A fruit drop collection device

Abstract

The utility model discloses a kind of fruit drop collection equipment, including base, is equipped with sweep set and gather mechanism, conveying mechanism, bad fruit rejection mechanism, silt filtering mechanism and sorting collection mechanism on base, sweep set and gather mechanism is used to gather and collect scattered nut, and it is sent to conveying mechanism, conveying mechanism is used to convey nut to bad fruit rejection mechanism, bad fruit rejection mechanism is used to take out bad fruit, and good nut is sent to silt filtering mechanism, silt filtering mechanism is used to filter silt in nut, and it is sent to sorting collection mechanism, sorting collection mechanism is used to sort and collect nut according to different size;Base is equipped with nut flow channel, fan is equipped in nut flow channel, air outlet is equipped on the side wall of base, fan is used to blow air to air outlet direction.The utility model realizes the whole-process automation operation from ground scattered nut to final classification collection, significantly improves work efficiency, reduces labor intensity and labor cost.

Description

Technical Field

[0001] This utility model relates to the field of nut harvesting technology, specifically to a device for collecting fallen nuts. Background Technology

[0002] With the continuous expansion of fruit and nut planting areas in my country, especially nuts such as chestnuts, olives, and walnuts, the traditional method for harvesting these nuts after they mature is mostly manual. Sometimes, harvesters need to climb trees and use sticks or clubs to knock the nuts down. This method is not only labor-intensive and time-consuming, but also poses certain dangers and is not conducive to safe production operations.

[0003] Currently, some fruit-shaking machines exist on the market. These machines shake branches or trunks to pull nuts off trees; the shaken nuts are then collected manually, avoiding the dangers of climbing trees. However, even after the machines have pulled the nuts down, manual collection, removal of damaged nuts, and sorting based on size are still necessary, requiring significant manpower and resulting in high labor costs. Therefore, it is necessary to design a device that can automatically collect and sort the shaken nuts. Utility Model Content

[0004] To address some or all of the problems existing in the prior art, this utility model provides a fallen fruit collection device, including a base and a controller. The base is equipped with a sweeping and gathering mechanism, a conveying mechanism, a spoiled fruit removal mechanism, a sediment filtration mechanism, and a sorting and collecting mechanism, all connected to the controller. The sweeping and gathering mechanism collects the scattered nuts and transports them to the conveying mechanism. The conveying mechanism is connected to both the sweeping and gathering mechanism and the spoiled fruit removal mechanism, and transports the nuts to the spoiled fruit removal mechanism. The spoiled fruit removal mechanism removes the spoiled nuts and... Good nuts are conveyed to a sediment filtration mechanism, which filters out sediment from the nuts and then conveys them to a sorting and collecting mechanism, which sorts and collects the nuts according to different sizes. The machine base is provided with a nut flow channel, and the two ends of the nut flow channel are respectively connected to the sediment filtration mechanism and the sorting and collecting mechanism. The sediment filtration mechanism can convey nuts into the nut flow channel. A fan is provided in the nut flow channel, and an air outlet is provided on the side wall of the machine base away from the fan. The fan is used to blow air towards the air outlet.

[0005] As a further improvement of this utility model, the sweeping and collecting mechanism includes the sweeping mounting frame, which is connected to the base. The sweeping mounting frame is equipped with a sweeping motor and a cleaning mechanism. The sweeping motor is connected to the controller, and the output end of the sweeping motor is connected to the cleaning mechanism. The sweeping motor can drive the cleaning mechanism to rotate. The cleaning mechanism is used to sweep the scattered nuts onto the conveying mechanism.

[0006] As a further improvement of this utility model, the cleaning mechanism includes a turntable, which is rotatably connected to the sweeping mounting frame. The output end of the sweeping motor is provided with a drive gear, and the sweeping mounting frame is provided with a rotatable driven gear. The drive gear is connected to the driven gear, and a transmission belt is sleeved on the driven gear and the turntable. Multiple mounting rods are distributed in a circumferential array on the turntable, and multiple cleaning rubber strips are distributed at equal intervals on the mounting rods.

[0007] As a further improvement of this utility model, the conveying mechanism includes a primary conveying component and a secondary conveying component. The two ends of the primary conveying component are respectively connected to the sweeping and gathering mechanism and the secondary conveying component, and the other end of the secondary conveying component is connected to the defective fruit removal mechanism. The primary conveying component includes a driving roller and a driven roller that are rotatably connected to the machine base. A conveyor belt is sleeved on the driving roller and the driven roller. A conveying motor is provided on the machine base. The output end of the conveying motor is connected to the driving roller. Multiple transverse partitions are evenly distributed on the conveyor belt.

[0008] As a further improvement of this utility model, the defective fruit removal mechanism includes a buffer conveying mechanism, a shooting mechanism, and a defective fruit grabbing mechanism, which are respectively connected to the controller. A defective fruit collection mechanism is provided on the machine base. The inlet end of the buffer conveying mechanism is connected to the outlet end of the conveying mechanism. The buffer conveying mechanism can convey nuts to the processing positions of the shooting mechanism and the defective fruit grabbing mechanism respectively. The shooting mechanism is used to take pictures of the nuts on the buffer conveying mechanism. The defective fruit grabbing mechanism is connected to the buffer conveying mechanism and the defective fruit collection mechanism respectively, and is used to grab the defective fruits on the buffer conveying mechanism and place them on the defective fruit collection mechanism.

[0009] As a further improvement of this utility model, the spoiled fruit collection mechanism includes a spoiled fruit collection frame, which is connected to the drawer of the base. An oblique spoiled fruit guide groove is provided on the base at a position corresponding to the spoiled fruit grasping mechanism. The spoiled fruit grasping mechanism can grasp the spoiled fruit into the oblique spoiled fruit guide groove, which is located directly above the spoiled fruit collection frame.

[0010] As a further improvement of this utility model, the mud and sand filtration mechanism includes a filter frame connected to the machine base. The filter frame is provided with a filter screen with mud and sand perforations evenly distributed on the filter screen. The filter screen is inclined from top to bottom from the direction of the defective fruit removal mechanism toward the sorting and collection mechanism. A mud and sand collection frame is provided directly below the filter screen and is connected to the machine base drawer.

[0011] As a further improvement of this utility model, the filter frame is provided with a plurality of vibration damping springs, which are respectively connected to the base. The base is provided with a lifting electric cylinder, the output end of which is connected to the filter frame. The lifting electric cylinder is used to drive the filter frame to lift and vibrate.

[0012] As a further improvement of this utility model, the sorting and collecting mechanism includes a sorting frame connected to a base. The sorting frame is provided with a top-level sorting strainer, a middle-level sorting strainer, and a bottom-level sorting plate arranged sequentially from top to bottom. The top-level sorting strainer has an array of first perforated holes, and the middle-level sorting strainer has an array of second perforated holes. The diameter of the first perforated hole is larger than the diameter of the second perforated hole. The sorting frame is equipped with a direct vibration device capable of driving the sorting frame to vibrate. The base is provided with a detachable first collection frame, a second collection frame, and a third collection frame. The first collection frame is connected to the end of the top-level sorting strainer, the second collection frame is connected to the end of the middle-level sorting strainer, and the third collection frame is connected to the end of the bottom-level sorting plate.

[0013] As a further improvement of this utility model, the sorting frame is provided with four vibration buffer mechanisms, which are distributed at the four corner positions of the sorting frame. Each vibration buffer mechanism includes a buffer fixed seat, a buffer elastic element, and a buffer guide seat. The buffer fixed seat is connected to the machine base, and the buffer guide seat is connected to the sorting frame. The two ends of the buffer elastic element are respectively connected to the buffer fixed seat and the buffer guide seat. The buffer fixed seat is provided with a guide strip, and a guide slider is provided at one end of the guide strip away from the buffer fixed seat. The buffer guide seat is provided with a guide groove, and the guide slider extends into the guide groove and slides in cooperation with the guide groove.

[0014] Compared with the prior art, the beneficial effects of this utility model are: This invention integrates multiple functional modules such as sweeping and collecting, conveying, removing damaged fruits, filtering out mud and sand, and sorting by size into one device, realizing fully automated operation from scattered nuts on the ground to final sorting and collection. This greatly reduces manual intervention, significantly improves work efficiency, and reduces labor intensity and labor costs. Attached Figure Description

[0015] To more clearly illustrate the solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this utility model; Figure 2 This is a schematic diagram of the structure from another perspective of an embodiment of the present utility model; Figure 3 This is a schematic diagram of the internal structure of an embodiment of this utility model; Figure 4 This is a schematic diagram of the internal front view structure of an embodiment of this utility model; Figure 5 This is a schematic diagram of the sweeping and collecting mechanism and the conveying mechanism in an embodiment of this utility model; Figure 6 This is a schematic diagram of the sweeping and collecting mechanism in an embodiment of this utility model; Figure 7 This is a schematic diagram of the structure of the primary conveying component in an embodiment of this utility model; Figure 8 This is a schematic diagram of the defective fruit removal mechanism in an embodiment of this utility model; Figure 9 This is a schematic diagram of the structure of the buffer transport mechanism in an embodiment of this utility model; Figure 10 This is a schematic diagram of the structure of the damaged fruit grasping mechanism in an embodiment of this utility model; Figure 11 This is a schematic diagram of the filter frame in an embodiment of this utility model; Figure 12 This is a schematic diagram of the sorting rack in an embodiment of this utility model; Figure 13 This is a schematic diagram of the internal structure of the sorting rack in an embodiment of this utility model. Detailed Implementation

[0017] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used in the specification is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or accompanying drawings of this invention are used to distinguish different objects, not to describe a particular order.

[0018] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention can be combined with other embodiments.

[0019] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0020] like Figure 1-13 As shown, a fruit-falling collection device includes a base 100 and a controller. The base 100 is provided with a power mechanism 2 and a push handle 1. The power mechanism 2 is used to drive the base 100 to move, and the push handle 1 is used to control the direction of movement of the base 100.

[0021] Specifically, the power mechanism 2 includes two front wheels 21 and two rear wheels 22, which are rotatably connected to the base 100. The base 100 houses a mobile motor 23 and a battery 24, which is detachably connected to the base 100 for easy replacement. The battery 24 and the mobile motor 23 are electrically connected to a controller, and the battery 24 supplies power to the fallen fruit collection device. The output of the mobile motor 23 is connected to the rear wheels 22, driving them to rotate, thus moving the fallen fruit collection device. In use, the mobile motor 23 drives the rear wheels 22 to rotate, thereby moving the fallen fruit collection device. The operator can control the direction of movement by holding the push handle 1, thus collecting nuts scattered on the ground.

[0022] The base 100 is also equipped with a sweeping and gathering mechanism 3, a conveying mechanism 4, a defective fruit removal mechanism 5, a mud and sand filtration mechanism 6, and a sorting and collecting mechanism 7, all connected to the controller. The sweeping and gathering mechanism 3 is used to gather and collect scattered nuts and transport them to the conveying mechanism 4. The conveying mechanism 4 is connected to both the sweeping and gathering mechanism 3 and the defective fruit removal mechanism 5 and is used to transport the nuts to the defective fruit removal mechanism 5. The defective fruit removal mechanism 5 is used to remove the defective nuts and transport the good nuts to the mud and sand filtration mechanism 6. The mud and sand filtration mechanism 6 is used to filter out the mud and sand from the nuts and transport them to the sorting and collecting mechanism 7. The sorting and collecting mechanism 7 is used to sort and collect the nuts according to different sizes. In use, the operator pushes the fallen nuts collection device onto the scattered nuts. The sweeping and gathering mechanism 3 gathers the scattered nuts and transports them to the conveying mechanism 4. The conveying mechanism 4 then transports the nuts to the bad nut removal mechanism 5, which removes the bad nuts and transports the good nuts to the mud and sand filtration mechanism 6. The mud and sand filtration mechanism 6 removes mud, sand, and other foreign objects mixed in with the nuts and continues to transport the nuts to the sorting and collection mechanism 7. Finally, the sorting and collection mechanism 7 sorts the nuts according to their size and collects them, completing the nut collection process.

[0023] In actual processing, nuts inevitably contain some light, lumpy impurities such as leaves and paper scraps, which cannot be removed by the sludge removal mechanism 6. To solve this problem, in this embodiment, a nut flow channel 8 is provided on the base 100. The two ends of the nut flow channel 8 are connected to the sludge removal mechanism 6 and the sorting and collecting mechanism 7, respectively. The sludge removal mechanism 6 can transport nuts into the nut flow channel 8. A fan 9 is provided in the nut flow channel 8. An air outlet 101 is provided on the side wall of the base 100 away from the fan 9. The fan 9 is used to blow air towards the air outlet 101. During processing, after the mud and sand filtration mechanism 6 finishes processing, it will transport the nuts to the nut flow channel 8. Under the action of gravity, the nuts will roll from the nut flow channel 8 toward the sorting and collection mechanism 7. At this time, the blower 9 will blow air into the nut flow channel 8, which can blow light block foreign objects such as leaves and paper scraps mixed in with the nuts toward the air outlet 101 and blow them out of the air outlet 101, so that the nuts flowing to the sorting and collection mechanism 7 are cleaner.

[0024] like Figure 5-6As shown, the sweeping and collecting mechanism 3 includes a sweeping mounting frame 31, on which a drive mechanism 32 and a cleaning mechanism 33 are mounted. The drive mechanism 32 is connected to a controller, and its output is connected to the cleaning mechanism 33. The drive mechanism 32 can drive the cleaning mechanism 33 to rotate. The cleaning mechanism 33 is used to sweep the scattered nuts onto the conveying mechanism 4. The sweeping mounting frame 31 is made of welded steel structure and is detachably connected to the base 100 by bolts. A height adjustment bolt is provided at the bottom, which can adjust the distance between the cleaning mechanism 33 and the ground according to the flatness of the ground, ensuring that it can adapt to different terrains, ensuring that there are no dead corners in the sweeping, and improving the versatility of the equipment.

[0025] The drive mechanism 32 includes a sweeping motor 321, which is bolted to the top of the sweeping mounting bracket 31 and electrically connected to a controller (the controller can adjust the speed of the sweeping motor 321 to adapt to the sweeping requirements of different nuts). A drive gear 322 is fixedly mounted on the output shaft of the sweeping motor 321. Two driven gears 323 and one intermediate gear 324 are rotatably connected to the sweeping mounting bracket 31 via bearings. The drive gear 322 meshes with one of the driven gears 323, and the intermediate gear 324 meshes with both the drive gear 322 and the other driven gear 323, forming a synchronous transmission structure.

[0026] In this embodiment, there are two cleaning mechanisms 33, and the two driven gears 323 are respectively connected to one of the corresponding cleaning mechanisms 33. By setting the transition gear 324, the sweeping motor 321 can drive the two driven gears 323 to rotate in opposite directions, so that the two cleaning mechanisms 33 can sweep and gather the scattered nuts towards the center, thereby improving the stability and efficiency of the operation.

[0027] The sweeping mechanism 33 includes a turntable 331, which is rotatably connected to the sweeping mounting frame 31 via bearings. Each driven gear 323 and its corresponding turntable 331 are connected to a drive belt 332; by connecting the drive belt 332, the rotation of the driven gear 323 can drive the turntable 331 to rotate synchronously. Multiple mounting rods 333 are arranged in a circumferential array on the turntable 331, and multiple cleaning rubber strips 334 are evenly distributed on the mounting rods 333. During operation, the sweeping motor 321 drives the drive gear 322 to rotate, which in turn drives the driven gear 323 to rotate. The driven gear 323 drives the turntable 331 to rotate via the transmission belt 332. The mounting rod 333 and the cleaning strip 334 rotate together with the turntable 331. During the movement, the cleaning strip 334 comes into contact with the nuts on the ground, thus sweeping and gathering the nuts and bringing them to the center of the mechanism. Finally, the nuts are pushed onto the conveying mechanism 4, thus completing the sweeping and gathering of the nuts.

[0028] In this embodiment, multiple mounting rods 333 are radially distributed on the turntable 331, and each cleaning strip 334 is vertically mounted on the corresponding mounting rod 333; thus, during the rotation of the turntable 331, the cleaning strips 334 can sweep up and gather the nuts scattered on the ground, realizing the function of automatically cleaning fallen fruit.

[0029] In addition, a guard plate 34 is installed on the base 100. The guard plate 34 is an arc-shaped hard metal plate, which is fixed on the left and right sides of the two turntables 331 respectively. The guard plate 34 is set to prevent the nuts from falling from both sides during the sweeping process and to ensure that the nuts are concentrated and enter the conveying mechanism 4.

[0030] When the equipment moves, the sweeping and gathering mechanism 3 begins to operate. The sweeping motor 321 starts, driving the turntable 331 to rotate via the drive gear 322, driven gear 323, and transmission belt 332. The mounting rod 333 and multiple cleaning strips 334 on the turntable 331 rotate accordingly, sweeping up and gathering the scattered nuts on the ground like a broom, and pushing them toward the conveying mechanism 4. The soft cleaning strips 334 effectively reduce damage to the nut shells. like Figure 5 , Figure 7 As shown, the conveying mechanism 4 includes a primary conveying component 41 and a secondary conveying component 42, both of which are connected to the base 100. The input end of the primary conveying component 41 is connected to the cleaning mechanism 33, which can sweep and convey scattered nuts onto the primary conveying component 41. The output end of the primary conveying component 41 is connected to the input end of the secondary conveying component 42. Both the primary conveying component 41 and the secondary conveying component 42 are inclined, forming a "low-in, high-out" conveying path. The end of the secondary conveying component 42 away from the primary conveying component 41 is connected to the defective fruit removal mechanism 5.

[0031] Specifically, the primary conveying assembly 41 includes a drive roller 411, a driven roller 412, a conveyor belt 413, and a conveyor motor 414. Both the drive roller 411 and the driven roller 412 are rotatably connected to the base 100 via bearings. The conveyor belt 413 is fitted onto the drive roller 411 and the driven roller 412, and multiple transverse partitions 415 are evenly spaced on the conveyor belt 413 to prevent nuts from slipping during conveying (especially suitable for inclined conveying scenarios). The conveyor motor 414 is fixed to the base 100, and its output shaft is connected to the drive roller 411. The conveyor motor 414 is also electrically connected to the controller. During operation, the cleaning mechanism 33 sweeps the scattered nuts onto the conveyor belt 413; controlling the conveyor motor 414 drives the drive roller 411 to rotate, which in turn drives the conveyor belt 413 to move, thus conveying the nuts from the cleaning mechanism 33 to the secondary conveying assembly 42.

[0032] The structure of the secondary conveying component 42 is identical to that of the primary conveying component 41, therefore, the structure of the secondary conveying component 42 will not be described in detail here. However, it should be noted that in this embodiment, the secondary conveying component 42 is installed at an upward angle, with its input end connected to the output end of the primary conveying component 41, and its output end extending to the receiving end of the defective nut removal mechanism 5, thus achieving the upward conveying of nuts. In other embodiments, the installation angles of the primary conveying component 41 and the secondary conveying component 42 can also be adaptively adjusted as needed.

[0033] During processing, the collected nuts fall onto the conveyor belt 413 of the primary conveying assembly 41. The conveyor motor 414 drives the drive roller 411 to rotate, which in turn moves the conveyor belt 413 and its transverse partitions 415. The transverse partitions 415 prevent the nuts from rolling backward during inclined conveying, ensuring that the nuts are stably lifted and transferred to the secondary conveying assembly 42, and finally fed onto the defective nut removal mechanism 5.

[0034] like Figure 8-10 As shown, the defective fruit removal mechanism 5 includes a buffer conveying mechanism 51, a photographing mechanism 52, and a defective fruit grasping mechanism 53, all connected to the controller. A defective fruit collection mechanism 54 is provided on the base 100. The inlet end of the buffer conveying mechanism 51 is connected to the outlet end of the secondary conveying assembly 42. The buffer conveying mechanism 51 can convey nuts to the processing positions of the photographing mechanism 52 and the defective fruit grasping mechanism 53, and can convey good nuts to the mud and sand filtration mechanism 6. The photographing mechanism 52 is used to take pictures of the nuts on the buffer conveying mechanism 51. The defective fruit grasping mechanism 53 is connected to the buffer conveying mechanism 51 and the defective fruit collection mechanism 54, and is used to pick up the defective nuts on the buffer conveying mechanism 51 and place them on the defective fruit collection mechanism 54.

[0035] During processing, the secondary conveying component 42 transports the nuts to the buffer conveying mechanism 51, which then transports them to the photographing position of the photographing mechanism 52. The photographing mechanism 52 takes pictures of the nuts on the buffer conveying mechanism 51 and sends the image information back to the controller. The controller analyzes the images to identify which nuts are defective. Once defective nuts are detected, the defective nut grabbing mechanism 53 is activated to grab them and place them on the defective nut collection mechanism 54 for collection, thus removing the defective nuts from the buffer conveying mechanism 51. The remaining good nuts are then transported by the buffer conveying mechanism 51 to the sorting mechanism for further processing.

[0036] like Figure 9As shown, the buffer conveying mechanism 51 includes a conveying motor 511, a buffer drive roller 512, and a buffer driven roller 513. The buffer drive roller 512 and the buffer driven roller 513 are rotatably connected to the machine base 100 via bearings. The conveying motor 511 is connected to the machine base 100, and the output end of the conveying motor 511 is connected to the buffer drive roller 512. A buffer conveyor belt 514 is sleeved on the buffer drive roller 512 and the buffer driven roller 513. During operation, the secondary conveying component 42 transports the nuts to the buffer conveyor belt 514, and then the conveying motor 511 drives the buffer drive roller 512 to rotate. The buffer drive roller 512 drives the buffer conveyor belt 514 to circulate, thereby achieving the processing purpose of sequentially conveying the nuts to the shooting mechanism 52 and the damaged fruit grasping mechanism 53.

[0037] In this embodiment, multiple transverse blocks 515 are evenly distributed on the buffer conveyor belt 514, and the transverse blocks 515 are integrally formed with the buffer conveyor belt 514. By setting the transverse blocks 515, a grid for accommodating single or small amounts of nuts is formed between adjacent transverse blocks 515, so as to improve the stability of nut conveying, avoid the problem of nuts rolling and slipping, and improve the stability of processing.

[0038] like Figure 8 As shown, the shooting mechanism 52 includes a shooting mounting frame 521, which is fixedly connected to the base 100. A wide-angle camera 522 is mounted on the shooting mounting frame 521 and positioned directly above the buffer conveyor mechanism 51. The wide-angle camera 522 is used to photograph the nuts on the buffer conveyor mechanism 51. During processing, the buffer conveyor belt 514 sequentially conveys the nuts to the shooting position of the wide-angle camera 522. The wide-angle camera 522 photographs the nuts on the buffer conveyor belt 514 to identify which nuts are defective. This allows the defective nut grabbing mechanism 53 to locate the defective nuts and remove them.

[0039] In this embodiment, there are two wide-angle cameras 522, and the two wide-angle cameras 522 are symmetrically distributed along the center line of the shooting mounting frame 521. By setting two wide-angle cameras 522, it can be ensured that their shooting area covers the entire lateral direction of the buffer conveyor belt 514, so that all the defective nuts conveyed by the buffer conveyor belt 514 can be detected, avoiding the problem of omission and improving the processing accuracy. In other embodiments, the wide-angle cameras 522 can also be replaced with other similar cameras, and the number of cameras can also be any other number, as long as the camera shooting area can cover the entire lateral length of the buffer conveyor belt 514.

[0040] like Figure 10As shown, the defective fruit grabbing mechanism 53 cooperates with the buffer conveying mechanism 51 and the defective fruit collection mechanism 54 to grab defective fruits determined by the controller from the buffer conveyor belt 514 and transfer them to the defective fruit collection mechanism 54. Its specific structure includes: The Y-axis gripping module 531 is a linear module with a motor pulley, which is fixed to the base 100 with bolts. The driving direction is consistent with the conveying direction of the buffer conveyor belt 514. The X-axis gripping module 532 is a linear module with a motor pulley, which is installed on the slider at the output end of the Y-axis gripping module 531. The driving direction is perpendicular to the conveying direction of the buffer conveyor belt 514. The Z-axis gripping module 533 uses a linear motor screw module and is installed on the slider at the output end of the X-axis gripping module 532 to achieve vertical lifting drive. The gripper cylinder 534 is a finger cylinder, which is installed on the slider at the output end of the gripping Z-axis module 533.

[0041] During processing, the gripping Y-axis module 531, gripping X-axis module 532, and gripping Z-axis module 533 work together to drive the gripper cylinder 534 to move freely in three-dimensional space, thereby achieving the purpose of driving the gripper cylinder 534 to move back and forth between the defective fruit collection mechanism 54 and the buffer conveyor belt 514. The gripper cylinder 534 can also pick up defective fruits from the buffer conveyor belt 514 and release them onto the defective fruit collection mechanism 54.

[0042] In this embodiment, there are two gripping X-axis modules 532 and two gripping Z-axis modules 533, and they are arranged in a one-to-one correspondence. Each gripping Z-axis module 533 has a gripper cylinder 534 installed at its output end. This allows the mechanism to process two defective products simultaneously, improving processing efficiency.

[0043] like Figure 8 As shown, the spoiled fruit collection mechanism 54 includes a spoiled fruit collection frame 541, which is connected to the machine base 100 in a drawer-like manner. This drawer-like installation facilitates easy removal of the spoiled fruit collection frame 541 for timely cleaning of spoiled fruit. A sloping spoiled fruit guide groove 542 is provided on the machine base 100 at a position corresponding to the spoiled fruit gripping mechanism 53. The upper end of the sloping spoiled fruit guide groove 542 is located below the spoiled fruit gripping mechanism 53, and the lower end is located directly above the spoiled fruit collection frame 541. During processing, the gripper cylinder 534 grips the spoiled fruit into the sloping spoiled fruit guide groove 542. After the gripper cylinder 534 releases the spoiled fruit, it rolls within the sloping spoiled fruit guide groove 542 under gravity and eventually falls into the spoiled fruit collection frame 541 for collection.

[0044] In this embodiment, there are two oblique guide grooves 542 for defective fruit, and the two oblique guide grooves 542 are symmetrically distributed along the center line of the machine base 100. The two oblique guide grooves 542 correspond one-to-one with the two gripper cylinders 534, ensuring that the defective fruit transferred by each gripper cylinder 534 can accurately fall into the corresponding oblique guide groove 542, thereby improving processing efficiency.

[0045] During processing, the secondary conveyor assembly 42 feeds the nuts into the buffer conveyor mechanism 51. The buffer conveyor belt 514, driven by the conveyor motor 511, moves intermittently in steps. When a batch of nuts reaches the shooting area of ​​the wide-angle camera 522, the buffer conveyor belt 514 stops, and the two wide-angle cameras 522 capture images of the nuts and transmit them to the controller. The controller runs an image recognition algorithm to quickly determine whether the nuts are good or bad and records the coordinates of the bad nuts.

[0046] Subsequently, the buffer conveyor belt 514 restarts, transporting the batch of nuts to the gripping station and then pausing. Based on received instructions, the damaged nut gripping mechanism 53 controls the coordinated movement of the gripping Y-axis module 531, gripping X-axis module 532, and gripping Z-axis module 533, driving the gripper cylinder 534 to move directly above the damaged nuts. The gripper cylinder 534 descends, grips the damaged nuts, lifts them, and then moves to above the entrance of the inclined damaged nut guide trough 542, releasing the gripper. The damaged nuts fall into the guide trough and slide into the damaged nut collection box 541.

[0047] Good nuts are then conveyed by the buffer conveyor belt 514 to the silt removal mechanism 6 for the next process. This cycle continues, achieving continuous and automatic removal of bad nuts.

[0048] like Figure 3 , Figure 11As shown, the sediment removal mechanism 6 includes a filter frame 61, on which multiple damping springs 62 are installed. The other end of each damping spring 62 is fixedly connected to the base 100. The damping springs 62 allow the filter frame 61 to vibrate up and down on the base 100, ensuring that the sediment on the nuts is shaken off. A filter screen 63 is fixedly installed on the filter frame 61. The filter screen 63 has evenly distributed sediment leakage holes 64. The filter screen 63 is inclined from top to bottom from the defective fruit removal mechanism 5 towards the sorting and collection mechanism 7, so that when the nuts roll inside the filter screen 63, the sediment on the nuts can flow out through the sediment leakage holes 64, thus achieving the purpose of filtering out the sediment on the nuts. A sediment collection frame 65 is installed directly below the filter screen 63. The sediment collection frame 65 is connected to the drawer of the base 100, making it easy for the operator to remove the sediment collection frame 65 from the base 100, improving practicality. During operation, the buffer conveying mechanism 51 conveys the good nuts into the filter screen 63. The nuts will roll in the filter screen 63. During the rolling process, the mud and sand in the nuts will flow out from the mud and sand leakage hole 64 to the mud and sand collection box 65. The nuts with the mud and sand removed will continue to roll until they roll out of the filter screen 63 and flow into the nut flow channel 8.

[0049] To improve filtration performance, a lifting cylinder 66 is installed on the base 100. The output end of the lifting cylinder 66 is connected to the filter frame 61, and the lifting cylinder 66 is used to drive the filter frame 61 to move up and down and vibrate. When the buffer conveying mechanism 51 conveys the good nuts to the filter screen 63, it controls the lifting cylinder 66 to work, driving the filter frame 61 to move up and down and vibrate, thereby causing the filter screen 63 to vibrate synchronously, so that the nuts will bounce on the filter screen 63, making it easier to shake off the mud and sand in the nuts.

[0050] In this embodiment, a lifting electric cylinder 66 is provided on each of the left and right sides of the filter frame 61. In other embodiments, the number of lifting electric cylinders 66 can be any other number. In addition, the lifting electric cylinders 66 can also be replaced by other structures or devices that can achieve vibration, such as a vibration motor.

[0051] When the equipment is working, good nuts fall onto the filter screen 63. The lifting cylinder 66 periodically lifts the filter frame 61, which, in conjunction with the vibration damping spring 62, causes the filter screen 63 to vibrate up and down. The nuts jump and slide down the inclined filter screen 63, while the attached mud, sand, and fine particles fall through the mud and sand holes 64 on the filter screen 63 into the mud and sand collection frame 65 below. After initial cleaning, the nuts then enter the nut flow channel 8. At this time, the blower 9 starts, blowing a strong airflow towards the air outlet 101. Lightweight impurities such as leaves and grass clippings mixed in with the nuts are blown out of the equipment by the airflow, while the heavier nuts continue to fall due to gravity and enter the sorting and collection mechanism 7, achieving secondary cleaning.

[0052] like Figure 3 , Figure 12 , Figure 13 As shown, the sorting and collecting mechanism 7 includes a sorting frame 71, a direct vibration device, a vibration buffer mechanism 72, and a collecting frame assembly 73.

[0053] The sorting frame 71 is connected to the base 100 via a vibration buffer mechanism 72, forming an elastic support. The sorting frame 71 is vertically arranged from top to bottom with a top-layer sorting plate 74, a middle-layer sorting plate 75, and a bottom-layer sorting plate 76. Each sorting plate is inclined towards its end in the horizontal direction at an angle of 5°-10° to facilitate nut rolling. The top-layer sorting plate 74 has evenly distributed first perforated holes 741, and the middle-layer sorting plate 75 has evenly distributed second perforated holes 751, with the diameter of the first perforated holes 741 being larger than the diameter of the second perforated holes 751.

[0054] In practical applications, multiple intermediate layer sorting plates 75 can be set as needed. The diameter of the second perforated hole 751 on each intermediate layer sorting plate 75 decreases from top to bottom, so as to achieve more precise grading of nuts.

[0055] The vertical vibration device includes multiple vertical vibration motors 77, which are evenly distributed on the outer wall of the sorting rack 71 and electrically connected to the controller. The vibration direction of all the vertical vibration motors 77 is consistent with the tilt direction of each sorting plate, ensuring that the nuts roll stably without jamming. During operation, the controller controls the vertical vibration motors 77 to start, generating high-frequency micro-amplitude vibrations, which drive the sorting rack 71 and the sorting plates on it to vibrate, causing the nuts to roll forward in a jumping motion on each sorting plate.

[0056] Four vibration damping mechanisms 72 are provided, located at the four corners of the sorting frame 71. Each vibration damping mechanism 72 includes a damping fixed base 721, a damping elastic element 722, and a damping guide seat 723. The damping fixed base 721 is fixedly connected to the machine base 100, and the damping guide seat 723 is fixedly connected to the sorting frame 71. Both ends of the damping elastic element 722 (usually a spring) are fixedly connected to the damping fixed base 721 and the damping guide seat 723, respectively. A guide bar 724 is provided on the damping fixed base 721, and a guide slider 725 is provided at one end of the guide bar 724 away from the damping fixed base 721. A guide groove 726 is provided on the damping guide seat 723, and the guide slider 725 extends into and slides within the guide groove 726. The cooperation between the guide slider 725 and the guide groove 726 prevents horizontal displacement of the sorting frame 71 during vibration, ensuring stable vertical vibration of the sorting frame 71.

[0057] The collection frame assembly 73 includes a first collection frame, a second collection frame, and a third collection frame. The base 100 has three mounting slots 78, corresponding to the first, second, and third collection frames respectively. These collection frames are connected to their corresponding mounting slots 78 via drawers for easy removal and replacement. The first collection frame is connected to the end of the top-layer sorting disc 74, the second collection frame is connected to the end of the middle-layer sorting disc 75, and the third collection frame is connected to the end of the bottom-layer sorting disc 76.

[0058] The sorting rack 71 is equipped with a guide frame 79 at the corresponding position of the end of each sorting plate. The guide frame 79 is an inclined trough structure. One end of the guide frame 79 is connected to the sorting rack 71, and the other end extends to the top of the corresponding collection frame, ensuring that the sorted nuts fall accurately into the corresponding collection frame.

[0059] During processing, the nuts first fall onto the top sorting plate 74. The direct-vibration motor 77 operates, causing the entire sorting frame 71 to vibrate at high frequency and micro-amplitude, promoting the even distribution and forward movement of the nuts on the top sorting plate 74. Smaller nuts first fall through the first perforation 741 onto the middle sorting plate 75; even smaller nuts then fall through the second perforation 751 onto the bottom sorting plate 76; the largest nuts cannot pass through the first perforation 741 and eventually slide out from the end of the top sorting plate 74, falling into the first collection frame. Similarly, medium-sized nuts fall from the end of the middle sorting plate 75 into the second collection frame, and the smallest nuts fall from the end of the bottom sorting plate 76 into the third collection frame. The expansion and contraction of the buffer elastic element 722 (such as a spring) and the sliding cooperation between the guide slider 725 and the guide groove 726 effectively absorb the impact generated by the vibration of the sorting frame 71, ensuring the smooth operation of the equipment.

[0060] The beneficial effects of this utility model are: 1. This utility model integrates multiple functional modules such as sweeping and collecting, conveying, removing bad fruits, filtering mud and sand, and size sorting into one device, realizing the fully automated operation from scattered nuts on the ground to final classification and collection, greatly reducing manual intervention, significantly improving work efficiency, and reducing labor intensity and labor costs.

[0061] 2. By setting up a rotary cleaning mechanism driven by a sweeping motor and equipped with cleaning strips, it can efficiently and gently sweep nuts scattered in different locations toward the conveying mechanism, adapting to the uneven ground of the orchard and not easily damaging the nuts.

[0062] 3. The conveying mechanism uses a conveyor belt with transverse baffles, which can effectively prevent nuts from rolling off during the conveying process and ensure that the nuts are stably and continuously conveyed to the subsequent workstations.

[0063] 4. The wide-angle camera captures images of the nuts, and the image processing system in the controller identifies bad nuts (such as rotten, cracked, or deformed nuts). The system then controls the bad nut grasping mechanism to accurately grasp and remove the bad nuts, thus achieving automatic, non-destructive, and precise removal of bad nuts and ensuring the quality of the finished nut product.

[0064] 5. The inclined vibrating filter screen effectively removes impurities such as mud, sand, and small stones attached to or mixed in with the nuts, and the drawer-type mud collection frame facilitates cleaning. Simultaneously, a fan is installed in the nut flow channel, using airflow to blow lighter debris such as leaves and grass clippings out of the air outlet, achieving effective separation from the nuts and ensuring thorough cleaning.

[0065] 6. The sorting and collection mechanism adopts multi-layer vibrating sorting plates with different apertures. Under the action of a direct vibrating motor, the nuts are accurately sorted into different collection frames according to their size. The sorting efficiency is high and the accuracy is good, which is beneficial to subsequent sales and processing.

[0066] 7. The equipment comes with its own power mechanism and hand-operated handle, allowing it to move flexibly within the orchard. It is easy to operate and highly adaptable.

[0067] 8. The vibration damping springs and lifting electric cylinders of the silt removal mechanism work together to provide effective vibration force to improve screening efficiency while buffering the impact on the machine base. The vibration buffer mechanism of the sorting mechanism ensures the stability of the vibration sorting process, reduces the overall vibration and noise of the equipment, and extends its service life.

[0068] The above-described specific embodiments are preferred embodiments of this utility model, and are not intended to limit the specific scope of this utility model. The scope of this utility model includes but is not limited to the specific embodiments described above. All equivalent changes made in accordance with this utility model are within the protection scope of this utility model.

Claims

1. A fruit-falling collection device, characterized in that: The system includes a base and a controller. The base is equipped with a sweeping and gathering mechanism, a conveying mechanism, a defective fruit removal mechanism, a mud and sand filtration mechanism, and a sorting and collecting mechanism, all of which are connected to the controller. The sweeping and gathering mechanism is used to gather and collect scattered nuts and transport them to the conveying mechanism. The conveying mechanism is connected to both the sweeping and gathering mechanism and the defective fruit removal mechanism and is used to transport the nuts to the defective fruit removal mechanism. The defective fruit removal mechanism is used to remove defective nuts and transport good nuts to the mud and sand filtration mechanism. The mud and sand filtration mechanism is used to filter out mud and sand from the nuts and transport them to the sorting and collecting mechanism. The sorting and collecting mechanism is used to sort and collect the nuts according to different sizes. The base is provided with a nut flow channel. The two ends of the nut flow channel are respectively connected to the mud and sand filtration mechanism and the sorting and collection mechanism. The mud and sand filtration mechanism can transport nuts into the nut flow channel. A fan is provided in the nut flow channel. An air outlet is provided on the side wall of the base away from the fan. The fan is used to blow air towards the air outlet.

2. The fruit-falling collection device according to claim 1, characterized in that: The sweeping and collecting mechanism includes a sweeping mounting frame connected to a base. The sweeping mounting frame is equipped with a sweeping motor and a cleaning mechanism. The sweeping motor is connected to the controller, and the output end of the sweeping motor is connected to the cleaning mechanism. The sweeping motor can drive the cleaning mechanism to rotate. The cleaning mechanism is used to sweep the scattered nuts onto the conveying mechanism.

3. The fruit-falling collection device according to claim 2, characterized in that: The cleaning mechanism includes a turntable, which is rotatably connected to the sweeping mounting frame. The output end of the sweeping motor is provided with a drive gear, and the sweeping mounting frame is provided with a rotatable driven gear. The drive gear is connected to the driven gear, and a transmission belt is sleeved on the driven gear and the turntable. Multiple mounting rods are distributed in a circumferential array on the turntable, and multiple cleaning rubber strips are distributed at equal intervals on the mounting rods.

4. The fruit drop collection device according to claim 1, characterized in that: The conveying mechanism includes a primary conveying component and a secondary conveying component. The two ends of the primary conveying component are respectively connected to the sweeping and gathering mechanism and the secondary conveying component, and the other end of the secondary conveying component is connected to the defective fruit removal mechanism. The primary conveying assembly includes a drive roller and a driven roller that are rotatably connected to the machine base. A conveyor belt is sleeved on the drive roller and the driven roller. A conveyor motor is provided on the machine base. The output end of the conveyor motor is connected to the drive roller. Multiple transverse partitions are evenly distributed on the conveyor belt.

5. The fruit-falling collection device according to any one of claims 1-4, characterized in that: The defective fruit removal mechanism includes a buffer conveying mechanism, a photographing mechanism, and a defective fruit grabbing mechanism, all connected to the controller. A defective fruit collection mechanism is provided on the base. The inlet end of the buffer conveying mechanism is connected to the outlet end of the conveying mechanism. The buffer conveying mechanism can convey nuts to the processing positions of the photographing mechanism and the defective fruit grabbing mechanism. The photographing mechanism is used to photograph the nuts on the buffer conveying mechanism. The defective fruit grabbing mechanism is connected to both the buffer conveying mechanism and the defective fruit collection mechanism and is used to grab the defective nuts on the buffer conveying mechanism and place them on the defective fruit collection mechanism.

6. The fruit drop collection device according to claim 5, characterized in that: The spoiled fruit collection mechanism includes a spoiled fruit collection frame, which is connected to the base drawer. The base is provided with an oblique spoiled fruit guide groove at a position corresponding to the spoiled fruit grasping mechanism. The spoiled fruit grasping mechanism can grasp the spoiled fruit into the oblique spoiled fruit guide groove, which is located directly above the spoiled fruit collection frame.

7. The fruit-falling collection device according to claim 5, characterized in that: The silt removal mechanism includes a filter frame connected to the machine base. The filter frame is equipped with a filter screen with silt holes evenly distributed on it. The filter screen is inclined from top to bottom from the defective fruit removal mechanism toward the sorting and collection mechanism. A silt collection frame is located directly below the filter screen and is connected to the machine base drawer.

8. The fruit drop collection device according to claim 7, characterized in that: The filter frame is equipped with multiple vibration damping springs, which are respectively connected to the base. The base is equipped with a lifting electric cylinder, the output end of which is connected to the filter frame. The lifting electric cylinder is used to drive the filter frame to lift and vibrate.

9. The fruit-falling collection device according to any one of claims 1-4 or any one of claims 6-8, characterized in that: The sorting and collecting mechanism includes a sorting frame connected to a base. The sorting frame is provided with a top sorting plate, a middle sorting plate and a bottom sorting plate from top to bottom. The top sorting plate is provided with an array of first perforated holes, and the middle sorting plate is provided with an array of second perforated holes. The diameter of the first perforated hole is larger than the diameter of the second perforated hole. The sorting rack is equipped with a direct vibration device that can drive the sorting rack to vibrate. The base is equipped with a detachable first collection frame, a second collection frame, and a third collection frame. The first collection frame is connected to the end of the top layer sorting filter plate, the second collection frame is connected to the end of the middle layer sorting filter plate, and the third collection frame is connected to the end of the bottom layer sorting plate.

10. The fruit-falling collection device according to claim 9, characterized in that: The sorting rack is equipped with four vibration buffer mechanisms, which are distributed at the four corners of the sorting rack. The vibration damping mechanism includes a damping fixed seat, a damping elastic element, and a damping guide seat. The damping fixed seat is connected to the machine base, the damping guide seat is connected to the sorting frame, and the two ends of the damping elastic element are respectively connected to the damping fixed seat and the damping guide seat. The buffer fixing seat is provided with a guide bar, and a guide slider is provided at one end of the guide bar away from the buffer fixing seat. The buffer guide seat is provided with a guide groove, and the guide slider extends into the guide groove and slides in cooperation with the guide groove.

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