box 22. According to the weighing result of the weighing unit, the corresponding valve is opened to allow tomatoes to enter the two independent inner chambers of the mobile base 1 through different pipes installed at the bottom of the distribution box 22 for storage.

[0035] Specifically, the weighing unit is a pressure sensor; the feed pipe 21 and the two pipes below the feed box 22 are both rubber hoses.

[0036] It should be noted that the outer side surface of the clamping rod 12 is a smooth curved surface with a continuously changing curvature.

[0037] When the utility model is in use, the mobile base 1 moves on the mobile guide rail 2 to reach the working position, the gripping rotating platform 6 rotates to the picking direction, and the height and specific spatial position of the tomato fruit are determined by visual technology, and then the rotating base 4 slides to the corresponding height and the gripping rotating platform 6 reaches the fruit gripping position with the cooperation of the moving arm 5;

[0038] Subsequently, the cylinder 14 is started, and the output end of the cylinder 14 extends out, thereby driving the drive shaft 16 to move in a direction away from the cylinder 14, so that the upper steel ball of the guide pin 17 rolls in the corresponding deflection groove 161, and when it cooperates with the straight groove part, the movable plate 13 moves under the push of the drive shaft 16, so that under the limiting effect of the yield groove 131, the three clamping rods 12 approach each other to converge, so that the end clamping parts thereof clamp the tomato fruit, and after the clamping is completed, as the drive shaft 16 continues to move, the steel ball cooperates with the arc groove part, so that the drive shaft 16 deflects at an angle, and then the movable plate 13 deflects synchronously, and finally drives the rotating block 10 to rotate, and the clamping rod 12 installed thereon separates the tomato from the branch, completing the picking process;

[0039] Finally, the output end of the cylinder 14 retracts, and the steel ball gradually withdraws from the arc groove and enters the straight groove part. At the same time, the rotating block 10 returns to the initial angle state, and the three clamping rods 12 are moved away from each other under the movement of the movable plate 13. The tomato fruit falls into the discharge pipe 21 and enters the distribution box 22. After weighing, when it exceeds the set weight value, a valve is opened to allow the tomato to enter the inner cavity of the movable base 1 along a pipe. When it does not exceed the set weight value, another valve is opened to allow the tomato to enter the inner cavity of the movable base 1 along another pipe.

[0040] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A tomato fruit harvesting device, characterized in that: It comprises a movable guide rail (2) and a movable base (1) moving thereon, a lifting module (3) being arranged on the top of the movable base (1), a multi-axis transmission mechanism being slidably mounted on the lifting module (3), a fruit gripping assembly being arranged at the end of the multi-axis transmission mechanism, and a material discharge assembly for sorting and storing fruits according to weight values ​​being arranged below the fruit gripping assembly; The fruit clamping assembly comprises a plurality of clamping rods (12) and a movable disk (13) for controlling the clamping rods to perform a clamping action. The movable disk (13) is provided with a plurality of clearance grooves (131), and each clamping rod (12) slides through a corresponding clearance groove (131).

2. A tomato fruit harvesting device according to claim 1, characterized in that: The lifting module (3) is a ball screw lifting structure, and the multi-axis transmission mechanism includes a rotating seat (4) fixed at the output end of the lifting module (3), a moving arm (5) is rotatably mounted at the bottom of the rotating seat (4), the moving arm (5) is composed of two supporting arms that rotate with each other, and a clamping rotating platform (6) is rotatably mounted at the farthest end of the supporting arm of the moving arm (5).

3. A tomato fruit harvesting device according to claim 2, characterized in that: The rotating seat (4) and the moving arm (5) are driven by a motor or a rotating electric cylinder, and the two supporting arms of the moving arm (5) are driven by a motor or a rotating electric cylinder.

4. A tomato fruit harvesting device according to claim 2, characterized in that: A mounting box (8) is fixed on one side of the clamping rotating platform (6), a cylinder (14) is arranged on the side wall of the mounting cavity of the mounting box (8), an output end of the cylinder (14) is fixedly connected to a drive shaft (16), and an end of the drive shaft (16) away from the cylinder (14) is fixedly connected to the movable plate (13).

5. A tomato fruit harvesting device according to claim 4, characterized in that: A fixing sleeve (9) is fixedly embedded on the opening side of the installation box, a rotating block (10) is rotatably arranged on the side of the fixing sleeve (9), and each clamping rod (12) is hinged to the side of the rotating block (10) at an equal angle; A clearance hole is provided at the center of the fixing sleeve (9), the driving shaft (16) passes through the clearance hole, at least one guide pin (17) is provided in the clearance hole, a deflection groove (161) matching with the guide pin (17) is provided on the outer surface of the middle section of the driving shaft (16), the end of the guide pin (17) is arranged in the deflection groove (161), and the deflection groove (161) includes a straight groove and an arc groove covering the surface of the driving shaft (16).

6. The tomato fruit harvesting device according to claim 1, characterized in that: An opening is provided on one side wall of each of the clearance grooves (131), and a floating seat (19) is floatingly arranged in the opening. The surface where the floating seat (19) contacts the clamping rod (12) is arranged as an arc surface, and the corresponding side surface of the clamping rod (12) is arranged as a smooth curved surface with a continuously changing curvature.

7. The tomato fruit harvesting device according to claim 1, characterized in that: The material discharge assembly comprises a material discharge pipe (21) fixedly disposed just below the clamping position of the clamping rod (12); the bottom end of the material discharge pipe (21) is connected and fixedly connected to a material distribution box (22) fixedly disposed at the bottom side wall of the lifting module (3); a weighing unit is disposed in the material distribution box (22); and according to the weighing result of the weighing unit, a corresponding valve is opened to allow tomatoes to enter the two independent inner chambers of the mobile base (1) through different pipes installed at the bottom of the material distribution box (22) for storage.

8. The tomato fruit harvesting device according to claim 2, characterized in that: A camera for visual inspection is arranged above the clamping rotating platform (6).

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