Hu pomelo self-adaptive picking and sorting device without damaging fruits
By designing an adaptive picking and sorting device, utilizing buffer protection and precise shearing, combined with a sorting mechanism, the problems of fruit damage and low efficiency during pomelo picking are solved, achieving efficient picking and sorting without damaging the fruit.
Patent Information
- Application Number
- CN202520171451.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-26
- Publication Date
- 2026-01-09
- Estimated Expiration
- 2035-01-26
AI Technical Summary
Existing technologies are prone to damaging the fruit during pomelo harvesting and have low harvesting and sorting efficiency, failing to meet the demand for high efficiency and convenience.
An adaptive picking and sorting device was designed, which includes a clamping mechanism, a shearing mechanism, a rotating mechanism, and a sorting mechanism. It uses a buffer spring to protect the fruit, and the shearing blade works in conjunction with the motor. Combined with a pressure sensor and a sorting mechanism, it can achieve efficient picking and sorting without damaging the fruit.
By buffering and protecting the fruit skin and controlling the cutting length, the fruit is protected from damage. Furthermore, the sorting mechanism improves harvesting efficiency, enabling efficient sorting of the fruit without damage.
Smart Images
Figure CN223772558U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to agricultural picking technical field, more specifically, relate to a kind of not damaging fruit's hu you self-adapting picking sorting device. BACKGROUND
[0002] Picking device is agricultural picking tool, in order to reduce domestic activity, efficient and convenient fruit picking, in view of hu you tree height, branch is big, fruit is heavy, and cannot forcibly pull, directly drop ground etc. SUMMARY
[0003] The utility model solves the technical problem to provide a kind of not damaging fruit's hu you self-adapting picking sorting device, it can satisfy the demand of magnetic fruit damage and improve picking sorting efficiency.
[0004] The utility model relates to a kind of not damaging fruit's hu you self-adapting picking sorting device, including clamping mechanism, shearing mechanism, rotating mechanism, sorting mechanism and support rod, clamping mechanism includes a pair of clamping jaw, clamping head, contact plate and a pair of clamping motor, a pair of clamping jaw rotationally connects in clamping head two sides, clamping head bottom and rotating mechanism rotationally connect, a plurality of buffer springs are equipped on clamping head upper end surface, and a plurality of buffer springs upper end are fixedly connected with contact plate, so that when hu you falls on contact plate, contact plate can compress buffer spring in the process of moving downward, reduce the impact force that hu you receives, protect hu you skin, so that it is not harmed, a pair of clamping motor is respectively arranged in a pair of clamping jaw below and is directly connected with clamping jaw, shearing mechanism is fixedly connected in a pair of clamping jaw two sides, rotating mechanism lower end and sorting mechanism rotationally connect, support rod one end is fixedly connected in sorting mechanism lower end, it is convenient for staff to pick high hu you;
[0005] The clamping jaw comprises a top plate, a side plate, a limiting pin and a reset spring, the upper end of the side plate is provided with a stud, the top plate is provided with a sliding groove matched with the stud, the stud is clamped into the sliding groove to make the top plate and the side plate in sliding connection, the top plate can slide relative to the side plate to complete horizontal opening of the clamping jaw relative to the clamping head, to adjust the compression degree of the buffer spring, control the shearing length of the root of the grapefruit by the shearing cutter, avoid damage of the branch caused by shearing of the root of the grapefruit which is too long, thus increasing the cost caused by secondary shearing of the root of the grapefruit left on the grapefruit by the worker, or damage of the skin of the grapefruit caused by shearing of the root of the grapefruit which is too short, the limiting pin is fixedly connected to one side of the stud and arranged in the sliding groove, and the reset spring is connected to the end faces of the limiting pin and the sliding groove respectively to reset and buffer the movement of the top plate, so that the dislocation caused by the translation of the top plate is avoided to make the picking work impossible.
[0006] As a further improvement of the utility model, the shearing mechanism comprises a pair of shearing cutters and shearing motors matched with the shearing cutters, the shearing motors are fixedly connected to the two sides of the pair of clamping jaws respectively, the shearing cutters are rotationally connected to the upper ends of the shearing motors, and the shearing cutters are always located above the clamping jaws during rotation, the cutting edges of the pair of shearing cutters are opposite to each other to form a cutting condition, and the horizontal positions of the shearing cutters and the shearing motors are symmetrically distributed around the center of the upper end face of the clamping jaw, so that the rotation range of the pair of shearing cutters can cover the upper end face of the clamping jaw to ensure that the grapefruit root is located in the shearing range.
[0007] As a further improvement of the utility model, the rotating mechanism comprises a rotating motor, a connecting plate and a fixed table, the upper end of the connecting plate is fixedly connected with the clamping head, the lower end is directly connected with the rotating motor, the rotating motor is fixedly embedded on the fixed table, the lower end of the fixed table is fixedly connected with the sorting mechanism, and the rotating motor drives the rotation of the connecting plate to drive the rotation of the clamping mechanism.
[0008] As a further improvement of the utility model, the sorting mechanism comprises an inclined motor and a sorting table, the output end of the inclined motor is rotationally connected with the fixed table, the bottom is fixedly connected to the central region of the sorting table, the lower end of the sorting table is fixedly connected with the supporting rod, the output end of the inclined motor can make reciprocating swing motion within a set range to drive the rotation of the fixed table, and a pair of passage rings are arranged on the two sides of the sorting table, so that the grapefruit can be conveyed and sorted through different passages.
[0009] As a further improvement of the utility model, the utility model further comprises a pressure sensor and a display screen, the pressure sensor is installed on the upper end face of the contact plate and connected with the system in the display screen through an analog signal to detect the weight of the picked grapefruit for subsequent sorting, and the display screen is fixedly connected with the lower segment of the supporting rod to display the weight of the grapefruit detected by the pressure sensor, thereby assisting the worker in inspection and record.
[0010] As a further improvement of the utility model, the camera is fixedly installed on one side of the clamping jaw and is connected with the display screen, the camera monitors the position of the pomelo in real time, marks the position and displays on the display screen, so that the staff can adjust the angle, the direction of the clamping jaw and the opening angle to complete the picking work.
[0011] As a further improvement of the utility model, the connecting part between the clamping jaw and the clamping head is provided with an empty space, which prevents the clamping jaw from damaging the clamping head during opening and closing, and improves the stability of the picking and sorting device.
[0012] As a further improvement of the utility model, the side of the top plate facing the contact plate is provided with an arc-shaped bottom support, which matches the shape of the pomelo, makes the clamping jaw clamp the pomelo more firmly, facilitates shearing, and prevents the top plate from sliding horizontally and damaging the pomelo skin.
[0013] Compared with the prior art, the utility model has the beneficial effects that: the buffer spring and the contact plate buffer the falling of the pomelo, reduce the impact force on the pomelo, protect the pomelo skin and prevent it from being damaged; the top plate can slide relative to the side plate to horizontally open the clamping jaw relative to the clamping head, so as to adjust the compression degree of the buffer spring, control the shearing length of the pomelo root, avoid damaging the branch due to the overlong shearing of the root, and increase the cost due to the secondary shearing of the pomelo root by the staff, or damage the pomelo skin due to the over-short shearing of the root; the pressure sensor weighs the pomelo, and the sorting mechanism puts the pomelos with different weights into different conveying channels, so that the picking and sorting are integrated, the picking steps are optimized, and the pomelo picking and sorting efficiency is improved; the horizontal positions of the shearing knives and the shearing motor are symmetrically distributed around the center of the upper end surface of the clamping jaw, so that the rotation range of the pair of shearing knives can cover the upper end surface of the clamping jaw, so as to ensure that the pomelo root is located in the shearing range; the connecting part between the clamping jaw and the clamping head is provided with an empty space, which prevents the clamping jaw from damaging the clamping head during opening and closing, and improves the stability of the picking and sorting device; the connecting part between the top plate and the side plate is provided with a limit pin and a reset spring, which resets and buffers the movement of the top plate, avoids the dislocation of the top plate after translation, and prevents the picking work from being unable to be performed; the side of the top plate facing the contact plate is provided with an arc-shaped bottom support, which matches the shape of the pomelo, makes the clamping jaw clamp the pomelo more firmly, facilitates shearing, and prevents the top plate from sliding horizontally and damaging the pomelo skin. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 It is a structural schematic view of the utility model;
[0015] Figure 2 It is a connecting schematic view of the clamping mechanism and the shearing mechanism of the utility model;
[0016] Figure 3 It is a connecting schematic view of the rotating mechanism and the sorting mechanism of the utility model;
[0017] Figure 4 It is the upper view structure schematic view of the utility model;
[0018] Figure 5 It is the upper view structure sectional view of the utility model; Figure 4 Area amplification schematic view;
[0019] Figure 6 It is the upper view structure sectional view of the utility model;
[0020] Figure 7 It is the clamping mechanism upside-down schematic view of the utility model.
[0021] Mark explanation in drawing:
[0022] Clamping mechanism 1, clamping jaw 11, top plate 111, side plate 112, limit pin 113, reset spring 114, clamping head 12, contact plate 13, buffer spring 14, clamping motor 15, shearing mechanism 2, shearing cutter 21, shearing motor 22, rotating mechanism 3, rotating motor 31, connecting plate 32, fixed table 33, sorting mechanism 4, inclined motor 41, sorting table 42, channel ring 421, pressure sensor 5, supporting rod 6, display screen 7, camera 8. Specific implementation
[0023] Specific embodiment one: please refer to Figures 1-7 The utility model relates to a kind of hu you self-adaptive picking and sorting devices without damaging fruit, including clamping mechanism 1, shearing mechanism 2, rotating mechanism 3, sorting mechanism 4 and supporting rod 6, clamping mechanism 1 includes a pair of clamping jaw 11, clamping head 12, contact plate 13 and a pair of clamping motor 15, a pair of clamping jaw 11 is rotatably connected in clamping head 12 two sides, clamping head 12 bottom and rotating mechanism 3 rotatably connected, and a plurality of buffer springs 14 are arranged on the upper end surface of clamping head 12, and the upper end of the plurality of buffer springs 14 is fixedly connected with the contact plate 13, so that the contact plate 13 can compress the buffer spring 14 in the process of moving downward when hu you falls on the contact plate 13, reduce the impact force suffered by hu you, protect hu you skin, so that it is not damaged, a pair of clamping motor 15 is respectively arranged below a pair of clamping jaw 11 and is directly connected with clamping jaw 11, shearing mechanism 2 is fixedly connected in a pair of clamping jaw 11 two sides, rotating mechanism 3 lower end and sorting mechanism 4 rotatably connected, and supporting rod 6 one end is fixedly connected in sorting mechanism 4 lower end, to facilitate staff to pick high hu you.
[0024] Further embodiment, such as Figures 4-5 And Figure 7As shown, the clamping jaw 11 includes a top plate 111, a side plate 112, a limiting pin 113 and a reset spring 114. The upper end of the side plate 112 is provided with a stud, and the top plate 111 is provided with a sliding groove matched with the stud. The stud is clamped into the sliding groove to make the top plate 111 and the side plate 112 in sliding connection, so that the top plate 111 can slide relative to the side plate 112 to open horizontally, so as to adjust the compression degree of the buffer spring 14, control the shearing length of the grapefruit rootstock by the shearing knife 21, avoid the damage of the branch caused by the overlong shearing rootstock, which needs secondary shearing by manual to increase the cost, or the damage of the grapefruit skin caused by the too short rootstock. The limiting pin 113 is fixedly connected to one side of the stud and placed in the sliding groove. The reset spring 114 is connected to the end faces of the sliding groove of the limiting pin 113 respectively, resets and buffers the movement of the top plate 111, and avoids the dislocation after the translation of the top plate 111 to cause the picking work to be unable to be carried out.
[0025] In further embodiments, as shown in Figure 2 The shearing mechanism 2 includes a pair of shearing knives 21 and a shearing motor 22 matched with the shearing knives 21. The shearing motor 22 is fixedly connected to the two sides of the pair of clamping jaws 11 respectively. The shearing knives 21 are rotationally connected to the upper end of the shearing motor 22, and the shearing knives 21 are always located above the clamping jaws 11 during the rotation. The blade edges of the pair of shearing knives 21 are opposite to each other to form a cutting condition. The horizontal positions of the shearing knives 21 and the shearing motor 22 are symmetrically distributed around the center of the upper end face of the clamping jaw 11, so that the rotation range of the pair of shearing knives 21 can cover the upper end face of the clamping jaw 21 to ensure that the grapefruit rootstock is located in the shearing range.
[0026] In further embodiments, as shown in Figure 3 The rotating mechanism includes a rotating motor 31, a connecting plate 32 and a fixed table 33. The upper end of the connecting plate 32 is fixedly connected with the clamping head 12, and the lower end is directly connected with the rotating motor 31. The rotating motor 31 is fixedly embedded on the fixed table 33. The lower end of the fixed table 33 is fixedly connected with the sorting mechanism 4. The rotating motor 31 drives the rotation of the connecting plate 32 to drive the rotation of the clamping mechanism 1.
[0027] In further embodiments, as shown in Figure 3 The sorting mechanism 4 includes an inclined motor 41 and a sorting table 42. The output end of the inclined motor 41 is rotationally connected with the fixed table 33, and the bottom is fixedly connected to the center region of the sorting table 42. The lower end of the sorting table 42 is fixedly connected with the supporting rod. The output end of the inclined motor 41 can make reciprocating swing motion within a set range to drive the rotation of the fixed table 33. A pair of passage rings 421 are arranged on the two sides of the sorting table 42, so that the grapefruit can be conveyed and sorted through different passages.
[0028] In further embodiments, as shown in Figure 1As shown, further comprising a pressure sensor 5 and a display screen 7, the pressure sensor 5 is installed on the end face of the contact plate 13 and is connected with the system in the display screen 7 through an analog signal to detect the weight of the picked grapefruit for subsequent sorting judgment, the display screen 7 is fixedly connected to the lower segment of the supporting rod 6 to display the weight of the grapefruit detected by the pressure sensor 5, assisting the staff to check and record.
[0029] Further embodiments, as shown in Figure 6 Further comprising a camera 8, the camera 8 is fixedly installed on one side of the clamping jaw 11 and is connected with the display screen 7 in line, the camera 8 monitors in real time to calibrate the position of the grapefruit and displays on the display screen 7, facilitating the staff to adjust the angle and the opening angle of the clamping jaw 11 to complete the picking work.
[0030] Further embodiments, as shown in Figure 6 As shown, the connecting part between the clamping jaw 11 and the clamping head 12 on both sides is provided with an empty space to prevent the clamping jaw 11 from interfering with the clamping head 12 during opening and closing, and to improve the stability of the picking and sorting device.
[0031] Further embodiments, as shown in Figure 7 As shown, the side of the top plate 111 towards the contact plate 13 is provided with an arc-shaped bottom support, which matches the shape of the grapefruit, so that the clamping jaw 11 clamps the grapefruit more firmly, facilitating shearing, and preventing the top plate 111 from sliding horizontally and damaging the surface of the grapefruit.
[0032] In use, the self-adaptive picking and sorting device is held up by holding the supporting rod 6, the clamping jaw 11 is opened to clamp the grapefruit from the bottom of the grapefruit or the rotating mechanism 3 is controlled to adjust the clamping mechanism 1 to face the grapefruit from the side of the grapefruit, the grapefruit falls on the contact plate 13 and compresses the buffer spring 14 to make the contact plate 13 descend, the side plate 112 is forced to horizontally open to both sides, balancing the descending degree of the contact plate 13 to adjust the position of the grapefruit to the required height, after clamping the grapefruit, the shearing motor 22 is started, the shearing knife 21 rotates to cut off the grapefruit stem, so that the grapefruit completely falls on the contact plate 13, at the same time, the pressure sensor 5 weighs and displays on the display screen 7, and the swinging direction of the sorting mechanism 4 is controlled according to the measured weight, so that the grapefruit falls from the preset channel ring 421, completing the picking and sorting of the grapefruit.
Claims
1. A non-damaging grapefruit adaptive picking and sorting device, characterized by: The utility model relates to a kind of paperboard cutting and sorting device, including clamping mechanism (1), shearing mechanism (2), rotating mechanism (3), sorting mechanism (4) and support rod (6), clamping mechanism (1) includes a pair of clamping jaw (11), clamping head (12), contact plate (13) and a pair of clamping motor (15), a pair of clamping jaw (11) is rotatably connected in clamping head (12) both sides, clamping head (12) bottom and rotating mechanism (3) rotatably connected, clamping head (12) upper end surface is equipped with several buffer springs (14), several buffer springs (14) upper end is fixedly connected with contact plate (13), a pair of clamping motor (15) is respectively arranged below a pair of clamping jaw (11) and is directly connected with clamping jaw (11), shearing mechanism (2) is fixedly connected in a pair of clamping jaw (11) both sides, rotating mechanism (3) lower end is rotatably connected with sorting mechanism (4), and support rod (6) one end is fixedly connected with sorting mechanism (4) lower end; Clamping jaw (11) includes top plate (111), side plate (112), limit pin (113) and reset spring (114), side plate (112) upper end is equipped with stud, top plate (111) is equipped with the sliding slot matched with stud, stud is inserted into sliding slot so that top plate (111) is slidably connected with side plate (112), so that top plate (111) can slide relative to side plate (112) to complete the horizontal opening of clamping jaw (11) relative to clamping head (12), limit pin (113) is fixedly connected with stud side and is placed in sliding slot, and reset spring (114) both ends are respectively connected with limit pin (113) sliding slot end surface.
2. A self-adaptive picking and sorting device for grapefruit without damaging the fruit according to claim 1, characterized in that: Shearing mechanism (2) includes a pair of shearing knives (21) and the shearing motor (22) matched with shearing knife (21), shearing motor (22) is respectively fixedly connected in a pair of clamping jaw (11) both sides, shearing knife (21) is rotatably connected in shearing motor (22) upper end, and shearing knife (21) is always located above clamping jaw (11) during rotating, and a pair of shearing knives (21) blade faces opposite, to form cutting condition, the horizontal position of shearing knife (21) and shearing motor (22) is distributed around the upper end surface center of symmetry of clamping jaw (11).
3. A self-adaptive picking and sorting device for grapefruit without damaging the fruit according to claim 1, characterized in that: Rotating mechanism includes rotating motor (31), connecting plate (32) and fixed platform (33), connecting plate (32) upper end is fixedly connected with clamping head (12), lower end is directly connected with rotating motor (31), rotating motor (31) is fixedly embedded in fixed platform (33), and fixed platform (33) lower end is fixedly connected with sorting mechanism (4), and rotating motor (31) drives connecting plate (32) to rotate.
4. The self-adaptive picking and sorting device for grapefruit without damaging the fruit according to claim 1, characterized in that: Sorting mechanism (4) includes inclined motor (41) and sorting platform (42), inclined motor (41) output end is rotatably connected with fixed platform (33), bottom is fixedly connected in the center region of sorting platform (42), and sorting platform (42) lower end is fixedly connected with support rod, and the output end of inclined motor (41) can be set range reciprocating swing movement to drive the rotation of fixed platform (33), and one side of sorting platform (42) is equipped with a pair of channel rings (421).
5. A non-damaging grapefruit adaptive picking and sorting device according to claim 1, characterized in that: It also comprises a pressure sensor (5) and a display screen (7), the pressure sensor (5) is installed on the upper end face of the contact plate (13) and is connected with the system in the display screen (7) through an analog signal, and the display screen (7) is fixedly connected to the lower segment of the support rod (6).
6. A non-damaging grapefruit adaptive picking and sorting device according to claim 1, characterized in that: The connecting part between the clamping jaw (11) and the clamping head (12) on both sides is provided with a clearance.
7. A self-adaptive picking and sorting device for grapefruit without damaging the fruit according to claim 1, characterized in that: It also comprises a camera (8), which is fixedly installed on one side of the clamping jaw (11) and is connected with the display screen (7) in a line, the camera (8) monitors in real time to calibrate the position of the pomelo and displays on the display screen (7).