CN108639424A - Anti- stack carries boxing apparatus on a kind of minitype fruits picking robot - Google Patents
Anti- stack carries boxing apparatus on a kind of minitype fruits picking robot Download PDFInfo
- Publication number
- CN108639424A CN108639424A CN201810491931.4A CN201810491931A CN108639424A CN 108639424 A CN108639424 A CN 108639424A CN 201810491931 A CN201810491931 A CN 201810491931A CN 108639424 A CN108639424 A CN 108639424A
- Authority
- CN
- China
- Prior art keywords
- fruit
- conveyer belt
- picking robot
- boxing apparatus
- minitype fruits
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
- B65B25/04—Packaging fruit or vegetables
- B65B25/046—Packaging fruit or vegetables in crates or boxes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/101—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by gravity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Agronomy & Crop Science (AREA)
Abstract
The invention discloses anti-stacks on a kind of minitype fruits picking robot to carry boxing apparatus, it is related to mechanization in industrialized agriculture, automatic field, including fruit conveyer belt, fruit dispersion boxing mechanism, fruit case position adjusting mechanism, supporting mechanism and control system.The fruit conveyer belt is driven by servo motor, has strip projected parts on conveyer belt, is prevented directly falling for fruit, while upper equipped with height tunable arrangement, can be adjusted shipping height and angle according to actual needs；Fruit is disperseed by the fruit dispersion boxing mechanism by centrifugal force by opening, falls into separation disk, then fallen into fruit case below by porous type entrance thereon；With special fruit tank tower to place fruit case in the fruit case position adjusting mechanism, the screw lifting device of bottom can be such that fruit case is jacked up, and move up and down along guide rail.Anti- stack carries that boxing apparatus is easy to operate on a kind of minitype fruits picking robot, easy to use, it can be achieved that the unmanned and automation that fruit is cased on fruit picking robot.
Description
Technical field
The present invention discloses the anti-stack handling device of fruit on a kind of minitype fruits picking robot, more particularly to agriculture machine
The anti-stacking handling device of rear fruit is plucked in device people, belongs to agricultural machinery technological field.
Background technology
Production of fruit main body in China's is all the peasant household of some small scales and dispersion at present.Production scale is less than normal, for many
Lack management enthusiasm because cultivated area is small for peasant household.Production of fruit small scale is brought of high cost, and industrialization level is low, difficult
To form the advantage of scale and scale and benefit, to hinder comprehensive input and the development of industry.Meanwhile China's Production of fruit is mating
Introduction, innovation, the research of technology seriously lag behind the demand of industry development, these factors all restrict the development of fruit industry.
Carrying vanning after fruit picking is not only related to the fruit quality of fruit itself, while also to fruit picking
Device task efficiency important, the mode not only inefficiency, and labor of the existing man power encasement largely taken
Fatigue resistance is larger, and operation is heavy, is unfavorable for realizing the automation of Production of fruit operation.Therefore, a fruit is developed to remove automatically
Transportation box machine is conducive to mitigate the labor intensity of orchard worker's operation.
Invention content
The problems such as in the prior art, the degree of automation is low, and fruit mechanical damage degree is higher, the purpose of the present invention exists
It is relatively artificial to carry in providing anti-stack handling device on minitype fruits picking robot, automation mechanized operation is realized, significantly
Efficiency is improved, cost of labor is reduced, while reducing fruit damage ratio, the machinery carried after being plucked for realization needle minitype fruits
Change, automation and intelligence provide condition.
The technical scheme adopted by the invention to solve the technical problem is that：
On minitype fruits picking robot anti-stack handling device include fruit transmission belt, fruit dispersion boxing mechanism,
Fruit case position adjusting mechanism, supporting mechanism and control system.
It is characterized in that：The fruit conveyer belt is by servo motor, strip projected parts, height adjustment device, fruit conveyer belt
And feed belt composition.The strip projected parts having on fruit conveyer belt prevent fruit from directly falling and cause mechanical damage, fruit
Conveyer belt uses flexible buffer material, lowers and makes scratch due to fruit and conveyer belt collide with during transport, while height is adjusted
Corresponding transmission height and angle can be adjusted by regulating device according to actual needs.Feed belt is driven by motor, realizes cycle
Operating.
Fruit dispersion vanning structure exports by rotary fruit, porous type duct board, motor form.Rotary fruit
It exports and transports the fruit to come to accept from fruit conveyer belt, sent fruit to porous type entrance respectively by rotating
Locate, then fruit is fallen to via pipeline inside the fruit case of lower section.
The fruit case position adjusting mechanism by fruit case, removable fruit boxboard, weight sensor, screw lifting device,
Motor form.When fruit is fallen into fruit case, after reaching setting weight after one layer of tiling, fruit case position is carried out phase by electric motor starting
It should adjust.
The supporting mechanism is located at below fruit transmission belt, by the fixed fruit transmission belt of support, realize fruit transmission belt with
Connection between fruit case position adjusting mechanism.
The beneficial effects of the invention are as follows：
The present apparatus realizes that fruit, to the transportational process of fruit case, while can also be completed fruit by picking end effector
Case is by picking robot vehicle body up to the handling process on ground.Fruit conveyer belt reaches the subsequent transportation after fruit, Bu Huifa
The neglected loading of fruit grown.Sensor realizes that the real-time detection to fruit case weight, control system are precisely controlled whole device realization.It is whole
A mechanism passes through fruit conveyer belt, fruit dispersion boxing mechanism, fruit case position adjusting mechanism, supporting mechanism and control system is whole
It closes, to realize the mechanization for carrying vanning after fruit is plucked, automation.Automatic transporting on the minitype fruits picking robot
Boxing apparatus picks the high efficiency of harvest industry for realization minitype fruits, intelligence provides condition.
Description of the drawings
Fig. 1 is the whole knot that anti-stack carries boxing apparatus on a kind of minitype fruits picking robot provided by the invention
Structure schematic diagram；
Fig. 2 is fruit conveyer structure schematic diagram provided by the invention；
Fig. 3 is that fruit provided by the invention disperses boxing mechanism schematic diagram；
Fig. 4 is separation disk schematic top plan view provided by the invention；
Fig. 5 is fruit case position adjusting mechanism schematic diagram provided by the invention
Drawing reference numeral explanation：1-conveyer belt, 2-support plates 1,3-4-rotating devices of height adjustment device, 5-separation
Disk, 6-screw lifting devices, 7-support plates 2,8-chest framves, 9-guide rails, 10-support plates 3,11-links, 12-
Strip projected parts, 13-porous type entrances, 14-fruit casees.
Specific implementation mode
It includes fruit conveyer belt, fruit that referring to Fig. 1, on a kind of minitype fruits picking robot, anti-stack, which carries boxing apparatus,
Real dispersion boxing mechanism, fruit case position adjusting mechanism, supporting mechanism and control system.
Fruit conveyer belt 1 is driven by servo motor, has strip projected parts 12 on conveyer belt, prevents directly falling for fruit,
Cause fruit bruising, simultaneously support on plate 2 be equipped with height tunable arrangement 3, can adjust according to actual needs shipping height and
Angle is rotated by motor and conveyer belt is driven to transport fruit when fruit is transported to conveyer belt, and fruit is made to fall into fruit dispersion
In boxing mechanism.
It is mainly made of rotating device 4 and separation disk 5 in fruit dispersion boxing mechanism, fruit falls into rotating device
In, rotating device drives rotation by the motor being disposed below in support plate 10, is disperseed fruit by opening by centrifugal force
Go out, falls into separation disk 5, then fallen into fruit case below by the porous type entrance 14 in separation disk 5.
Has special fruit tank tower 8 in fruit case position adjusting mechanism to place fruit case, the screw lifting device 6 of bottom
Fruit case can be made to be jacked up, move up and down along guide rail 9, fruit distance of fall can be made to be maintained in a stable numberical range,
Reduce its collsion damage.
Anti- stack is carried boxing apparatus and is realized in fruit picking robot on a kind of minitype fruits picking robot
On the basis of will pluck after case and fruit case loading and unloading mechanization, automation.
Claims (5)
1. anti-stack carries boxing apparatus, including fruit transmission belt, fruit dispersion dress on a kind of minitype fruits picking robot
Draw box mechanism, fruit case position adjusting mechanism, supporting mechanism and control system.
2. on minitype fruits picking robot according to claim 1 anti-stack carry boxing apparatus it is characterized in that：
The fruit conveyer belt is made of servo motor, strip projected parts, height adjustment device, fruit conveyer belt and feed belt；Fruit
The strip projected parts having on real conveyer belt prevent fruit from directly falling and cause mechanical damage, and fruit conveyer belt uses flexible buffer material
Material lowers and makes scratch due to fruit and conveyer belt collide with during transport, while height adjustment device can be according to actual needs
Corresponding transmission height and angle are adjusted；Feed belt is driven by motor, realizes cycle operation.
3. on minitype fruits picking robot according to claim 1 anti-stack carry boxing apparatus it is characterized in that：
Fruit dispersion vanning structure exports by rotary fruit, porous type duct board, motor form；Rotary fruit outlet to
It accepts from fruit conveyer belt and transports the fruit to come, sent fruit to porous type entrance respectively by rotating, and consequence
It is real to be fallen to inside the fruit case of lower section via pipeline.
4. on minitype fruits picking robot according to claim 1 anti-stack carry boxing apparatus it is characterized in that：
The fruit case position adjusting mechanism is by fruit case, removable fruit boxboard, weight sensor, screw lifting device, motor form；
When fruit is fallen into fruit case, after reaching setting weight after one layer of tiling, electric motor starting adjusts accordingly fruit case position.
5. on minitype fruits picking robot according to claim 1 anti-stack carry boxing apparatus it is characterized in that：
The supporting mechanism is located at below fruit transmission belt, by the fixed fruit transmission belt of support, realizes fruit transmission belt and fruit case position
Connection between adjustment mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810491931.4A CN108639424A (en) | 2018-05-21 | 2018-05-21 | Anti- stack carries boxing apparatus on a kind of minitype fruits picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810491931.4A CN108639424A (en) | 2018-05-21 | 2018-05-21 | Anti- stack carries boxing apparatus on a kind of minitype fruits picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108639424A true CN108639424A (en) | 2018-10-12 |
Family
ID=63757556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810491931.4A Pending CN108639424A (en) | 2018-05-21 | 2018-05-21 | Anti- stack carries boxing apparatus on a kind of minitype fruits picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108639424A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109250170A (en) * | 2018-10-15 | 2019-01-22 | 巢湖市聚汇遮阳设备科技有限公司 | A kind of sunshade net boxing apparatus |
| CN109911285A (en) * | 2019-03-27 | 2019-06-21 | 华南农业大学 | A kind of orderly automatic packing device of fruit and its method |
| CN110027742A (en) * | 2019-05-31 | 2019-07-19 | 赵东明 | A kind of jumbo bag packing machine |
| CN111619840A (en) * | 2020-06-02 | 2020-09-04 | 浙江黎明智造股份有限公司 | Spring seat packaging machine |
| CN111645941A (en) * | 2020-06-02 | 2020-09-11 | 嘉兴精振科技有限公司 | Be applied to automatic vanning mechanism of screw packing assembly line |
| CN111656964A (en) * | 2020-06-09 | 2020-09-15 | 广东省现代农业装备研究所 | Fruit picking robot |
| CN111816600A (en) * | 2020-08-17 | 2020-10-23 | 成都晔凡科技有限公司 | Battery piece receiving and positioning device |
| CN112010056A (en) * | 2020-07-23 | 2020-12-01 | 北新集团建材股份有限公司 | Short-cut fiber conveying equipment for gypsum board production line and gypsum board production line |
| CN112889473A (en) * | 2021-01-27 | 2021-06-04 | 福州外语外贸学院 | Fresh-keeping device for fruit collection and using method thereof |
| CN114802901A (en) * | 2022-05-10 | 2022-07-29 | 浙江工业大学 | Collection mechanism suitable for apple is picked |
| CN115339710A (en) * | 2022-06-30 | 2022-11-15 | 浙江工业大学之江学院 | Quick packing plant of fresh agricultural product |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59135874A (en) * | 1983-01-22 | 1984-08-04 | Iseki & Co Ltd | Device for removing bag from fruit |
| CN2445875Y (en) * | 2000-09-26 | 2001-09-05 | 杨支钢 | Automatidy feeding areca-nut slicer |
| CN107278515A (en) * | 2016-04-02 | 2017-10-24 | 西北农林科技大学 | A kind of semi-automatic harvesting platform in towed orchard |
| CN107416264A (en) * | 2016-05-23 | 2017-12-01 | 西北农林科技大学 | A kind of fruit boxing apparatus |
| CN207151223U (en) * | 2017-07-04 | 2018-03-30 | 辽宁工业大学 | A kind of indirect labor plucks the device of apple |
-
2018
- 2018-05-21 CN CN201810491931.4A patent/CN108639424A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59135874A (en) * | 1983-01-22 | 1984-08-04 | Iseki & Co Ltd | Device for removing bag from fruit |
| CN2445875Y (en) * | 2000-09-26 | 2001-09-05 | 杨支钢 | Automatidy feeding areca-nut slicer |
| CN107278515A (en) * | 2016-04-02 | 2017-10-24 | 西北农林科技大学 | A kind of semi-automatic harvesting platform in towed orchard |
| CN107416264A (en) * | 2016-05-23 | 2017-12-01 | 西北农林科技大学 | A kind of fruit boxing apparatus |
| CN207151223U (en) * | 2017-07-04 | 2018-03-30 | 辽宁工业大学 | A kind of indirect labor plucks the device of apple |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109250170A (en) * | 2018-10-15 | 2019-01-22 | 巢湖市聚汇遮阳设备科技有限公司 | A kind of sunshade net boxing apparatus |
| CN109911285A (en) * | 2019-03-27 | 2019-06-21 | 华南农业大学 | A kind of orderly automatic packing device of fruit and its method |
| CN110027742A (en) * | 2019-05-31 | 2019-07-19 | 赵东明 | A kind of jumbo bag packing machine |
| CN111619840A (en) * | 2020-06-02 | 2020-09-04 | 浙江黎明智造股份有限公司 | Spring seat packaging machine |
| CN111645941A (en) * | 2020-06-02 | 2020-09-11 | 嘉兴精振科技有限公司 | Be applied to automatic vanning mechanism of screw packing assembly line |
| CN111656964B (en) * | 2020-06-09 | 2021-08-31 | 广东省现代农业装备研究所 | Fruit picking robot |
| CN111656964A (en) * | 2020-06-09 | 2020-09-15 | 广东省现代农业装备研究所 | Fruit picking robot |
| CN112010056A (en) * | 2020-07-23 | 2020-12-01 | 北新集团建材股份有限公司 | Short-cut fiber conveying equipment for gypsum board production line and gypsum board production line |
| CN111816600A (en) * | 2020-08-17 | 2020-10-23 | 成都晔凡科技有限公司 | Battery piece receiving and positioning device |
| CN112889473A (en) * | 2021-01-27 | 2021-06-04 | 福州外语外贸学院 | Fresh-keeping device for fruit collection and using method thereof |
| CN114802901A (en) * | 2022-05-10 | 2022-07-29 | 浙江工业大学 | Collection mechanism suitable for apple is picked |
| CN115339710A (en) * | 2022-06-30 | 2022-11-15 | 浙江工业大学之江学院 | Quick packing plant of fresh agricultural product |
| CN115339710B (en) * | 2022-06-30 | 2024-03-26 | 浙江工业大学之江学院 | Quick packing plant of fresh agricultural product |
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| PB01 | Publication | ||
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Application publication date: 20181012 |