CN106385980A - Equipment for automatically picking up cherries - Google Patents
Equipment for automatically picking up cherries Download PDFInfo
- Publication number
- CN106385980A CN106385980A CN201611038766.4A CN201611038766A CN106385980A CN 106385980 A CN106385980 A CN 106385980A CN 201611038766 A CN201611038766 A CN 201611038766A CN 106385980 A CN106385980 A CN 106385980A
- Authority
- CN
- China
- Prior art keywords
- motor
- box assembly
- chassis
- container
- motor box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 241000167854 Bourreria succulenta Species 0.000 title claims abstract description 30
- 235000019693 cherries Nutrition 0.000 title claims abstract description 30
- 230000001681 protective effect Effects 0.000 claims abstract description 17
- 239000004744 fabric Substances 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims abstract description 6
- 230000010355 oscillation Effects 0.000 claims abstract description 4
- 238000003306 harvesting Methods 0.000 claims description 9
- 239000000835 fiber Substances 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 2
- 238000012856 packing Methods 0.000 abstract 4
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Drying Of Solid Materials (AREA)
- Walking Sticks, Umbrellas, And Fans (AREA)
Abstract
The invention discloses equipment for automatically picking up cherries. The equipment consists of a chassis, wheels, a first packing box, a first motor box assembly, a CCD (Charge Coupled Device), an oscillation assembly, a second motor box assembly, a second packing box, a controller, a stepping motor, a gear, a sliding sleeve, an air cylinder protective case, an air cylinder, a pneumatic gripper, a vibration exciter, a motor case, an umbrella pole and umbrella cloth. The equipment disclosed by the invention has the beneficial effects that the CDD has a visual identification function and can be used for identifying the position of a cherry tree; the equipment is moved to the front of the cherry tree by the wheels; the air cylinder drives the pneumatic gripper to clamp a trunk of the cherry tree; the pneumatic gripper drives the trunk to vibrate under the action of the vibration exciter, and thereby the cherries fall on the unfolded umbrella cloth, and slide into the first packing box or the second packing box; a whole process is highly automatic, and no manual operation is needed, so that manpower and material resources are saved, and quickness and high efficiency are realized.
Description
Technical field
The present invention relates to a kind of equipment of automatic harvesting cherry, specifically employ vibrator, cylinder is gentle starts
Pawl coordinates, and cherry tree is carried out apply a kind of automation equipment that vibration force plucks cherry by visual identity, belongs to agricultural
Harvesting field.
Background technology
Cherry is a kind of delicious fruit, but winning after its maturation work is very loaded down with trivial details, at present, winning cherry still needs
Will substantial amounts of manpower, annual five Junes, large stretch of cherry tree is ripe, and cherry is little and fragile and the scattered feature of branch,
Make the efficiency that manpower is won by hand very low, therefore, at present in the urgent need to a kind of equipment, manpower can be replaced to cherry tree
Carry out winning work, mitigate heavy manual labor, but also not this kind equipment in the market.
Content of the invention
For above-mentioned deficiency, the invention provides a kind of equipment of automatic harvesting cherry.
The present invention is achieved by the following technical solutions：A kind of equipment of automatic harvesting cherry, be by chassis, wheel,
First container, the first motor box assembly, CCD, oscillation component, the second motor box assembly, the second container, controller, stepper motor,
Gear, sliding sleeve, cylinder protective case, cylinder, Pneumatic paw, vibrator, motor casing, umbrella stem and umbrella cloth composition, under described chassis
4 wheels are installed, the first container and the second container are arranged on chassis upper surface, and the first motor box assembly is pacified near the first container
It is contained in the upper surface on chassis, the second motor box assembly is arranged on the upper surface on chassis near the second container, and vibration component is arranged on
The upper surface on chassis, positioned at the centre of the first motor box assembly and the second motor box assembly, CCD is arranged on the one side on chassis,
Described vibration component is made up of sliding sleeve, cylinder protective case, cylinder, Pneumatic paw and vibrator, and cylinder outer layer is provided with gas
Cylinder protective case, cylinder protective case is nested in sliding sleeve, and cylinder is provided with Pneumatic paw, and vibrator connects the side of cylinder protective case, institute
The the second motor box assembly stated is made up of motor casing, umbrella stem, umbrella cloth, stepper motor and gear, and the top of motor casing is installed
2 umbrella stem, stepper motor and gear is had to be arranged on the inside of motor casing, gear is nibbled with stepper motor and is harmonious, and the axle portion of gear is worn
Cross motor casing top to be connected with wherein umbrella stem, another maintains static, the first motor box assembly and the second motor housing group
Part has identical structure, and controller is arranged on chassis.
Described umbrella cloth is fibers material, and for sector when all launching, bottom constitutes a semicircular leak with two umbrella stem,
Leak bottom is container.
Described umbrella stem is arcuate structure, makes the umbrella cloth being arranged between two umbrella stem have the upper and lower gradient during expansion.
The usefulness of this invention is that CCD has visual identity function, the position of recognizable cherry tree, and passes through wheel
Before equipment movement to cherry tree, drive Pneumatic paw to hold cherry trunk by cylinder, make gas in the presence of vibrator
Start pawl drive trunk vibration so that cherry drops on the umbrella cloth of expansion, slip in the first container or the second container, entirely
Process is increasingly automated, need not manually operate, use manpower and material resources sparingly, quickness and high efficiency.
Brief description
Accompanying drawing 1 is the structural representation of the present invention,
Structural representation when accompanying drawing 2 works for the present invention,
Accompanying drawing 3 is the structural representation of vibration component,
Accompanying drawing 4 is the structural representation of the second motor box assembly,
Accompanying drawing 5 is the structural representation of motor and gear.
In figure, 1, chassis, 2, wheel, the 3, first container, the 4, first motor box assembly, 5, CCD, 6, vibration component, 7,
Two motor box assemblies, the 8, second container, 9, controller, 10, stepper motor, 11, gear, 601, sliding sleeve, 602, cylinder protective case,
603rd, cylinder, 604, Pneumatic paw, 605, vibrator, 701, motor casing, 702, umbrella stem, 703, umbrella cloth.
Specific embodiment
A kind of equipment of automatic harvesting cherry, be by chassis 1, wheel 2, the first container 3, the first motor box assembly 4,
CCD5, oscillation component 6, the second motor box assembly 7, the second container 8, controller 9, stepper motor 10, gear 11, sliding sleeve 601, gas
Cylinder protective case 602, cylinder 603, Pneumatic paw 604, vibrator 605, motor casing 701, umbrella stem 702 and umbrella cloth 703 composition, described
Chassis 1 under 4 wheels 2 are installed, the first container 3 and the second container 8 are arranged on chassis 1 upper surface, the first motor box assembly 4
It is arranged on the upper surface on chassis 1 near the first container 3, the second motor box assembly 7 is arranged on the upper of chassis 1 near the second container 8
Surface, vibration component 6 is arranged on the upper surface on chassis 1, positioned at the centre of the first motor box assembly 4 and the second motor box assembly 7,
CCD5 is arranged on the one side on chassis 1, and described vibration component 6 is by sliding sleeve 601, cylinder protective case 602, cylinder 603, pneumatic hand
Pawl 604 and vibrator 605 composition, cylinder 603 outer layer is provided with cylinder protective case 602, and cylinder protective case 602 is nested in sliding sleeve 601
Interior, cylinder 603 is provided with Pneumatic paw 604, vibrator 605 connects the side of cylinder protective case 602, described the second motor housing
Assembly 7 is made up of motor casing 701, umbrella stem 702, umbrella cloth 703, stepper motor 10 and gear 11, the top peace of motor casing 701
Equipped with 2 umbrella stem 702, stepper motor 10 and gear 11 are arranged on the inside of motor casing 701, and gear 11 nibbles phase with stepper motor 10
Close, the axle portion of gear 11 is connected through motor casing 701 top with wherein umbrella stem 702, and another maintains static, the first electricity
Chassis component 4 has identical structure with the second motor box assembly 7, and controller 9 is arranged on chassis 1.
Described umbrella cloth 703 is fibers material, and for sector when all launching, it is semicircle that bottom and two umbrella stem 702 constitute one
Leak, leak bottom be container.
Described umbrella stem 702 is arcuate structure, so that the umbrella cloth 703 being arranged between two umbrella stem 702 is had up and down during expansion
The gradient.
When using, CCD5 can recognize that the particular location of cherry trunk to this device, and positional information is sent to control
Device 9, controller 9 controls wheel 2 to drive whole machine to move to before cherry tree according to positional information, and now cylinder 603 stretches out, pneumatic hand
Trunk is caught by pawl 604, and vibrator 605 works immediately, drives cylinder 603 to vibrate with Pneumatic paw 604, thus driving cherry tree
Vibrate, controller 9 controls the stepper motor 10 in the first motor box assembly 4 and the second motor box assembly 7 to rotate simultaneously, makes umbrella stem
702 drive umbrella cloths 703 launch, and receive due to vibrating the cherry falling down, so that cherry is slipped in two containers.
For the ordinary skill in the art, according to the teachings of the present invention, the principle without departing from the present invention with
In the case of spirit, changes, modifications, replacement and modification that embodiment is carried out still fall within protection scope of the present invention it
Interior.
Claims (3)
1. a kind of equipment of automatic harvesting cherry, is by chassis, wheel, the first container, the first motor box assembly, CCD, set of oscillations
Part, the second motor box assembly, the second container, controller, stepper motor, gear, sliding sleeve, cylinder protective case, cylinder, Pneumatic paw,
Vibrator, motor casing, umbrella stem and umbrella cloth composition it is characterised in that being provided with 4 wheels, the first container under described chassis
It is arranged on chassis upper surface with the second container, the first motor box assembly is arranged on the upper surface on chassis near the first container, second
Motor box assembly is arranged on the upper surface on chassis near the second container, and vibration component is arranged on the upper surface on chassis, positioned at first
Motor box assembly and the centre of the second motor box assembly, CCD is arranged on the one side on chassis, and described vibration component is by sliding
Set, cylinder protective case, cylinder, Pneumatic paw and vibrator composition, cylinder outer layer is provided with cylinder protective case, and cylinder protective case is nested in
In sliding sleeve, cylinder is provided with Pneumatic paw, vibrator connects the side of cylinder protective case, the second described motor box assembly be by
Motor casing, umbrella stem, umbrella cloth, stepper motor and gear composition, the top of motor casing is provided with 2 umbrella stem, stepper motor and tooth
Wheel is arranged on the inside of motor casing, and gear is nibbled with stepper motor and is harmonious, and the axle portion of gear passes through motor casing top and wherein one
Umbrella stem is connected, and another maintains static, and the first motor box assembly has identical structure with the second motor box assembly, and controller is pacified
It is contained on chassis.
2. the equipment of a kind of automatic harvesting cherry described as claimed in claim 1 is it is characterised in that umbrella cloth is chemical fibre material
Material, for sector when all launching, bottom constitutes a semicircular leak with two umbrella stem, and leak bottom is container.
3. the equipment of a kind of automatic harvesting cherry described as claimed in claim 1 is it is characterised in that described umbrella stem is arc
Shape structure, makes the umbrella cloth being arranged between two umbrella stem have the upper and lower gradient during expansion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611038766.4A CN106385980B (en) | 2016-11-23 | 2016-11-23 | A kind of equipment of automatic picking cherry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611038766.4A CN106385980B (en) | 2016-11-23 | 2016-11-23 | A kind of equipment of automatic picking cherry |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106385980A true CN106385980A (en) | 2017-02-15 |
| CN106385980B CN106385980B (en) | 2019-08-13 |
Family
ID=58081936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611038766.4A Active CN106385980B (en) | 2016-11-23 | 2016-11-23 | A kind of equipment of automatic picking cherry |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106385980B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106941878A (en) * | 2017-04-06 | 2017-07-14 | 江西农业大学 | A kind of rotary rubber roll-type camellia oleifera fruit combine |
| CN110366949A (en) * | 2019-07-15 | 2019-10-25 | 山东省农业机械科学研究院 | Drupe harvester carries device |
| WO2021130399A1 (en) * | 2019-12-27 | 2021-07-01 | Victor Embarba Pinilla | Fruit-harvesting machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5191758A (en) * | 1991-09-11 | 1993-03-09 | Continental Wholesale Florists, Inc. | Method and apparatus for nut harvesting |
| CN201216070Y (en) * | 2008-07-07 | 2009-04-08 | 新疆农垦科学院农机研究所 | Reverse umbrella shaped fruit receiving apparatus |
| CN205142906U (en) * | 2015-12-01 | 2016-04-13 | 南阳理工学院 | Invert umbrella -type formula woods fruit and vibrate mechanism that gathers |
| CN206547356U (en) * | 2016-11-23 | 2017-10-13 | 李海祯 | A kind of equipment of automatic harvesting cherry |
-
2016
- 2016-11-23 CN CN201611038766.4A patent/CN106385980B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5191758A (en) * | 1991-09-11 | 1993-03-09 | Continental Wholesale Florists, Inc. | Method and apparatus for nut harvesting |
| CN201216070Y (en) * | 2008-07-07 | 2009-04-08 | 新疆农垦科学院农机研究所 | Reverse umbrella shaped fruit receiving apparatus |
| CN205142906U (en) * | 2015-12-01 | 2016-04-13 | 南阳理工学院 | Invert umbrella -type formula woods fruit and vibrate mechanism that gathers |
| CN206547356U (en) * | 2016-11-23 | 2017-10-13 | 李海祯 | A kind of equipment of automatic harvesting cherry |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106941878A (en) * | 2017-04-06 | 2017-07-14 | 江西农业大学 | A kind of rotary rubber roll-type camellia oleifera fruit combine |
| CN106941878B (en) * | 2017-04-06 | 2023-03-03 | 江西农业大学 | Rotary rubber roller type combined oil tea fruit harvester |
| CN110366949A (en) * | 2019-07-15 | 2019-10-25 | 山东省农业机械科学研究院 | Drupe harvester carries device |
| CN110366949B (en) * | 2019-07-15 | 2021-07-23 | 山东省农业机械科学研究院 | Receiving device of kernel fruit harvester |
| WO2021130399A1 (en) * | 2019-12-27 | 2021-07-01 | Victor Embarba Pinilla | Fruit-harvesting machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106385980B (en) | 2019-08-13 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190718 Address after: 325000 Room 308, Building 15, Dengfeng, Huanglong Residential Area, Shuangyu Street, Lucheng District, Wenzhou City, Zhejiang Province Applicant after: Liu Shuiyu Address before: Fengming Road District of Ji'nan City, the development of the port in Shandong province 250101 Shandong Jianzhu University No. 1000 Applicant before: Li Haizhen |
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| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200318 Address after: 233000 Room 301, building 6, Shangli University Science Park, No. 8319, Huangshan Avenue, high tech Zone, Bengbu City, Anhui Province Patentee after: Anhui huajingdao Technology Service Co.,Ltd. Address before: 325000 Room 308, Building 15, Dengfeng, Huanglong Residential Area, Shuangyu Street, Lucheng District, Wenzhou City, Zhejiang Province Patentee before: Liu Shuiyu |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240624 Address after: No. 126 Kanggezhuang Village, Dongba Township, Chaoyang District, Beijing, 100020 Patentee after: Xiao Chunxu Country or region after: China Address before: 8319 Huangshan Avenue, high tech Zone, Bengbu City, Anhui Province Patentee before: Anhui huajingdao Technology Service Co.,Ltd. Country or region before: China |
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| TR01 | Transfer of patent right |