Multi-variety small fruit picking machine

Product introduction

According to the survey, the current fruit planting area in China has expanded year by year. At present, most fruit farmers still use traditional manual picking methods when harvesting fruits during the harvest season. There are several problems in manual picking: (1) low production efficiency; (2) high employment costs and increased fruit farmers' The production cost reduces the profit space of the fruit farmers; (3) The physical strength and energy consumption of manual picking are too large to operate for a long time. Looking at the current way of picking fruit, it has its inevitable shortcomings. Therefore, it is very research-oriented to invent a machine instead of manual production, which meets the development needs of modern agriculture and caters to the trend of the times.

The device adopts a technical solution including a driving device, a transmission shaft, a vibration device and a trunk clamping device. One end of the transmission shaft is connected to the driving device, and the other end is connected to the vibration device, and the vibration device is fixed on the trunk clamping device. The vibration device includes a mechanical gripper and a push rod for shaking the trunk.

Under the control operation of the screw shaft and the optical axis, the mechanical arm of the device can move up and down and high and low, and quickly and accurately clamp the trunk for low-frequency vibration. Taking jujube as an example, the jujube on the branch moves with the vibration from the tree. It quickly falls off and falls into an umbrella device on the bottom of the device for collection. In addition, the connection strength between the fruits of different maturity levels and the branches is inevitably different. Therefore, in the face of shaking at different frequencies, the order of destruction of the joints between the fruits and the branches is inevitably different. This enables differentiated picking of fruits of different maturity levels.

Product highlights

(1) Unique two-bar spring return mechanism

In the process of lifting and lowering the screw, the chain can not be in a tight state, and when the problem of power transmission cannot be completed, according to the experience and lessons learned in the life and the learning in the classroom, a two-bar spring return mechanism similar to a bicycle transmission is creatively proposed. The torsion spring and spring tension in the mechanism enable the connecting rod of the mechanism to perform a rotation of about 30°. Within the radius of the connecting rod, the brushless motor can be mounted on the connecting rod due to the existence of the torsion spring and the spring pulling force. The meshing between the sprocket and the chain on the transmission shaft of the sprocket and the screw platform ensures the transmission of power. It is precisely because of the existence of the mechanism that the upper mechanical gripper of the device can realize any selection of the gripping position, thereby obtaining the best picking effect.

(2) multi-species picking:

The multi-variety small fruit picking machine can realize the picking of a variety of small fruits. One machine can help the fruit farmers to solve the picking problems of small fruits such as “jujube”, “cherry” and “walnut”, and truly realize the multi-purpose of one machine. Greatly reduce the production costs of fruit farmers.

(3) Different picking points for different maturity:

Multi-species small fruit picking machine can control the vibration frequency of fruit trees by controlling the motor speed, and then realize the differentiation and screening of fruits with different maturity levels.

We avoided the difficult and complex image recognition technology and used the swaying method for picking. Since the fruits of different maturity levels are swaying, the order of their detachment is different. The more mature the fruit, the more fragile the connection between the fruit and the junction between the branches, and the weaker the force required to get rid of the restraint when faced with shaking. Conversely, the lower the maturity of the fruit, the greater the force required to get rid of the bond at the junction. Therefore, the differential harvesting of fruits of different maturity levels can be achieved by changing the frequency of shaking of the fruit trees.

(4) segment clamping, protect the fruit tree:

The clamping device is mainly composed of two sets of manipulators, and the lower fixed robot is used to hold the bottom of the trunk to maintain a non-vibrating state, for stabilizing the trunk, preventing the upper layer from vibrating and destroying the root of the fruit tree; the upper movable gripping device Through the cam structure, it is used to shake the fruit to achieve the purpose of picking.

Product working methods

The small fruit picking machine works mainly by means of a mounted or manual remote control. According to the topography and user needs, choose different working methods to work.

(1) Vehicle mounting: At present, the device is mainly used to move the device by being mounted on an agricultural vehicle tractor. A fruit tree shaking device and an umbrella receiving device are attached to the agricultural vehicle tractor. Thereby the movement of the device is achieved by manually controlling the agricultural vehicle.

(2) Manual remote control: The drive device and the umbrella-shaped receiving device are installed at the bottom of the device, and the motion movement, the spatial position and the spatial path planning are controlled by the remote controller, thereby completing the selection and picking of the fruit trees.

Research and development team

Guo Zixing, 2016 undergraduate student of the School of Mechanical Engineering, Zhengzhou University, team project leader;

Wu Dong, 2016 undergraduate student of Mechanical Engineering College of Zhengzhou University, mechanical structure design;

Yang Chaozhong, 2016 undergraduate student, Electronic Department, School of Mechanical Engineering, Zhengzhou University;

He Tao, 2016 undergraduate student of the School of Mechanical Engineering, Zhengzhou University, PPT and copywriting.