CN212393272U

CN212393272U - Multi-arm cooperative wolfberry harvesting machine

Info

Publication number: CN212393272U
Application number: CN202021635159.8U
Authority: CN
Inventors: 陈军; 王妙海; 周建国; 陈清宇; 高泽宁
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2020-08-09
Filing date: 2020-08-09
Publication date: 2021-01-26
Anticipated expiration: 2030-08-09

Abstract

The utility model discloses a multi-arm collaborative type matrimony vine harvester, which comprises a frame, the walking wheel, the operation panel, the arm, shake the brush head, collecting box and automatic discharge devices etc, install the walking wheel in the frame, the operation panel, the arm, collecting box and automatic discharge devices, automatic discharge devices one end is installed on frame chassis, the other end is connected with the collecting box, it installs on the arm to shake brush head and camera, multi-arm collaborative type robot harvester is applicable to standardized planting orchards such as "double lead double-deck hedge frame", can realize the continuity results, the potentiality that improves the efficiency of gathering has, can change the vibrational frequency and the material of the brush head that shakes when picking the operation, with the matrimony vine of adaptation different varieties, improve the quality of results matrimony vine.

Description

Multi-arm cooperative wolfberry harvesting machine

Technical Field

The utility model relates to a harvester, in particular to matrimony vine harvester belongs to orchard picking machine technical field.

Background

The traditional Chinese wolfberry picking method is manual picking, the picking speed is low, the efficiency is low, and the development of the Chinese wolfberry industry is severely restricted due to the fact that the picking period is short and the labor demand is huge. Picking is a work with strong seasonality and labor intensity, the labor force is less and less in the aging population and the rural areas at present, and the development of a mechanical picking technology is more necessary.

At present, the research results of small-sized portable medlar picking machines are rich, and the main picking modes can be divided into vibration, carding, shearing, air suction and the like. The small-size portable matrimony vine picking machine simple structure, small and exquisite light, and the cost is lower, and the technique is also mature relatively, but has picking efficiency lower, great to the manpower dependence, easily injures matrimony vine fruit tree, picking personnel can't last work for a long time scheduling problem. The large-scale self-propelled medlar picking machine has relatively few research results, adopts a vibration picking mode more, can greatly improve medlar picking efficiency and reduce dependence on manpower, but has the problems of poor picking effect, large damage to medlar, poor working trafficability and the like. With the continuous deepening of the concept of agricultural and agricultural technology combination, the traditional wolfberry cultivation mode is developing towards the modern orchard with higher yield and more suitable for mechanized harvesting, such as a hedge frame type orchard, a Y-type orchard and a double-gantry orchard, and the like, and the existing wolfberry harvesting machine is not suitable for the standardized novel orchard.

SUMMERY OF THE UTILITY MODEL

The utility model provides a multi-arm collaborative medlar harvesting machine is a picking machine who is applicable to standardized orchard for example "double-lead double-deck hedgerow posture" orchard, can solve artifical low-cost with high costs of gathering effectively, current vibrating harvester and gather the quality general and the relatively poor scheduling problem of large-scale self-propelled medlar picking machine during operation trafficability characteristic.

In order to solve the technical problem, the utility model provides a multi-arm collaborative type matrimony vine harvester, including frame, walking wheel, control cabinet, arm, camera, shake brush head, collecting box and automatic discharge devices, a serial communication port, install the control cabinet in the frame, the arm, collecting box and automatic discharge devices, install on the arm and shake brush head and camera, automatic discharge devices one end is installed on frame chassis, and the other end is connected with the collecting box.

As an optimized technical scheme of the utility model, the arm number is two.

As an optimized technical scheme of the utility model, the robotic arm below sets up a collecting box.

As an optimized technical scheme of the utility model, the collecting box bottom is connected with automatic discharge devices.

As an optimal technical scheme of the utility model, the brush head that shakes comprises the rubber pole, and the rubber pole passes through bolt fixed connection with the arm end.

As an optimized technical proposal of the utility model, the vibration frequency of the vibration brush head can be adjusted by the motor.

As an optimal technical scheme of the utility model, the arm can be picked simultaneously the matrimony vine of different positions.

The utility model discloses the beneficial effect who reaches is: the multi-arm cooperative medlar harvester is suitable for standardized planting orchards such as 'double-lead double-layer trellis type' orchards, the labor intensity of picking work can be reduced, and when the multi-arm cooperative medlar harvester works, the vibrating brush head is in direct contact with branches and stems of medlar, so that the link of directly contacting the surface of medlar is reduced, the efficiency is improved, and the fruit damage rate is reduced. The multi-arm cooperative wolfberry harvesting machine can realize continuous harvesting, has the potential of improving harvesting efficiency, and can change the vibration frequency and the material of the vibration brush head during the picking operation so as to adapt to different varieties of wolfberries and reduce the damage to the wolfberries, thereby improving the quality of harvesting the wolfberries.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 and 2 are schematic structural diagrams of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

Example 1

As shown in fig. 1 and 2, the utility model relates to a multi-arm collaborative medlar harvester, including frame 2, walking wheel 1, operation panel 3, arm 4, camera 5, shake brush head 6, collecting box 7 and automatic discharge devices 8, a serial communication port, install operation panel 3, arm 4, collecting box 7 and automatic discharge devices 8 in the frame 2, install camera 5 and shake brush head 6 on the

arm

4, 8 one end of automatic discharge devices are installed on 2 chassis in the frame, and the other end is connected with collecting box 7.

Furthermore, the number of the mechanical arms 4 is two, so that the efficiency can be improved compared with that of a single mechanical arm, and compared with that of a plurality of mechanical arms (three or more), the required execution programs and operations are simpler.

Further, 4 belows of arm set up a collecting box 7, gather the integration, save time and manpower.

Furthermore, the bottom of the collecting box 7 is connected with an automatic unloading device 8, and the collection of the picked wolfberry fruits is more convenient by adjusting the inclination of the collecting box 7

Further, the vibrating brush head 6 is composed of a rubber rod, the rubber rod is fixedly connected with the tail end of the mechanical arm 4 through a bolt, and the vibrating brush head 6 is convenient to replace so as to adapt to different wolfberry varieties.

Furthermore, the vibration frequency of the vibrating brush head 6 can be adjusted through a motor so as to adapt to picking of the Chinese wolfberries of different maturity in different periods.

Further, the mechanical arms 4 can pick the matrimony vine of different positions simultaneously, and one of them mechanical arm 4 is picked in the up-and-down direction, and another mechanical arm 4 is picked in the left-and-right direction to better improvement is picked efficiency.

The utility model discloses a theory of operation: control operation panel 3, make the dolly advance to carry out image acquisition through camera 5 and treat the picking fruit tree, the analysis location, brush head 6 that shakes is inserted the branch root, and motor drive shakes brush head 6 and vibrates the branch, makes the ripe fruit of matrimony vine drop, and the green fruit remains, and after picking, the fruit drops in collecting box 7, adjusts collecting box 7 gradient, makes the fruit drop in the fruit case, accomplishes the task of gathering.

The utility model relates to a multi-arm collaborative type matrimony vine harvester is applicable to standardized planting orchard like "double lead double-deck hedgerow posture" orchard, can reduce the intensity of labour who picks work, and during multi-arm collaborative type matrimony vine harvester operation, terminal flexibility comb brush pole and matrimony vine branch direct contact have reduced this link in direct contact matrimony vine surface, are favorable to raising the efficiency and reduce fruit damage rate. The multi-arm cooperative wolfberry harvesting machine can realize continuous harvesting, has the potential of improving harvesting efficiency, and can change the material laid on the surface of the collecting device and the tail end material of the flexible tail end combing and brushing rod during the picking operation so as to adapt to different varieties of wolfberries, reduce the damage to the wolfberries and improve the quality of the harvested wolfberries.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The multi-arm cooperative wolfberry harvester comprises a rack (2), walking wheels (1), an operating board (3), a mechanical arm (4), a camera (5), a vibrating brush head (6), a collecting box (7) and an automatic unloading device (8), and is characterized in that the operating board (3), the mechanical arm (4), the collecting box (7) and the automatic unloading device (8) are installed on the rack (2), the vibrating brush head (6) and the camera (5) are installed on the mechanical arm (4), one end of the automatic unloading device (8) is installed on a chassis of the rack (2), and the other end of the automatic unloading device is connected with the collecting box (7).

2. The multi-arm cooperative medlar harvester according to claim 1, wherein the number of the mechanical arms (4) is two.

3. A multi-arm cooperative lycium barbarum harvester according to claim 1, characterised in that a collection box (7) is placed under the mechanical arm (4).

4. The multi-arm cooperative medlar harvester according to claim 1, wherein the bottom of the collecting box (7) is connected with an automatic unloading device (8), and the medlar collection after the picking is more convenient by adjusting the inclination of the collecting box (7).

5. The multi-arm cooperative medlar harvester according to claim 1, wherein the vibrating brush head (6) is composed of a rubber rod, the rubber rod is fixedly connected with the tail end of the mechanical arm (4) through a bolt, and the material of the vibrating brush head (6) can be changed conveniently to adapt to different medlar varieties.

6. The multi-arm cooperative medlar harvester according to claim 1, wherein the vibration frequency of the vibration brush head (6) can be adjusted by a motor to adapt to picking medlar with different ripeness degrees at different periods.

7. The multi-arm cooperative medlar harvesting machine according to claim 1, wherein the mechanical arms (4) can harvest medlar at different positions simultaneously, one mechanical arm (4) picks up medlar in the up-down direction, and the other mechanical arm (4) picks up medlar in the left-right direction, so that the picking efficiency is improved better.