Strawberry collection box automatic transfer device

Abstract

The utility model relates to an automatic transfer device for strawberry collecting boxes, which is characterized in that a lifting mechanism I and a lifting mechanism II are arranged on the left side and the right side of a rack and are arranged along the front-back direction of the rack, and horizontal brackets are respectively mounted at the movable ends of the lifting mechanisms I and II and are used for placing a plurality of layers of stacked collecting boxes; the connecting rod telescopic mechanism is in transmission connection with the driving motor through a crank connecting rod mechanism so as to drive the connecting rod telescopic mechanism to do telescopic motion in the front-back direction, the collecting box at the uppermost end of the second lifting mechanism is pushed to the uppermost portion of the first lifting mechanism, and the first lifting mechanism drives the collecting box located above the first lifting mechanism to move downwards to avoid. The second lifting mechanism drives the storage box located on the secondary layer above the second lifting mechanism to move upwards to a strawberry collecting station. According to the collecting device, lifting of the collecting box is achieved through the electric lead screw ball lifting module, parallel movement of the collecting box is achieved through the crank connecting rod mechanism and the connecting rod telescopic mechanism, and the strawberry collecting task is completed through transverse and longitudinal matched movement.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of agricultural and sideline products picking machinery, and particularly relates to a strawberry collecting box automatic transfer device. BACKGROUND

[0002] Strawberry is a perennial herb, and its fruit is large, red, juicy, sweet, and the calyx is upright and close to the fruit. The achenes are sharp and smooth. Strawberry is planted in most parts of the world, and is popular because of its sweet taste and rich nutritional value. The planting area of strawberry in China is 100,000 hectares. However, in order to ensure the appearance quality and nutritional value of strawberry, strawberry fruits must be picked every day in the morning and evening during the harvest season. The labor intensity is high, and the cost is high, accounting for about one fourth of the production cost of strawberry planting. Therefore, it is necessary to introduce automation technology into the strawberry picking process, develop strawberry picking robots to reduce labor intensity and production cost, and become the top priority of strawberry harvesting.

[0003] The strawberry picking robot in the prior art usually has a moving platform, a picking hand and a collecting box. The moving platform drives the robot to move to the strawberry picking position, and the strawberry is picked by the picking hand and put into the collecting box. However, strawberry is fragile and easily injured, and it is not suitable to stack too high in one collecting box. Therefore, the collecting box needs to be replaced in time, and the collecting box filled with strawberries is transferred to the next process, and the idle collecting box is moved to the designated position. The strawberry picking robot in the prior art usually needs to be replaced by artificial time, and the artificial method is low in efficiency and high in labor cost, which is not conducive to automation. Some robots replace the collecting box through a multi-axis mechanical arm or a complex transfer device. This method not only has a complex structure and is not conducive to automatic control, but also has high equipment manufacturing cost, and cannot meet the market demand. Therefore, we need to design a collecting device with simple structure, convenient automatic control and low manufacturing cost. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing a strawberry collecting box automatic transfer device, which overcomes the defects of the prior art, solves the problems of complex structure, poor automatic control, high manufacturing cost and inability to meet market demand of the existing collecting box transfer device.

[0005] To this end, the utility model provides a kind of automatic transfer device of strawberry collection box, comprising: rack, lifting mechanism one, lifting mechanism two, connecting rod telescopic mechanism, crank connecting rod mechanism and drive motor;Lifting mechanism one, lifting mechanism two are all arranged in rack left and right sides and along the front-back direction of rack arrangement, the movable end of lifting mechanism one, lifting mechanism two is respectively equipped with horizontal bracket, and the horizontal bracket is used to place the collection box of multilayer superposition;Connecting rod telescopic mechanism is located at the front end of rack and is adapted to the height of the collection box of top layer, and connecting rod telescopic mechanism is driven by the drive motor through the crank connecting rod mechanism Transmission connection, to drive connecting rod telescopic mechanism telescopic movement along front-back direction, the collection box of uppermost end of lifting mechanism two is pushed to the uppermost of lifting mechanism one, and the collection box above lifting mechanism one is driven to move downward to avoid, and the collection box of next layer above lifting mechanism two is driven to move upward to strawberry collection station.

[0006] As a preferred technical scheme of the application, the lifting action timing sequence of the lifting mechanism one and the lifting mechanism two is linked to the pushing action of the connecting rod telescopic mechanism, to satisfy that when the connecting rod telescopic mechanism executes the pushing action, the top layer collection box of the lifting mechanism two is pushed to the top of the lifting mechanism one, while the lifting mechanism one executes the descending avoiding action, and the lifting mechanism two executes the lifting action of the next layer collection box.

[0007] As a preferred technical scheme of the application, the crank connecting rod mechanism includes a crank, a T-shaped guide rod and a sliding groove guide rail, the crank is in transmission connection with the drive motor, the T-shaped guide rod is provided with a longitudinal sliding groove at the end, the lower protrusion of the movable end of the crank is matched with the longitudinal sliding groove, and the T-shaped guide rod is provided with a sliding block at the bottom, and the sliding block is in sliding cooperation with the sliding groove guide rail extending horizontally.

[0008] As a preferred technical scheme of the application, the connecting rod telescopic mechanism includes a plurality of cross-connected rods hinged, the connecting rod telescopic mechanism is provided with a fixed hinge point at the front end, and a middle hinge point at the middle position, the fixed hinge point is fixedly connected with the sliding groove guide rail, and the middle hinge point is hinged with the end of the T-shaped guide rod.

[0009] As a preferred technical scheme of the application, the telescopic stroke of the connecting rod telescopic mechanism is adapted to the length direction size of the collection box, and the pushing stroke is not less than 2 / 3 of the length of the collection box.

[0010] As a preferred technical scheme of the application, the lifting mechanism one and the lifting mechanism two are both electric ball screw modules, including motor and ball screw assembly, and the horizontal bracket is fixedly installed on the screw nut of the ball screw assembly.

[0011] As a preferred technical scheme of the present application, the upper end of the short side of the collecting box is provided with a groove, and the lower end is provided with a protrusion, and the protrusions and the grooves of adjacent collecting boxes form a sliding fit.

[0012] As a preferred technical scheme of the present application, the middle section of the long side of the collecting box is designed with an arc-shaped groove, and the arc-shaped groove is matched with the connecting rod tip of the connecting rod telescopic mechanism.

[0013] As a preferred technical scheme of the present application, the radius of the arc-shaped groove is 12 mm, the groove depth is 3 mm, and the protrusion depth is 1 mm.

[0014] As a preferred technical scheme of the present application, the upper part of the rear end of the rack is provided with a limiting protrusion structure to prevent the collecting box from falling during movement.

[0015] The strawberry collecting box automatic transfer device provided by the present application realizes batch collection of strawberries, and the device uses a replaceable collection system, and the alternating movement of the collecting box is completed through motor driving and structure design to achieve the purpose of multiple collection.

[0016] In addition to the purposes, features and advantages described above, the present application has other purposes, features and advantages. The present application will be further described below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings accompanying the specification of the present application form a part of the present application, and the illustrative embodiments of the present application and their descriptions serve to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0018] Fig. 1 The structure schematic view of the strawberry collecting box automatic transfer device of the present application;

[0019] Fig. 2 The structure schematic view of the connecting rod telescopic mechanism and the crank connecting rod mechanism cooperation in the strawberry collecting box automatic transfer device of the present application;

[0020] Fig. 3 The structure schematic view of the collecting box in the strawberry collecting box automatic transfer device of the present application;

[0021] Explanation of reference signs: 1, rack; 2, lifting mechanism one; 3, lifting mechanism two; 4, connecting rod telescopic mechanism; 5, crank connecting rod mechanism; 6, driving motor; 7, collection box one; 8, collection box two; 9, collection box three; 10, horizontal bracket; 41, fixed hinge point; 42, middle hinge point; 51, crank; 52, T-shaped guide rod; 53, sliding block; 54, sliding groove guide rail; 81, arc-shaped groove; 82, groove; 83, protrusion. DETAILED DESCRIPTION

[0022] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0023] As Figs. 1-3 shown, the strawberry collection box automatic transfer device comprises: a rack 1, a lifting mechanism one 2, a lifting mechanism two 3, a connecting rod telescopic mechanism 4, a crank connecting rod mechanism 5, and a driving motor 6. The lifting mechanism one 2 and the lifting mechanism two 3 are arranged on the outside of the rack 1 and along the front-rear direction of the rack 1. The movable end of the lifting mechanism one 2 and the lifting mechanism two 3 is provided with a horizontal bracket 10. The horizontal bracket 10 is provided with multiple layers of collection boxes, which are collection box one 7, collection box two 8, and collection box three 9. The lifting mechanism one 2 and the lifting mechanism two 3 drive the collection boxes to move up and down, and change the up-down positions of the collection boxes.

[0024] The connecting rod telescopic mechanism 4 is located at the front end of the rack 1 and is adapted to the height of the top layer of collection boxes. The connecting rod telescopic mechanism 4 is connected with the crank connecting rod mechanism 5, so that the driving motor 6 drives the connecting rod telescopic mechanism 4 to make telescopic movement along the front-rear direction through the crank connecting rod mechanism 5, pushes the collection boxes to move horizontally, pushes the collection box at the uppermost end of the lifting mechanism two 3 to the uppermost end of the lifting mechanism one 2, drives the collection box above the lifting mechanism one 2 to move downward for avoidance, and drives the collection box above the lifting mechanism two 3 to move upward to the strawberry collection position.

[0025] Specifically, as Fig. 1 shown, the lifting mechanism one 2 and the lifting mechanism two 3 are both electric ball screw modules, which comprise a motor and a ball screw assembly. The horizontal bracket 10 is fixedly installed on the screw nut of the ball screw assembly. The motor drives the ball screw to rotate and drives the screw nut to move up and down, and then drives the horizontal bracket 10 and the collection boxes at the upper end of the horizontal bracket 10 to move up and down. The lifting mechanism one 2 and the lifting mechanism two 3 realize a lifting distance of 0-175 mm. The single wire track executes the electric ball screw. The rotation of the motor drives the rotation of the screw, and the module fixed with the screw is provided with an internal thread. The lifting function of the module is realized through the cooperation between the threads.

[0026] As Fig. 2As shown, the crank connecting rod mechanism 5 includes a crank 51, a T-shaped guide rod 52 and a sliding groove guide rail 54, the crank 51 is in transmission connection with the driving motor 6, the T-shaped guide rod 52 is provided with a longitudinal sliding groove at the end, the lower protrusion of the movable end of the crank 51 is matched with the longitudinal sliding groove, and the bottom of the T-shaped guide rod 52 is provided with a sliding block 53 matched with the transversely extending sliding groove guide rail 54.

[0027] Meanwhile, the connecting rod telescopic mechanism 4 includes a plurality of cross arranged and hinged connecting rods, the connecting rod telescopic mechanism 4 is provided with a fixed hinge point 41 at the front end and a middle hinge point 42 at the middle position, the fixed hinge point 41 at the front end of the connecting rod telescopic mechanism 4 is fixedly connected with the sliding groove guide rail 54, and the middle hinge point 42 of the connecting rod telescopic mechanism 4 is hingedly connected with the end of the T-shaped guide rod 52. The driving motor 6 drives the rotation of the crank 51, and drives the sliding of the T-shaped guide rod 52, and then drives the telescopic mechanism 4 to move in contraction, so as to push the collecting box forward and then automatically retreat.

[0028] The telescopic stroke of the connecting rod telescopic mechanism 4 is matched with the length direction size of the collecting box, and the pushing stroke is not less than 2 / 3 of the length of the collecting box. The maximum extension of the crank connecting rod mechanism is 450mm, and the rotation angle of the crank is 300 degrees. When the crank rotates 150 degrees from the limit position, it is located on the same horizontal line with the guide rod, and at this time, the maximum extension length of 450mm is reached. The connecting rod telescopic mechanism 4 is driven by the motor to drive the crank to drive the T-shaped guide rod to realize horizontal movement, and the T-shaped guide rod drives the connecting rod to move regularly through the matching relationship between the T-shaped guide rod and the connecting rod, thereby realizing the telescopic function.

[0029] As shown in the figure, Fig. 3 A plurality of collecting boxes are placed on the horizontal bracket 10, which are collecting box one 7, collecting box two 8 and collecting box three 9. The size of the collecting box is 280mm*180mm, the arc-shaped groove 81 with a radius of 12mm is designed in the middle of the long side, so as to match the tip of the connecting rod of the connecting rod telescopic mechanism 4, and the recess 82 with a depth of 3mm is arranged on the upper end of the short side of the collecting box, and the protrusion 83 with a height of 1mm is arranged on the lower end. The protrusion 83 of the upper collecting box and the recess 82 of the lower collecting box are matched with each other, which greatly improves the fault tolerance rate of the parallel movement process of the collecting box during replacement, and ensures the integrity of the whole collecting device during operation.

[0030] The working principle and working process of the strawberry collecting box automatic transfer device of the utility model will be briefly described below.

[0031] Before the working process of the strawberry picking robot, a plurality of collecting boxes are placed on the lifting mechanism two 3 by manual operation; when the strawberries in the uppermost collecting box of the lifting mechanism two 3 reach the corresponding weight requirement, the strawberry collecting box automatic transfer device starts to work.

[0032] First, by controlling the work of lifting mechanism 2, drive with its fixed horizontal bracket and located above the collection box 7 to move down a collection box depth distance, for the collection box 2 8 to move to this reserved space; then, drive motor 6 through the crank connecting rod mechanism 5 drive connecting rod telescopic mechanism 4 forward, push the collection box 2 8 located above the lifting mechanism 2 3, and filled with strawberries to move back to the collection box 7 above, and be blocked by the rear end of the machine frame 1 limit convex structure, prevent the collection box 2 8 fall, the late stage of the movement of the crank connecting rod mechanism 5 drive connecting rod telescopic mechanism 4 back, make the connecting rod telescopic mechanism 4 front exit above the lifting mechanism 2 3.

[0033] Finally, by controlling the work of lifting mechanism 2 3, drive with its fixed horizontal bracket and located in the uppermost collection box 3 9 to move up a collection box depth distance, the collection box 3 9 at this time is just located in the range of movement of the picking hand claw, can be used for receiving through the picking hand claw picking strawberries; thus the strawberry collection box automatic transfer device a work cycle is completed.

[0034] The above only for the preferred embodiments of the present application, and is not intended to limit the present application, for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, should be included in the scope of protection of the present application.

Claims

1. A strawberry collecting box automatic transfer device, characterized in that, The application relates to a strawberry collecting device. The device comprises a rack (1), a lifting mechanism I (2), a lifting mechanism II (3), a connecting rod telescopic mechanism (4), a crank connecting rod mechanism (5) and a driving motor (6); the lifting mechanism I (2) and the lifting mechanism II (3) are arranged on the left and right sides of the rack (1) and along the front and back directions of the rack (1), the movable ends of the lifting mechanism I (2) and the lifting mechanism II (3) are respectively provided with horizontal brackets (10), and the horizontal brackets (10) are used for placing multiple layers of stacked collecting boxes. The connecting rod telescopic mechanism (4) is located at the front end of the rack (1) and is matched with the height of the top collecting box, the connecting rod telescopic mechanism (4) is in transmission connection with the driving motor (6) through the crank connecting rod mechanism (5), so as to drive the connecting rod telescopic mechanism (4) to make telescopic movement along the front and back directions, push the collecting box at the uppermost end of the lifting mechanism II (3) to the uppermost end of the lifting mechanism I (2), drive the collecting box above the lifting mechanism I (2) to move downwards for avoidance, and drive the collecting box at the next layer above the lifting mechanism II (3) to move upwards to a strawberry collecting position.

2. The automatic transfer device for strawberry collecting box according to claim 1, characterized in that, The lifting action time sequence of the lifting mechanism I (2) and the lifting mechanism II (3) is in linkage control with the pushing action of the connecting rod telescopic mechanism (4), and the following conditions are met: when the connecting rod telescopic mechanism (4) performs the pushing action, the top collecting box of the lifting mechanism II (3) is pushed to the top of the lifting mechanism I (2); meanwhile, the lifting mechanism I (2) performs the descending avoidance action, and the lifting mechanism II (3) performs the lifting action of the collecting box at the next layer.

3. The automatic transfer device for strawberry collecting box according to claim 1, characterized in that, The crank connecting rod mechanism (5) comprises a crank (51), a T-shaped guide rod (52) and a sliding groove guide rail (54), the crank (51) is in transmission connection with the driving motor (6), the end of the T-shaped guide rod (52) is provided with a longitudinal sliding groove, the lower protrusion of the movable end of the crank (51) is matched with the longitudinal sliding groove, the bottom of the T-shaped guide rod (52) is provided with a sliding block (53), and the sliding block (53) is in sliding matching with the transversely-extended sliding groove guide rail (54).

4. The automatic transfer device for strawberry collecting box according to claim 3, characterized in that, The connecting rod telescopic mechanism (4) comprises a plurality of cross-connected connecting rods, the front end of the connecting rod telescopic mechanism (4) is provided with a fixed hinge point (41), and the middle position is provided with a middle hinge point (42); the fixed hinge point (41) is fixedly connected with the sliding groove guide rail (54), and the middle hinge point (42) is hingedly connected with the end of the T-shaped guide rod (52).

5. The automatic transfer device for strawberry collecting box according to claim 1, characterized in that, The telescopic stroke of the connecting rod telescopic mechanism (4) is matched with the length direction size of the collecting box, and the pushing stroke is not less than 2 / 3 of the length of the collecting box.

6. The automatic transfer device for strawberry collecting box according to claim 1, characterized in that, The lifting mechanism I (2) and the lifting mechanism II (3) are electric ball screw modules, each comprising a motor and a ball screw assembly, and the horizontal bracket (10) is fixedly installed on the screw nut of the ball screw assembly.

7. The automatic transfer device for strawberry collecting box according to claim 1, characterized in that, The upper end of the short side of the collecting box is provided with a groove (82), and the lower end is provided with a protrusion (83); the protrusions (83) of adjacent collecting boxes are in sliding matching with the grooves (82).

8. The automatic transfer device for strawberry collecting box according to claim 7, characterized in that, The middle segment of the long side of the collecting box is designed as an arc-shaped groove (81), and the arc-shaped groove (81) is matched with the tip of the connecting rod of the connecting rod telescopic mechanism (4).

9. The automatic transfer device for strawberry collecting boxes according to claim 8, characterized in that, The arc-shaped groove (81) has a design radius of 12 mm; the groove (82) has a depth of 3 mm, and the protrusion (83) has a depth of 1 mm.

10. The automatic transfer device for strawberry collecting box according to claim 1, characterized in that, The rear upper end of the rack (1) is provided with a limiting protrusion structure to prevent the collection box from falling during movement.

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