Apple picking machine
By designing an apple picker that combines the robotic arm and the picking head, the turbine suction and power-off control system are used to solve the problems of mechanical damage and low efficiency of fruits during the picking process, and a more efficient and low-energy-consuming picking process is achieved.
Patent Information
- Application Number
- CN202420570112.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-22
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2034-03-22
AI Technical Summary
The existing apple pickers are prone to mechanical damage to fruits during the picking process, and the traditional mechanical claws are low in picking efficiency and high energy consumption.
An apple picker is designed, using a robotic arm and a picking head. The picking head includes a clamping head, a suction chamber, a fan and a conveying port. The apple is sucked into the chamber by generating suction force by the turbine, and the power-off control system is used to control the turbine operation. , reduce the picking action of the robot arm, save energy consumption, and is transported to the storage part through the hose, reducing damage caused by mechanical claw gripping.
It effectively avoids fruit damage caused by mechanical claw grabbing, improves picking efficiency, reduces energy consumption, and solves the problems of low efficiency and high energy consumption of traditional pickers.
Smart Images
Figure CN222284011U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of agricultural machinery, and in particular relates to an apple picking machine. Background Art
[0002] my country has just started to research and develop orchard picking machinery. It has successively manufactured mechanical vibration hawthorn fruit pickers, airbag fruit pickers and handheld electric fruit pickers that match walk-behind tractors. The latter two are actually auxiliary machinery for manual operations. They do a good job in protecting fruits from damage, but they still face the problem of low efficiency. Since the 1980s, my country has begun to research and manufacture cutting-type pickers, and has officially developed from the manual orchard picking method of using scissors to picking using mechanical devices. Among them, the motor-type picker mainly uses the fruit stalk to guide the protrusion, first leading the fruit stalk to the cutter, and then using a micro motor to drive the cutter to slowly reciprocate, thereby cutting off the fruit stalk.
[0003] However, the following issues still exist:
[0004] However, fruits are easily mechanically damaged after being clamped by mechanical claws during the picking process;
[0005] Traditional mechanical claw picking has multiple work processes, low efficiency and high energy consumption. Utility Model Content
[0006] In view of the above-mentioned deficiencies existing in the prior art, the utility model provides an apple picking machine to solve the problem that in the prior art, fruits are easily clamped by mechanical claws and cause mechanical damage during the picking process.
[0007] In order to solve the above technical problems, the utility model adopts the following technical solutions:
[0008] An apple picker comprises a storage part and a picking part, wherein the picking part is installed on the upper part of the storage part, the storage part is provided with a mechanical arm and a picking head movably connected to the top of the mechanical arm, the picking head comprises a clamping head, a suction chamber, a fan and a conveying port, the clamping head is installed at the outer end of the suction chamber, the fan is installed at the rear end of the suction chamber, and the conveying port is installed at the bottom of the suction chamber.
[0009] Furthermore, the fan includes a power off switch, a fan cover, and a turbine. The power off switch is arranged inside the suction chamber, and the turbine is arranged inside the fan cover. The power off switch includes a contact plate, a power off sensor, and a power off controller. The contact plate is movably connected to the power off sensor, and the power off sensor is electrically connected to the power off controller.
[0010] Furthermore, the robotic arm includes a base, a rotating arm, a driven arm, and an active arm. One end of the rotating arm is movably connected to the base, and the other end is movably connected to the driven arm. The top of the driven arm is movably connected to the active arm, and a self-rotating arm is provided at both ends of the active arm.
[0011] Furthermore, the storage part includes a storage cavity, an electrical part, and a movable part. The electrical part is arranged inside the storage cavity, and the movable part is arranged at the lower part of the storage cavity and is electrically connected to the electrical part.
[0012] Furthermore, the storage cavity is provided with a receiving port, and the receiving port is connected to the delivery port through a hose.
[0013] Furthermore, an opening and closing plate is provided at the rear of the storage cavity, and cylinder arms for controlling the opening and closing are provided on both sides of the opening and closing plate.
[0014] Furthermore, the moving part includes a driving wheel and a driven wheel, the driven wheels are provided with at least two groups, a spacing support rod is provided between the driven wheels and the driving wheels, and the driving wheels and the driven wheels are covered with tracks on the outside.
[0015] Furthermore, an anti-roll arm is provided at the rear of the storage cavity, and the anti-roll arm is arc-shaped.
[0016] Furthermore, the anti-roll arm is in a hollow mesh shape.
[0017] Furthermore, a rubber sheet is provided at the connection point between the delivery port and the suction chamber, and the rubber sheet is composed of a plurality of triangle sheets that are in contact but not connected.
[0018] Furthermore, the clamping head is in the shape of a flat ring.
[0019] Furthermore, the clamping head is in the shape of a narrow mouth that contracts outwards.
[0020] Furthermore, the clamping head is made of rubber.
[0021] Furthermore, the clamping head is provided with a plurality of through slots.
[0022] Furthermore, at least two groups of U-shaped tubes are provided at the connection between the receiving port and the storage cavity.
[0023] Compared with the prior art, the utility model has the following beneficial effects:
[0024] The apple is placed in the picking head through the mechanical arm, and the fruit handle is placed in the through slot on the clamping head. The self-spinning arm on the active arm causes the connecting part between the active arm and the clamping head to rotate, and the through slot causes the fruit handle to be disconnected from the fruit tree. The turbine causes an inward suction force to be generated inside the suction chamber, so that the apple moves into the suction chamber through the picking head. When the apple moves to the contact plate, the contact plate is hit by the apple and moves backward. After receiving the displacement information of the contact plate, the power-off sensor transmits an instruction to the power-off controller, and the power-off controller controls the turbine to disconnect and stop working. After the apple loses suction, it enters the hose through the conveying port and is conveyed to the storage part. At the same time, the contact plate is reset, and the power-off controller controls the turbine passage to repeat the work. By suction picking, the picking action of the mechanical arm is reduced, and energy consumption is saved. At the same time, the suction method is used to reduce the damage to the apple during picking, and the problem of easy falling and claw marks caused by the mechanical claw is effectively avoided. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 This is a three-dimensional structural schematic diagram of an apple picking machine embodiment of the utility model;
[0026] Figure 2 This is a rear structural schematic diagram of an apple picking machine embodiment of the utility model;
[0027] Figure 3 This is a schematic diagram of the structure of the picking head in the embodiment of the apple picking machine of the utility model;
[0028] Figure 4 This is a schematic diagram of the structure of the fan in the apple picking machine embodiment of the utility model;
[0029] The reference numerals in the drawings of the specification include:
[0030] Storage part 1, storage cavity 11, receiving port 110, hose 111, opening and closing plate 112, cylinder arm 113, electrical part 12, moving part 13, driving wheel 131, driven wheel 132, spacing support rod 133, crawler track 134, anti-tilt arm 14, picking part 2, mechanical arm 3, base 31, rotating arm 32, driven arm 33, active arm 34, self-spinning arm 35, picking head 4, clamping head 41, suction cavity 42, fan 43, conveying port 44, rubber sheet 441, power-off switch 45, contact plate 451, power-off sensor 452, power-off controller 453, fan cover 46, turbine 47. DETAILED DESCRIPTION
[0031] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments:
[0032] It should be noted that the same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.
[0033] In addition, the descriptions of "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.
[0034] In the description of the present utility model, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present utility model. Example
[0035] like Figure 1-Figure 4 As shown, the apple picking machine includes a storage part 1 and a picking part 2, and the picking part 2 is installed on the upper part of the storage part 1;
[0036] The storage part 1 is provided with a mechanical arm 3 and a picking head 4 movably connected to the top of the mechanical arm 3, the picking head 4 includes a clamping head 41, a suction chamber 42, a fan 43 and a conveying port 44, the fan 43 includes a power-off switch 45, a fan cover 46, and a turbine 47, and a plurality of through slots are provided on the clamping head 41, the mechanical arm 3 includes a base 31, a rotating arm 32, a driven arm 33, and an active arm 34, one end of the rotating arm 32 is movably connected to the base 31, and the other end is movably connected to the driven arm 33, the top of the driven arm 33 is movably connected to the active arm 34, and a self-rotating arm 35 is provided at both ends of the active arm 34.
[0037] During specific use, the apples are placed in the picking head 4 through the mechanical arm 3, and the fruit stalks are placed in the through groove on the clamping head 41. The self-spinning arm 35 on the active arm 34 causes the connecting part between the active arm 34 and the clamping head 41 to rotate, and the through groove disconnects the fruit stalks from the fruit tree.
[0038] The power-off switch 45 is arranged inside the suction chamber 42, and the turbine 47 is arranged inside the fan cover 46. The power-off switch 45 includes a contact plate 451, a power-off sensor 452, and a power-off controller 453. The contact plate 451 is movably connected to the power-off sensor 452, and the power-off sensor 452 is electrically connected to the power-off controller 453.
[0039] The clamping head 41 is installed at the outer end of the suction chamber 42 , the fan 43 is installed at the rear end of the suction chamber 42 , and the conveying port 44 is installed at the bottom of the suction chamber 42 .
[0040] The fan 43 includes a power-off switch 45, a fan cover 46, and a turbine 47. The power-off switch 45 is arranged inside the suction chamber 42, and the turbine 47 is arranged inside the fan cover 46. The power-off switch 45 includes a contact plate 451, a power-off sensor 452, and a power-off controller 453. The contact plate 451 is movably connected to the power-off sensor 452, and the power-off sensor 452 is electrically connected to the power-off controller 453.
[0041] During specific operation, the turbine 47 creates an inward suction force inside the suction chamber 42, causing the apple to move into the suction chamber 42 through the picking head 4. When the apple moves to the contact plate 451, the contact plate 451 is hit by the apple and moves backward. After receiving the displacement information of the contact plate 451, the power-off sensor 452 transmits an instruction to the power-off controller 453. The power-off controller 453 controls the turbine 47 to disconnect and stop working. After the apple loses suction, it enters the hose through the delivery port 44 and is delivered to the storage part 1. At the same time, the contact plate 451 is reset, and the power-off controller 453 controls the turbine 47 to repeat the operation.
[0042] The storage part 1 includes a storage cavity 11, an electrical part 12, and a movable part 13. The electrical part 12 is arranged inside the storage cavity 11, the movable part 13 is arranged at the lower part of the storage cavity 11 and is electrically connected to the electrical part 12, a receiving port 110 is provided on the storage cavity 11, and the receiving port 110 is connected to the delivery port 44 through a hose 111, an opening and closing plate 112 is provided at the rear of the storage cavity 11, and cylinder arms 113 for controlling the opening and closing are provided on both sides of the opening and closing plate 112.
[0043] The opening and closing plate 112 is lifted or closed by the cylinder arm 113 to facilitate the transportation of apples in the storage cavity 11 .
[0044] The moving part 13 includes a driving wheel 131 and a driven wheel 132 . The driven wheel 132 is provided with at least two groups. A spacing support rod 133 is provided between the driven wheel 132 and the driving wheel 131 . The driving wheel 131 and the driven wheel 132 are covered with tracks 134 .
[0045] The distance between the driven wheel 132 and the driving wheel 131 and the length of the external track 134 are adjusted according to the terrain, so that the moving part 13 can be applied to various terrains.
[0046] An anti-tilt arm 14 is provided at the rear of the storage cavity 11 . The anti-tilt arm 14 is arc-shaped and hollow mesh-shaped.
[0047] When the storage cavity 11 is nearly fully loaded, the anti-roll arm 14 can effectively prevent the storage cavity 11 from tilting backward at an excessively large angle and thus causing rollover.
[0048] A rubber sheet is provided at the connection point between the delivery port 44 and the suction chamber 42. The rubber sheet is composed of a plurality of closed but unconnected triangular sheets.
[0049] At least two groups of U-shaped tubes are provided at the connection between the receiving port 110 and the storage cavity 11. The U-shaped tubes reduce the rolling speed of the apples when they enter the storage cavity 11 through the receiving port 110, thereby avoiding high-speed collision with the apples in the storage cavity 11 and causing damage.
[0050] The above is only an embodiment of the utility model. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field are aware of all the common technical knowledge in the technical field of the utility model before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement the scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for the technicians in this field, without departing from the structure of the utility model, several deformations and improvements can be made, which should also be regarded as the protection scope of the utility model, and these will not affect the effect of the implementation of the utility model and the practicality of the patent.
Claims
1. An apple picking machine, comprising a storage part (1) and a picking part (2), wherein the picking part (2) is mounted on the upper part of the storage part (1), and characterized in that: The storage portion (1) is provided with a mechanical arm (3) and a picking head (4) movably connected to the top of the mechanical arm (3); the picking head (4) comprises a clamping head (41), a suction chamber (42), a fan (43) and a conveying port (44); the clamping head (41) is mounted at the outer end of the suction chamber (42); the fan (43) is mounted at the rear end of the suction chamber (42); and the conveying port (44) is mounted at the bottom of the suction chamber (42).
2. The apple picking machine according to claim 1, characterized in that: The fan (43) comprises a power-off switch (45), a fan cover (46), and a turbine (47); the power-off switch (45) is arranged inside the suction chamber (42); the turbine (47) is arranged inside the fan cover (46); the power-off switch (45) comprises a contact plate (451), a power-off sensor (452), and a power-off controller (453); the contact plate (451) is movably connected to the power-off sensor (452); and the power-off sensor (452) is electrically connected to the power-off controller (453).
3. The apple picking machine according to claim 1, characterized in that: The mechanical arm (3) comprises a base (31), a rotating arm (32), a driven arm (33), and a driving arm (34); one end of the rotating arm (32) is movably connected to the base (31), and the other end is movably connected to the driven arm (33); the top end of the driven arm (33) is movably connected to the driving arm (34); and both ends of the driving arm (34) are provided with a self-spinning arm (35).
4. The apple picking machine according to claim 1, characterized in that: The storage portion (1) comprises a storage cavity (11), an electrical portion (12), and a movable portion (13); the electrical portion (12) is arranged inside the storage cavity (11); and the movable portion (13) is arranged at the bottom of the storage cavity (11) and is electrically connected to the electrical portion (12).
5. The apple picking machine according to claim 4, characterized in that: The storage cavity (11) is provided with a receiving port (110), and the receiving port (110) is connected to the delivery port (44) via a hose (111).
6. The apple picking machine according to claim 4, characterized in that: An opening and closing plate (112) is provided at the rear of the storage cavity (11), and cylinder arms (113) for controlling the opening and closing are provided on both sides of the opening and closing plate (112).
7. The apple picking machine according to claim 4, characterized in that: The moving part (13) comprises a driving wheel (131) and a driven wheel (132), wherein at least two groups of the driven wheels (132) are provided, a spacing support rod (133) is provided between the driven wheels (132) and the driving wheels (131), and the driving wheels (131) and the driven wheels (132) are covered with tracks (134) on their exterior.
8. The apple picking machine according to claim 4, characterized in that: An anti-roll arm (14) is provided at the rear of the storage cavity (11), and the anti-roll arm (14) is arc-shaped.
9. The apple picking machine according to claim 1, characterized in that: A rubber sheet (441) is provided at the connection point between the delivery port (44) and the suction chamber (42), and the rubber sheet is composed of a plurality of closed and non-connected triangular sheets.
10. The apple picking machine according to claim 1, characterized in that: The clamping head (41) is provided with a plurality of through slots.