Surface type Chinese honey locust picking and collecting device

Abstract

The utility model relates to a surface type Chinese honey locust picking and collecting device which comprises an installation frame. The first driving mechanism is mounted on the mounting frame; the vibrating mechanism is used for vibrating branches of the Chinese honey locust tree and is connected with the mounting frame through a first driving mechanism, and the first driving mechanism is used for driving the vibrating mechanism to rotate up and down and back and forth. The first driving mechanism is started to enable the vibration mechanism to rotate up and down and back and forth so as to vibrate the branches at different heights, so that fruits on the branches fall off respectively. The second driving mechanism is started, the mounting frame can drive the first driving mechanism to rotate front and back and left and right, and therefore the vibration mechanism can rotate front and back and left and right, and it is guaranteed that the vibration mechanism can vibrate off fruits on all branches in the circumferential direction of the tree. By arranging the first driving mechanism and the second driving mechanism, the vibration mechanism can move in multiple directions, it is guaranteed that fruits of all branches of a gleditsia sinensis tree can be vibrated off, the trunk of the tree is prevented from being directly vibrated, and therefore the trunk of the tree is prevented from being damaged.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of soapberry picking and collecting, in particular to a device for picking and collecting soapberry in a surface mode. BACKGROUND

[0002] Soapberry, also known as Chinese scholar tree, is one of the tree species of the genus Gleditsia in the family Caesalpiniaceae, and is native to China. It grows vigorously and is dioecious, with strong ability to form pods (soap nuts) on female trees. Soapberry fruit is a natural raw material for medicine, food, health products, cosmetics, and cleaning products. In related technologies, the picking device for soapberry trees vibrates on the main stem of the tree, and the vibration force is transmitted to the branches through the main stem, causing the fruits on the branches to fall in large areas. However, this method may cause damage to the main stem of the tree due to excessive force. SUMMARY

[0003] In order to overcome the problem that the existing picking device for soapberry trees may cause damage to the main stem of the tree, the utility model provides a device for picking and collecting soapberry in a surface mode.

[0004] In order to achieve the above purpose, the present disclosure provides a device for picking and collecting soapberry in a surface mode, comprising:

[0005] a mounting bracket;

[0006] a first drive mechanism mounted on the mounting bracket;

[0007] a vibration mechanism for vibrating the branches of the soapberry tree, and connected to the mounting bracket through the first drive mechanism, wherein the first drive mechanism is used to drive the vibration mechanism to rotate up and down, forward and backward; and

[0008] a second drive mechanism connected to the mounting bracket to drive the mounting bracket to rotate the first drive mechanism forward and backward, left and right.

[0009] Optionally, the first drive mechanism comprises:

[0010] a first turbine rotatably mounted on the mounting bracket in the forward and backward direction and connected to the vibration mechanism;

[0011] a first worm gear meshed and connected with the first turbine; and

[0012] a first motor mounted on the mounting bracket and transmissionally connected with the first turbine.

[0013] Optionally, the second drive mechanism comprises:

[0014] a second turbine connected to the bottom of the mounting bracket;

[0015] a second worm gear meshed and connected with the second turbine; and

[0016] A second motor is in transmission connection with the second turbine.

[0017] Optionally, the device for surface picking and collecting soapberry further comprises an unfolding mechanism, the unfolding mechanism comprising:

[0018] A lead screw;

[0019] A third motor is in transmission connection with the lead screw;

[0020] A sliding block is sleeved on the outer periphery of the lead screw and is in screw connection with the lead screw; and

[0021] Three mechanical arms, the bottom ends of the mechanical arms are in circumferential hinging connection with the mounting frame, and the top ends of the mechanical arms are in circumferential hinging connection with the sliding block; and

[0022] Collecting nets are respectively connected with the mechanical arms, and the third motor drives the lead screw to rotate, so that the mechanical arms drive the collecting nets to unfold or retract.

[0023] Optionally, the mechanical arms at least comprise:

[0024] A first rod, one end of the first rod is in circumferential hinging connection with the mounting frame;

[0025] A second rod, one end of the second rod is in circumferential hinging connection with the sliding block, and the middle part of the second rod is in hinging connection with the middle part of the first rod, and the collecting nets are respectively connected with the first rod and the second rod.

[0026] Optionally, the device for surface picking and collecting soapberry further comprises a camera, the camera is rotatably installed on the top of the mounting frame.

[0027] The technical scheme provided by the embodiment of the present disclosure can include the following beneficial effects:

[0028] The first driving mechanism is started to drive the vibration mechanism to rotate up and down and front and back, so as to vibrate branches at different heights, so that the fruits on the branches are dropped. The second driving mechanism is started to drive the mounting frame to rotate front and back and left and right, so that the vibration mechanism can rotate front and back and left and right, so that the fruits on the branches around the tree can be shaken off. By setting the first driving mechanism and the second driving mechanism, the vibration mechanism can move in multiple directions, so that the fruits on the branches of the soapberry tree can be shaken off, and the main stem of the tree is not directly subjected to vibration, so that the main stem of the tree is not damaged. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a perspective view of a device for surface picking and collecting soapberry according to an exemplary embodiment of the present disclosure.

[0030] Figure 2 is a plan view of a device for picking and collecting soapberry according to an exemplary embodiment of the present disclosure.

[0031] BRIEF DESCRIPTION OF DRAWINGS

[0032] 100, mounting frame; 200, first driving mechanism; 210, first turbine; 220, first worm; 230, first motor; 300, vibration mechanism; 400, second driving mechanism; 410, second turbine; 420, second worm; 430, second motor; 500, unfolding mechanism; 520, third motor; 530, sliding block; 540, mechanical arm; 541, first rod; 542, second rod; 600, camera. DETAILED DESCRIPTION

[0033] The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0034] In the present disclosure, the orientation words such as "up, down, front, back, left, right" are used for the convenience of description defined according to the direction of the drawing surface of the corresponding drawing, and "inner, outer" are defined according to the contour of the corresponding part itself. The terms such as "first, second" used in the present disclosure are used to distinguish one element from another element, and do not have sequentiality and importance. In addition, when the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated.

[0035] Referring to Figure 1 and Figure 2 , the present disclosure provides a device for picking and collecting soapberry, comprising a mounting frame 100, a first driving mechanism 200, a vibration mechanism 300 and a second driving mechanism 400. The first driving mechanism 200 is mounted on the mounting frame 100. The vibration mechanism 300 is used to vibrate the branches of the soapberry tree, and is connected to the mounting frame 100 through the first driving mechanism 200. The first driving mechanism 200 is used to drive the vibration mechanism 300 to rotate up and down, forward and backward. The second driving mechanism 400 is connected to the mounting frame 100 to drive the mounting frame 100 to rotate forward and backward, left and right with the first driving mechanism 200.

[0036] It can be understood that starting the first driving mechanism 200 makes the vibration mechanism 300 rotate up and down, forward and backward, so as to vibrate branches of different heights, so as to make the fruits on each branch fall off respectively. Starting the second driving mechanism 400 makes the mounting frame 100 drive the first driving mechanism 200 to rotate forward and backward and left and right, so that the vibration mechanism 300 can rotate forward and backward and left and right, so that the vibration mechanism 300 can shake the fruits on the branches around the tree. By setting the first driving mechanism 200 and the second driving mechanism 400, the vibration mechanism 300 can move in multiple directions, ensuring that the fruits on the branches of the soapberry tree can be shaken off, avoiding the main stem of the tree being directly vibrated, thereby avoiding the main stem of the tree being damaged. The vibration mechanism 300 vibrates the branches of the soapberry tree in turn, so that a large area of mature fruits on the soapberry tree are shaken off.

[0037] In an embodiment, please refer to Figure 1 and Figure 2 The first driving mechanism 200 includes a first turbine 210, a first worm 220 and a first motor 230. Among them, the first turbine 210 is rotatably installed on the mounting frame 100 in the front-back direction, and is detachably connected with the vibration mechanism 300, so that the first turbine 210 can drive the vibration mechanism 300 to rotate upward, downward, forward or backward, ensuring that the vibration mechanism 300 can contact with branches in multiple directions. The first worm 220 is in meshing connection with the first turbine 210. The first motor 230 is installed on the mounting frame 100 and is directly or through a belt driving connection with the first turbine 210, so that the first turbine 210 can drive the vibration mechanism 300 to move in multiple directions. Of course, in other embodiments, the first driving mechanism 200 can be a conveyor belt mechanism or a crank rocker mechanism.

[0038] In an embodiment, please refer to Figure 1 and Figure 2 The second driving mechanism 400 includes a second turbine 410, a second worm 420 and a second motor 430. Among them, the second turbine 410 is detachably connected with the bottom of the mounting frame 100. The second worm 420 is in meshing connection with the second turbine 410. The second motor 430 is in driving connection with the second turbine 410, so that the second turbine 410 can drive the mounting frame to rotate, so that the first driving mechanism 200 can drive the vibration mechanism 300 to rotate in the left-right direction.

[0039] In an embodiment, please refer to Figure 1 and Figure 2The device for surface picking and collecting Gleditsia sinensis L. also comprises an unfolding mechanism 500, which comprises a lead screw, a third motor 520, a sliding block 530, mechanical arms 540 and a collecting net. The third motor 520 is in transmission connection with the lead screw. The sliding block 530 is directly or through a lead screw nut arranged on the outer periphery of the lead screw. The number of the mechanical arms 540 is three, the bottom end of the mechanical arm 540 is circumferentially hinged to the mounting frame 100, and the top end of the mechanical arm 540 is circumferentially hinged to the sliding block 530. The collecting net is connected with each mechanical arm 540 respectively. The third motor 520 drives the lead screw to rotate, so that the mechanical arm 540 drives the collecting net to unfold or retract. The collecting net arranged on the mechanical arm 540 can be stretched and retracted, which can effectively save space. The design of the collecting net can also protect the Gleditsia sinensis L. falling by vibration from being damaged.

[0040] In an embodiment, referring to Figure 1 and Figure 2 The mechanical arm 540 at least comprises a first rod 541 and a second rod 542. One end of the first rod 541 is circumferentially hinged to the mounting frame 100. One end of the second rod 542 is circumferentially hinged to the sliding block 530, and the middle part of the second rod 542 is hinged to the middle part of the first rod 541. The collecting net (not shown in the figure) is connected with the first rod 541 and the second rod 542 respectively. The third motor 520 rotates, so that the sliding block 530 can move downward, thereby the one end of the first rod 541 approaches the one end of the second rod 542, the mechanical arm 540 is unfolded, and it is ensured that the collecting net can be unfolded. Conversely, the collecting net is in a retracted state. In a non-working state, the collecting net can be quickly retracted to the minimum space occupation, which greatly optimizes the space utilization efficiency. In the working process, it can be flexibly extended according to the needs, and it is ensured that the Gleditsia sinensis L. falling by vibration can be fully received. The collecting net is made of high-strength material with excellent flexibility. The fine and tough mesh structure can effectively buffer the impact force when the Gleditsia sinensis L. falls, and can avoid any scratches and damage on the surface of the Gleditsia sinensis L., which effectively guarantees the integrity of the product.

[0041] In an embodiment, referring to Figure 1 and Figure 2 The device for surface picking and collecting Gleditsia sinensis L. also comprises a camera 600, which is rotatably installed on the top of the mounting frame 100. The camera 600 is connected with a terminal device such as a mobile phone or a tablet through wireless communication. The operator first views the number of fruits on the branches through the camera 600 in a semi-automatic positioning mode, and then controls the first driving mechanism 200 and the second driving mechanism 400 to move through remote control, so that the vibration mechanism 300 can be accurately vibrated to the branches with more fruits.

[0042] In an embodiment, referring to Figure 1 and Figure 2The device for face picking and collecting soap nuts also includes a lifting platform, and the mounting frame 100 is rotatably connected to the lifting platform through a rotating shaft, and the second driving mechanism 400 is installed on the lifting platform, and the lifting platform is used to lift the mounting frame 100, so that the vibration mechanism 300 can touch higher branches.

[0043] The advantages of the face picking device in the design are as follows:

[0044] 1) Efficient vibration picking: The combination of the mechanical arm 540 and the vibration mechanism can achieve efficient vibration picking of soap nuts. By remotely starting the mechanical arm, the collection net can catch a large number of shaken soap nuts, improving the picking efficiency.

[0045] 2) Protecting soap nuts: The design of the collection net can protect the vibration falling soap nuts from being damaged, ensuring the integrity of the soap nuts.

[0046] 3) Space saving: The collection net can be stretched and contracted, effectively saving space, facilitating carrying and transportation.

[0047] 4) Strong stability: The device has strong stability and can stably operate in complex working environments, resisting external interference and maintaining the continuity and reliability of operation.

[0048] 5) Easy operation: The switches of the vibration mechanism, the first motor, the second motor and the third motor can be remotely controlled at will, reducing the operation difficulty and improving the work efficiency.

[0049] 6) Strong applicability: For most mature soap nuts with relatively firm texture, the vibration device can ensure that they are completely and intact separated from the tree, and the operation range is wide. With the flexible design of multiple degrees of freedom, the mechanical arm 540 can freely shuttle and accurately stop in a wide three-dimensional space, easily coping with diversified working scenes and complex task requirements.

[0050] Intelligent upgrade:

[0051] Scheme one: Introducing machine vision and AI recognition technology

[0052] Install a high-definition camera 600 and a recognition module on the mechanical arm 540, automatically recognize and locate the position of the soap nuts through machine vision technology, and realize fully automatic picking. Advantage: reduce manual operation, improve picking efficiency; adapt to picking of soap nuts with different maturity, improve the applicability of the device.

[0053] Scheme two: Realize the modular upgrade of the device

[0054] The device is divided into multiple functional modules (such as positioning module, picking module, transmission module, etc.), and the modules are connected through standardized interfaces; realize hot plug and plug and play. Advantage: convenient for maintenance and upgrade of the device; improve the flexibility and expandability of the device.

[0055] The application is described by way of example only, and various changes or equivalents can be suggested to one skilled in the art without departing from the spirit and scope of the application. Additionally, modifications can be made to the features and embodiments described herein to adapt them to particular situations and materials without departing from the spirit and scope of the application. Therefore, the application is not limited by the specific embodiments disclosed herein, but rather by the claims that follow, the scope of which shall include all embodiments falling within the scope of the claims.

Claims

1. A device for face picking and collecting soapnuts, characterized in that, The device for surface picking and collecting soapberry comprises: a mounting frame (100); a first driving mechanism (200) mounted on the mounting frame (100); a vibrating mechanism (300) for vibrating branches of soapberry, connected with the mounting frame (100) through the first driving mechanism (200), and used for driving the vibrating mechanism (300) to rotate up and down and back and forth; and a second driving mechanism (400) connected with the mounting frame (100) and used for driving the mounting frame (100) to rotate back and forth and left and right with the first driving mechanism (200).

2. The apparatus for face picking and collecting of soap nuts as claimed in claim 1 wherein, The first driving mechanism (200) comprises: a first turbine (210) rotatably mounted on the mounting frame (100) in the back and forth direction and connected with the vibrating mechanism (300); a first worm (220) meshingly connected with the first turbine (210); and a first motor (230) mounted on the mounting frame (100) and drivingly connected with the first turbine (210).

3. The apparatus for face picking and collecting of soap nuts as claimed in claim 1 wherein, The second driving mechanism (400) comprises: a second turbine (410) connected with the bottom of the mounting frame (100); a second worm (420) meshingly connected with the second turbine (410); and a second motor (430) drivingly connected with the second turbine (410).

4. The apparatus for face picking and collecting of soap nuts as claimed in claim 1 wherein, The device for surface picking and collecting soapberry further comprises an unfolding mechanism (500), which comprises: a lead screw; a third motor (520) drivingly connected with the lead screw; a sliding block (530) sleeved on the outer periphery of the lead screw and screw-connected with the lead screw; and three mechanical arms (540), the bottom ends of which are circumferentially hinged with the mounting frame (100), and the top ends of which are circumferentially hinged with the sliding block (530); and collecting nets respectively connected with the mechanical arms (540), the third motor (520) drives the lead screw to rotate, so that the mechanical arms (540) drive the collecting nets to unfold or retract.

5. The apparatus for face picking and collecting of soap nuts as claimed in claim 4 wherein, The mechanical arms (540) at least comprise: a first rod (541) having one end circumferentially hinged with the mounting frame (100); a second rod (542) having one end circumferentially hinged with the sliding block (530), and having a middle part circumferentially hinged with a middle part of the first rod (541), and the collecting nets being respectively connected with the first rod (541) and the second rod (542).

6. The apparatus for face picking and collecting of the soap nuts according to claim 1, characterized in that, The device for surface picking and collecting soapberry further comprises a camera (600) rotatably mounted on the top of the mounting frame (100).

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