CN109601130B - Fruit picking and kernel removing device - Google Patents
Fruit picking and kernel removing device Download PDFInfo
- Publication number
- CN109601130B CN109601130B CN201910089505.2A CN201910089505A CN109601130B CN 109601130 B CN109601130 B CN 109601130B CN 201910089505 A CN201910089505 A CN 201910089505A CN 109601130 B CN109601130 B CN 109601130B
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- fruit
- mechanical arm
- picking
- motor
- kernel
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 132
- 210000000078 claw Anatomy 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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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
- A01D46/24—Devices for picking apples or like fruit
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N15/02—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs for stemming, piercing, or stripping fruit; Removing sprouts of potatoes
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N4/00—Machines for stoning fruit or removing seed-containing sections from fruit, characterised by their stoning or removing device
- A23N4/02—Machines for stoning fruit or removing seed-containing sections from fruit, characterised by their stoning or removing device for stoning fruit
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- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a fruit picking and kernel removing device, which is characterized in that fruits are picked in a rotating mode by two rotating wheels, the fruits are rotated clockwise by the two rotating wheels to rotate transversely, a fruit handle is parallel to the ground, the fruit handle is cut by a cutting knife with the same radian as that of the fruit handle, and the broken position of the fruit handle is close to a fruit opening, so that subsequent kernel removal is facilitated and the growth of fruits in the next year is not hindered, the corresponding tail of the fruit handle corresponds to a kernel removing knife through the rotating wheels so as to facilitate the kernel removal, the fruits are placed on the kernel removing device one by one, and the fruits are classified and collected conveniently by different weights through a manipulator.
Description
Technical Field
The invention relates to the technical field of fruit picking, in particular to a fruit picking and kernel removing device.
Background
The fruit picking device in the prior art mostly cuts branches with scissors, the cut fruits are collected in a collecting box through a conveying belt, but the cutting mode is not easy to align to the position of a fruit handle, the too high position of the fruit handle is easy to cut, namely the cut fruit handle is too long, so that the collected fruits still need to be manually stripped when denucleates, the cut fruit handle is too long, the fruit growth in the next year can be prevented, the other common fruit picking technology is that a gas disk is rotated to twist off the handle of the fruits after the fruits are sucked by the gas disk, but the twist-off fruit handle is longer due to the picking mode, and the peel of the fruits can be damaged by the gas disk or the mechanical arm which twists off the fruits.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a fruit picking and kernel removing device, which utilizes two rotating wheels to rotate and turn over fruits, utilizes a cutting knife to cut off a fruit handle to enable the fruit handle to be broken at a position very close to a fruit opening, is also provided with a kernel removing device to remove kernels of the picked fruits one by one, and separates the kernel-removed fruits according to weight.
A fruit picking and kernel removing device comprises a fruit picking vehicle, wherein the fruit picking vehicle comprises a bottom plate, walking wheels are arranged at the bottom of the bottom plate, and a kernel removing device, a fruit picking device, a cutting device, a fruit collecting device and a control device are arranged on the bottom plate; the fruit picking device comprises a supporting rod arranged on a bottom plate, a driving motor is arranged at the top of the supporting rod, the driving motor drives two rotating wheel systems, the rotating wheel system I comprises a rotating wheel I and two mechanical arms I, the two mechanical arms I are rotatably connected, the lower mechanical arm I is connected with the driving motor, the top end of the upper mechanical arm I is connected with a transverse supporting plate I, two ends of the supporting plate I are provided with connecting rods I, a motor is arranged on one connecting rod I, a driving shaft of the motor is connected with a rotating shaft, the rotating shaft is arranged between the two connecting rods, the rotating wheel I is arranged on the rotating shaft, a position sensor is further arranged on the connecting rod I, the rotating wheel I is arranged at the lower end of a fruit and is contacted with the fruit, the rotating wheel system II comprises a rotating wheel II and two mechanical arms II, the two mechanical arms II are rotatably connected, the lower mechanical arm II is connected with the driving motor, the top end of the upper mechanical arm II is connected with a transverse supporting plate II, two ends of the supporting plate II are provided with connecting rods II, one connecting rod II is provided with a motor, a driving shaft of the motor is connected with a rotating shaft, the rotating shaft is arranged between the two connecting rods II, the rotating shaft is provided with a rotating wheel II, the connecting rods II are also provided with position sensors, and the rotating wheel II is arranged on the upper part of the side end of the fruit and is contacted with the fruit; the cutting device comprises a handle, a long rod and a cutting knife, the cutting knife is arc-shaped, the radian of the cutting knife is the same as that of fruits at the root of the fruit handle, and the cutting knife can be tangent to the root of the fruit handle.
Further, still be provided with the device of denucleating on the fruit picking vehicle bottom plate, the device of denucleating includes vertical setting at the band pulley I and band pulley II of bottom plate top, band pulley I and band pulley II drive the drive belt and rotate, the both ends of drive belt are provided with the connecting rod of a plurality of horizontal settings, the connecting rod is hollow form, the one end and the drive belt through connection of connecting rod, the other end and the claw through connection that denucleates of connecting rod, the centre of the claw that denucleates is provided with the motor of denucleating, the output shaft of the motor that denucleates is connected with the input shaft of the sword that denucleates, the centre of drive belt is hollow form, the vertical breather pipe that is provided with in the middle of the drive belt, the bottom and the negative pressure device of breather pipe are connected, be provided with a plurality of horizontal exhaust tubes on the breather pipe, every horizontal exhaust tube is corresponding with the communicating pipe that corresponds and the one end that the drive belt runs through.
Furthermore, the middle of the bottom plate of the fruit picking vehicle is also provided with a fruit collecting device, the fruit collecting device comprises a stepping motor, the stepping motor is fixed on the bottom plate, the stepping motor is connected with a fruit picking mechanical arm, the top of the fruit picking mechanical arm is provided with a mechanical arm, a weight sensing device is arranged on the mechanical arm, and the position of the mechanical arm corresponds to the kernel removing claw at the lowest position on the transmission belt.
Further, the rotating wheel is made of a flexible material.
Furthermore, flexible materials are fixed on the denucleation claw and the mechanical arm.
Furthermore, the position sensor, the driving motor, the weight sensing device and the stepping motor are all in wireless connection with the control device.
Furthermore, a collecting box for the fruits with different weights is arranged on the bottom plate.
Compared with the prior art, the invention has the following beneficial effects:
the fruit stem picking machine picks fruits in a rotating mode by using the two rotating wheels, rotates the fruits clockwise by using the two rotating wheels, rotates the fruits to the transverse direction, cuts off the fruit stems by using the cutting knife with the same radian as the fruits at the root of the fruit stems when the connecting line of the root of the fruit stems and the tail of the fruit is parallel to the ground, and enables the broken positions of the fruit stems to be close to fruit openings, so that subsequent kernel removal is facilitated and the growth of the fruits in the next year is not hindered.
Drawings
FIG. 1 is a schematic diagram of the main structure of the present invention.
FIG. 2 is a schematic view of the fruit picking device of the present invention.
FIG. 3 is a schematic view of the wheel of the present invention.
FIG. 4 is a schematic view of a coring apparatus of the present invention.
In the figure: 1-bottom plate, 2-supporting rod, 3-driving motor, 4.1-mechanical arm I, 4.2-mechanical arm II, 5.1-rotating wheel I, 5.2-rotating wheel II, 6.1-supporting plate I, 6.2-supporting plate II, 7.1-connecting rod I, 7.2-connecting rod II, 8-motor, 9.1-belt wheel I, 9.2-belt wheel II, 10-connecting rod, 11-pit-removing claw, 12-pit-removing knife, 13-air exhaust pipe, 14-air pipe, 15-stepping motor, 16-mechanical arm, 17-stem root, 18-tail and 19-cutting knife.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference is made to fig. 1-4; a fruit picking and kernel removing device comprises a fruit picking vehicle, wherein the fruit picking vehicle comprises a bottom plate 1, walking wheels are arranged at the bottom of the bottom plate 1, and a kernel removing device, a fruit picking device, a fruit collecting device, a cutting device and a control device are arranged on the bottom plate 1; the fruit picking device comprises a supporting rod 2 arranged on a bottom plate, a driving motor 3 is arranged at the top of the supporting rod 2, the driving motor 3 drives two rotating wheel systems, the rotating wheel system I comprises a rotating wheel I and two mechanical arms I4.1, the two mechanical arms I4.1 are rotatably connected, the lower mechanical arm I4.1 is connected with the driving motor 3, the top end of the upper mechanical arm I4.1 is connected with a transverse supporting plate I6.1, two ends of the supporting plate I6.1 are provided with connecting rods I7.1, one connecting rod I7.1 is provided with a motor 8, a driving shaft of the motor 8 is connected with a rotating shaft, the rotating shaft is arranged between the two connecting rods I7.1, the rotating shaft is provided with a rotating wheel I5.1, the connecting rod I7.1 is also provided with a position sensor (not shown in the figure), the rotating wheel I5.1 is arranged at the lower end of a fruit and is contacted with the fruit, the rotating wheel system II comprises a rotating wheel II 5.2 and two mechanical arms II 4.2, the two mechanical arms II 4.2 are rotatably connected, the lower mechanical arm II 4.2 is connected with the driving motor 3, the top end of the upper mechanical arm II 4.2 is connected with a transverse support plate II 6.2, two ends of the support plate II 6.2 are provided with connecting rods II 7.2, one connecting rod II 7.2 is provided with a motor, a driving shaft of the motor is connected with a rotating shaft, the rotating shaft is arranged between the two connecting rods II 7.2, the rotating shaft is provided with a rotating wheel II 5.2, the connecting rod II 7.2 is also provided with a position sensor, and the rotating wheel II 5.2 is arranged at the upper part of the side end of a fruit and is contacted with the fruit; the cutting device comprises a handle, a long rod and a cutting knife 19, the cutting knife 19 is arc-shaped, the radian of the cutting knife 19 is the same as that of 17 fruits at the root of the fruit handle, and the cutting knife 19 can be tangent to the root of the fruit handle.
Further, still be provided with the device of denucleating on the fruit picking vehicle bottom plate, the device of denucleating includes vertical setting at band pulley I9.1 and band pulley II 9.2 of bottom plate top, band pulley I9.1 and band pulley II 9.2 drive the drive belt and rotate, the both ends of drive belt are provided with the communicating rod 10 of a plurality of horizontal settings, communicating rod 10 is hollow form, the one end and the drive belt through connection of communicating rod 10, the other end and the claw 11 through connection that denucleates of communicating rod 10, the centre of claw 11 that denucleates is provided with the motor of denucleating, the output shaft of the motor that denucleates is connected with the input shaft of sword 12 that denucleates, the centre of drive belt is hollow form, the middle vertical breather pipe 14 that is provided with of drive belt, the bottom and the negative pressure device of breather pipe 14 are connected, be provided with a plurality of horizontal exhaust tubes 13 on the breather pipe 14, every horizontal exhaust tube 13 is corresponding with the communicating pipe 10 that corresponds and the one end that the drive belt runs through.
Furthermore, the middle of the fruit picking vehicle bottom plate is also provided with a fruit collecting device, the fruit collecting device comprises a stepping motor 15, the stepping motor 15 is fixed on the bottom plate, the stepping motor 15 is connected with a fruit picking mechanical arm, the top of the fruit picking mechanical arm is provided with a mechanical arm 16, a weight sensing device is arranged on the mechanical arm 16, and the position of the mechanical arm 16 corresponds to the kernel removing claw at the lowest position on the transmission belt.
The process of the invention is as follows: the position sensing device senses the position of a fruit and transmits the position to the control device, the control device controls the driving motor to drive the mechanical arm to drive the rotating wheels to corresponding positions, the two rotating wheels respectively reach the lower end of the fruit and the upper end of one side of the fruit, the electric driving is started to drive the two rotating wheels to rotate, the rotating directions of the two rotating wheels are the same, the mechanical arm drives the two rotating wheels to clamp the fruit, the fruit is driven to rotate clockwise, the fruit is driven to move to the position of the kernel removing claw, under the rotating action of the two rotating wheels, the fruit tail 18 of the fruit rotates to the position of the kernel removing claw, when the fruit tail 18 of the fruit rotates to correspond to the kernel removing knife, the rotating wheels stop rotating, at the moment, the fruit handle root 17 rotates to the other end of the fruit tail 18 parallel to the ground, at the moment, the cutting knife is aligned to the fruit handle root 17, the handle is started to cut the fruit handle root 17, and the vent pipe is connected with the negative pressure device, the exhaust tube is bled to lead to producing the induced draft air current rather than the communicating link that corresponds, thereby make the claw of denucleating hold the fruit, the sword that denucleates corresponds fruit tail department 18, starts the motor that denucleates and denucleates the fruit, the conveyer belt rotation after denucleating takes the fruit to the bottom and grasps the case of putting into different weight by the manipulator and accomplish the collection.
Claims (6)
1. A fruit picking and kernel removing device comprises a fruit picking vehicle, wherein the fruit picking vehicle comprises a bottom plate, walking wheels are arranged at the bottom of the bottom plate, and a kernel removing device, a fruit picking device, a cutting device, a fruit collecting device and a control device are arranged on the bottom plate; the fruit picking device comprises a supporting rod arranged on a bottom plate, a driving motor is arranged at the top of the supporting rod, the driving motor drives two rotating wheel systems, the rotating wheel system I comprises a rotating wheel I and two mechanical arms I, the two mechanical arms I are rotatably connected, the lower mechanical arm I is connected with the driving motor, the top end of the upper mechanical arm I is connected with a supporting plate I, two ends of the supporting plate I are provided with connecting rods I, one connecting rod I is provided with a motor, a driving shaft of the motor is connected with a rotating shaft, the rotating shaft is arranged between the two connecting rods, the rotating shaft is provided with the rotating wheel I, the connecting rod I is also provided with a position sensor, the rotating wheel I is arranged at the lower end of a fruit and is contacted with the fruit, the rotating wheel system II comprises a rotating wheel II and two mechanical arms II, the two mechanical arms II are rotatably connected, the lower mechanical arm II is connected with the driving motor, the top end of the upper mechanical arm II is connected with a supporting plate II, two ends of the supporting plate II are provided with connecting rods II, one connecting rod II is provided with a motor, a driving shaft of the motor is connected with a rotating shaft, the rotating shaft is arranged between the two connecting rods II, a rotating wheel II is arranged on the rotating shaft, a position sensor is also arranged on the connecting rod II, the rotating wheel II is arranged on the upper portion of the side end of the fruit and is contacted with the fruit, the cutting device comprises a handle, a long rod and a cutting knife, the cutting knife is arc-shaped, the radian of the cutting knife is the same as that of the fruit on the fruit handle, and the cutting knife can be tangentially cut to the root of the fruit handle;
still be provided with the device of denucleating on the fruit picking vehicle bottom plate, the device of denucleating includes vertical band pulley I and band pulley II that sets up in the bottom plate top, band pulley I and band pulley II drive the drive belt and rotate, the both ends of drive belt are provided with the connecting rod of a plurality of horizontal settings, the connecting rod is hollow form, the one end and the drive belt through connection of connecting rod, the other end and the claw through connection that denucleates of connecting rod, the centre of the claw that denucleates is provided with the motor of denucleating, the output shaft of the motor that denucleates is connected with the input shaft of the sword that denucleates, the centre of drive belt is hollow form, the vertical breather pipe that is provided with in the middle of the drive belt, the bottom and the negative pressure device of breather pipe are connected, be provided with a plurality of horizontal exhaust tubes on the breather pipe, every horizontal exhaust tube is corresponding with the communicating pipe that corresponds and the one end that the drive belt runs through.
2. The fruit and kernel picking and removing device of claim 1, wherein: the middle part of the fruit picking vehicle bottom plate is also provided with a fruit collecting device, the fruit collecting device comprises a stepping motor, the stepping motor is fixed on the bottom plate, the stepping motor is connected with a fruit picking mechanical arm, the top of the fruit picking mechanical arm is provided with a mechanical arm, a weight sensing device is arranged on the mechanical arm, and the position of the mechanical arm corresponds to the kernel removing claw at the lowest position on the transmission belt.
3. The fruit and kernel picking and removing device of claim 2, wherein: the rotating wheel is made of a flexible material.
4. A fruit and kernel picking and removing device as claimed in claim 3, wherein: flexible materials are fixed on the denucleation claw and the mechanical arm.
5. The fruit and kernel picking and removing device as claimed in claim 4, wherein: the position sensor, the driving motor, the weight sensing device and the stepping motor are all in wireless connection with the control device.
6. The fruit and kernel picking and removing device of claim 5, wherein: the bottom plate is provided with a collecting box for collecting the fruits with different weights.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910089505.2A CN109601130B (en) | 2019-01-30 | 2019-01-30 | Fruit picking and kernel removing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910089505.2A CN109601130B (en) | 2019-01-30 | 2019-01-30 | Fruit picking and kernel removing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109601130A CN109601130A (en) | 2019-04-12 |
| CN109601130B true CN109601130B (en) | 2022-01-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910089505.2A Active CN109601130B (en) | 2019-01-30 | 2019-01-30 | Fruit picking and kernel removing device |
Country Status (1)
| Country | Link |
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| CN (1) | CN109601130B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111744802B (en) * | 2020-07-07 | 2022-01-07 | 山东华宝隆轻工机械有限公司 | Fruit collecting and sorting machine |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3642043A (en) * | 1970-07-13 | 1972-02-15 | Castle & Cooke | Pineapple coring and recoring |
| NL1018768C2 (en) * | 2001-08-15 | 2003-02-18 | J J Buis En Zn | Method for removing the heart from a cabbage, and device therefor. |
| US7854108B2 (en) * | 2003-12-12 | 2010-12-21 | Vision Robotics Corporation | Agricultural robot system and method |
| FR3050665B1 (en) * | 2016-04-28 | 2018-04-20 | Maf Agrobotic | METHOD AND DEVICE FOR ORIENTATION OF AN OMBILIC FRUIT, IN PARTICULAR FOR PACKAGING |
| EP3500084A4 (en) * | 2016-09-21 | 2020-06-17 | Abundant Robotics, Inc. | Systems for robotic harvesting |
| CN206402719U (en) * | 2017-01-10 | 2017-08-15 | 葡先生(天津)科技有限公司 | A kind of grape harvest plucks seed removing device |
| CN206462367U (en) * | 2017-01-10 | 2017-09-05 | 塔里木大学 | A kind of device for extracting red date stone |
| CN107223404A (en) * | 2017-06-09 | 2017-10-03 | 班新亮 | A kind of multifunctional water fruit picking machine |
| CN108454939A (en) * | 2018-06-01 | 2018-08-28 | 青岛农业大学 | A kind of spheral fruit posture automatic adjusting method based on computer vision and device |
| CN108702938A (en) * | 2018-07-03 | 2018-10-26 | 沈阳农业大学 | A kind of apple-picking collector |
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2019
- 2019-01-30 CN CN201910089505.2A patent/CN109601130B/en active Active
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Effective date of registration: 20241009 Address after: Room 10, No. 9, Courtyard 2, Gangqian Road, Yuzhu Street, Huangpu District, Guangzhou City, Guangdong Province 510000 Patentee after: Guangzhou Jiayi Food Technology Development Co.,Ltd. Country or region after: China Address before: 410022 No. 98 Hongshan Road, Kaifu District, Changsha City, Hunan Province Patentee before: Yuan Caixia Country or region before: China |