Automatic classification kiwi fruit picking machine

Abstract

The utility model discloses an automatic classification kiwi fruit picking machine, and belongs to the technical field of picking machines. The kiwi fruit picking and screening device solves the problem that existing kiwi fruits are time-consuming and labor-consuming through manual classification and comprises a moving mechanism, a picking mechanism and a screening mechanism are arranged on the moving mechanism, the picking mechanism comprises a picking assembly, the picking assembly is connected with the moving mechanism through the moving assembly, and the screening mechanism comprises an automatic classification frame. The automatic classification frame comprises a feeding port and a screening channel, the width of the screening channel is gradually increased from the side close to the feeding port to the other side, a storage cavity is formed below the screening channel, a plurality of fruit classification storage grooves are formed in the storage cavity, and the feeding port is connected with the picking assembly through a fruit conveying mechanism. The side, provided with the feeding port, of the automatic classification frame is higher than the other side of the automatic classification frame. According to the kiwi fruit sorting device, kiwi fruits are automatically sorted according to sizes, manpower is effectively saved, and the sorting efficiency of the kiwi fruits is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of picking machines, and in particular relates to an automatic sorting kiwifruit picking machine. Background Art

[0002] Kiwi is the fruit of the kiwi plant of the Actinidia family. Because its vitamin C content ranks among the highest among fruits, a kiwi can provide more than twice a person's daily vitamin C requirement, and is known as the "King of Vitamin C". Kiwi also contains good soluble dietary fiber. Kiwis have a short ripening period and will rot if not picked in time. Therefore, when the kiwi is harvested, if it cannot be harvested in time due to insufficient picking staff, the best time to harvest kiwis may be missed, which will cause serious economic losses to fruit farmers, and the cost of manual kiwi picking is high. The picked kiwis also need to be manually sorted, and the fruit may also be damaged during the sorting process. This manual picking method is not only time-consuming and labor-intensive, but may also cause damage to the fruit during the picking process, which indirectly leads to a reduction in yield, which needs to be solved urgently. Utility Model Content

[0003] Aiming at the problem that manual classification of kiwifruit in the prior art is time-consuming and labor-intensive, the utility model provides an automatic classification kiwifruit picking machine.

[0004] The technical solution adopted by the utility model is as follows:

[0005] A kiwifruit picking machine for automatic classification comprises a moving mechanism, on which a picking mechanism and a screening mechanism are arranged, the picking mechanism comprises a picking assembly, the picking assembly is connected to the moving mechanism via a moving assembly that can drive the picking assembly to move, the screening mechanism comprises an automatic classification frame arranged on the moving mechanism, the automatic classification frame comprises a feed port and at least one screening channel, the width of the screening channel gradually increases from one side close to the feed port to the other side, a storage cavity connected to the screening channel is arranged below the screening channel, a plurality of first partition plates are arranged in the storage cavity, each of the first partition plates passes through the connection between the storage cavity and the screening channel, the first partition plates divide the storage cavity into a plurality of fruit classification storage slots, the feed port and the picking assembly are connected via a fruit conveying mechanism, and the height of one side of the automatic classification frame provided with the feed port is higher than the height of the other side.

[0006] After adopting this technical solution, the picking mechanism and the screening mechanism can be moved to the kiwi picking position through the moving mechanism, and then the picking component is moved by the moving component according to the position of the kiwi, the kiwi is picked by the picking component, and the picked kiwi is transported to the automatic classification frame through the fruit conveying mechanism. Since the height of one side of the automatic classification frame provided with the feed port is higher than the height of the other side, the kiwi entering the automatic classification frame from the feed port will slide to the other side under the action of gravity. Since the width of the screening channel gradually increases, when the kiwi slides to the screening channel larger than its size, it slides from the screening channel to the fruit classification storage tank at the corresponding position, thereby realizing automatic classification of kiwi according to size, effectively saving manpower and improving the picking and sorting efficiency of kiwi.

[0007] Preferably, the picking component includes a mounting base connected to the moving base, the mounting base is rotatably connected to the first clamping arm and the second clamping arm, the first clamping arm and the second clamping arm are respectively connected to the first drive motor and the second drive motor arranged in the mounting base, the mounting base is also provided with a camera and a connecting base, the connecting base is connected to the fruit conveying mechanism, the connecting base is arranged below the first clamping arm and the second clamping arm, and the camera, the first drive motor and the second drive motor are all electrically connected to the control terminal.

[0008] After adopting this technical solution, compared with observation by human eyes, the position of kiwifruit can be seen more clearly through the camera, so that the first clamping arm and the second clamping arm are activated according to the position of the kiwifruit to pick the kiwifruit, thereby improving the kiwifruit picking efficiency.

[0009] Preferably, the moving component is a mechanical arm electrically connected to the control terminal, the mechanical arm comprises a large arm and a small arm connected to each other, the large arm is connected to the moving mechanism, and the small arm is connected to the mounting seat.

[0010] After adopting this technical solution, the picking component is driven to move by the mechanical arm, which makes it easier to find and pick kiwifruit.

[0011] Preferably, a fixed bracket is provided on the moving mechanism, the height of one side of the fixed bracket is higher than the height of the other side, the automatic classification frame is arranged on the fixed bracket, and the feed port is arranged on the side of the fixed bracket with higher height.

[0012] After adopting this technical solution, the height of one side of the automatic classification frame provided with the feed port is higher than the height of the other side by fixing the bracket, so that the kiwi fruit can slide along the direction of increasing width of the screening channel.

[0013] Preferably, the automatic classification frame includes a first frame body and a second frame body connected to the first frame body, the storage cavity and the first partition plate are arranged in the first frame body, the feed port is arranged on one side of the second frame body, the width of the side of the second frame body where the feed port is arranged is smaller than the width of the other side, and a plurality of screening channels are formed in the second frame body by a plurality of second partition plates, and the top surfaces of each second partition plate are flush.

[0014] After adopting this technical solution, several screening channels are provided, which can improve the screening efficiency.

[0015] Preferably, the end of the second partition plate at the edge farthest from the feed inlet in the second frame is connected to the first partition plate farthest from the feed inlet, and the remaining second partition plates are connected to the inner side wall of the second frame.

[0016] After adopting this technical solution, a channel with a size larger than the maximum size of the screening channel is set at the diagonal of the feed inlet, so that kiwifruits with a size larger than the screening channel size are uniformly collected in a fruit classification storage tank for collecting kiwifruits with the largest size, avoiding the accumulation of kiwifruits that are too large and affecting screening.

[0017] Preferably, the mobile mechanism comprises a base for mounting the picking mechanism and the screening mechanism, four anti-skid and shock-absorbing wheels are mounted on the base, and the anti-skid and shock-absorbing wheels are connected to a driving device.

[0018] Preferably, the fruit conveying mechanism is a hose, one end of which is connected to the picking component, and the other end of which is connected to the feed port.

[0019] In summary, due to the adoption of the above technical solution, the beneficial effects of the utility model are:

[0020] 1. The picking mechanism and the screening mechanism can be moved to the kiwi picking position through the moving mechanism, and then the picking component is moved through the moving component according to the position of the kiwi, the kiwi is picked by the picking component, and the picked kiwi is transported to the automatic classification frame through the fruit conveying mechanism. Since the height of one side of the automatic classification frame with the feed port is higher than the height of the other side, the kiwi entering the automatic classification frame from the feed port will slide to the other side under the action of gravity. Since the width of the screening channel gradually increases, when the kiwi slides to the screening channel larger than its size, it slides from the screening channel to the fruit classification storage tank at the corresponding position, thereby realizing automatic classification of kiwi according to size, effectively saving manpower and improving the picking and sorting efficiency of kiwi.

[0021] 2. Set a channel with a size larger than the maximum size of the screening channel at the diagonal of the feed inlet, so that kiwifruits larger than the screening channel size can be collected into the fruit classification storage tank for collecting kiwifruits with the largest size, avoiding the accumulation of kiwifruits that are too large and affecting screening.

[0022] 3. Compared with human eye observation, the position of the kiwi fruit can be seen more clearly through the camera, so that the first clamping arm and the second clamping arm are activated according to the position of the kiwi fruit to pick the kiwi fruit, thereby improving the picking efficiency of the kiwi fruit.

[0023] 4. The utility model can not only pick and sort kiwifruit, but also other similar spherical fruits. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be described by way of examples with reference to the accompanying drawings, in which:

[0025] Figure 1 It is a structural schematic diagram of the utility model;

[0026] Among them: 1-moving mechanism, 101-base, 102-anti-slip shock-absorbing wheels, 2-screening mechanism, 201-first frame, 202-second frame, 203-second partition, 204-screening channel, 205-first partition, 206-fruit classification storage tank, 207-feeding port, 208-fixed bracket, 3-picking mechanism, 301-upper arm, 302-lower arm, 303-connecting seat, 304-camera, 305-first clamping arm, 306-second clamping arm, 307-mounting seat, 4-fruit conveying mechanism, 5-classification and collection frame. DETAILED DESCRIPTION

[0027] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0028] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, 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 cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0029] Combine the following Figure 1 The utility model is described in detail.

[0030] Example 1

[0031] like Figure 1 As shown, an automatic sorting kiwifruit picking machine comprises a mobile mechanism 1, on which a picking mechanism 3 and a screening mechanism 2 are arranged, the picking mechanism 3 comprises a picking assembly, the picking assembly is connected to the mobile mechanism 1 by a mobile assembly that can drive the picking assembly to move, the screening mechanism 2 comprises an automatic sorting frame arranged on the mobile mechanism 1, the automatic sorting frame comprises a feed port 207 and at least one screening channel 204, the width of the screening channel 204 gradually increases from one side close to the feed port 207 to the other side, a storage cavity connected to the screening channel 204 is arranged below the screening channel 204, a plurality of first partition plates 205 are arranged in the storage cavity, each of the first partition plates 205 passes through the connection between the storage cavity and the screening channel 204, the first partition plates 205 divide the storage cavity into four fruit sorting storage slots 206, the feed port 207 is connected to the picking assembly by a fruit conveying mechanism 4, and the height of one side of the automatic sorting frame provided with the feed port 207 is higher than the height of the other side.

[0032] In this embodiment, the picking component includes a mounting base 307 connected to the moving base, and the first clamping arm 305 and the second clamping arm 306 are rotatably connected to the mounting base 307. The first clamping arm 305 and the second clamping arm 306 are respectively connected to the first drive motor and the second drive motor arranged in the mounting base 307. The mounting base 307 is also provided with a camera 304 and a connecting base 303. The connecting base 303 is connected to the fruit conveying mechanism 4. The connecting base 303 is arranged below the first clamping arm 305 and the second clamping arm 306. The camera 304, the first drive motor and the second drive motor are all electrically connected to the control terminal.

[0033] In this embodiment, the control terminal includes a computer, and the images monitored by the camera 304 are displayed on the computer. The computer can control the start-up of the first drive motor and the second drive motor, and can control the robot arm and the moving mechanism 1.

[0034] In this embodiment, the first clamping arm 305, the second clamping arm 306 and the inner surfaces of the fruit classification storage tank 206 are all provided with soft pads.

[0035] In this embodiment, the moving component is a robotic arm electrically connected to the control terminal, and the robotic arm includes a large arm 301 and a small arm 302 connected to each other. The large arm 301 is connected to the moving mechanism 1, and the small arm 302 is connected to the mounting seat 307.

[0036] In this embodiment, a fixed bracket 208 is provided on the mobile mechanism 1, and the height of one side of the fixed bracket 208 is higher than the height of the other side. The automatic classification frame is connected to the fixed bracket 208 by bolts, and the feed port 207 is provided on the higher side of the fixed bracket 208. In this embodiment, the side of the automatic classification frame provided with the discharge port is provided on the lower side of the fixed bracket 208, and the feed port is provided on the adjacent side of the higher side of the fixed bracket 208, and is provided close to the higher side.

[0037] In this embodiment, the automatic classification frame includes a first frame body 201 and a second frame body 202 connected to the first frame body 201, the storage cavity and the first partition plate 205 are arranged in the first frame body 201, the feed port 207 is arranged on one side of the second frame body 202, the width of the side of the second frame body 202 where the feed port 207 is provided is smaller than the width of the other side, and a plurality of screening channels 204 are formed in the second frame body 202 by a plurality of second partition plates 203, and the top surfaces of each second partition plate 203 are flush.

[0038] In this embodiment, the end of the second partition plate 203 at the edge farthest from the feed inlet 207 in the second frame 202 is connected to the first partition plate 205 farthest from the feed inlet 207 , and the remaining second partition plates 203 are connected to the inner side wall of the second frame 202 .

[0039] In this embodiment, four classification collection frames 5 are arranged on one side of the mobile mechanism 1, and the number and position of the classification collection frames 5 correspond one-to-one to the number and position of each fruit classification storage slot 206, and each fruit classification storage slot 206 is provided with a discharge port on one side close to the classification collection frame 5, and the height of the discharge port is higher than the height of the classification collection frame 5.

[0040] In this embodiment, the mobile mechanism 1 includes a base 101 for installing the picking mechanism 3 and the screening mechanism 2, and four anti-skid shock-absorbing wheels 102 are installed on the base 101. The anti-skid shock-absorbing wheels 102 are connected to a driving device, and the driving device is electrically connected to the control terminal.

[0041] In this embodiment, the mechanism and working principle of the driving device and the mechanical arm are existing technologies and will not be elaborated here. The driving device only needs to drive the anti-skid shock-absorbing wheels to rotate and drive the base 101 to move. The mechanical arm only needs to drive the picking components to move to adapt to the kiwi picking needs at different heights and positions.

[0042] In this embodiment, the fruit conveying mechanism 4 is a hose, one end of which is connected to the snap-in hole on the connecting seat 303, and the other end is connected to the feed port 207. The snap-in hole is located in the middle of the first clamping arm 305 and the second clamping arm 306, and the camera 304 is also located in the middle of the first clamping arm 305 and the second clamping arm 306.

[0043] The specific use method of the utility model is as follows:

[0044] Reference Figure 1 When in use, the picking mechanism and the screening mechanism are driven to move to the kiwi picking place by the moving mechanism 1, and then the mechanical arm is controlled to extend and retract to drive the camera 304 to move, and the kiwi is found according to the picture taken by the camera 304, and the first clamping arm 305 and the second clamping arm 306 are driven to move by the mechanical arm, so that the first clamping arm 305 and the second clamping arm 306 are respectively located on both sides of the kiwi to be picked, and then the first driving motor and the second driving motor are started to drive the first clamping arm 305 and the second clamping arm 306 to rotate, so that the kiwi is clamped by the first clamping arm 305 and the second clamping arm 306, and then the first clamping arm 305 and the second clamping arm 306 are driven to move again by the mechanical arm, The kiwifruit is separated from the vines. After picking, the first drive motor and the second drive motor are started again to drive the first clamping arm 305 and the second clamping arm 306 to rotate in opposite directions, so that the picked kiwifruit falls into the hose, reaches the feed port 207 along the hose, and falls into the automatic classification frame from the feed port 207. Since the position near the feed port 207 in the automatic classification frame is the highest point in the automatic classification frame, the kiwifruit moves in the direction of increasing the width of the screening channel under the action of gravity until it reaches a position matching its size, and falls from there into the corresponding fruit classification storage slot 206, and slides along the fruit classification storage slot 206 to the classification collection frame 5, thereby realizing automatic classification of kiwifruit.

[0045] Example 2

[0046] This embodiment is basically the same as embodiment 1, except that the camera 304 is a binocular vision system camera, and the camera 304 is connected to an image analysis module, through which it can be determined whether the kiwifruit is ripe, and whether it is necessary to start the picking component for picking according to whether it is ripe or not. When it is determined that the kiwifruit needs to be picked, the picking component is started to pick the kiwifruit, and the control device is also connected to an intelligent navigation module, through which the picking machine can be automatically moved to the kiwifruit picking location, so as to realize the entire automation of kiwifruit picking and classification, and further save manpower.

[0047] The above-mentioned embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the protection scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the technical solution concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. An automatic sorting kiwifruit picking machine, characterized by: The invention comprises a mobile mechanism (1), wherein the mobile mechanism (1) is provided with a picking mechanism (3) and a screening mechanism (2), wherein the picking mechanism (3) comprises a picking component, wherein the picking component is connected to the mobile mechanism (1) via a mobile component capable of driving the picking component to move, and wherein the screening mechanism (2) comprises an automatic sorting frame arranged on the mobile mechanism (1), wherein the automatic sorting frame comprises a feed inlet (207) and at least one screening channel (204), wherein the width of the screening channel (204) gradually increases from one side close to the feed inlet (207) to the other side, and wherein the picking component is connected to the mobile mechanism (1) via a mobile component capable of driving the picking component to move. A storage cavity connected to the screening channel (204) is arranged below the screening channel (204), and a plurality of first partition plates (205) are arranged in the storage cavity. Each of the first partition plates (205) passes through the connection point between the storage cavity and the screening channel (204), and the first partition plates (205) divide the storage cavity into a plurality of fruit classification storage slots (206). The feed port (207) is connected to the picking component via a fruit conveying mechanism (4), and the height of one side of the automatic classification frame provided with the feed port (207) is higher than that of the other side.

2. The automatic sorting kiwifruit picking machine according to claim 1 is characterized in that: The picking component comprises a mounting base (307) connected to the moving base, a first clamping arm (305) and a second clamping arm (306) being rotatably connected to the mounting base (307), the first clamping arm (305) and the second clamping arm (306) being respectively connected to a first drive motor and a second drive motor arranged in the mounting base (307), the mounting base (307) being further provided with a camera (304) and a connecting base (303), the connecting base (303) being connected to a fruit conveying mechanism (4), the connecting base (303) being arranged below the first clamping arm (305) and the second clamping arm (306), and the camera (304), the first drive motor and the second drive motor being electrically connected to a control terminal.

3. The automatic sorting kiwifruit picking machine according to claim 2 is characterized in that: The moving component is a mechanical arm electrically connected to the control terminal, and the mechanical arm comprises a large arm (301) and a small arm (302) connected to each other, the large arm (301) is connected to the moving mechanism (1), and the small arm (302) is connected to the mounting seat (307).

4. An automatic sorting kiwifruit picking machine according to any one of claims 1 to 3, characterized in that: The moving mechanism (1) is provided with a fixed bracket (208), the height of one side of the fixed bracket (208) being higher than the height of the other side, the automatic classification frame being provided on the fixed bracket (208), and the feed port (207) being provided on the side of the fixed bracket (208) with a higher height.

5. The automatic sorting kiwifruit picking machine according to claim 4 is characterized in that: The automatic classification frame comprises a first frame body (201) and a second frame body (202) connected to the first frame body (201); the storage cavity and the first partition plate (205) are arranged in the first frame body (201); the feed port (207) is arranged on one side of the second frame body (202); the width of one side of the second frame body (202) on which the feed port (207) is arranged is smaller than the width of the other side; a plurality of screening channels (204) are formed in the second frame body (202) by a plurality of second partition plates (203); and the top surfaces of the second partition plates (203) are flush.

6. The automatic sorting kiwifruit picking machine according to claim 5, characterized in that: The end of the second partition plate (203) at the edge farthest from the feed port (207) in the second frame (202) is connected to the first partition plate (205) farthest from the feed port (207), and the remaining second partition plates (203) are connected to the inner side wall of the second frame (202).

7. The automatic sorting kiwifruit picking machine according to claim 4, characterized in that: A plurality of classification collection frames (5) are arranged on one side of the mobile mechanism (1), the number and position of the classification collection frames (5) corresponding to the number and position of each fruit classification storage slot (206), and a discharge port is arranged on one side of each fruit classification storage slot (206) close to the classification collection frame (5), and the height of the discharge port is higher than the height of the classification collection frame (5).

8. An automatic sorting kiwifruit picking machine according to any one of claims 1 to 3, characterized in that: The mobile mechanism (1) comprises a base (101) for mounting a picking mechanism (3) and a screening mechanism (2), four anti-skid and shock-absorbing wheels (102) are mounted on the base (101), and the anti-skid and shock-absorbing wheels (102) are connected to a driving device.

9. An automatic sorting kiwifruit picking machine according to any one of claims 1 to 3, characterized in that: The fruit conveying mechanism (4) is a hose, one end of which is connected to the picking component, and the other end of which is connected to the feed port (207).

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