CN109566095A - A kind of automation picking bagging integrated device - Google Patents
A kind of automation picking bagging integrated device Download PDFInfo
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- CN109566095A CN109566095A CN201811452084.7A CN201811452084A CN109566095A CN 109566095 A CN109566095 A CN 109566095A CN 201811452084 A CN201811452084 A CN 201811452084A CN 109566095 A CN109566095 A CN 109566095A
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- bagging
- manipulator
- state
- picked
- frame body
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- 238000010248 power generation Methods 0.000 claims abstract description 15
- 238000007789 sealing Methods 0.000 claims abstract description 8
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 6
- 238000007373 indentation Methods 0.000 claims abstract description 6
- 239000002131 composite material Substances 0.000 claims description 17
- 239000000835 fiber Substances 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 6
- 239000002657 fibrous material Substances 0.000 claims description 5
- 241000252254 Catostomidae Species 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 229920000742 Cotton Polymers 0.000 claims description 3
- -1 basalt Substances 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 239000000919 ceramic Substances 0.000 claims description 3
- 239000003365 glass fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 3
- 238000009313 farming Methods 0.000 abstract description 5
- 230000006870 function Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 16
- 235000013399 edible fruits Nutrition 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000002420 orchard Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- A01D46/24—Devices for picking apples or like fruit
- A01D46/253—Portable motorised fruit pickers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
- A01G13/02—Protective coverings for plants; Coverings for the ground; Devices for laying-out or removing coverings
- A01G13/025—Devices for laying-out or removing plant coverings
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Packaging Of Special Articles (AREA)
Abstract
The invention discloses a kind of automations to pick bagging integrated device, including support rod component, picker or bagging device and photovoltaic power generation apparatus；Picker includes the first frame body, the first manipulator, the first driving mechanism, and cuts handle mechanism；Bagging device includes the second frame body, bagging memory, bag openning body, the second manipulator, the second driving mechanism, and the sack indentation formation of the sheet bagging is realized the enclosed mechanism of sealing by cooperation；Photovoltaic power generation apparatus includes the battery for being set to the rod piece ontology, and the flexible solar power generation film being electrically connected with the battery；The battery provides electric energy needed for work for the picker or the bagging device.Be designed in this way, solve the problems, such as common seed harvester have a single function, the degree of automation degree, picking efficiency it is low, have the advantages that have both high degree of automation, strong applicability and can substantially lighten one's labor in the farming time.
Description
Technical field
The present invention relates to technical field of agricultural mechanical equipment, and in particular to a kind of automation picking bagging integrated device.
Background technique
Production of fruit big country, China and the largest fruit in the world country of consumption.The rapid development of fruit-growing industry improves
The market demand of Machinery for orchard.The ratio that labour used in picking operation accounts for labour used in entire production process is higher, at present
The fruit picking overwhelming majority in China is still based on manually picking.It is more complicated to pick operation, it is seasonal very strong, if user
Work picking, not only low efficiency, the amount of labour are big, but also be easy to cause the damage of fruit, if manpower cannot not enough be picked also in time
It will lead to economic loss.
Currently, in fruit picking field, auxiliary Softening is broadly divided into three kinds: large-scale picking vehicle, picking robot and
Human assistance picking lever.For large-scale picking vehicle, foreign countries have some large-scale picking mechanicals and complicated automation picking dress
It sets, but large-scale picking vehicle has landform and compares strict requirements, by the restriction of environment, while can be to water in picking process
Fruit has certain damage, influences the sale in fruit later period.For picking robot, its operation and maintenance will have quite high
Technical level and expense, far below manually, efficiency is often very low for flexibility, while specific aim of its picking is stronger, for
The range picked for a kind of picking robot is not extensive, and most orchards area is more remote, power supply when labour
More difficult, picking robot general applicability is not strong.For human assistance picking lever, with regard to existing market, picking lever is mostly single
The bar adjusted, and material therefor is more heavy, is not particularly suited for picking for a long time, in picking process very to the physical fitness requirement of people
Height can seriously affect the efficiency of picking.Furthermore general material all common manifestations go out labourer after a period of use, occur
The case where abrasion, is larger, has deepened cost when farming.
Gu needing one kind to have both high degree of automation, strong applicability and can substantially lighten one's labor in the farming time
The automation seed harvester of advantage.
Summary of the invention
Therefore, the technical problem to be solved in the present invention is that overcoming auxiliary picker in the prior art, the practicability is poor
Defect, to provide a kind of automation picking bagging integrated device.
In order to solve the above technical problems, technical scheme is as follows:
A kind of automation picking bagging integrated device, comprising:
Support rod component, including height is adjustable and the rod piece ontology made of composite material；
Picker is set to first frame body and tool including the first frame body being detachably connected with the rod piece ontology
There is the first state for holding product and unclamp the first manipulator of the second state of product, generates and first manipulator is driven to exist
First driving mechanism of the active force converted between the first state and second state, and work as first manipulator
When in first state, cut the carpopodium for connecting the product cut handle mechanism；Or
Bagging device is set on second frame body, uses including the second frame body being detachably connected with the rod piece ontology
In storing and provide the bagging memory of sheet bagging, positioned at the bagging memory bagging outlet end two sides and cooperate opening
The bag openning body of the sack of the sheet bagging set on second frame body and has the separated third state and mutually leans on
Hold together to tighten the second manipulator of the 4th state of the sheet bagging sack, generates and drive second manipulator described the
Second driving mechanism of the active force converted between three condition and the 4th state, and when second manipulator is in institute
When stating four states, cooperate the enclosed mechanism that the sack indentation formation of the sheet bagging is realized to sealing；
Photovoltaic power generation apparatus, including be set to the rod piece ontology battery, and with the rod piece ontology composite molding
And the flexible solar power generation film being electrically connected with the battery；The battery is that the picker or the set are packed
Set electric energy needed for work is provided.
Preferably, the rod piece ontology includes the hollow bar being successively socketed by least two sections and for locking adjacent two
The locking member of the hollow bar.
Preferably, first driving mechanism includes the first motor being mounted on first frame body, by described first
Lifter plate of the motor by transmission mechanism driving lifting, the first company being hinged between first manipulator and the lifter plate
Bar；The first motor drive first manipulator in the first state by the lifter plate and the first connecting rod and
It is converted between second state.
Preferably, the handle mechanism of cutting includes the Holder for scissors being mounted on first frame body, is mounted on the scissors
The second motor on bracket, and be movably articulated on the Holder for scissors and opened by second motor driven or be engaged
Shear blade.
Preferably, the bag openning body includes being hingedly mounted on second frame body and being located at the bagging to deposit
Two mounting racks of the bagging outlet end two sides of reservoir are mounted on described mounting rack one end for adsorbing the suction of the sheet bagging
Disk connect with the other end of the mounting rack, drives the mounting rack rotation so that two suckers are located remotely from each other to open
State the third motor of the sack of sheet bagging；Second driving mechanism is the 4th motor being mounted on second frame body,
4th motor drives second manipulator to convert between the third state and the 4th state by driving section.
Preferably, the enclosed mechanism include be separately mounted to second manipulator opposite two finger ends it is convex
Plate and notch board；When second manipulator is in four state, the protrusive board pushes the sack of the sheet bagging to
It puts in the groove of the notch board to complete sealing；Elasticity is equipped with pressing plate in the groove of the notch board, the pressing plate and
The notch board inner wall is connected by spring.
Preferably, the inside envelope of first manipulator is covered with flexible sponge.
Preferably, the picker is connected with for collecting the collection device for picking lower product, and the collection device is
The flexible grid structure worked out by cotton material.
Preferably, the rod piece ontology is connected with the object wearing device for being adapted to shoulders of human body and waist.
Preferably, the composite material is the organic fibrous material or inorfil composite material of lightweight, organic fibre
Tieing up material is PE fiber or PP fiber, and the inorfil composite material is carbon fiber, glass fibre, basalt, ceramic fibre
One of or it is a variety of.
Technical solution of the present invention has the advantages that
1. bagging integrated device is picked in automation provided by the invention, product picking, the automation of bagging process are realized
It carries out, reduces the working strength of peasant household, improve picking and bagging efficiency, reduce manpower production cost；Can need by
Picker or bagging device are mounted on support rod component, and realization is multi-functional to be integrated, and can preferably meet peasant household's work need
It asks；It uses flexible solar film to provide the mode of electric energy for picker or bagging device, can continue to provide picking or bagging
Required electric energy reduces work intensity.
2. bagging integrated device is picked in automation provided by the invention, using made of organic or inorganic fibrous composite
Rod-like body has the advantages that light-weight, wear-resistant, long service life, can be reduced in picking process and wants to the physical strength of people
It asks, improves picking or bagging efficiency, reduce farming cost.
3. bagging integrated device is picked in automation provided by the invention, flexible solar film is combined into rod-like body
Type provides the mode of electric energy together for picker or bagging device, can not only continue electricity needed for providing picking or bagging
Can, reduce work intensity；And photovoltaic power generation apparatus improves the portability of device without occupying additional space.
4. bagging integrated device is picked in automation provided by the invention, in picking process, wrapped in the inside of the first manipulator
Network is covered with flexible sponge and plays a protective role to picking product, greatly reduces the finished product damaged phenomenon in picking process.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Structural schematic diagram when Fig. 1 is support rod component installation picker in the embodiment of the present invention；
Structural schematic diagram when Fig. 2 sets for support rod component installation set is packed in the embodiment of the present invention；
Fig. 3 is the connection relationship diagram of the first frame body, the first manipulator and the first driving mechanism in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram for cutting handle mechanism of picker in the embodiment of the present invention；
Fig. 5 is the overall structure diagram of bagging device in the embodiment of the present invention.
Description of symbols: 1, support rod component；11, rod piece ontology；12, locking member；13, connecting interface；2, picking dress
It sets；21, the first frame body；22, the first manipulator；23, the first driving mechanism；231, first motor；232, the first screw rod；233, it rises
Plate drops；234, the first guide rod；235, first connecting rod；24, handle mechanism is cut；241, Holder for scissors；242, the second motor；243,
Shear blade；3, bagging device；31, the second frame body；32, bagging memory；33, bag openning body；331, mounting rack；332, sucker；
34, the second manipulator；35, enclosed mechanism；351, protrusive board；352, notch board；353, pressing plate；354；Spring；4, photovoltaic power generation apparatus；
41, battery；42, flexible solar power generation film；5, object wearing device；6, collection device；7, flexible sponge.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
As shown in Figure 1, a kind of automation picking bagging integrated device, including support rod component 1, picker 2, set are packed
Set 3, photovoltaic power generation apparatus 4, collection device 6 and object wearing device 5.
Support rod component 1 includes the rod piece ontology 11 being successively socketed to form by two section hollow bars and for locking adjacent two
The locking member 12 of root hollow bar, rod piece ontology 11 uses composite material light-weight, that wearability is strong, and (composite material is lightweight
Organic fibrous material or inorfil composite material, wherein organic fibrous material can be PE fiber or PP fiber, inorfil
Composite material can be one of carbon fiber, glass fibre, basalt, ceramic fibre or a variety of) it is made, locking member 12 is lock
Tight bolt unclamps the length of the adjustable rod piece ontology 11 of locking member 12, is needed with adapting to the picking bagging of different height position
It asks.
One end of rod piece ontology 11 is provided with the first interface for being mechanically connected and being electrically connected, and picker 2 includes
The first frame body 21 being detachably connected with first interface, one end, which is hingedly mounted on the first frame body 21 and has, holds product
First state and unclamp product the second state the first manipulator 22, generate the first manipulator 22 of driving in first state and the
First driving mechanism 23 of the active force converted between two-state, and when the first manipulator 22 is in first state, cutting
Connect the carpopodium of product cuts handle mechanism 24.The lower section of picker 2 is also equipped with for collecting the collection dress for picking lower product
6 are set, collection device 6 is specially the flexible collection net worked out by cotton material, and the width of mesh of collecting net is big according to product
Small selection.
In product picking process, the first frame body 21 is mounted on the first interface of rod piece ontology 11, adjustment rod member ontology
11 arrive appropriate length, make picker 2 close to product to be picked, start the control button on rod piece ontology 11, the first driving machine
23 first manipulator 22 of structure is mutually drawn close far from one end of the first frame body 21, and product to be picked is gripped；Later, start rod piece
Another control button on ontology 11, cuts the carpopodium that product is cut in the starting of handle mechanism 24, and product falls into collecting net and has been collected
Come.This process realizes the automation of product picking process, and reaching reduces peasant household's working strength, improves picking efficiency, reduces
The purpose of product picking cost.
As shown in Fig. 2, one end of rod piece ontology 11 is additionally provided with the second interface for being mechanically connected and being electrically connected, set
Packed to set 3 include the second frame body 31 being detachably connected with second interface, is mounted on the second frame body 31, for storing and mentioning
For the bagging memory 32 of sheet bagging, the outlet end two of bagging memory 32 is movably arranged on the second frame body 31 and is located at
Side simultaneously cooperates the bag openning body 33 for opening the sack of sheet bagging, and one end is hinged on the second frame body 31 and has separated
It the third state and mutually draws close to tighten the second manipulator 34 of the 4th state of sheet bagging sack, it is mechanical to generate driving second
The second driving mechanism (being display in figure) for the active force that hand 34 is converted between the third state and the 4th state, and when second
When manipulator 34 is in four states, cooperate the sack indentation formation by sheet bagging to realize the enclosed mechanism 35 of sealing.
During product bagging, the second frame body 31 is mounted in the second interface of rod piece ontology 11, adjustment rod member ontology
11 arrive appropriate length, make bagging device 3 close to product to be picked, when bagging memory 32 detects product, pass through its outlet end
Output sheet bagging outward opens the sack of sheet bagging positioned at the cooperation of bag openning body 33 of sheet bagging outbound course two sides,
Mobile rod piece ontology 11, falls into product in sheet bagging；Control button, the second driving device starting driving second are pressed later
The one end of manipulator 34 far from the second frame body 31 is transformed into the 4th state mutually drawn close by the separated third state, will
The sack of sheet bagging is closed, while the closing device cooperation on the second manipulator 34 will be in the sheet bagging of sack closing
Sack indentation formation, to realize the sealing bagging of product.This process realizes the automation of product bagging process, reduces
Human cost during bagging, the damage amount before reducing product picking.
Photovoltaic power generation apparatus 4 includes the battery 41 being mounted in rod piece ontology 11, and is combined into rod piece ontology 11
Type and the flexible solar power generation film 42 being electrically connected with battery 41；Battery 41 is that picker 2 and bagging device 3 provide
The electric energy of generation is stored in battery 41 by required electric energy, flexible solar power generation film 42, can persistently be provided and be adopted in field
Pluck or bagging work needed for electric energy.
Object wearing device 5 is the waistband and shoulder belt connecting with 11 body of rod of rod piece ontology, and in the actual operation process, wearing is filled
It sets 5 to wear, hand-held weight can be mitigated.
As described in Figure 3, first driving device includes the first motor 231 being fixedly mounted on the first frame body 21, with first
The first screw rod 232 that the output shaft of motor 231 mutually assembles, the lifter plate 233 being threadedly engaged with the first screw rod 232 are fixed on
Axial direction setting on one frame body 21, along the first screw rod 232 and four first guide rods 234 through lifter plate 233, and
The first connecting rod 235 being hinged between the first manipulator 22 and lifter plate 233；First motor 231 passes through lifter plate 233 and first
Connecting rod 235 drives the first manipulator 22 to convert between the first state and a second state.
The inside envelope of first manipulator 22 is covered with flexible sponge 7, and 7 pairs of picking products of flexible sponge play protection
Effect, it is possible to reduce the finished product in picking process is impaired.
As shown in figure 4, cutting handle mechanism 24 includes the Holder for scissors 241 being mounted on the first frame body 21, it is mounted on scissors branch
The second motor 242 on frame 241, and be movably articulated on Holder for scissors 241 and driven by the second motor 242 and open or be engaged
Shear blade 243.
As shown in figure 5, bag openning body 33 includes being hingedly mounted on the second frame body 31 and being located at bagging memory 32
Two mounting racks 331 (only display one in figure) of outlet end two sides, are mounted on 331 one end of mounting rack for adsorbing sheet set
Bag sucker 332, connect with the other end of mounting rack 331, drive mounting rack 331 rotation so that two suckers 332 be located remotely from each other with
Open the third motor (being display in figure) of the sack of sheet bagging.After the sheet bagging output that bagging memory 32 exports, the
Three mounting racks 331 of motor driven two are close to each other, so that two suckers 332 of 331 other end of mounting rack adsorb sheet respectively
The opposite two sides of bagging, third motor driven mounting rack 331 is withdrawn later, and sheet bagging is opened in two cooperations of sucker 332
Sack.Second driving mechanism is the 4th motor (not shown) being mounted on the second frame body 31, and the 4th motor passes through transmission
Portion drives the second manipulator 34 to convert between the third state and the 4th state.
Enclosed mechanism 35 includes the protrusive boards 351 of opposite two finger ends for being separately mounted to the second manipulator 34 and recessed
Plate 352, elasticity is equipped with pressing plate 353, pressing plate 353 and 352 inner wall of notch board and is connected by spring 354 in the groove of notch board 352.
When the second manipulator 34 is in four states, the sack of sheet bagging is pushed to put in the groove of notch board 352 by protrusive board 351,
Spring 354 cooperates pressing plate 353 by the sack indentation formation of sheet bagging, to realize the sealing to sheet bagging.
Shown in sum up, bagging integrated device is picked in automation provided in this embodiment, realizes product picking, bagging process
Automation carry out, reduce the working strength of peasant household, improve picking and bagging efficiency, reduce manpower production cost；It can
To need for picker 2 or bagging device 3 to be mounted on rod piece ontology 11, realization is multi-functional to be integrated, and can preferably be met
Peasant household's work requirements.Using rod-like body 11 made of organic or inorganic fibrous composite, have it is light-weight, wear-resistant, make
With the advantage that the service life is long, the physical fitness requirement in picking process to people can be reduced, improve picking or bagging efficiency, reduce farming
Cost；It is that picker 2 or bagging device 3 provide electric energy together with rod-like body composite molding by flexible solar film
Mode can not only continue to provide electric energy needed for picking or bagging process, reduce work intensity；And photovoltaic power generation apparatus 4
Without occupying additional space, the portability of device is improved.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. bagging integrated device is picked in a kind of automation characterized by comprising
Support rod component (1), including height is adjustable and the rod piece ontology made of composite material (11)；
Picker (2) is set to the first including the first frame body (21) being detachably connected with the rod piece ontology (11)
Body (21) and first manipulator (22) with the first state for holding product and the second state of release product, generate driving institute
State the first driving mechanism of the active force that the first manipulator (22) is converted between the first state and second state
(23), and when first manipulator (22) is in first state, cut the carpopodium for connecting the product cut handle mechanism
(24)；Or
Bagging device (3) is set to second frame including the second frame body (31) being detachably connected with the rod piece ontology (11)
On body (31), for storing and provide the bagging memory (32) of sheet bagging, be located at the bagging of the bagging memory (32)
Outlet end two sides simultaneously cooperate the bag openning body (33) for opening the sack of the sheet bagging, are set to second frame body (31) and have
There is the separated third state and mutually draws close to tighten the second manipulator of the 4th state of the sheet bagging sack
(34), the active force for driving second manipulator (34) to convert between the third state and the 4th state is generated
Second driving mechanism, and when second manipulator (34) is in four state, cooperation is by the sheet bagging
Sack indentation formation is to realize the enclosed mechanism (35) of sealing；
Photovoltaic power generation apparatus (4), including be set to the rod piece ontology (11) battery (41), and with the rod piece ontology
(11) composite molding and the flexible solar power generation film (42) being electrically connected with the battery (41)；The battery (41) is
Electric energy needed for the picker (2) or the bagging device (3) provide work.
2. bagging integrated device is picked in automation according to claim 1, which is characterized in that rod piece ontology (11) packet
Include the hollow bar being successively socketed by least two sections and the locking member (12) for locking adjacent two hollow bars.
3. bagging integrated device is picked in automation according to claim 1, which is characterized in that first driving mechanism
(23) include the first motor (231) being mounted on first frame body (21), driver is passed through by the first motor (231)
The lifter plate (233) of structure driving lifting, first be hinged between first manipulator (22) and the lifter plate (233) connect
Bar (235)；The first motor (231) drives first machine by the lifter plate (233) and the first connecting rod (235)
Tool hand (22) is converted between the first state and second state.
4. bagging integrated device is picked in automation according to claim 1, which is characterized in that described to cut handle mechanism (24) packet
Include the Holder for scissors (241) being mounted on first frame body (21), the second motor being mounted on the Holder for scissors (241)
(242), it and is movably articulated on the Holder for scissors (241) and is driven by second motor (242) and open or occlusion
Shear blade (243).
5. bagging integrated device is picked in automation according to claim 1, which is characterized in that bag openning body (33) packet
Include the bagging outlet end two sides for being hingedly mounted on second frame body (31) and being located at the bagging memory (32)
Two mounting racks (331) are mounted on the mounting rack (331) one end for adsorbing the sucker (332) of the sheet bagging, with institute
It states the other end connection of mounting rack (331), the mounting rack (331) is driven to rotate so that two suckers (332) are located remotely from each other
To open the third motor of the sack of the sheet bagging；Second driving mechanism is to be mounted on second frame body (31)
The 4th motor, the 4th motor drives second manipulator (34) in the third state and described by driving section
It is converted between four states.
6. bagging integrated device is picked in automation according to claim 1, which is characterized in that enclosed mechanism (35) packet
Include the protrusive board (351) and notch board (352) for being separately mounted to opposite two finger ends of second manipulator (34)；When described
When second manipulator (34) is in four state, the protrusive board (351) pushes to the sack of the sheet bagging to put in institute
It states in the groove of notch board (352) to complete sealing；Elasticity is equipped with pressing plate (353), institute in the groove of the notch board (352)
Pressing plate (353) and the notch board (352) inner wall is stated to connect by spring (354).
7. bagging integrated device is picked in automation according to claim 1, which is characterized in that first manipulator (22)
Inside envelope be covered with flexible sponge (7).
8. bagging integrated device is picked in automation according to claim 1, which is characterized in that the picker (2) is even
It is connected to for collecting the collection device (6) for picking lower product, the collection device (6) is the flexibility worked out by cotton material
Reticular structure.
9. bagging integrated device is picked in automation according to claim 1, which is characterized in that the rod piece ontology (11) is even
It is connected to the object wearing device (5) for being adapted to shoulders of human body and waist.
10. bagging integrated device is picked in automation according to claim 1, which is characterized in that the composite material is light
The organic fibrous material or inorfil composite material of matter, the organic fibrous material be PE fiber or PP fiber, it is described inorganic
Fibrous composite is one of carbon fiber, glass fibre, basalt, ceramic fibre or a variety of.
Priority Applications (1)
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| CN109937703A (en) * | 2019-04-23 | 2019-06-28 | 上海电力学院 | For apple-picking bagging device |
| CN110100623A (en) * | 2019-04-29 | 2019-08-09 | 河南科技大学 | A kind of young fruit bagging assistor based on waist power-assisted |
| CN113557847A (en) * | 2021-07-01 | 2021-10-29 | 广州顺生农业科技有限公司 | Fruit growing is with supplementary device of picking with breakage-proof structure |
| CN114557195A (en) * | 2022-03-10 | 2022-05-31 | 南京晓庄学院 | Ridge culture strawberry automatic picking device based on machine vision and selection cutting method thereof |
| CN115024086A (en) * | 2022-06-27 | 2022-09-09 | 浙江工贸职业技术学院 | Pineapple picking manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109937703A (en) * | 2019-04-23 | 2019-06-28 | 上海电力学院 | For apple-picking bagging device |
| CN109937703B (en) * | 2019-04-23 | 2024-04-12 | 上海电力学院 | Bag sleeving device for picking apples |
| CN110100623A (en) * | 2019-04-29 | 2019-08-09 | 河南科技大学 | A kind of young fruit bagging assistor based on waist power-assisted |
| CN113557847A (en) * | 2021-07-01 | 2021-10-29 | 广州顺生农业科技有限公司 | Fruit growing is with supplementary device of picking with breakage-proof structure |
| CN114557195A (en) * | 2022-03-10 | 2022-05-31 | 南京晓庄学院 | Ridge culture strawberry automatic picking device based on machine vision and selection cutting method thereof |
| CN114557195B (en) * | 2022-03-10 | 2023-03-14 | 南京晓庄学院 | Ridge culture strawberry automatic picking device based on machine vision and selection cutting method thereof |
| CN115024086A (en) * | 2022-06-27 | 2022-09-09 | 浙江工贸职业技术学院 | Pineapple picking manipulator |
| CN115024086B (en) * | 2022-06-27 | 2024-05-07 | 浙江工贸职业技术学院 | Pineapple picking manipulator |
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