CN108284074A - A kind of screening plant of citrus picking robot - Google Patents
A kind of screening plant of citrus picking robot Download PDFInfo
- Publication number
- CN108284074A CN108284074A CN201711487484.7A CN201711487484A CN108284074A CN 108284074 A CN108284074 A CN 108284074A CN 201711487484 A CN201711487484 A CN 201711487484A CN 108284074 A CN108284074 A CN 108284074A
- Authority
- CN
- China
- Prior art keywords
- plate
- splicing
- conveyer belt
- rank
- trolley
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
- B07C5/24—Sorting according to weight using moving weighing mechanisms, e.g. moving along a circular path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
Landscapes
- Sorting Of Articles (AREA)
Abstract
The invention discloses a kind of screening plants of citrus picking robot, including stuff chest, the conveyer belt being set in stuff chest, it is provided along its length several partition boards on conveyer belt and conveyer belt is separated into equidistant several splicing regions, it is equipped with the slideway vertical with conveyer belt length direction on each splicing region, splicing trolley is slidably connected on slideway；Splicing trolley is equipped with the driving motor for driving its movement, weighing sensor, control module, position sensor；In splicing region three rank regions are divided into along slideway direction；Weighing sensor is for weighing the weight for falling into citrus in splicing trolley, and weight information is transferred to control module, it presets in control module there are three weight range value corresponding with each rank region respectively, the weight range value that control module is fallen into according to the weight information received drives splicing trolley to be moved to corresponding rank region.Screening plant provided by the invention carries out categorised collection by weight to the fruit of picking robot.
Description
Technical field
The present invention relates to agricultural mechanical fields, and in particular to a kind of screening plant of citrus picking robot.
Background technology
Fruits and vegetables harvest is a kind of labor-intensive work, in many countries, due to aging of population and agricultural workforce
Increasingly lack, labor cost increases.Fruit and vegetable picking operation be link most time-consuming, most laborious in current fruits and vegetables production chain it
One, the quality for picking operation quality directly influences subsequent processing and storage.Due to picking the complexity of operation, picking is automatic
Change degree is still very low, and country's fruit picking is substantially artificial progress at present.
Invention content
The object of the present invention is to provide a kind of screening plants of citrus picking robot, and weight is pressed to the fruit of picking robot
It measures size and carries out categorised collection.
To achieve the goals above, the technical solution adopted by the present invention is：
A kind of screening plant of citrus picking robot, it is characterised in that：Including elongated stuff chest, along stuff chest length direction
It is arranged and is set to the cycloconveyor belt in stuff chest, the both ends of stuff chest length direction are respectively equipped with the conveying of connection conveyer belt
Roller is provided along its length several partition boards on conveyer belt and conveyer belt is separated into equidistant several splicing regions, each material receiving area
It is equipped with the slideway vertical with conveyer belt length direction on domain, splicing trolley, splicing trolley and slideway are slidably connected on slideway
It is fixedly connected in vertical direction；Splicing trolley is equipped with the driving motor for driving its movement, weighing sensor, control module, position
Set inductor；Three rank regions are divided into along slideway direction in splicing region, each rank region is respectively equipped with and location sensitive
The corresponding location indentifier of device；Weighing sensor passes weight information for weighing the weight for falling into citrus in splicing trolley
It is defeated by control module, presets that there are three weight range value corresponding with each rank region respectively, control module roots in control module
The weight range value fallen into according to the weight information received drives the splicing trolley to be moved to corresponding rank region, works as splicing
When trolley is empty wagons, control module driving splicing trolley is moved to the rank region of the centre in three rank regions；In conveyer belt
Initial end be equipped with feed inlet, be equipped with three splicing bags corresponding with each rank region respectively in the end of conveyer belt；Feed inlet
Discharging direction towards three rank regions centre rank region setting.
The present invention is further arranged to, and the slideway is equipped with rack, the output gear of driving motor and the rack
Engagement.
The present invention is further arranged to, and the splicing trolley includes flat body part, body part and slideway
It is slidably connected, receiving hopper is equipped on the upside of body part, is connect, is connect with body part by spring at four angles of receiving hopper bottom
The bottom surface of hopper inner cavity is equipped with weighing sensor, and weighing sensor is equipped with Support tray, and the Support tray is horn-like.
The present invention is further arranged to, and the tube body that the feed inlet is vertically arranged by one is formed, and tube body is equipped with interval
Feeding distribution mechanism, interval feeding distribution mechanism include upper cut-off plate and lower cut-off plate that two pieces of levels are plugged on tube body, upper cut-off plate with
Lower cut-off plate interval setting, upper cut-off plate and lower cut-off plate are slidably connected with tube body, are set between upper cut-off plate and lower cut-off plate
There is rotatable driving gear, the drive rack engaged with the driving gear is respectively equipped on upper cut-off plate and lower cut-off plate.
The present invention is further arranged to, and further includes one in tube body and the bag body of both ends open, bag body are located at upper section
Only on the upside of plate, the edge of the upper opening of bag body is connected on inboard wall of tube body, and beam mouth rope sling, beam mouth are connected on the under shed of bag body
Rope sling is connect with upper cut-off plate, when upper cut-off plate is mobile to tube body outside, the under shed of bag body can be sealed by beam mouth rope sling.
The present invention is further arranged to, and the beam mouth rope sling is spring rope.
The present invention is further arranged to, and the weight range value includes 20-49g, 50-80g, 81-150g.
Beneficial effects of the present invention：The screening plant of citrus picking robot provided by the present invention, by three weight
Citrus is screened in big minizone, just carries out categorised collection to citrus when picking, convenient for follow-up citrus packaging
Processing.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the vertical view of conveyer belt of the present invention and splicing trolley；
Fig. 3 is the side view of conveyer belt of the present invention and splicing trolley；
Fig. 4 is one of the structural schematic diagram of present invention interval feeding distribution mechanism；
Fig. 5 is the second structural representation of present invention interval feeding distribution mechanism.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
Below with reference to Fig. 1 to Fig. 5, the present invention will be described.
A kind of screening plant of citrus picking robot, including elongated stuff chest 1 are arranged along 1 length direction of stuff chest
And it is set to the cycloconveyor belt 2 in stuff chest 1, the both ends of 1 length direction of stuff chest are respectively equipped with the conveying of connection conveyer belt 2
Roller 3 further includes the driving device for driving conveying roller 3 to rotate, is worked by 3 driving conveying belt 2 of conveying roller.
It is provided along its length several partition boards 4 on conveyer belt 2 and conveyer belt 2 is separated into equidistant several splicing regions 5,
It is equipped with the slideway 6 vertical with 2 length direction of conveyer belt on each splicing region 5, slidably connects splicing trolley 7 on slideway 6, connects
Trolley 7 is fixedly connected with slideway 6 in vertical direction, prevents splicing trolley 7 from deviating from conveyer belt 2 when being moved with conveyer belt 2；It connects
Trolley 7 is equipped with the driving motor 8 for driving its movement, weighing sensor 9, control module, position sensor 10；Splicing region
Three rank regions 11 are divided into along 6 direction of slideway in 5, each rank region 11 is respectively equipped with position corresponding with position sensor 10
Set identifier 12；Weight information is transferred to control by weighing sensor 9 for weighing the weight for falling into citrus in splicing trolley 7
Molding block is preset in control module there are three weight range value corresponding with each rank region 11 respectively, and control module is according to connecing
The weight range value that the weight information received is fallen into drives the splicing trolley 7 to be moved to corresponding rank region 11, works as splicing
When trolley 7 is empty wagons, control module driving splicing trolley 7 is moved to the rank region 11 of the centre in three rank regions 11；
The initial end of conveyer belt 2 is equipped with feed inlet 13, is connect equipped with three corresponding with each rank region 11 respectively in the end of conveyer belt 2
Material bag 14；The rank region 11 of the discharging direction of feed inlet 13 towards the centre in three rank regions 11 is arranged.
It is as follows to the sieving and grading process of citrus by using above-mentioned technical proposal：
（1）First, the citrus of picking falls into the splicing trolley 7 being parked on centrally located rank region 11 from feed inlet 13
In；
（2）Weighing sensor 9 on splicing trolley 7 weighs the weight information of citrus, and weight information is sent to control mould
Block；
（3）Control module is compared the weight information received with the weight range value being previously set, and determines that it is fallen into
Corresponding level region 11, control module drive driving motor 8 work；
（4）Driving motor 8 drives splicing trolley 7 to move to corresponding rank region 11, and position sensor 10 senses respective stages
The stop motion when location indentifier 12 in other region 11；
（5）At this point, splicing trolley 7 is moved with conveyer belt 2, until citrus is poured into corresponding splicing bag when 2 end of conveyer belt
In 14；
（6）Weighing sensor 9, which senses in splicing trolley 7, does not have citrus, drives splicing trolley 7 to be moved to three by control module
The rank region 11 of the centre in a rank region 11 waits for splicing, such cycle operation.
Slideway 6 is equipped with rack 15, and the output gear 16 of driving motor 8 is engaged with the rack 15, using the technical side
Case can be docked with hour rack 15 with the cooperation of output gear 16 for driving splicing trolley 7 to be moved between three rank regions 11
Trolley 7 plays the role of locking, makes resting on corresponding rank region 11 for the stabilization of splicing trolley 7.
Splicing trolley 7 includes flat body part 71, and body part 71 is slidably connected with slideway 6, body part 71
Upside is equipped with receiving hopper 72, is connect with body part 71 by spring 73 at four angles of 72 bottom of receiving hopper, in receiving hopper 72
The bottom surface of chamber is equipped with weighing sensor 9, and weighing sensor 9 is equipped with Support tray 74, and the Support tray 74 is horn-like.By adopting
With the technical solution, citrus is fallen when on splicing trolley 7, it is small to splicing to be slowed down citrus by the cushioning effect of spring 73
The shock of vehicle 7 ensures the stability of each mechanism work.
The present invention is further arranged to, and the tube body 17 that the feed inlet 13 is vertically arranged by one is formed, and is set on tube body 17
It includes the upper cut-off plate 18 and lower cut-off plate that two pieces of levels are plugged on tube body 17 to have interval feeding distribution mechanism, interval feeding distribution mechanism
19, upper cut-off plate 18 and the setting of lower cut-off plate 19 interval, upper cut-off plate 18 and lower cut-off plate 19 are slidably connected with tube body 17, lead to
The sliding of cut-off plate 18 and lower cut-off plate 19 is crossed to open and close feed inlet 13, between upper cut-off plate 18 and lower cut-off plate 19
Equipped with rotatable driving gear 20, it is respectively equipped on upper cut-off plate 18 and lower cut-off plate 19 and drives gear 20 to engage with described
Drive rack 21.In above-mentioned technical proposal, citrus into between-line spacing sub-material, is above cut by upper cut-off plate 18 and lower cut-off plate 19
Only it is designed to that the spacing distance that can only house a citrus passes through to upper cut-off plate 18 and lower section between plate 18 and lower cut-off plate 19
Only the sub-material one by one to citrus is realized in the staggeredly opening and closing of plate 19.When driving gear 20 to rotate forward, gear is driven
Cut-off plate 18 gets through tube body 17 in 20 drivings, and lower cut-off plate 19 blocks tube body 17, when driving gear 20 to invert, drives gear 20
End plate 18 in driving and block tube body 17, lower cut-off plate 19 gets through tube body 17.
The present invention is further arranged to, and further includes interior set on tube body 17 and both ends open a bag body 22, bag body 22
In 18 upside of upper cut-off plate, the edge of the upper opening of bag body 22 is connected on 17 inner wall of tube body, is connected on the under shed of bag body 22
There are beam mouth rope sling 23, beam mouth rope sling 23 to be connect with upper cut-off plate 18, when upper cut-off plate 18 is mobile to 17 outside of tube body, beam can be passed through
Mouth rope sling 23 seals the under shed of bag body 22.Bag body 22 plays the role of protecting citrus, prevents cut-off plate 18 to tube body 17
Citrus is scraped when interior mobile.The distance between the under shed of upper cut-off plate 18 and bag body 22 is designed to that a citrus can only be housed,
When cut-off plate 18 upper in this way is moved into tube body 17, the under shed of bag body 22 can be opened under the gravity of citrus, citrus
It can fall between cut-off plate 18 and the under shed of bag body 22, at this point, upper cut-off plate 18 is moved to outside tube body 17 again, pull simultaneously
Beam mouth rope sling 23 closes the under shed of bag body 22, and has previously fallen into the citrus between cut-off plate 18 and the under shed of bag body 22
It drops between cut-off plate 18 and lower cut-off plate 19, the completion sub-material so recycled.
The beam mouth rope sling 23 is spring rope, and beam mouth rope sling 23 made of spring rope has preferable restorative, can avoid
Beam mouth rope sling 23 is stuck.
The weight range value includes tri- weight range values of 20-49g, 50-80g, 81-150g, and the citrus of picking is pressed
Classify in above three weight section.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvements and modifications can also be made, above-mentioned hypothesis these
Improvement and modification also should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of screening plant of citrus picking robot, it is characterised in that：Including elongated stuff chest, along stuff chest length side
To being arranged and being set to the cycloconveyor belt in stuff chest, the both ends of stuff chest length direction are respectively equipped with the defeated of connection conveyer belt
Roller is sent, several partition boards are provided along its length on conveyer belt and conveyer belt are separated into equidistant several splicing regions, each splicing
It is equipped with the slideway vertical with conveyer belt length direction on region, splicing trolley, splicing trolley and cunning are slidably connected on slideway
Road is fixedly connected in vertical direction；Splicing trolley be equipped with drive its movement driving motor, weighing sensor, control module,
Position sensor；Three rank regions are divided into along slideway direction in splicing region, each rank region is respectively equipped with to be felt with position
Answer the corresponding location indentifier of device；Weighing sensor is used to weigh the weight for falling into citrus in splicing trolley, and weight information
It is transferred to control module, presets that there are three weight range value corresponding with each rank region respectively, control modules in control module
The weight range value fallen into according to the weight information received drives the splicing trolley to be moved to corresponding rank region, when connecing
When trolley is empty wagons, control module driving splicing trolley is moved to the rank region of the centre in three rank regions；It is conveying
The initial end of band is equipped with feed inlet, and three splicing bags corresponding with each rank region respectively are equipped in the end of conveyer belt；Charging
Rank region setting of the discharging direction of mouth towards the centre in three rank regions.
2. a kind of screening plant of citrus picking robot according to claim 1, it is characterised in that：It is set on the slideway
There are rack, the output gear of driving motor to be engaged with the rack.
3. a kind of screening plant of citrus picking robot according to claim 2, it is characterised in that：The splicing trolley
Including flat body part, body part is slidably connected with slideway, and receiving hopper, receiving hopper bottom are equipped on the upside of body part
Four angles at connect with body part by spring, the bottom surface of receiving hopper inner cavity is equipped with weighing sensor, on weighing sensor
Equipped with Support tray, the Support tray is horn-like.
4. a kind of screening plant of citrus picking robot according to claim 3, it is characterised in that：The feed inlet by
One tube body being vertically arranged is formed, and tube body is equipped with interval feeding distribution mechanism, and interval feeding distribution mechanism is plugged in pipe including two pieces of levels
Upper cut-off plate on body and lower cut-off plate, upper cut-off plate and the setting of lower cut-off plate interval, upper cut-off plate and lower cut-off plate with pipe
Body is slidably connected, and rotatable driving gear is equipped between upper cut-off plate and lower cut-off plate, is divided on upper cut-off plate and lower cut-off plate
The drive rack that She You not be engaged with the driving gear.
5. a kind of screening plant of citrus picking robot according to claim 4, it is characterised in that：Further include one being set to
In tube body and the bag body of both ends open, bag body are located on the upside of upper cut-off plate, and the edge of the upper opening of bag body is connected to inboard wall of tube body
On, beam mouth rope sling is connected on the under shed of bag body, beam mouth rope sling is connect with upper cut-off plate, and upper cut-off plate is mobile to tube body outside
When, the under shed of bag body can be sealed by beam mouth rope sling.
6. according to a kind of screening plant of citrus picking robot described in claim 5, it is characterised in that：The beam mouth rope sling is
Spring rope.
7. according to a kind of screening plant of citrus picking robot of claim 1-6 any one of them, it is characterised in that：It is described heavy
It includes 20-49g, 50-80g, 81-150g to measure value range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711487484.7A CN108284074B (en) | 2017-12-30 | 2017-12-30 | A kind of screening plant of citrus picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711487484.7A CN108284074B (en) | 2017-12-30 | 2017-12-30 | A kind of screening plant of citrus picking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108284074A true CN108284074A (en) | 2018-07-17 |
| CN108284074B CN108284074B (en) | 2019-09-20 |
Family
ID=62820086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711487484.7A Active CN108284074B (en) | 2017-12-30 | 2017-12-30 | A kind of screening plant of citrus picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108284074B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020034943A1 (en) * | 2018-08-16 | 2020-02-20 | 菜鸟智能物流控股有限公司 | Sorting apparatus, sorting method, and sorting control device |
| CN113247533A (en) * | 2021-05-22 | 2021-08-13 | 徐州建滔能源有限公司 | Coke loading attachment |
| CN114653607A (en) * | 2022-04-19 | 2022-06-24 | 无锡迅杰光远科技有限公司 | Fruit and vegetable sorting system and tray |
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| KR20150131553A (en) * | 2014-05-15 | 2015-11-25 | 오석용 | Sorting apparatus for fruit |
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| CN107262384A (en) * | 2017-07-14 | 2017-10-20 | 浙江兴昌轴承有限公司 | A kind of steel ball detects screening plant |
| CN107455086A (en) * | 2017-08-21 | 2017-12-12 | 安徽信息工程学院 | A kind of fruit picking grader and its control method |
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| CN1394699A (en) * | 2002-08-03 | 2003-02-05 | 浙江大学 | Fruit quality real time detection and grading robot system |
| CN201279510Y (en) * | 2008-09-17 | 2009-07-29 | 赖安祥 | Weight sorting device |
| KR20150131553A (en) * | 2014-05-15 | 2015-11-25 | 오석용 | Sorting apparatus for fruit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020034943A1 (en) * | 2018-08-16 | 2020-02-20 | 菜鸟智能物流控股有限公司 | Sorting apparatus, sorting method, and sorting control device |
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| CN114653607A (en) * | 2022-04-19 | 2022-06-24 | 无锡迅杰光远科技有限公司 | Fruit and vegetable sorting system and tray |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108284074B (en) | 2019-09-20 |
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