CN208924683U

CN208924683U - A kind of air suction comb type wolfberry picking machine

Info

Publication number: CN208924683U
Application number: CN201821654670.5U
Authority: CN
Inventors: 李树森; 李昱莹; 赵庆同
Original assignee: Northeast Forestry University
Current assignee: Northeast Forestry University
Priority date: 2018-10-12
Filing date: 2018-10-12
Publication date: 2019-06-04
Anticipated expiration: 2028-10-12

Abstract

The utility model provides an air suction comb type wolfberry picking machine, which comprises an end effector, an end joint, a vertical cantilever beam, a limit block, a horizontal cantilever beam, an arm joint, a conveying pipe, a screening and collecting device, an induced draft fan and other structures . When working, the branches are sandwiched between the two counter-rotating combing heads. After the induced draft fan is started, the fruit stalk changes from a drooping shape to a horizontal shape. Picked and dropped into the conveying pipe, with the continuous movement of the end effector, the ripe fruit is continuously combed from the branches, and the fruit dropped into the screening and collection device is simply filtered, and a small amount of impurities such as leaves can be separated.

Description

A kind of aspiration curries formula medlar-picking machine

Technical field:

The utility model provides a kind of aspiration and curries formula medlar-picking machine, belongs to agricultural machinery technological field.

Background technique:

Fructus lycii has the characteristics that while blooming, result, maturation, and branch is thin and delicate, and fruit is sagging, artificial picking need for a long time with The same posture is directed at carpopodium, and labor intensity is very big.It can be seen that it is too low and waste money manually to pick expensive, efficiency Source.Domestic medlar-picking machine is mostly oscillatory type, and when picking is easy to damage Chinese wolfberry fruit.

Utility model content:

The purpose of this utility model is to provide a kind of aspirations to curry formula medlar-picking machine, is replaced manually, significantly with electronic Ground improves picking efficiency, saves labour, while overcoming the deficiency of oscillatory type medlar-picking machine common on the market, can have Effect reduces the mechanical injury to fruit.

The technical solution of the utility model is: a kind of aspiration curries formula medlar-picking machine, including end effector (1), end Joint (2), vertical cantilever beam (3), limited block (4), horizontal cantilever beam (5), arm joint (6), delivery pipe (7), screening is held to collect dress Set (8), air-introduced machine (9), mobile power source (10), chassis (11), walking wheel (12), receiver module (13) and steering vehicle It takes turns (14).

Screen collection device (8), air-introduced machine (9), mobile power source (10), receiver module (13) with by end joint (2), The mechanical arm of vertical cantilever beam (3), horizontal cantilever beam (5), arm joint (6) and limited block (4) composition is mounted on chassis (11), Wheel (14) are used in chassis (11) both ends of the surface and equipped with walking wheel (12) and steering, realization is prolonged x-axis movement and rotated around z-axis Movement；Mobile power source (10) provides electric power for complete machine；User emits signal to receiver module (13), to control picking machine Everything, end effector (1) lead to roller on there is the flexibility of circumference array to curry, the fruit taken can pass through delivery pipe (7) enter screening collection device (8).

As advanced optimizing for the technical program, a kind of aspiration of the utility model curries end described in formula medlar-picking machine Curry the bristle for not injuring fruit with softness in end actuator (1).

As advanced optimizing for the technical program, a kind of aspiration of the utility model curries defeated described in formula medlar-picking machine Sending pipe (7) is to be fabricated from a flexible material, and is also made of rubber in delivery pipe (7) and screening collection device (8) junction.

As advanced optimizing for the technical program, a kind of aspiration of the utility model curries sieve described in formula medlar-picking machine It selects collection device (8) to select sieve structure using Double-layer flexible, can prevent fruit from entering air-introduced machine (9).

The utility model aspiration curries formula medlar-picking machine compared with prior art, has the advantages that

1, the Multi-angle turnover that end effector (1) may be implemented realizes the movement of six-freedom degree.

2, end joint (2), vertical cantilever beam (3), horizontal cantilever beam (5), arm joint (6) run smoothly, are easy to control, move Power is provided by mobile power source (10), environmentally protective.

3, the design of end effector (1), will not damage ripening fruits, accomplish as far as possible by picking machine minimize, Easy；Delivery pipe (7), screening collection device (8) also use flexible material, damage during preventing fructus lycii from collecting because of friction Epidermis.

4, the wind-force size for adjusting air-introduced machine (9) can not only make carpopodium horizontal, but also can collect fruit, will not allow fructus lycii Secondary be involved in curries middle damage fruit, improves efficiency.

5, installation screening collection device (8) on chassis (11), effectively collects fruit, and using Chinese wolfberry fruit and The shape difference of leaf branch, fruit is screened；It is once dispensed at regular intervals, substantially increases picking effect Rate.

Detailed description of the invention:

To keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with the attached of the utility model Figure, carries out clear, complete description to the technical solution of the utility model.Below in conjunction with attached drawing, to the tool of the utility model Body embodiment is described in detail.

Fig. 1 is that aspiration provided by the utility model curries the front view structure signal of formula medlar-picking machine in the initial state Figure.

Fig. 2 is that aspiration provided by the utility model curries the plan structure signal of formula medlar-picking machine in the operating condition Figure.

Wherein Fig. 1, in 2: 1, end effector 2, end joint 3, vertical cantilever beam 4, limited block 5, horizontal cantilever beam 6, arm Joint 7, delivery pipe 8, screening collection device 9, air-introduced machine 10, mobile power source 11, chassis 12, walking wheel 13, receiver mould Wheel is used in block 14, steering.

Specific embodiment:

In the embodiment shown in Fig. 1,2, a kind of aspiration curries formula medlar-picking machine, including end effector (1), end Joint (2), vertical cantilever beam (3), limited block (4), horizontal cantilever beam (5), arm joint (6), delivery pipe (7), screening collection device (8), air-introduced machine (9), mobile power source (10), chassis (11), walking wheel (12), receiver module (13) and steering wheel (14), it is characterised in that: screening collection device (8), air-introduced machine (9), mobile power source (10), receiver module (13) with by end The mechanical arm that joint (2), vertical cantilever beam (3), horizontal cantilever beam (5), arm joint (6) and limited block (4) form is mounted on chassis (11) on, in chassis (11) both ends of the surface again equipped with walking wheel (12) and turn to use wheel (14), realization prolong x-axis movement and around The movement of z-axis rotation；Mobile power source (10) provides electric power for complete machine.

User manipulates transmitter and emits signal to receiver module (13), to control the everything of picking machine, end Actuator (1) by equipped with the vertical cantilever beams (3) of lead screw guide rails, horizontal cantilever beam (5) sliding realize along y-axis and z-axis To reach suitable operating position, limited block (4) can prevent vertical cantilever beam (3) to fall off from horizontal cantilever beam (5) for movement；End Joint (2) and arm joint (6) can allow end effector (1) to swing around x, y and z axes, to realize end effector (1) six The movement of freedom degree；The fruit of fructus lycii can be become horizontality, end effector from hang by air-introduced machine (9) suction air (1) roller in can rotate after being powered to two opposite directions, have currying for circumference array on roller, the fruit taken can be by defeated Pipe (7) are sent to enter screening collection device (8), screening collection device (8) can effectively collect fruit, and utilize Chinese wolfberry fruit With the shape difference of leaf branch, fruit is sifted out, is once dispensed at regular intervals, picking efficiency is substantially increased.

Claims

1. An air suction comb type wolfberry picking machine, characterized in that: a screening and collecting device (8), an induced draft fan (9), a mobile power supply (10), a receiver module (13) and a joint (2), The mechanical arm composed of the vertical cantilever beam (3), the horizontal cantilever beam (5), the arm joint (6), and the limit block (4) is installed on the chassis (11), and both ends of the chassis (11) are equipped with The wheels (12) for walking and the wheels (14) for steering realize the movements of moving along the x-axis and rotating around the z-axis; the mobile power supply (10) provides power for the whole machine; the user transmits a signal to the receiver module (13), To control all the actions of the picking machine, the end effector (1) realizes the movement along the y-axis and the z-axis by sliding on the vertical cantilever beam (3) and the horizontal cantilever beam (5) equipped with screw guide rails to reach the proper position. In the working position, the limit block (4) can prevent the vertical cantilever beam (3) from falling off the horizontal cantilever beam (5); the end joint (2) and the arm joint (6) can make the end effector (1) go around x, The y and z axes oscillate, thereby realizing the six-degree-of-freedom action of the end effector (1). The roller can rotate in two opposite directions after being electrified, and there are comb brushes in a circular array on the roller, and the picked fruits can enter the screening and collecting device (8) through the conveying pipe (7).

2. An air suction comb type wolfberry picking machine according to claim 1, characterized in that the comb brush of the end effector (1) has soft bristles that do not damage the fruit.

3. A kind of air suction comb type wolfberry picking machine according to claim 1 is characterized in that the conveying pipe (7) is made of flexible material, and the conveying pipe (7) is connected with the screening and collecting device (8) at the joint Also made of rubber.

4. An air suction comb type wolfberry picking machine according to claim 1, characterized in that the screening and collecting device (8) adopts a double-layer flexible screening structure, which can prevent the fruit from entering the induced draft fan (9).