CN116897686B - Picking device for agricultural cucumber planting - Google Patents
Picking device for agricultural cucumber planting Download PDFInfo
- Publication number
- CN116897686B CN116897686B CN202311161612.4A CN202311161612A CN116897686B CN 116897686 B CN116897686 B CN 116897686B CN 202311161612 A CN202311161612 A CN 202311161612A CN 116897686 B CN116897686 B CN 116897686B
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- Prior art keywords
- cucumber
- pipe
- assembly
- cloth bag
- agricultural
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Links
- 235000010799 Cucumis sativus var sativus Nutrition 0.000 title claims abstract description 114
- 244000299906 Cucumis sativus var. sativus Species 0.000 title 1
- 240000008067 Cucumis sativus Species 0.000 claims abstract description 153
- 239000004744 fabric Substances 0.000 claims description 74
- 238000005520 cutting process Methods 0.000 claims description 22
- 210000003127 knee Anatomy 0.000 claims description 15
- 244000261422 Lysimachia clethroides Species 0.000 claims description 11
- 210000001503 joint Anatomy 0.000 claims description 9
- 239000000523 sample Substances 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000004321 preservation Methods 0.000 claims 2
- 238000000034 method Methods 0.000 abstract description 7
- 210000002615 epidermis Anatomy 0.000 abstract description 5
- 239000000428 dust Substances 0.000 abstract description 3
- 238000005286 illumination Methods 0.000 abstract description 3
- 238000002955 isolation Methods 0.000 abstract description 3
- 235000009849 Cucumis sativus Nutrition 0.000 description 40
- 238000005452 bending Methods 0.000 description 8
- 241000219112 Cucumis Species 0.000 description 6
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 6
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 6
- 230000003020 moisturizing effect Effects 0.000 description 5
- 241001608711 Melo Species 0.000 description 4
- 238000000605 extraction Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000037303 wrinkles Effects 0.000 description 3
- 230000037237 body shape Effects 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 241001194479 Cucumis melo var. makuwa Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 235000008216 herbs Nutrition 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003491 skin Anatomy 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- 238000005406 washing Methods 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
- A01D45/00—Harvesting of standing crops
- A01D45/008—Harvesting of standing crops of cucumbers
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
The invention discloses a picking device for agricultural cucumber planting, which relates to the technical field of cucumber picking and comprises a stepping car, wherein a mechanical arm assembly is arranged on one side of the top of the stepping car, the picking device also comprises a receiving buffer assembly, and the receiving buffer assembly is assembled on the mechanical arm assembly and is specifically arranged on one end of the mechanical arm assembly far away from the stepping car. This agricultural cucumber is planted with picking device can be with cucumber and outside air effective isolation, when avoiding the illumination to the inside moisture influence of cucumber, can direct isolation dust and foreign matter be at the attachment of cucumber surface, keep fresh tender and the clean of cucumber when just picking, avoid traditional manipulator to pick the cucumber in-process to appear simultaneously, make a round trip the centre gripping and hold the cucumber between fingers, finally put into the exposed mode of picking in the container with the cucumber return stroke, this picking device can play good shading to the epidermis of cucumber, prevent that moisture loss, prevent that the foreign matter is attached, prevent that the epidermis from being scraped and rubbed and prevent that the cucumber from being polluted etc. protect function.
Description
Technical Field
The invention relates to the technical field of cucumber picking, in particular to a picking device for agricultural cucumber planting.
Background
The cucumbers are vines or climbing herbs, the petioles are slightly rough and have coarse bristles, the fruits are oblong or cylindrical, the fruits are yellowish green when cooked, the surfaces are rough, and the cucumbers are one of main vegetables in summer, however, in the process of planting the cucumbers, a bracket is usually required to be arranged for supporting seedlings of the cucumbers, and the cucumbers can be hung on the bracket after being ripe; in the peak period of picking, the cucumber is required to be picked every few days, because the yield of greenhouse cucumbers is high, manual picking is time-consuming and labor-consuming, the efficiency is low, and in addition, the distribution positions of the cucumbers on the support after the cucumbers are ripe are irregular, so that farmers are inconvenient to pick.
The existing cucumber picking device is mainly used for picking the cucumbers by directly adopting a mechanical arm and mechanical claw structure, so that the cucumbers cannot be isolated from the outside air in the process of picking the cucumbers, and the picked cucumbers are not protected from light, so that the moisture of the picked cucumbers is lost, the taste is influenced, and the attractiveness is also influenced.
Disclosure of Invention
In order to achieve the above purpose, the invention is realized by the following technical scheme: the picking device for agricultural cucumber planting comprises a stepping car, wherein a mechanical arm assembly is arranged on one side of the top of the stepping car;
the support buffer assembly is assembled on the mechanical arm assembly and is specifically arranged at one end, far away from the stepping car, of the mechanical arm assembly, the support buffer assembly comprises a cloth bag pipe fitting I, the bottom of the cloth bag pipe fitting I is connected with a cloth bag pipe fitting II in a threaded manner, the outer surfaces of the two ends of the cloth bag pipe fitting I and the cloth bag pipe fitting II are both connected with a ring frame, a support auxiliary rod is assembled on the cloth bag pipe fitting I through the ring frame, and the tail end of the support auxiliary rod is connected to the mechanical arm assembly in a threaded manner;
the cloth bag pipe fitting I comprises a torsion cloth bag, wherein the top of the torsion cloth bag is fixedly connected with a top connecting ring, the bottom of the torsion cloth bag is fixedly connected with a bottom connecting ring, the outer surfaces of the top connecting ring and the bottom connecting ring are both connected with a ring frame, and the outer surface of the bottom connecting ring is provided with an air exhaust fan;
the cutting assembly is arranged at the top of the bearing buffer assembly and is used for cutting the top of the cucumber, the cutting assembly comprises a short sleeve which is arranged at the top of the top connecting ring in a threaded manner, a plastic ring is fixedly arranged on the inner edge of the top of the short sleeve, a movable window is arranged on the outer surface of the short sleeve in a penetrating manner in a circular array, an arc-shaped cutter is arranged on the inner side of the movable window arranged on the surface of the short sleeve, and an adjusting rod is inserted at one end of the arc-shaped cutter;
the bent pipe assembly is arranged at the bottom of the bearing buffer assembly and used for conveying and guiding cucumbers, the bent pipe assembly comprises a bent pipe which is connected to the bottom of the cloth bag pipe fitting II in a threaded mode, an expandable folding ring is arranged in the middle of the outer surface of the bent pipe, the bent pipe can be bent in a degree angle bending state, the looseness and deformability of the bent part can be guaranteed, and the bent pipe can be smoothly used for enabling cucumbers in any shape and body shape to enter the guide pipe.
Preferably, the top of the air extraction fan is connected with a gooseneck air pipe, the whole gooseneck air pipe is spirally wound around the torsion cloth bag, the outer surface of the top connection ring is provided with an air guide lantern ring in a threaded manner, and the top of the gooseneck air pipe is connected with the bottom of the air guide lantern ring.
Preferably, the screw is installed to the position screw thread of adjusting the pole and pegging graft mutually with the arc cutter, just the screw thread is installed on the surface of arc cutter, the top of adjusting the pole is connected with the DD motor, just the inboard top at the movable window is connected at the top of DD motor, the arc cutter passes through DD motor and adjusts pole cooperation and short sleeve rotary mounting, the arc cutter passes through screw and adjusts pole screw thread installation, can adjust the specific mounted position of arc cutter on adjusting the pole.
Preferably, a detecting probe is connected to the outer edge of the top of the short sleeve and used for detecting whether the tail end of the cucumber is aligned to the inner side of the short sleeve and successfully enters the torsion cloth bag, and the auxiliary control mechanical arm assembly is used for positioning and adjusting the position between the short sleeve and the cucumber.
Preferably, the knee pipe assembly is installed in the middle of the inner side of the bent pipe, the straight guide pipe is fixedly connected in the middle of the outer surface of the bent pipe and correspondingly installed under the cloth bag pipe fitting II, and meanwhile, the straight guide pipe is also installed under the knee pipe assembly, and the bottom screw thread of the straight guide pipe is provided with the bottom bucket cover for independently collecting foreign matters on cucumbers.
Preferably, the knee pipe assembly comprises a hard wall frame integrally arranged with the bent pipe, a built-in bent pipe is arranged in the middle of the inner side of the hard wall frame, and the built-in bent pipe is correspondingly arranged right above the bottom bucket cover.
Preferably, the middle part of the inner side of the built-in bent pipe is connected with a ridge beam plate, two sides of the ridge beam plate are symmetrically connected with rib plates at equal intervals, and one end, away from the ridge beam plate, of the rib plates is connected with the inner side wall of the built-in bent pipe.
Preferably, the middle part of the surface of the ridge beam plate is provided with a chamfer groove, the middle part of the surface of the ridge beam plate is also provided with a through hole in a penetrating way, and the through hole is arranged at one end close to the honeycomb duct.
Preferably, the bottom of return bend assembly is connected with the honeycomb duct, the inboard symmetry of step motor car is installed and is kept wet the drawer, can be in the inboard front and back pull of step motor car for keep the cucumber low temperature, the one end middle part that the drawer that keeps wet is close to the arm assembly is connected with the butt joint pipe, just butt joint pipe and honeycomb duct threaded connection are used for jointly guiding the cucumber storage to the drawer that keeps wet.
Preferably, one end of the mechanical arm assembly, which is far away from the stepping car, is hinged with a connecting plate frame, and the guide pipe is overlapped at the middle part before the connecting plate frame and the end part of the mechanical arm assembly.
The invention provides a picking device for agricultural cucumber planting, which has the following beneficial effects:
1. this agricultural cucumber is planted with picking device through accepting buffer unit spare, return bend assembly, honeycomb duct and butt joint pipe and leading the whole journey of cucumber jointly, can effectively keep apart cucumber and outside air, when avoiding illumination to the inside moisture influence of cucumber, can direct isolation dust and foreign matter at the attachment of cucumber surface, fresh tender and clean that keep the cucumber when just picking appear, avoid traditional manipulator picking cucumber in-process simultaneously, make a round trip the centre gripping and hold the cucumber between fingers, finally put into the exposed picking mode in the container with the cucumber return stroke, this picking device can play good shading to the epidermis of cucumber, prevent that moisture runs off, prevent that the foreign matter is attached, prevent that the epidermis is scraped by scratch and prevent that the cucumber from being polluted etc. protect function.
2. This agricultural cucumber is planted with picking device when meeting the melon base of cucumber and setting firmly and robustly, the accessible starts three arc cutters simultaneously, rotates clockwise to short telescopic inboard in step, cuts the melon base simultaneously from three positions to this realizes the picking of the stronger and robustly cucumber of melon base.
3. This agricultural cucumber is planted with picking device makes the arc cutter do elevating movement on adjusting the pole through lax screw, comes the concrete mounted position who changes the arc cutter on adjusting the pole, and after the position is confirmed, through screwing up the screw, can fix the arc cutter on adjusting the pole, can finely operate the cutting position of arc cutter on the melon base, can be according to the concrete requirement to melon base reservation size when picking, changes the concrete cutting height of arc cutter when picking the melon base, realizes the accurate accuse to the concrete cutting position of cucumber melon base.
4. The picking device for agricultural cucumber planting is characterized in that the buckling angles of the first cloth bag pipe fitting and the second cloth bag pipe fitting on the inner sides of the ring frames are used for stretching wrinkles on the surfaces of the twisted cloth bags in a twisted shrinkage state, so that the inner cavity diameters of the first cloth bag pipe fitting and the second cloth bag pipe fitting can be expanded, larger-diameter cucumbers can be allowed to pass through the inner cavity diameters, and more deformed cucumbers can be allowed to pass through the inner cavity diameters, picking and containing of the large cucumbers or deformed cucumbers can be realized, burrs on the surfaces of the cucumbers can be scraped by utilizing the inner walls of the wrinkles shrunk in the inner cavities of the twisted cloth bags through the twisted cloth bags in an initial state, and the burrs on the surfaces of the cucumbers can be pre-treated by utilizing double scraping of the burrs on the surfaces of the cucumbers by utilizing the first cloth bag pipe fitting and the second cloth bag pipe fitting on the premise of not damaging the surfaces of the cucumbers.
5. The picking device for agricultural cucumber planting can expand the ductility of the bending part of the bending pipe through the expandable overlapping ring, simultaneously provide sufficient adjustment space for the cucumber to be guided by the turning pipe in a turning way, and avoid the cucumber from being blocked at the inner side of the bending pipe; meanwhile, when the bottom end of the cucumber is guided by the ridge beam plate and the rib plate, burrs scraped off from the surface of the cucumber can fall into the inner side of the bottom bucket cover, in addition, the bottom end of the cucumber can be guided and righted by the chamfer groove formed in the middle of the surface of the ridge beam plate, so that the whole cucumber which is guided into the inner side of the moisturizing drawer by the guide pipe is placed downwards in a face-to-face mode, and an automatic stacking function of the cucumber is achieved.
6. This agricultural cucumber is planted with picking device, through start one of them arc cutter to the inboard clockwise rotation of short sleeve, can accomplish the action of picking to the cucumber, and two other arc cutters, can be according to the concrete circumstances of picking of current cucumber, under the anticlockwise rotatory control of start DD motor drive regulation pole, the direction of keeping away from cutting the assembly with nearby cucumber stem stalk or stem leaf is dialled and is made, provide wide picking field for picking the cucumber, and can prevent that other foreign matters from following the cucumber and together falling into and accept in the buffer assembly, ensure clean picking and the collection to the cucumber, effectively prevent that the foreign matter from adhering to or making dirty the cucumber, provide convenience for the washing to the cucumber that follows.
Drawings
FIG. 1 is a schematic view of the external structure of a picking device for agricultural cucumber planting;
FIG. 2 is a schematic view of the structure of the moisturizing drawer and docking tube of the present disclosure;
FIG. 3 is a schematic diagram of an assembly structure of a receiving buffer assembly and a robot assembly according to the present invention;
FIG. 4 is a schematic view of the structure of the receiving and cushioning assembly and the elbow assembly of the present invention;
FIG. 5 is a schematic structural view of a cloth bag tube of the present invention;
FIG. 6 is a schematic view of the structure of the cutting assembly of the present invention;
FIG. 7 is a schematic view of the arc cutter of the present invention in a rotated state;
FIG. 8 is an enlarged view of the structure of FIG. 7A;
FIG. 9 is a schematic view of an assembled structure of a knee tube assembly and a elbow tube of the present invention;
fig. 10 is a schematic view of the knee tube assembly of the present invention.
In the figure: 1. a step vehicle; 2. a mechanical arm assembly; 3. a receiving buffer assembly; 31. a cloth bag pipe fitting I; 32. a cloth bag pipe fitting II; 33. supporting auxiliary rods; 34. a ring frame; 311. twisting the cloth bag; 312. a top connection ring; 313. a bottom connecting ring; 314. an air extraction fan; 315. a gooseneck trachea; 316. an air guide sleeve ring; 4. cutting the assembly; 41. a short sleeve; 42. a plastic ring; 43. a movable window; 44. an arc-shaped cutter; 45. a screw; 46. an adjusting rod; 47. a DD motor; 48. a detection probe; 5. a bent pipe assembly; 51. bending the pipe; 52. an expandable stack; 53. a knee tube assembly; 54. a straight conduit; 55. a bottom bucket cover; 531. a rigid wall frame; 532. a bent pipe is arranged in the pipe; 533. a ridge beam plate; 534. rib plates; 535. a chamfer groove; 536. perforating; 6. a flow guiding pipe; 7. a moisturizing drawer; 8. a butt joint pipe; 9. and the connecting plate frame.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description. The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
In a first embodiment, as shown in fig. 1 to 10, the present invention provides a technical solution: the utility model provides a picking device for agricultural cucumber planting, including step-by-step vehicle 1, mechanical arm assembly 2 is installed to step-by-step vehicle 1's top one side, the bottom of return bend assembly 5 is connected with honeycomb duct 6, the inboard symmetry of step-by-step vehicle 1 is installed and is kept wet drawer 7, can be in the inboard front and back pull of step-by-step vehicle 1, be used for carrying out the low temperature to the cucumber and preserve, the one end middle part that keeps wet drawer 7 is close to mechanical arm assembly 2 is connected with butt joint pipe 8, and butt joint pipe 8 and honeycomb duct 6 threaded connection are used for jointly guiding the cucumber to store in the drawer 7 that keeps wet; one end of the mechanical arm assembly 2 far away from the stepping car 1 is hinged with a connecting plate frame 9, and the guide pipe 6 is overlapped at the middle part in front of the connecting plate frame 9 and the end part of the mechanical arm assembly 2.
The device comprises a stepping vehicle 1, and is characterized by further comprising a receiving buffer assembly 3, wherein the receiving buffer assembly 3 is assembled on the mechanical arm assembly 2 and is specifically arranged at one end, far away from the stepping vehicle 1, of the mechanical arm assembly 2, the receiving buffer assembly 3 comprises a cloth bag pipe fitting 31, the bottom of the cloth bag pipe fitting 31 is in threaded connection with a cloth bag pipe fitting 32, the outer surfaces of the two ends of the cloth bag pipe fitting 31 and the cloth bag pipe fitting 32 are both connected with a ring frame 34, the cloth bag pipe fitting 31 is assembled with a supporting auxiliary rod 33 through the ring frame 34, the tail end of the supporting auxiliary rod 33 is in threaded connection with the mechanical arm assembly 2, and the minimum inner cavity diameters of the receiving buffer assembly 3, an elbow pipe assembly 5, a guide pipe 6 and an opposite pipe 8 are far larger than the maximum diameter of a cucumber in the market, and the abnormal or curled cucumber can be ensured to smoothly pass through the inner cavities of the above pipe fittings; the main body structure of the cloth bag pipe fitting II 32 is the same as that of the cloth bag pipe fitting I31, the top and the bottom of the cloth bag pipe fitting II 32 are respectively provided with a top connection ring 312 and a bottom connection ring 313, the main body of the cloth bag pipe fitting II 32 is also composed of a torsion cloth bag 311, and the torsion cloth bag 311 is always in a torsion and shrinkage state;
the cutting assembly 4 is arranged at the top of the bearing buffer assembly 3 and is used for cutting the top of the cucumber, the cutting assembly 4 comprises a short sleeve 41 which is arranged at the top of the jacking ring 312 in a threaded manner, a plastic ring 42 is fixedly arranged on the inner edge of the top of the short sleeve 41, the outer surface of the short sleeve 41 is provided with a circular array penetrating through a movable window 43, the inner side of the movable window 43 arranged on the surface of the short sleeve 41 is provided with an arc-shaped cutter 44, one end of the arc-shaped cutter 44 is inserted with an adjusting rod 46, and the total number of the arc-shaped cutters 44 is three;
the bent pipe assembly 5 is arranged at the bottom of the bearing buffer assembly 3 and used for conveying and guiding the cucumber, the bent pipe assembly 5 comprises a bent pipe 51 which is connected with the bottom of the cloth bag pipe fitting II 32 in a threaded mode, an expandable folding ring 52 is arranged in the middle of the outer surface of the bent pipe 51, the bent pipe 51 can be used for being bent at an angle of 120 degrees, the looseness and deformability of a bent part can be guaranteed, and the cucumber with any shape and body shape can enter the guide pipe 6 through the bent pipe 51 smoothly.
When the cucumber cutting device is used, the air suction fan 314 is started firstly, a large amount of air flow is conveyed to the inner side of the air guide sleeve ring 316 through the gooseneck air pipe 315, the stem leaves of the cucumber are blown up through the annular air flow blown out by the air guide sleeve ring 316, the cucumber which is shielded behind the stem leaves is exposed, and a good working environment is provided for the detection probe 48 to detect the distance between the cutting assembly 4 and the bottom of the cucumber in real time.
Then, according to the real-time monitoring picture provided by the detection probe 48, the mechanical arm assembly 2 is controlled to extend or retract, the mechanical arm assembly 2 is adjusted to drive the cutting assembly 4 arranged at the top of the bearing buffer assembly 3 to correspondingly move upwards at the bottom of the cucumber, then the mechanical arm assembly 2 is controlled to drive the bearing buffer assembly 3 to vertically move upwards, the whole cucumber is contained in the inner cavities of the cloth bag pipe fitting 31 and the cloth bag pipe fitting 32 until the pedicel enters the plane where the arc-shaped cutter 44 is located, the DD motor 47 is started to drive the adjusting rod 46 to rotate clockwise, and the arc-shaped cutter 44 is driven to rotate inwards of the short sleeve 41 to cut the pedicel of the cucumber.
Then the cucumbers enter the bent pipe 51 along with the guiding of the cloth bag pipe fitting 31 and the cloth bag pipe fitting 32, the bottom ends of the cucumbers are guided into the inner side of the guide pipe 6 after closely contacting with the knee pipe assembly 53, and finally fall into the inner side of the moisturizing drawer 7 through the butt joint pipe 8, so that the whole picking process of the cucumbers is completed.
In a second embodiment, as shown in fig. 3 to 8, a first cloth bag pipe 31 includes a torsion cloth bag 311, a top connection ring 312 is fixedly connected to the top of the torsion cloth bag 311, a bottom connection ring 313 is fixedly connected to the bottom of the torsion cloth bag 311, ring frames 34 are connected to the outer surfaces of the top connection ring 312 and the bottom connection ring 313, and an air extraction fan 314 is assembled to the outer surface of the bottom connection ring 313; the top of the air extraction fan 314 is connected with a gooseneck air pipe 315, the whole gooseneck air pipe 315 is spirally wound around the torsion cloth bag 311, the outer surface of the top connection ring 312 is provided with an air guide sleeve ring 316 in a threaded manner, and the top of the gooseneck air pipe 315 is connected with the bottom of the air guide sleeve ring 316.
The screw 45 is arranged at the position of the adjusting rod 46, which is spliced with the arc-shaped cutter 44, in a threaded manner, the screw 45 is arranged on the outer surface of the arc-shaped cutter 44, the top of the adjusting rod 46 is connected with the DD motor 47, the top of the DD motor 47 is connected with the inner top of the movable window 43, the arc-shaped cutter 44 is rotatably arranged with the short sleeve 41 through the cooperation of the DD motor 47 and the adjusting rod 46, the arc-shaped cutter 44 is in threaded manner with the adjusting rod 46 through the screw 45, and the specific installation position of the arc-shaped cutter 44 on the adjusting rod 46 can be adjusted; the outer edge of the top of the short sleeve 41 is connected with a detection probe 48 for detecting whether the tail end of the cucumber is aligned with the inner side of the short sleeve 41 and successfully enters the torsion cloth bag 311, and the auxiliary control mechanical arm assembly 2 performs positioning adjustment on the position between the short sleeve 41 and the cucumber.
During the period, through starting one of the arc cutters 44 to do clockwise rotation to the inside of the short sleeve 41, the picking action of the cucumber can be completed, and the other two arc cutters 44 can pick nearby cucumber stems or stems and leaves to the direction away from the cutting assembly 4 under the anticlockwise rotation control of starting the DD motor 47 to drive the adjusting rod 46 according to the specific picking environment of the current cucumber, so that a wide picking view is provided for picking the cucumber, other foreign matters can be prevented from falling into the bearing buffer assembly 3 along with the cucumber, clean picking and collection of the cucumber are ensured, the foreign matters are effectively prevented from adhering or polluting the cucumber, and convenience is provided for cleaning the cucumber subsequently.
Specifically, when the pedicel of the cucumber is firm and strong, three arc cutters 44 are simultaneously started to synchronously rotate clockwise towards the inner side of the short sleeve 41, and the pedicel is simultaneously cut from three directions, so that the cucumber with stronger pedicel can be picked.
The screw 45 can be loosened, the arc-shaped cutter 44 can be made to do lifting motion on the adjusting rod 46, the installation position of the arc-shaped cutter 44 on the adjusting rod 46 is specifically changed, after the position is determined, the arc-shaped cutter 44 can be fixed on the adjusting rod 46 by screwing the screw 45, the cutting position of the arc-shaped cutter 44 on the pedicellus melo can be finely operated, the specific cutting height of the arc-shaped cutter 44 on the pedicellus melo can be changed according to the specific requirement on the reserved pedicellus melo for picking, and the precise control of the specific cutting position of the pedicellus melo of cucumber is realized.
The inner cavity diameters of the first cloth bag pipe fitting 31 and the second cloth bag pipe fitting 32 can be expanded by anticlockwise twisting and clamping angles of the first cloth bag pipe fitting 31 and the second cloth bag pipe fitting 32 on the inner side of the ring frame 34, so that the inner cavity diameters of the first cloth bag pipe fitting 31 and the second cloth bag pipe fitting 32 can be expanded, larger-diameter cucumbers can be allowed to pass through the inner cavity diameters, and the larger-diameter cucumbers or the deformed cucumbers can be allowed to pass through the inner cavity diameters, picking and accommodating of the large cucumbers or the deformed cucumbers can be realized, burrs on the surfaces of the cucumbers can be scraped by utilizing the inner walls of the shrunk wrinkles in the inner cavity of the torsional cloth bag 311 through the torsional cloth bag 311 in an initial state, and double scraping of burrs on the surfaces of the cucumbers can be pretreated in advance by utilizing the first cloth bag pipe fitting 31 and the second cloth bag pipe fitting 32 on the premise of not damaging the surfaces of the cucumbers.
In the third embodiment, as shown in fig. 4, 9 and 10, on the basis of the first and second embodiments, a knee pipe assembly 53 is installed in the middle of the inner side of a bending pipe 51, the knee pipe assembly 53 is made of soft materials, damage to the cucumber epidermis can be reduced, a straight pipe 54 is fixedly connected to the middle of the outer surface of the bending pipe 51, and is correspondingly installed under the cloth bag pipe fitting 32, and is also installed under the knee pipe assembly 53, and a bottom bucket cover 55 is installed at the bottom thread of the straight pipe 54 for separately collecting foreign matters on the cucumber; the knee pipe assembly 53 includes a rigid wall frame 531 integrally provided with the bent pipe 51, a built-in bent pipe 532 is installed in the middle of the inner side of the rigid wall frame 531, and the built-in bent pipe 532 is correspondingly installed right above the bottom bucket cover 55.
The middle part of the inner side of the built-in bent pipe 532 is connected with a ridge beam plate 533, two sides of the ridge beam plate 533 are symmetrically connected with rib plates 534 at equal intervals, and one end of each rib plate 534, which is far away from the ridge beam plate 533, is connected with the inner side wall of the built-in bent pipe 532; the chamfer groove 535 is provided in the middle of the surface of the ridge beam plate 533, the perforation 536 is provided in the middle of the surface of the ridge beam plate 533, and the perforation 536 is provided at one end close to the flow guide pipe 6.
When the cucumber picking device is used, through carrying the buffer assembly 3, the bent pipe assembly 5, the honeycomb duct 6 and the whole course guide to the cucumber, the cucumber can be effectively isolated from outside air, the influence of illumination on the moisture in the cucumber is avoided, the adhesion of dust and foreign matters on the surface of the cucumber can be directly isolated, the fresh and tender and clean of the cucumber just picked in the process of picking the cucumber are kept, the cucumber is clamped and held back and forth, the cucumber is finally picked in an exposed picking mode of putting the cucumber into a container in a return stroke, and the cucumber picking device has the protection functions of good shading, preventing moisture loss, preventing the foreign matters from adhering, preventing the skin from being rubbed, preventing the cucumber from being polluted and the like.
The extensibility of the bending part of the bent pipe 51 is expanded through the expandable folding ring 52, and meanwhile, sufficient adjustment space is provided for the cucumber to be guided by the bent pipe 51 in a steering way, so that the cucumber is prevented from being blocked at the inner side of the bent pipe 51; meanwhile, when the bottom ends of the cucumbers are guided by the ridge beam plate 533 and the rib plates 534, burrs scraped off from the surfaces of the cucumbers can fall into the inner side of the bottom bucket cover 55, in addition, the bottom ends of the cucumbers can be guided and righted by the chamfer grooves 535 formed in the middle of the surface of the ridge beam plate 533, so that the whole cucumbers led into the inner side of the moisturizing drawer 7 by the guide pipe 6 are placed downwards in the same direction, and an automatic stacking function of the cucumbers is realized.
The small yellow flowers withered at the bottom end of the cucumber can be scraped off through the through holes 536 formed in the tail end position of the middle part of the ridge beam plate 533 and collected into the bottom bucket cover 55, so that the damage of local water drop soaking on the surface of the cucumber caused by hidden moisture in the small yellow flowers is avoided, and the potential safety hazard of cucumber storage is eliminated; when this function is not used, a piece of tape may be attached to the knee tube assembly 53.
It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art and which are included in the embodiments of the present invention without the inventive step, are intended to be within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.
Claims (8)
1. The utility model provides an agricultural cucumber is planted with picking device, includes step-by-step car (1), its characterized in that: a mechanical arm assembly (2) is arranged on one side of the top of the stepping car (1);
the device comprises a mechanical arm assembly (2), and is characterized by further comprising a receiving buffer assembly (3), wherein the receiving buffer assembly (3) is assembled on the mechanical arm assembly (2) and is specifically arranged at one end, far away from the stepping car (1), of the mechanical arm assembly (2), the receiving buffer assembly (3) comprises a cloth bag pipe fitting I (31), the bottom of the cloth bag pipe fitting I (31) is in threaded connection with a cloth bag pipe fitting II (32), the outer surfaces of the two ends of the cloth bag pipe fitting I (31) and the cloth bag pipe fitting II (32) are both connected with a ring frame (34), a supporting auxiliary rod (33) is assembled on the cloth bag pipe fitting I (31) through the ring frame (34), and the tail end of the supporting auxiliary rod (33) is in threaded connection with the mechanical arm assembly (2);
the cloth bag pipe fitting I (31) comprises a torsion cloth bag (311), a top connection ring (312) is fixedly connected to the top of the torsion cloth bag (311), a bottom connection ring (313) is fixedly connected to the bottom of the torsion cloth bag (311), ring frames (34) are connected to the outer surfaces of the top connection ring (312) and the bottom connection ring (313), and an air exhaust fan (314) is assembled on the outer surface of the bottom connection ring (313);
the cutting assembly (4) is arranged at the top of the bearing buffer assembly (3), the cutting assembly (4) comprises a short sleeve (41) which is arranged at the top of the jacking ring (312) in a threaded manner, a plastic ring (42) is fixedly arranged on the inner edge of the top of the short sleeve (41), the outer surface of the short sleeve (41) is provided with a circular array penetrating through a movable window (43), the inner side of the movable window (43) arranged on the surface of the short sleeve (41) is provided with an arc-shaped cutter (44), and one end of the arc-shaped cutter (44) is inserted with an adjusting rod (46);
the bent pipe assembly (5) is arranged at the bottom of the bearing buffer assembly (3), the bent pipe assembly (5) comprises a bent pipe (51) which is connected with the bottom of the cloth bag pipe fitting II (32) in a threaded manner, and an expandable folding ring (52) is arranged in the middle of the outer surface of the bent pipe (51);
the top of the air suction fan (314) is connected with a gooseneck air pipe (315), the gooseneck air pipe (315) is integrally spirally wound around the torsion cloth bag (311), an air guide lantern ring (316) is arranged on the outer surface of the top connection ring (312) in a threaded manner, and the top of the gooseneck air pipe (315) is connected with the bottom of the air guide lantern ring (316);
the utility model discloses a cutting machine, including arc cutter (44), adjusting pole (46), screw (45) are installed to the position screw thread that peg graft mutually with arc cutter (44), just screw (45) screw thread install on the surface of arc cutter (44), the top of adjusting pole (46) is connected with DD motor (47), just the inboard top at movable window (43) is connected at the top of DD motor (47), arc cutter (44) are through DD motor (47) and regulation pole (46) cooperation and short sleeve (41) rotary mounting, arc cutter (44) are through screw (45) and regulation pole (46) screw thread install.
2. A picking device for agricultural cucumber planting as claimed in claim 1, characterized in that: and a detection probe (48) is connected to the outer edge of the top of the short sleeve (41).
3. A picking device for agricultural cucumber planting as claimed in claim 1, characterized in that: the knee pipe assembly (53) is installed in the middle of the inner side of the bent pipe (51), the straight guide pipe (54) is fixedly connected to the middle of the outer surface of the bent pipe (51), the bent pipe is correspondingly installed under the cloth bag pipe fitting II (32), the bent pipe is also installed under the knee pipe assembly (53), and the bottom bucket cover (55) is installed at the bottom of the straight guide pipe (54) through threads.
4. A picking device for agricultural cucumber planting as claimed in claim 3, characterized in that: the knee pipe assembly (53) comprises a hard wall frame (531) which is integrally arranged with the bent pipe (51), a built-in bent pipe (532) is mounted in the middle of the inner side of the hard wall frame (531), and the built-in bent pipe (532) is correspondingly mounted right above the bottom bucket cover (55).
5. A picking device for agricultural cucumber planting as claimed in claim 4, wherein: the middle part of the inner side of the built-in bent pipe (532) is connected with a ridge beam plate (533), two sides of the ridge beam plate (533) are symmetrically connected with rib plates (534) at equal intervals, and one end, away from the ridge beam plate (533), of each rib plate (534) is connected with the inner side wall of the built-in bent pipe (532).
6. An agricultural cucumber planting picking apparatus as claimed in claim 5, wherein: the chamfer groove (535) is formed in the middle of the surface of the ridge beam plate (533), the through hole (536) is formed in the middle of the surface of the ridge beam plate (533) in a penetrating mode, and the through hole (536) is formed in one end close to the guide pipe (6).
7. A picking device for agricultural cucumber planting as claimed in claim 1, characterized in that: the bottom of return bend assembly (5) is connected with honeycomb duct (6), moisture preservation drawer (7) are installed to the inboard symmetry of step-by-step vehicle (1), moisture preservation drawer (7) are close to one end middle part of arm assembly (2) and are connected with butt joint pipe (8), just butt joint pipe (8) and honeycomb duct (6) threaded connection.
8. A picking device for agricultural cucumber planting as claimed in claim 7, characterized in that: one end of the mechanical arm assembly (2) far away from the stepping car (1) is hinged with a connecting plate frame (9), and the guide pipe (6) is overlapped at the middle part in front of the connecting plate frame (9) and the end part of the mechanical arm assembly (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311161612.4A CN116897686B (en) | 2023-09-11 | 2023-09-11 | Picking device for agricultural cucumber planting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311161612.4A CN116897686B (en) | 2023-09-11 | 2023-09-11 | Picking device for agricultural cucumber planting |
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| CN116897686A CN116897686A (en) | 2023-10-20 |
| CN116897686B true CN116897686B (en) | 2023-12-01 |
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| CN106818040A (en) * | 2017-03-05 | 2017-06-13 | 张保银 | A kind of cucumber picking robot |
| CN109247127A (en) * | 2018-10-14 | 2019-01-22 | 周培弘 | A kind of agricultural cucumber picker |
| CN109937703A (en) * | 2019-04-23 | 2019-06-28 | 上海电力学院 | For apple-picking bagging device |
| CN111108900A (en) * | 2020-02-17 | 2020-05-08 | 兰晓峰 | Cucumber picking device |
| CN111758380A (en) * | 2020-06-28 | 2020-10-13 | 中国农业大学 | Fruit and vegetable picking manipulator, picking robot and picking method thereof |
| CN212393268U (en) * | 2020-03-18 | 2021-01-26 | 四川阆中和均平生态农业发展有限责任公司 | Device is picked with can extending formula to oranges and tangerines are planted |
| JP2021023183A (en) * | 2019-08-02 | 2021-02-22 | 井関農機株式会社 | Fruits and vegetables harvesting machine |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130059480A (en) * | 2011-11-29 | 2013-06-07 | 임명숙 | A equipment of harvest for chili |
| CN106818040A (en) * | 2017-03-05 | 2017-06-13 | 张保银 | A kind of cucumber picking robot |
| CN109247127A (en) * | 2018-10-14 | 2019-01-22 | 周培弘 | A kind of agricultural cucumber picker |
| CN109937703A (en) * | 2019-04-23 | 2019-06-28 | 上海电力学院 | For apple-picking bagging device |
| JP2021023183A (en) * | 2019-08-02 | 2021-02-22 | 井関農機株式会社 | Fruits and vegetables harvesting machine |
| CN111108900A (en) * | 2020-02-17 | 2020-05-08 | 兰晓峰 | Cucumber picking device |
| CN212393268U (en) * | 2020-03-18 | 2021-01-26 | 四川阆中和均平生态农业发展有限责任公司 | Device is picked with can extending formula to oranges and tangerines are planted |
| CN111758380A (en) * | 2020-06-28 | 2020-10-13 | 中国农业大学 | Fruit and vegetable picking manipulator, picking robot and picking method thereof |
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|---|---|
| CN116897686A (en) | 2023-10-20 |
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