CN108476741B - Small mechanical device for assisting in manually picking various fruits and application method thereof - Google Patents
Small mechanical device for assisting in manually picking various fruits and application method thereof Download PDFInfo
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- CN108476741B CN108476741B CN201810465466.7A CN201810465466A CN108476741B CN 108476741 B CN108476741 B CN 108476741B CN 201810465466 A CN201810465466 A CN 201810465466A CN 108476741 B CN108476741 B CN 108476741B
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- fruit
- manipulator
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- picking
- shearing mechanism
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 223
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000010008 shearing Methods 0.000 claims abstract description 49
- 238000004806 packaging method and process Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/22—Baskets or bags attachable to the picker
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention provides a small mechanical device for assisting in manually picking various fruits and a use method thereof, wherein the mechanical device comprises a control module, a picking trolley and a remote control device; the picking trolley comprises a walking chassis, a fruit dividing tray arranged at the walking chassis, a lifting table and a manipulator; the lifting platform supports the manipulator and adjusts the height of the manipulator; a plurality of fruit inlets are uniformly formed in the fruit dividing tray; one end of the manipulator is fixed at the lifting table, the other end of the manipulator is telescopically positioned above the fruit separating tray, and the end of the manipulator is provided with a shearing mechanism; when picking fruits, the mechanical arm is matched with the walking chassis and the lifting table, so that the shearing mechanism is positioned right above the fruit inlet of the fruit separating disc, and after the shearing mechanism shears the fruits according to the remote control instruction of the remote control device, the sheared fruits fall into the fruit inlet of the fruit separating disc; the invention can be remotely controlled by the mobile phone, and is suitable for being used in various farm terrains.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a small mechanical device for assisting in manually picking various fruits and a use method thereof.
Background
The China is used as the world first big fruit producing country and also used as the world first big fruit consuming country. However, the fruit picking operation in China has low mechanization degree, so that the labor cost of farmers is reduced in order to better improve the working efficiency, and therefore, the fruit picking operation has wide demands on a small mechanical device for assisting in manually picking various fruits. The small mechanical device for assisting the manual picking of various fruits has the characteristics that: they generally work outdoors, the working environment is relatively poor, but the precision is not as high as that of an industrial robot; the operators of such machines are not skilled technicians, but are common farmers, so that they cannot have too complex a technique and cannot have too high a price. The current research situation of small mechanical devices for assisting in manually picking various fruits gradually reduces labor resources in agriculture along with the aggravation of population aging and the rapid development of industry, so that the development of the small mechanical devices for assisting in manually picking various fruits is very necessary.
Disclosure of Invention
The invention provides a small mechanical device for assisting in manually picking various fruits and a use method thereof, which can be remotely controlled by a mobile phone and are suitable for being used in various farm terrains.
The invention adopts the following technical scheme.
A small mechanical device for assisting in manually picking various fruits, which comprises a control module, a picking trolley and a remote control device; the picking trolley comprises a walking chassis, a fruit dividing tray arranged at the walking chassis, a lifting table and a manipulator; the lifting platform supports the manipulator and adjusts the height of the manipulator; a plurality of fruit inlets are uniformly formed in the fruit dividing tray; one end of the manipulator is fixed at the lifting table, the other end of the manipulator is telescopically positioned above the fruit separating tray, and the end of the manipulator is provided with a shearing mechanism; when picking fruits, the mechanical arm is matched with the walking chassis and the lifting table, so that the shearing mechanism is positioned right above the fruit inlet of the fruit separating disc, and after the shearing mechanism shears the fruits according to the remote control instruction of the remote control device, the sheared fruits fall into the fruit inlet of the fruit separating disc.
The fruit dividing tray is horizontally arranged at the picking trolley; after the sheared fruit falls into the fruit inlet of the fruit dividing tray, the fruit dividing tray rotates until the next fruit inlet on the tray surface reaches below the shearing mechanism.
The fruit inlet is provided with a fruit packaging bag; the fruit dividing disc is adjacent to the conveying pipeline; when the cut fruits fall into the fruit packaging bags at the fruit inlet, the fruit dividing tray rotates to enable the fruit packaging bags with the fruits to reach the conveying pipeline and convey the fruit packaging bags to the fruit collecting box.
A gyroscope is arranged at the manipulator to measure the gesture of the manipulator; when picking fruits, the lifting table lifts the manipulator to the fruit picking height, the manipulator stretches out until the shearing mechanism reaches the fruit picking operation position, the manipulator obtains the height of the manipulator from the control module, and the manipulator finely adjusts the positions of the travelling chassis and the shearing mechanism of the picking trolley through the control module according to the current height and the inclination of the manipulator so that the shearing mechanism is located right above the fruit inlet of the fruit separating tray.
The walking chassis is a crawler-type walking chassis.
The remote control device is a mobile phone provided with a picking trolley remote control APP.
The mobile phone sends a remote control instruction to the picking trolley in a Bluetooth communication mode.
The fruit dividing disc is horizontally arranged at a large driven gear, and the picking trolley is provided with a driving gear beside the fruit dividing disc and meshed with the driven gear of the fruit dividing disc to drive the fruit dividing disc to horizontally rotate.
The use method of the small mechanical device for assisting in manually picking various fruits comprises the following steps in sequence;
a1, controlling the picking trolley to move below the fruits to be picked by using a remote control device;
a2, controlling the lifting table to lift the manipulator to the position above the fruit to be picked by using the remote control device, and extending the manipulator until the shearing mechanism reaches a fruit picking operation position;
a3, the manipulator finely adjusts the positions of the travelling chassis of the picking trolley and the shearing mechanism through the control module according to the current height and the inclination of the manipulator so that the shearing mechanism is positioned right above the fruit inlet of the fruit dividing tray;
a4, controlling a shearing mechanism of the manipulator by using a remote control device, shearing the fruits and falling into a fruit inlet of a fruit dividing tray under the shearing mechanism, wherein the fruits falling into the fruit inlet of the fruit dividing tray directly enter a packaging bag at the fruit inlet;
a5, controlling the fruit separating disc to rotate by using the remote control device, rotating the next fruit inlet to the position right below the shearing mechanism, simultaneously rotating the fruit inlet with fruits to the conveying pipeline, and separating the packaging bag with the fruits from the fruit inlet and conveying the packaging bag to the fruit collecting box through the conveying pipeline.
The invention has the advantages that: the product design is suitable for common farms and orchards. On one hand, the fruit picking machine is used for picking completely, and people can pick fruits only by playing a mobile phone; on the other hand, the fruit picking mechanical device at present is used for picking and packaging fruits separately, the fruit picking mechanical device is not completed simultaneously, the product just overcomes the defect, the packaging bag is rotated to the outlet of the pipeline by utilizing the rotation of the rotary table, and each time a fruit is picked, the fruit falls into the packaging bag to finish the picking of the fruit, and 6 holes for installing the packaging bag are formed in the rotary table, so that the packaging efficiency can be greatly improved.
The device can be adaptively adjusted to enable the shearing mechanism of the manipulator to return to the position right above the fruit inlet even if the shearing mechanism deviates during lifting action of the manipulator or the shearing mechanism deviates from the fruit inlet due to large inclination of the terrain.
Drawings
The invention is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a schematic view of a picking carriage of the present invention;
FIG. 2 is another schematic illustration of the present invention;
in the figure: 1-a driving gear; 2-driven gears; 3-a fruit collection box; 4-a shearing mechanism; 5-lifting platform; 6, a walking chassis;
100-fruit; 101-separating fruit trays; 102-fruit inlet; 103-a manipulator; 104-a conveying pipeline; 105-fruit packaging bag.
Detailed Description
As shown in fig. 1 and 2, a small mechanical device for assisting in manually picking various fruits comprises a control module, a picking trolley and a remote control device; the picking trolley comprises a walking chassis 6, a fruit separating disc 101 arranged at the walking chassis 6, a lifting table 5 and a manipulator 103; the lifting platform 5 supports the manipulator 103 and adjusts the height thereof; a plurality of fruit inlets 102 are uniformly formed in the fruit dividing tray 101; one end of the manipulator 103 is fixed at the lifting table, the other end is telescopically positioned above the fruit separating tray, and the end is provided with a shearing mechanism 4; when picking fruits, the mechanical arm 103 is matched with the walking chassis 6 and the lifting table 5, so that the shearing mechanism 4 is positioned right above the fruit inlet 102 of the fruit separating disc 101, and after the shearing mechanism 4 shears the fruits 100 according to the remote control instruction of the remote control device, the sheared fruits 100 fall into the fruit inlet 102 of the fruit separating disc 101.
The fruit dividing tray is horizontally arranged at the picking trolley; after the sheared fruit falls into the fruit inlet of the fruit dividing tray, the fruit dividing tray rotates until the next fruit inlet on the tray surface reaches below the shearing mechanism.
The fruit inlet is provided with a fruit packaging bag; the fruit dividing disc is adjacent to the conveying pipeline; after the cut fruit falls into the fruit bag at the fruit inlet, the fruit dividing tray rotates so that the fruit bag 105 containing the fruit 100 reaches the conveying pipe 104 and is sent to the fruit collecting bin 3.
A gyroscope is arranged at the manipulator to measure the gesture of the manipulator; when picking fruits, the lifting table lifts the manipulator to the fruit picking height, the manipulator stretches out until the shearing mechanism reaches the fruit picking operation position, the manipulator obtains the height of the manipulator from the control module, and the manipulator finely adjusts the positions of the travelling chassis and the shearing mechanism of the picking trolley through the control module according to the current height and the inclination of the manipulator so that the shearing mechanism is located right above the fruit inlet of the fruit separating tray.
The walking chassis is a crawler-type walking chassis.
The remote control device is a mobile phone provided with a picking trolley remote control APP.
The mobile phone sends a remote control instruction to the picking trolley in a Bluetooth communication mode.
The fruit dividing disc 101 is horizontally arranged at a large driven gear 2, and a driving gear 1 is arranged beside the fruit dividing disc of the picking trolley and meshed with the driven gear 2 of the fruit dividing disc to drive the fruit dividing disc 101 to horizontally rotate.
The use method of the small mechanical device for assisting in manually picking various fruits comprises the following steps in sequence;
a1, controlling the picking trolley to move below the fruits to be picked by using a remote control device;
a2, controlling the lifting table to lift the manipulator to the position above the fruit to be picked by using the remote control device, and extending the manipulator until the shearing mechanism reaches a fruit picking operation position;
a3, the manipulator finely adjusts the positions of the travelling chassis of the picking trolley and the shearing mechanism through the control module according to the current height and the inclination of the manipulator so that the shearing mechanism is positioned right above the fruit inlet of the fruit dividing tray;
a4, controlling a shearing mechanism of the manipulator by using a remote control device, shearing the fruits and falling into a fruit inlet of a fruit dividing tray under the shearing mechanism, wherein the fruits falling into the fruit inlet of the fruit dividing tray directly enter a packaging bag at the fruit inlet;
a5, controlling the fruit separating disc to rotate by using the remote control device, rotating the next fruit inlet to the position right below the shearing mechanism, simultaneously rotating the fruit inlet with fruits to the conveying pipeline, and separating the packaging bag with the fruits from the fruit inlet and conveying the packaging bag to the fruit collecting box through the conveying pipeline.
In this example, fruit bags are fixed by mechanical clips at fruit inlets of fruit separation trays, and when fruit bags containing fruits are transferred to inlets of conveying pipelines by the fruit separation trays, the mechanical clips release the fruit bags, so that the fruit bags containing the fruits enter the conveying pipelines and are conveyed into a fruit collecting box.
Claims (5)
1. A small-size mechanical device for assisting in manually picking various fruits, which is characterized in that: the mechanical device comprises a control module, a picking trolley and a remote control device; the picking trolley comprises a walking chassis, a fruit dividing tray arranged at the walking chassis, a lifting table and a manipulator; the lifting platform supports the manipulator and adjusts the height of the manipulator; a plurality of fruit inlets are uniformly formed in the fruit dividing tray; one end of the manipulator is fixed at the lifting table, the other end of the manipulator is telescopically positioned above the fruit separating tray, and the end of the manipulator is provided with a shearing mechanism; when picking fruits, the mechanical arm is matched with the walking chassis and the lifting table, so that the shearing mechanism is positioned right above the fruit inlet of the fruit separating disc, and after the shearing mechanism shears the fruits according to the remote control instruction of the remote control device, the sheared fruits fall into the fruit inlet of the fruit separating disc;
the fruit dividing tray is horizontally arranged at the picking trolley; when the sheared fruits fall into the fruit inlets of the fruit dividing tray, the fruit dividing tray rotates until the next fruit inlet on the tray surface reaches the lower part of the shearing mechanism;
the fruit inlet is provided with a fruit packaging bag; the fruit dividing disc is adjacent to the conveying pipeline; when the sheared fruits fall into the fruit packaging bags at the fruit inlets, the fruit dividing tray rotates to enable the fruit packaging bags with the fruits to reach the conveying pipeline and convey the fruit packaging bags to the fruit collecting box;
the using method of the small mechanical device for assisting in manually picking various fruits comprises the following steps in sequence;
a1, controlling the picking trolley to move below the fruits to be picked by using a remote control device;
a2, controlling the lifting table to lift the manipulator to the position above the fruit to be picked by using the remote control device, and extending the manipulator until the shearing mechanism reaches a fruit picking operation position;
a3, the manipulator finely adjusts the positions of the travelling chassis of the picking trolley and the shearing mechanism through the control module according to the current height and the inclination of the manipulator so that the shearing mechanism is positioned right above the fruit inlet of the fruit dividing tray;
a4, controlling a shearing mechanism of the manipulator by using a remote control device, shearing the fruits and falling into a fruit inlet of a fruit dividing tray under the shearing mechanism, wherein the fruits falling into the fruit inlet of the fruit dividing tray directly enter a packaging bag at the fruit inlet;
a5, controlling the fruit separating disc to rotate by using the remote control device, rotating the next fruit inlet to the position right below the shearing mechanism, simultaneously rotating the fruit inlet with fruits to the conveying pipeline, and separating the packaging bag with the fruits from the fruit inlet and conveying the packaging bag to the fruit collecting box through the conveying pipeline;
a gyroscope is arranged at the manipulator to measure the gesture of the manipulator; when picking fruits, the lifting table lifts the manipulator to the fruit picking height, the manipulator stretches out until the shearing mechanism reaches the fruit picking operation position, the manipulator obtains the height of the manipulator from the control module, and the manipulator finely adjusts the positions of the travelling chassis and the shearing mechanism of the picking trolley through the control module according to the current height and the inclination of the manipulator so that the shearing mechanism is located right above the fruit inlet of the fruit separating tray.
2. A miniature mechanical device for assisting in the manual picking of a plurality of fruits according to claim 1, wherein: the walking chassis is a crawler-type walking chassis.
3. A miniature mechanical device for assisting in the manual picking of a plurality of fruits according to claim 1, wherein: the remote control device is a mobile phone provided with a picking trolley remote control APP.
4. A miniature mechanical device for assisting in the manual picking of a plurality of fruits according to claim 3, wherein: the mobile phone sends a remote control instruction to the picking trolley in a Bluetooth communication mode.
5. A miniature mechanical device for assisting in the manual picking of a plurality of fruits according to claim 1, wherein: the fruit dividing disc is horizontally arranged at a large driven gear, and the picking trolley is provided with a driving gear beside the fruit dividing disc and meshed with the driven gear of the fruit dividing disc to drive the fruit dividing disc to horizontally rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810465466.7A CN108476741B (en) | 2018-05-16 | 2018-05-16 | Small mechanical device for assisting in manually picking various fruits and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810465466.7A CN108476741B (en) | 2018-05-16 | 2018-05-16 | Small mechanical device for assisting in manually picking various fruits and application method thereof |
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| Publication Number | Publication Date |
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| CN108476741A CN108476741A (en) | 2018-09-04 |
| CN108476741B true CN108476741B (en) | 2023-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810465466.7A Active CN108476741B (en) | 2018-05-16 | 2018-05-16 | Small mechanical device for assisting in manually picking various fruits and application method thereof |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109305408B (en) * | 2018-09-17 | 2020-07-21 | 福州市长乐区汇智科技服务有限公司 | Express delivery box packagine machine |
| CN109302885A (en) * | 2018-09-28 | 2019-02-05 | 三明学院 | A kind of fruit picking robot |
| CN114027031B (en) * | 2021-10-09 | 2023-04-14 | 安徽集萃智造机器人科技有限公司 | Grape picking robot |
| CN115316126A (en) * | 2022-08-02 | 2022-11-11 | 华南农业大学 | Device is picked to shaddock |
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| CH712440B1 (en) * | 2016-05-06 | 2020-03-13 | Pippi Pierluigi | Harvesting robots for harvesting tree crops. |
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| CN108476741A (en) | 2018-09-04 |
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