CN109287265A - A kind of air suction comb type wolfberry cleaning and picking machine - Google Patents
A kind of air suction comb type wolfberry cleaning and picking machine Download PDFInfo
- Publication number
- CN109287265A CN109287265A CN201710608680.9A CN201710608680A CN109287265A CN 109287265 A CN109287265 A CN 109287265A CN 201710608680 A CN201710608680 A CN 201710608680A CN 109287265 A CN109287265 A CN 109287265A
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- China
- Prior art keywords
- comb
- picking
- end effector
- type
- screening
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000015468 Lycium chinense Nutrition 0.000 title claims abstract description 10
- 244000241838 Lycium barbarum Species 0.000 title claims abstract 8
- 235000015459 Lycium barbarum Nutrition 0.000 title claims abstract 8
- 238000004140 cleaning Methods 0.000 title claims abstract 6
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 35
- 239000012636 effector Substances 0.000 claims abstract description 29
- 238000012216 screening Methods 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims description 4
- 239000012535 impurity Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 235000021022 fresh fruits Nutrition 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 claims description 2
- 235000021438 curry Nutrition 0.000 description 24
- 230000005070 ripening Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000007665 sagging Methods 0.000 description 3
- 244000241872 Lycium chinense Species 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 235000017784 Mespilus germanica Nutrition 0.000 description 1
- 244000182216 Mimusops elengi Species 0.000 description 1
- 235000000560 Mimusops elengi Nutrition 0.000 description 1
- 235000007837 Vangueria infausta Nutrition 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000002615 epidermis Anatomy 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 239000002699 waste material Substances 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/005—Transportable screening plants
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
本发明提供一种气吸梳刷式枸杞清选采摘机，由行走装置、机械臂、梳刷式采摘末端执行器、控制系统、筛选收集装置等组成。其中行走装置包括行走用车轮、转向用车轮和底盘，机械臂包括直悬臂梁和关节，控制系统包括发射机和接收机模块。工作时，将梳刷采摘器放在枝条附近移动，引风机抽风将果柄由下垂状变为水平状，当枝条通过两梳刷工作头时，工作头与其产生相对运动，由梳齿将果实摘下，经输送管进入筛选收集装置。
The invention provides an air suction comb type wolfberry cleaning and picking machine, which is composed of a walking device, a mechanical arm, a comb type picking end effector, a control system, a screening and collecting device and the like. The walking device includes walking wheels, steering wheels and chassis, the mechanical arm includes straight cantilever beams and joints, and the control system includes transmitter and receiver modules. When working, move the comb picker near the branch, and the induced draft fan draws the air to change the stalk from drooping to horizontal. When the branch passes through the two comb brushes, the working heads move relative to it, and the comb teeth remove the fruit. Take it off and enter the screening and collecting device through the conveying tube.
Description
Technical field:
The present invention, which provides a kind of aspiration and curries formula fructus lycii, cleans picking machine, belongs to agricultural machinery technological field.
Background technique:
Fructus lycii country Fruit-Picking Area is mainly distributed on Ningxia, the Inner Mongol, Xinjiang, Qinghai etc., and foreign countries' distribution is less, mostly wild
It is raw.
Fructus lycii is often born in by hillside, wasteland, hilly ground, salt-soda soil, roadside and village side residence, has and blooms, is result, mature same
The characteristics of Shi Jinhang.Therefore, the difficulty for harvesting work is larger, and the artificial efficiency for picking fructus lycii is only 3-5 kgs/hr, and is taken
With but up to 2300 yuan/mu.
Fructus lycii branch has vertical stripe, and quil is 0.5-2 centimetres long, and the quil of leave and flower is longer, and the sharp point in sprig top is at spine
Thorn-like.
Chinese wolfberry carpopodium is grown on branch, and branch is thin and delicate, and fruit is sagging.It is pinched with scissors hand-operated tools than pure craft and plucks efficiency
Height, however be manually difficult to be directed at carpopodium with a posture for a long time, labor intensity is very big.
China's medlar cultivation cultivated area expands year by year, and harvest season personnel's wretched insufficiency, the annual best fruiting period has largely
Fructus lycii because that cannot pick in time it is rotten in the ground.It can be seen that manually picking, expensive, efficiency is too low and waste of resource.
Summary of the invention:
Formula is curried the purpose of the present invention is overcoming the deficiencies of the prior art and provide a kind of aspiration and cleans picking machine, is taken
Technical solution be:
A kind of aspiration curries formula fructus lycii and cleans picking machine, by running gear, mechanical arm, curry formula picking end effector,
The compositions such as control system, screening collection device.
Its working principle is that: formula picking end effector will be curried by receiver apparatus and mechanical arm and be adjusted to suitable position
It sets, curries work head and branch generates reverse movement, the ripening fruits of carpopodium level is taken, under the action of air-introduced machine, gas
Absorption collects into bag.
Its course of work are as follows: power on, control mechanical arm to designated position, branch is sandwiched into currying for two counter-rotatings
Between work head, the power that storage battery provides, which is driven to, to be curried formula picking end effector and moves on branch after being remotely controlled,
Carpopodium is become horizontal from sagging type by induced draft blower withdraws wind, when branch curries work head by two backwards rotations, work head
Relative motion is generated with it, by comb teeth by under fruit, ripening fruits is plucked from carpopodium and is dropped into hose, with currying device for picking
Position is ceaselessly moved, and fruit is continuously plucked from branch comb.The fruit in screening collection device is fallen by simple mistake
Filter separates the impurity such as a small amount of leaf.
A kind of aspiration based on manipulator mechanism work curries formula fructus lycii picking screening cropper, including running gear, electricity
Bottle, air-introduced machine, mechanical arm, curries formula picking end effector, receiver module at screening collection device.It is characterized by: transmitting
Machine controls the everything of picking machine by receiver module.Walking wheel is housed, it is mobile dynamic that x-axis is prolonged in realization on chassis
Make, other end is equipped with two and turns to wheel, storage battery offer electric power, for driving picking machine walking, mechanical arm movement and comb
The movement of brush picking end effector；Mechanical arm can will curry formula picking end effector and be adjusted to suitable operating position,
Straight cantilever beam, which can allow, to be curried formula picking end effector and moves along y-axis, and rubber block can provide position-limiting action, prevents device for picking from outstanding
It falls off on arm beam, straight cantilever beam can allow device for picking realization to be moved along the z-axis, and joint can realize that device for picking rotates around x-axis and turns around y-axis
Dynamic, joint can realize that device for picking is rotated around z-axis, thus realize the movement for currying formula picking end effector six-freedom degree, comb
The picking comb and air-introduced machine of brush picking end effector are driven by storage battery, and induced draft blower withdraws wind is by the fruit of fructus lycii by sagging type
State becomes horizontality, and work head generates relative motion with it, by comb teeth by under fruit, enters screening via delivery pipe and collects
Device.It is ceaselessly moved with formula picking end effector position is curried, fruit is continuously plucked from branch comb.Fall into screening
Fruit in collection device separates the impurity such as a small amount of leaf by simple filtering.
A kind of aspiration curries formula fructus lycii and cleans picking machine, it is characterised in that in the synthesis using mechanical arm and joint
Move the ingenious position for controlling and currying formula picking end effector.
A kind of aspiration curries formula fructus lycii and cleans picking machine, it is characterised in that curries the comb of formula picking end effector
Brushing has soft bristle, takes ripening fruits using lesser frictional force, solves oscillatory type picking machine and make in fact to fresh fruit
The problem of at destroying.
A kind of aspiration curries formula fructus lycii and cleans picking machine, it is characterised in that and delivery pipe is to be fabricated from a flexible material,
It is also made of rubber in delivery pipe and screening collection device junction.
A kind of aspiration curries formula fructus lycii and cleans picking machine, it is characterised in that in screening collection device using double-deck soft
Property sorting sieve structure, can prevent fruit from entering air-introduced machine.
Compared with the prior art, the invention has the following advantages:
1, the cooperation in cantilever beam and joint can carry out Multi-angle turnover, realize the movement of device for picking six-freedom degree.
2, plucking height can be controlled by robot arm device, be run smoothly, easy to control, and power is provided by storage battery.
3, the design of formula picking end effector is curried, ripening fruits will not be damaged, is accomplished as far as possible by picking machine
Miniaturization, easy.
4, to solve the problems, such as artificial secondary collection, collection device is screened into design, fruit is screened and is dispensed, is sieved
The installation site and collection method for selecting collection device cannot have an impact picking process and fruit quality.
5, the spacing of comb teeth is less than the diameter of fructus lycii, and picking comb teeth uses flexible material, prevents comb teeth from damaging ripening fruits
Pericarp, delivery bag and fruit leaf sub-sieve device also use flexible material, prevent fructus lycii collect during with the mutual frictionally damage of delivery bag
Epidermis.
6, end work head is curried using aspirated-air type, adjusts wind-force, guarantees that its satisfaction can both make carpopodium horizontal, will not two
Secondary be involved in curries middle damage fruit, and efficiency improves, and can play the effect collected and pluck shedding reality.
7, the installation screening collection device on running gear, effectively collects fruit, and using Chinese wolfberry fruit and greatly
The shape difference of more leaf branches, fruit is screened；In addition to this, it is once dispensed, is mentioned significantly at regular intervals
High picking efficiency.
Detailed description of the invention:
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing of the invention, to this hair
Bright technical solution carries out clear, complete description.It should be evident that the accompanying drawings in the following description is some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.Below in conjunction with attached drawing, specific embodiments of the present invention will be described in detail.
Fig. 1 is that aspiration provided by the invention curries the schematic view of the front view of formula medlar-picking machine in the initial state.
Fig. 2 is that aspiration provided by the invention curries the overlooking structure diagram of formula medlar-picking machine in the operating condition.
Wherein Fig. 1, in 2: 1, dress is collected in picking comb 2,6, joint 3,5, straight cantilever beam 4, rubber block 7, delivery pipe 8, screening
Set 9, air-introduced machine 10, storage battery 11, chassis 12, walking wheel 13, receiver module 14, steering wheel.
Specific embodiment:
In the embodiment shown in Fig. 1,2, a kind of aspiration curries the picking of formula fructus lycii and cleans cropper.Picking machine is curried by going
Walking apparatus (11,12,14), screening collection device (8), air-introduced machine (9), mechanical arm (2,3,4,5,6), curries formula at storage battery (10)
Picking end effector (1) composition, one end face of vehicle frame are equipped with walking with wheel (12), and other end is equipped with steering wheel
(14), on chassis (11) install storage battery (10), transmitter can control trolley advance, retreat, turn to mechanical arm (2,3,4,5,
6) movement.It is respectively provided with driving motor on straight cantilever beam (3,5), straight cantilever beam (5), which can allow, curries formula picking end effector
(1) it is moved along y-axis, vertical straight cantilever beam (3) can allow curry formula picking end effector (1) and realize and be moved along the z-axis, joint
(2) it can be achieved to curry formula picking end effector (1) around x-axis rotation and around y-axis rotation, device for picking can be achieved around z-axis in joint (6)
Rotation, allows picking machine to pick the fructus lycii of different height.The fruit of fructus lycii is become water from hang by air-introduced machine (9) exhausting
Level state, work head generate relative motion with it, by comb teeth by under fruit, enter screening collection device via delivery pipe (7)
(8).Power on, designated position is arrived in control mechanical arm (2,3,4,5,6), and the power that storage battery (10) provides curries work through driving to
Make head, it is made to generate counter-rotating, order is curried formula picking end effector (1) and moved on branch, when branch is curried by two
When work head, work head generates relative motion with it, by comb teeth by under fruit, is sucked ripening fruits by air-introduced machine (9) defeated
Pipe (7) are sent, are ceaselessly moved with formula picking end effector (1) position is curried, fruit is continuously plucked from branch comb.Fall
Enter to screen the fruit in collection device (8) by filtering, the impurity such as a small amount of leaf are separated, fruit is obtained and cases.
In conclusion specific case used herein, which curries the picking of formula fructus lycii to a kind of aspiration of the present invention, cleans cropper
Principle and embodiment be expounded, method and its core of the invention that the above embodiments are only used to help understand
Thought thinks at the same time, for those skilled in the art, according to the thought of the present invention, in specific embodiment and application range
It is upper that there will be changes, in conclusion the contents of this specification are not to be construed as limiting the invention, protection model of the invention
The attached claims should be subject to by enclosing.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710608680.9A CN109287265A (en) | 2017-07-25 | 2017-07-25 | A kind of air suction comb type wolfberry cleaning and picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710608680.9A CN109287265A (en) | 2017-07-25 | 2017-07-25 | A kind of air suction comb type wolfberry cleaning and picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109287265A true CN109287265A (en) | 2019-02-01 |
Family
ID=65167607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710608680.9A Pending CN109287265A (en) | 2017-07-25 | 2017-07-25 | A kind of air suction comb type wolfberry cleaning and picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109287265A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111631018A (en) * | 2020-05-11 | 2020-09-08 | 宁夏农林科学院枸杞工程技术研究所 | Wolfberry special picking, transporting and recycling machine |
| CN113748841A (en) * | 2020-06-05 | 2021-12-07 | 东北林业大学 | U-shaped comb tooth wolfberry picking machine |
| CN115245095A (en) * | 2021-04-27 | 2022-10-28 | 西北农林科技大学 | A comb-brush air-blown wolfberry picking machine |
| CN115462240A (en) * | 2022-07-18 | 2022-12-13 | 北京林业大学 | Carding type idesia harvesting device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101258802A (en) * | 2008-04-16 | 2008-09-10 | 内蒙古自治区林业科学研究院 | Air suction type holt fruit harvesting device |
| CN201984557U (en) * | 2010-12-03 | 2011-09-21 | 山东理工大学 | Passenger counting system for bus |
| CN103252790A (en) * | 2013-05-23 | 2013-08-21 | 四川农业大学 | Control system of watermelon-picking mechanical arm |
| CN103782723A (en) * | 2014-03-05 | 2014-05-14 | 山东理工大学 | Air suction comb brushing type winter jujube picking and cleaning harvester |
-
2017
- 2017-07-25 CN CN201710608680.9A patent/CN109287265A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101258802A (en) * | 2008-04-16 | 2008-09-10 | 内蒙古自治区林业科学研究院 | Air suction type holt fruit harvesting device |
| CN201984557U (en) * | 2010-12-03 | 2011-09-21 | 山东理工大学 | Passenger counting system for bus |
| CN103252790A (en) * | 2013-05-23 | 2013-08-21 | 四川农业大学 | Control system of watermelon-picking mechanical arm |
| CN103782723A (en) * | 2014-03-05 | 2014-05-14 | 山东理工大学 | Air suction comb brushing type winter jujube picking and cleaning harvester |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111631018A (en) * | 2020-05-11 | 2020-09-08 | 宁夏农林科学院枸杞工程技术研究所 | Wolfberry special picking, transporting and recycling machine |
| CN113748841A (en) * | 2020-06-05 | 2021-12-07 | 东北林业大学 | U-shaped comb tooth wolfberry picking machine |
| CN115245095A (en) * | 2021-04-27 | 2022-10-28 | 西北农林科技大学 | A comb-brush air-blown wolfberry picking machine |
| CN115245095B (en) * | 2021-04-27 | 2024-05-10 | 西北农林科技大学 | A combing and air-blowing wolfberry picking machine |
| CN115462240A (en) * | 2022-07-18 | 2022-12-13 | 北京林业大学 | Carding type idesia harvesting device |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190201 |