CN114698466A - Car is picked to mangosteen - Google Patents

Abstract

The invention discloses a siraitia grosvenorii picking vehicle, which comprises: the device comprises a vehicle body, a first bin body and a second bin body, wherein the first bin body and the second bin body are arranged on the vehicle body; the height adjusting column is vertically fixed on the vehicle body and is provided with a height adjusting end; the horizontal driving mechanism is horizontally fixed at the height adjusting end and is provided with a horizontal adjusting end; the treatment bin is fixed at the horizontal adjusting end of the horizontal driving mechanism, and a picking assembly and a detection assembly are arranged in the treatment bin, wherein the picking assembly is used for carrying out appearance detection on the momordica grosvenori after picking; the first pipe body is used for receiving the qualified momordica grosvenori and sending the momordica grosvenori to the first bin body; one side of the first pipe body is communicated with a second pipe body for receiving the non-qualified momordica grosvenori and sending the momordica grosvenori to a second bin body.

Description

Translated fromChinese

一种罗汉果采摘车A kind of Luo Han Guo picking vehicle

技术领域technical field

本发明涉及罗汉果采摘技术领域，具体涉及一种罗汉果采摘车。The invention relates to the technical field of Luo Han Guo picking, in particular to a Luo Han Guo picking vehicle.

背景技术Background technique

在对罗汉果进行采摘时，现有的采摘车往往利用切割刀来切割藤杆从而达到采摘的目的，但是如此切割后，罗汉果依旧会保留部分藤杆，后期才处理时还需清理藤杆，并且在采摘时无法预先对罗汉果进行初步分类，导致后期处理工作量大。When picking Luo Han Guo, the existing picking vehicles often use cutting knives to cut the rattan rods to achieve the purpose of picking, but after such cutting, the monk fruit will still retain some rattan rods, and the rattan rods need to be cleaned in the later processing, and It is impossible to preliminarily classify Luo Han Guo during picking, resulting in a large workload of post-processing.

因此，有必要提供一种罗汉果采摘车以解决上述问题。Therefore, it is necessary to provide a Luo Han Guo picking vehicle to solve the above problems.

发明内容SUMMARY OF THE INVENTION

为实现上述目的，本发明提供如下技术方案：一种罗汉果采摘车，包括：To achieve the above object, the present invention provides the following technical solutions: a Luo Han Guo picking vehicle, comprising:

车体，其上设置有第一仓体和第二仓体；a car body, on which a first warehouse body and a second warehouse body are arranged;

高度调节柱，其竖向固定于所述车体上，且具有一高度调节端；a height adjustment column, which is vertically fixed on the vehicle body and has a height adjustment end;

水平驱动机构，其水平固定于高度调节端，且具有一水平调节端；a horizontal drive mechanism, which is horizontally fixed on the height adjustment end and has a horizontal adjustment end;

处理仓，其固定于所述水平驱动机构的水平调节端，且处理仓中设置有采摘组件和检测组件，其中，所述采摘组件对罗汉果进行采摘后由检测组件进行外观检测；以及a processing bin, which is fixed on the horizontal adjustment end of the horizontal drive mechanism, and is provided with a picking component and a detection component, wherein, after the picking component picks the monk fruit, the detection component performs appearance detection; and

第一管体，其用于接收合格罗汉果，并送至第一仓体中；所述第一管体的一侧连通有第二管体，用于接收非合格罗汉果，并送至第二仓体中。The first pipe body is used for receiving qualified monk fruit and sent to the first warehouse body; one side of the first pipe body is communicated with a second pipe body for receiving unqualified monk fruit and sent to the second warehouse in the body.

进一步，作为优选，所述检测组件包括：Further, preferably, the detection component includes:

对称转动设置于处理仓中的传动齿轮；Symmetrically rotate the transmission gear arranged in the processing bin;

传动连接于两个传动齿轮之间的传动链；以及a drive chain drivingly connected between the two drive gears; and

阵列固定于所述传动链上的限位座；an array of limit seats fixed on the transmission chain;

其中，所述限位座上设置有收料机构，用于接收来自于采摘组件的罗汉果；Wherein, the limit seat is provided with a receiving mechanism for receiving the Luo Han Guo from the picking assembly;

还包括位于处理仓顶部的视觉传感器。Also includes a vision sensor on top of the processing bin.

进一步，作为优选，其中一个传动齿轮上同轴固定有从动同步轮，所述从动同步轮采用同步带与主动同步轮传动相连，所述主动同步轮设置于采摘组件中驱动电机的输出端，且所述驱动电机驱动采摘组件进行一次采摘时，能够带动从动同步轮进行转动，且使得收料机构行走一个步距，该步距满足下一收料机构能够移动至采摘组件的出料端。Further, preferably, a driven synchronizing wheel is coaxially fixed on one of the transmission gears, the driven synchronizing wheel is connected to the driving synchronizing wheel by a synchronous belt, and the driving synchronizing wheel is arranged at the output end of the driving motor in the picking assembly. , and when the driving motor drives the picking assembly for one picking, it can drive the driven synchronizing wheel to rotate, and make the receiving mechanism walk a step distance, which is sufficient for the next receiving mechanism to move to the discharging of the picking assembly. end.

进一步，作为优选，所述收料机构包括收料框，所述收料框的底部固定有随动齿轮，所述随动齿轮能够绕其中心竖轴线转动设置于所述限位座上；Further, preferably, the receiving mechanism includes a receiving frame, and a follower gear is fixed on the bottom of the receiving frame, and the follower gear can rotate around its central vertical axis and is arranged on the limit seat;

所述处理仓中还固定有位于传动链上方的齿条，所述齿条能够与随动齿轮相啮合。A rack located above the transmission chain is also fixed in the processing bin, and the rack can be engaged with the driven gear.

进一步，作为优选，所述处理仓中还固定有沿限位座移动轨迹分布的支撑轨道，所述支撑轨道与所述限位座滑动相连。Further, preferably, a support rail distributed along the movement track of the limit seat is also fixed in the processing bin, and the support track is slidably connected to the limit seat.

进一步，作为优选，所述采摘组件包括：Further, preferably, the picking assembly includes:

导料槽，其固定于所述处理仓的顶部；a feeding chute, which is fixed on the top of the processing bin;

安装座，其嵌入至所述导料槽的底部；a mounting seat, which is embedded into the bottom of the material guide groove;

基座，其转动设置于所述安装座上，且所述基座上对称滑动设置有滑座，且所述滑座由双头伸缩杆所驱动；以及a base, which is rotatably arranged on the mounting seat, and a sliding seat is symmetrically slidable on the base, and the sliding seat is driven by a double-ended telescopic rod; and

采摘臂，其固定于所述滑座上；且所述采摘臂上铰接有弧形自适应爪。The picking arm is fixed on the sliding seat; and the picking arm is hinged with an arc-shaped adaptive claw.

进一步，作为优选，所述基座采用轴体转动设置于所述安装座上，轴体一端穿出安装座且连接有从动齿轮，所述从动齿轮与主动齿轮相啮合，所述主动齿轮同轴固定于贯穿轴上，所述贯穿轴贯穿转动设置于传动仓中，且由驱动电机所驱动。Further, preferably, the base is rotatably arranged on the mounting seat by a shaft body, one end of the shaft body penetrates the mounting seat and is connected with a driven gear, the driven gear is meshed with the driving gear, and the driving gear The through shaft is coaxially fixed on the through shaft, and the through shaft is arranged in the transmission chamber through rotation and driven by the drive motor.

进一步，作为优选，所述贯穿轴远离主动齿轮的一端同轴固定有主动锥齿轮，所述主动锥齿轮与从动锥齿轮相啮合，所述从动锥齿轮上同轴固定有主动同步轮。Further, preferably, a driving bevel gear is coaxially fixed at one end of the through shaft away from the driving gear, the driving bevel gear is meshed with the driven bevel gear, and a driving synchronizing wheel is coaxially fixed on the driven bevel gear.

进一步，作为优选，所述伸缩杆上采用多个弹簧连接有底板，所述底板为弧形结构。Further, preferably, the telescopic rod is connected with a bottom plate by a plurality of springs, and the bottom plate is an arc structure.

进一步，作为优选，所述第一管体的一端竖向连通于所述处理仓的底部，所述第二管体水平连通于所述第一管体的一侧，所述第一管体的另一侧还设置有导料杆，所述导料杆能够伸缩，且伸长时能够为罗汉果提供导向，使其在导料杆的导向下进入至第二管体中。Further, preferably, one end of the first pipe body is vertically connected to the bottom of the processing bin, the second pipe body is horizontally connected to one side of the first pipe body, and the first pipe body is The other side is also provided with a material guide rod, the material guide rod can be extended and retracted, and can provide guidance for Luo Han Guo when extended, so that it can enter the second pipe body under the guidance of the material guide rod.

与现有技术相比，本发明提供了一种罗汉果采摘车，具有以下有益效果：Compared with the prior art, the present invention provides a Luo Han Guo picking vehicle, which has the following beneficial effects:

本发明实施例中，在处理仓中设置有采摘组件和检测组件，因此，在对罗汉果进行采摘时，可以利用检测组件对其外观进行初步检测，从而实现初步分拣，便于对于罗汉果进行分类存储；In the embodiment of the present invention, a picking component and a detection component are arranged in the processing bin. Therefore, when picking Luo Han Guo, the detection component can be used to perform preliminary inspection on its appearance, thereby realizing preliminary sorting and facilitating classification and storage of Luo Han Guo. ;

并且，驱动电机驱动采摘组件进行一次采摘时，能够带动从动同步轮进行转动，且使得收料机构行走一个步距，该步距满足下一收料机构能够移动至采摘组件的出料端，从而将采摘动作和送料检测动作进行同步，保证采摘和送料检测的统一性，使得各个罗汉果均能够被依次送料检测，Moreover, when the driving motor drives the picking assembly for one picking, it can drive the driven synchronizing wheel to rotate, and make the receiving mechanism walk a step distance, which is sufficient for the next receiving mechanism to move to the discharging end of the picking assembly. In this way, the picking action and the feeding detection action are synchronized to ensure the unity of the picking and feeding detection, so that each Luo Han Guo can be fed and detected in sequence.

另外，当收料机构进行移动时，随动齿轮能够与齿条相啮合，从而使得在收料机构进行移动时，收料框能够在齿条的作用下进行转动，从而使得视觉传感器能够拍摄罗汉果的多个角度的图片并上传至处理器进行图片分析。In addition, when the receiving mechanism moves, the follower gear can mesh with the rack, so that when the receiving mechanism moves, the receiving frame can rotate under the action of the rack, so that the visual sensor can take pictures of Luo Han Guo The images from multiple angles are uploaded to the processor for image analysis.

附图说明Description of drawings

图1为一种罗汉果采摘车的整体结构示意图；Fig. 1 is the overall structure schematic diagram of a kind of Luo Han Guo picking vehicle;

图2为一种罗汉果采摘车中视检测组件的结构示意图；2 is a schematic structural diagram of a mid-view detection assembly in a Luo Han Guo picking vehicle;

图3为一种罗汉果采摘车中采摘组件的结构示意图；3 is a schematic structural diagram of a picking assembly in a Luo Han Guo picking vehicle;

图4为一种罗汉果采摘车中采摘组件的立体结构示意图；Fig. 4 is a three-dimensional schematic diagram of a picking assembly in a Luo Han Guo picking vehicle;

图中：1、车体；2、高度调节柱；3、水平驱动机构；4、处理仓；5、采摘组件；6、检测组件；7、第一管体；8、第二管体；9、导料杆；10、第一仓体；11、第二仓体；51、导料槽；52、采摘臂；53、驱动电机；54、自适应爪；55、伸缩杆；56、滑座；57、基座；58、底板；59、传动仓；510、贯穿轴；511、从动锥齿轮；512、安装座；513、从动齿轮；61、传动齿轮；62、传动链；63、限位座；64、支撑轨道；65、随动齿轮；66、收料框；67、齿条；68、视觉传感器；69、从动同步轮。In the figure: 1. Vehicle body; 2. Height adjustment column; 3. Horizontal drive mechanism; 4. Processing bin; 5. Picking assembly; 6. Detection assembly; 7. First tube body; 8. Second tube body; 9 , material guide rod; 10, first warehouse body; 11, second warehouse body; 51, material guide groove; 52, picking arm; 53, drive motor; 54, adaptive claw; 55, telescopic rod; 56, sliding seat ;57, base; 58, bottom plate; 59, transmission bin; 510, through shaft; 511, driven bevel gear; 512, mounting seat; 513, driven gear; 61, transmission gear; 62, transmission chain; 63, Limit seat; 64, support track; 65, driven gear; 66, receiving frame; 67, rack; 68, vision sensor; 69, driven synchronous wheel.

具体实施方式Detailed ways

请参阅图1～4，本发明提供了一种罗汉果采摘车，包括：Please refer to Figures 1 to 4, the present invention provides a Luo Han Guo picking vehicle, including:

车体1，其上设置有第一仓体10和第二仓体11；Vehicle body 1, on which afirst bin body 10 and a secondbin body 11 are arranged;

高度调节柱2，其竖向固定于所述车体1上，且具有一高度调节端；aheight adjustment column 2, which is vertically fixed on the vehicle body 1 and has a height adjustment end;

水平驱动机构3，其水平固定于高度调节端，且具有一水平调节端；ahorizontal drive mechanism 3, which is horizontally fixed on the height adjustment end and has a horizontal adjustment end;

处理仓4，其固定于所述水平驱动机构3的水平调节端，且处理仓4中设置有采摘组件5和检测组件6，其中，所述采摘组件5对罗汉果进行采摘后由检测组件6进行外观检测；以及Theprocessing bin 4 is fixed on the horizontal adjustment end of thehorizontal drive mechanism 3, and theprocessing bin 4 is provided with a picking component 5 and adetection component 6, wherein the picking component 5 picks the monk fruit by thedetection component 6. visual inspection; and

第一管体7，其用于接收合格罗汉果，并送至第一仓体10中；所述第一管体7的一侧连通有第二管体8，用于接收非合格罗汉果，并送至第二仓体11中。Thefirst pipe body 7 is used to receive qualified monk fruit, and is sent to thefirst warehouse body 10; one side of thefirst pipe body 7 is communicated with a second pipe body 8 for receiving non-qualified monk fruit, and sent to thefirst pipe body 7. into thesecond bin body 11 .

其中，高度调节柱2和水平驱动机构3可以采用同样的结构；Wherein, theheight adjustment column 2 and thehorizontal drive mechanism 3 can adopt the same structure;

在一可选的实施例中，高度调节柱2和水平驱动机构3可以是气缸，利用气缸能够进行伸缩调节，并且该调节能够为处理仓4的移动提供一定的缓冲；In an optional embodiment, theheight adjustment column 2 and thehorizontal drive mechanism 3 may be air cylinders, and the air cylinders can be used for telescopic adjustment, and the adjustment can provide a certain buffer for the movement of theprocessing bin 4;

在一可选的实施例中，高度调节柱2和水平驱动机构3可以是丝杠螺母副结构，其可以精确的提供伸缩驱动，保证了处理仓4移动的精确性。In an optional embodiment, theheight adjustment column 2 and thehorizontal drive mechanism 3 may be a screw-nut pair structure, which can precisely provide telescopic drive and ensure the accuracy of the movement of theprocessing chamber 4 .

在一可选的实施例中，高度调节柱2和水平驱动机构3可以是液压缸，其可提供较大的液压力，保证处理仓4移动的稳定性与高效性；In an optional embodiment, theheight adjustment column 2 and thehorizontal driving mechanism 3 can be hydraulic cylinders, which can provide a relatively large hydraulic pressure to ensure the stability and efficiency of the movement of theprocessing bin 4;

另外，本实施例中，在处理仓4中设置有采摘组件5和检测组件6，因此，在对罗汉果进行采摘时，可以利用检测组件6对其外观进行初步检测，从而实现初步分拣，便于对于罗汉果进行分类存储。In addition, in this embodiment, theprocessing bin 4 is provided with a picking component 5 and adetection component 6. Therefore, when picking Luo Han Guo, thedetection component 6 can be used to perform preliminary detection on its appearance, so as to realize preliminary sorting and facilitate the Classify and store Luo Han Guo.

本实施例中，如图2，所述检测组件6包括：In this embodiment, as shown in FIG. 2 , thedetection component 6 includes:

对称转动设置于处理仓4中的传动齿轮61；Symmetrically rotate thetransmission gear 61 arranged in theprocessing bin 4;

传动连接于两个传动齿轮61之间的传动链62；以及drive chain 62 connected between two drive gears 61; and

阵列固定于所述传动链62上的限位座63；thelimit seat 63 fixed on thetransmission chain 62 in an array;

其中，所述限位座63上设置有收料机构，用于接收来自于采摘组件5的罗汉果；Wherein, thelimit seat 63 is provided with a receiving mechanism for receiving the Luo Han Guo from the picking assembly 5;

还包括位于处理仓4顶部的视觉传感器68。Avision sensor 68 located on top of theprocessing chamber 4 is also included.

另外，其中一个传动齿轮61上同轴固定有从动同步轮69，所述从动同步轮69采用同步带与主动同步轮传动相连，所述主动同步轮设置于采摘组件5中驱动电机53的输出端，且所述驱动电机53驱动采摘组件5进行一次采摘时，能够带动从动同步轮69进行转动，且使得收料机构行走一个步距，该步距满足下一收料机构能够移动至采摘组件5的出料端。In addition, a drivensynchronous wheel 69 is coaxially fixed on one of the transmission gears 61 , and the drivensynchronous wheel 69 is connected to the driving synchronous wheel by using a synchronous belt. When thedrive motor 53 drives the picking assembly 5 to pick one time, it can drive the driven synchronizingwheel 69 to rotate, and make the receiving mechanism walk a step distance, which is sufficient for the next receiving mechanism to move to the output end. The discharge end of the picking assembly 5.

也就是说，本实施例中，可以将采摘动作和送料检测动作进行同步，保证采摘和送料检测的统一性，使得各个罗汉果均能够被依次送料检测。That is to say, in this embodiment, the picking action and the feeding detection action can be synchronized to ensure the unity of picking and feeding detection, so that each Luo Han Guo can be fed and detected in sequence.

作为较佳的实施例，所述收料机构包括收料框66，所述收料框66的底部固定有随动齿轮65，所述随动齿轮65能够绕其中心竖轴线转动设置于所述限位座63上；As a preferred embodiment, the receiving mechanism includes a receivingframe 66, and afollower gear 65 is fixed at the bottom of the receivingframe 66, and thefollower gear 65 can rotate around its central vertical axis and is arranged on the on thelimit seat 63;

所述处理仓4中还固定有位于传动链62上方的齿条67，所述齿条67能够与随动齿轮65相啮合。Arack 67 located above thetransmission chain 62 is also fixed in theprocessing chamber 4 , and therack 67 can engage with the drivengear 65 .

也就是说，当收料机构进行移动时，随动齿轮能够与齿条相啮合，从而使得在收料机构进行移动时，收料框能够在齿条的作用下进行转动，从而使得视觉传感器能够拍摄罗汉果的多个角度的图片并上传至处理器进行图片分析。That is to say, when the receiving mechanism moves, the follower gear can mesh with the rack, so that when the receiving mechanism moves, the receiving frame can rotate under the action of the rack, so that the visual sensor can Take pictures of Luo Han Guo from multiple angles and upload them to the processor for picture analysis.

作为较佳的实施例，所述处理仓4中还固定有沿限位座63移动轨迹分布的支撑轨道64，所述支撑轨道64与所述限位座63滑动相连。As a preferred embodiment, asupport rail 64 distributed along the movement track of the limitingseat 63 is also fixed in theprocessing bin 4 , and the supportingrail 64 is slidably connected to the limitingseat 63 .

本实施例中，如图3和4，所述采摘组件5包括：In this embodiment, as shown in Figures 3 and 4, the picking assembly 5 includes:

导料槽51，其固定于所述处理仓4的顶部；Amaterial guide trough 51, which is fixed on the top of theprocessing bin 4;

安装座512，其嵌入至所述导料槽51的底部；a mountingseat 512, which is embedded into the bottom of thematerial guide trough 51;

基座57，其转动设置于所述安装座512上，且所述基座57上对称滑动设置有滑座56，且所述滑座56由双头伸缩杆55所驱动；以及abase 57, which is rotatably disposed on the mountingseat 512, and a slidingseat 56 is symmetrically slidable on thebase 57, and the slidingseat 56 is driven by the double-endedtelescopic rod 55; and

采摘臂52，其固定于所述滑座56上；且所述采摘臂52上铰接有弧形自适应爪54。The pickingarm 52 is fixed on the slidingseat 56 ; and an arc-shapedadaptive claw 54 is hinged on the pickingarm 52 .

另外，所述基座57采用轴体转动设置于所述安装座512上，轴体一端穿出安装座512且连接有从动齿轮513，所述从动齿轮513与主动齿轮相啮合，所述主动齿轮同轴固定于贯穿轴510上，所述贯穿轴510贯穿转动设置于传动仓59中，且由驱动电机53所驱动。In addition, thebase 57 is rotatably arranged on the mountingseat 512 by a shaft body, one end of the shaft body penetrates the mountingseat 512 and is connected with a drivengear 513, the drivengear 513 is meshed with the driving gear, the The driving gear is coaxially fixed on the throughshaft 510 , the throughshaft 510 is rotatably disposed in thetransmission chamber 59 and driven by thedrive motor 53 .

另外，所述贯穿轴510远离主动齿轮的一端同轴固定有主动锥齿轮，所述主动锥齿轮与从动锥齿轮相啮合，所述从动锥齿轮上同轴固定有主动同步轮。In addition, a driving bevel gear is coaxially fixed at one end of the throughshaft 510 away from the driving gear, the driving bevel gear is meshed with the driven bevel gear, and a driving synchronizing wheel is coaxially fixed on the driven bevel gear.

作为较佳的实施例，所述伸缩杆55上采用多个弹簧连接有底板58，所述底板58为弧形结构。As a preferred embodiment, thetelescopic rod 55 is connected to abottom plate 58 by a plurality of springs, and thebottom plate 58 is an arc structure.

在利用所述采摘臂进行采摘时，所述驱动电机53驱动所述基座57进行转动从而将罗汉果脱离藤杆，其中，在转动过程中，采摘臂相互远离，使得罗汉果接触束缚并甩出，另外需注意的是，收料框的收料空间较大，且大于导料槽中的排料口，例如，每次在采摘罗汉果时，驱动电机可驱动基座转动4周，其中，在第3.5周时，下一收料框的左侧位于排料口的左侧，此时采摘臂相互远离，使得罗汉果接触束缚并甩出，再转动0.5周时，该收料框刚好位于排料口的正下方，从而保证罗汉果被收集。When the picking arms are used for picking, the drivingmotor 53 drives the base 57 to rotate so as to separate the monk fruit from the rattan pole, wherein, during the rotation process, the picking arms are far away from each other, so that the monk fruit is bound and thrown out, In addition, it should be noted that the receiving space of the receiving frame is larger and larger than the discharge opening in the material guide trough. For example, each time when picking Luo Han Guo, the driving motor can drive the base to rotate 4 times. At 3.5 weeks, the left side of the next receiving frame is located on the left side of the discharge opening. At this time, the picking arms are far away from each other, so that the mangosteen is bound and thrown out. After another 0.5 weeks, the receiving frame is just at the discharge opening. directly below, thus ensuring that Luo Han Guo is collected.

本实施例中，所述第一管体7的一端竖向连通于所述处理仓4的底部，所述第二管体8水平连通于所述第一管体7的一侧，所述第一管体7的另一侧还设置有导料杆9，所述导料杆9能够伸缩，且伸长时能够为罗汉果提供导向，使其在导料杆的导向下进入至第二管体8中。In this embodiment, one end of thefirst pipe body 7 is vertically connected to the bottom of theprocessing chamber 4 , the second pipe body 8 is horizontally connected to one side of thefirst pipe body 7 , and the first Amaterial guide rod 9 is also provided on the other side of thefirst pipe body 7. Thematerial guide rod 9 can expand and contract, and can provide guidance for Luo Han Guo when extending, so that it can enter the second pipe body under the guidance of the material guide rod. 8 in.

在具体实施时，在对罗汉果进行采摘时，驱动电机53驱动所述基座57进行转动从而将罗汉果脱离藤杆，其中，在转动过程中，采摘臂相互远离，使得罗汉果接触束缚并甩出，罗汉果进入至收料框中，并能够随着收料框进行移动和转动，从而利用检测组件6对其外观进行初步检测，从而实现初步分拣，便于对于罗汉果进行分类存储。In the specific implementation, when picking the monk fruit, thedrive motor 53 drives the base 57 to rotate so as to separate the monk fruit from the rattan pole, wherein, during the rotation process, the picking arms are far away from each other, so that the monk fruit is contacted and bound and thrown out, The monk fruit enters the receiving box, and can move and rotate along with the receiving box, so that the appearance of the monk fruit is preliminarily detected by thedetection component 6, so as to realize the preliminary sorting and facilitate the classification and storage of the monk fruit.

以上所述的，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The equivalent replacement or modification of the solution and its inventive concept shall be included within the protection scope of the present invention.

Claims (10)

Translated fromChinese

1.一种罗汉果采摘车，其特征在于：包括：1. a Luo Han Guo picking vehicle, is characterized in that: comprise:车体(1)，其上设置有第一仓体(10)和第二仓体(11)；a vehicle body (1), on which a first bin body (10) and a second bin body (11) are arranged;高度调节柱(2)，其竖向固定于所述车体(1)上，且具有一高度调节端；a height adjustment column (2), which is vertically fixed on the vehicle body (1) and has a height adjustment end;水平驱动机构(3)，其水平固定于高度调节端，且具有一水平调节端；a horizontal drive mechanism (3), which is horizontally fixed on the height adjustment end and has a horizontal adjustment end;处理仓(4)，其固定于所述水平驱动机构(3)的水平调节端，且处理仓(4)中设置有采摘组件(5)和检测组件(6)，其中，所述采摘组件(5)对罗汉果进行采摘后由检测组件(6)进行外观检测；以及A processing bin (4) is fixed on the horizontal adjustment end of the horizontal drive mechanism (3), and a picking assembly (5) and a detection assembly (6) are arranged in the processing bin (4), wherein the picking assembly ( 5) After picking the Luo Han Guo, the appearance inspection is carried out by the inspection component (6); and第一管体(7)，其用于接收合格罗汉果，并送至第一仓体(10)中；所述第一管体(7)的一侧连通有第二管体(8)，用于接收非合格罗汉果，并送至第二仓体(11)中。The first pipe body (7) is used for receiving qualified Luo Han Guo and sent to the first warehouse body (10); one side of the first pipe body (7) is communicated with the second pipe body (8), which is used for To receive non-qualified Luo Han Guo, and send it to the second warehouse body (11).2.根据权利要求1所述的一种罗汉果采摘车，其特征在于：所述检测组件(6)包括：2. A kind of Luo Han Guo picking vehicle according to claim 1, is characterized in that: described detection component (6) comprises:对称转动设置于处理仓(4)中的传动齿轮(61)；a transmission gear (61) arranged in the processing bin (4) is symmetrically rotated;传动连接于两个传动齿轮(61)之间的传动链(62)；以及a transmission chain (62) drivingly connected between the two transmission gears (61); and阵列固定于所述传动链(62)上的限位座(63)；an array of limit seats (63) fixed on the transmission chain (62);其中，所述限位座(63)上设置有收料机构，用于接收来自于采摘组件(5)的罗汉果；Wherein, the limit seat (63) is provided with a receiving mechanism for receiving the Luo Han Guo from the picking assembly (5);还包括位于处理仓(4)顶部的视觉传感器(68)。Also included is a vision sensor (68) located on top of the processing chamber (4).3.根据权利要求2所述的一种罗汉果采摘车，其特征在于：其中一个传动齿轮(61)上同轴固定有从动同步轮(69)，所述从动同步轮(69)采用同步带与主动同步轮传动相连，所述主动同步轮设置于采摘组件(5)中驱动电机(53)的输出端，且所述驱动电机(53)驱动采摘组件(5)进行一次采摘时，能够带动从动同步轮(69)进行转动，且使得收料机构行走一个步距，该步距满足下一收料机构能够移动至采摘组件(5)的出料端。3. A kind of Luo Han Guo picking vehicle according to claim 2 is characterized in that: a driven synchronizing wheel (69) is coaxially fixed on one of the transmission gears (61), and the driven synchronizing wheel (69) adopts synchronous The belt is connected to the driving synchronizing wheel, the driving synchronizing wheel is arranged at the output end of the driving motor (53) in the picking assembly (5), and when the driving motor (53) drives the picking assembly (5) for one picking, it can The driven synchronizing wheel (69) is driven to rotate, and the receiving mechanism is made to travel a step distance, which is sufficient for the next receiving mechanism to move to the discharging end of the picking assembly (5).4.根据权利要求2所述的一种罗汉果采摘车，其特征在于：所述收料机构包括收料框(66)，所述收料框(66)的底部固定有随动齿轮(65)，所述随动齿轮(65)能够绕其中心竖轴线转动设置于所述限位座(63)上；4 . The Luo Han Guo picking vehicle according to claim 2 , wherein the receiving mechanism comprises a receiving frame ( 66 ), and a follower gear ( 65 ) is fixed at the bottom of the receiving frame ( 66 ). 5 . , the follower gear (65) is rotatably arranged on the limit seat (63) around its central vertical axis;所述处理仓(4)中还固定有位于传动链(62)上方的齿条(67)，所述齿条(67)能够与随动齿轮(65)相啮合。A rack (67) located above the transmission chain (62) is also fixed in the processing bin (4), and the rack (67) can be meshed with the driven gear (65).5.根据权利要求2所述的一种罗汉果采摘车，其特征在于：所述处理仓(4)中还固定有沿限位座(63)移动轨迹分布的支撑轨道(64)，所述支撑轨道(64)与所述限位座(63)滑动相连。5 . The Luo Han Guo picking vehicle according to claim 2 , wherein a support rail ( 64 ) distributed along the movement trajectory of the limit seat ( 63 ) is also fixed in the processing bin ( 4 ). The track (64) is slidably connected with the limiting seat (63).6.根据权利要求1所述的一种罗汉果采摘车，其特征在于：所述采摘组件(5)包括：6. A kind of Luo Han Guo picking vehicle according to claim 1, is characterized in that: described picking assembly (5) comprises:导料槽(51)，其固定于所述处理仓(4)的顶部；a material guide trough (51), which is fixed on the top of the processing bin (4);安装座(512)，其嵌入至所述导料槽(51)的底部；a mounting seat (512), which is embedded in the bottom of the material guide groove (51);基座(57)，其转动设置于所述安装座(512)上，且所述基座(57)上对称滑动设置有滑座(56)，且所述滑座(56)由双头伸缩杆(55)所驱动；以及A base (57), which is rotatably arranged on the mounting seat (512), and a sliding seat (56) is symmetrically slidable on the base (57), and the sliding seat (56) is telescopic by a double head driven by the rod (55); and采摘臂(52)，其固定于所述滑座(56)上；且所述采摘臂(52)上铰接有弧形自适应爪(54)。A picking arm (52) is fixed on the sliding seat (56); and an arc-shaped adaptive claw (54) is hinged on the picking arm (52).7.根据权利要求6所述的一种罗汉果采摘车，其特征在于：所述基座(57)采用轴体转动设置于所述安装座(512)上，轴体一端穿出安装座(512)且连接有从动齿轮(513)，所述从动齿轮(513)与主动齿轮相啮合，所述主动齿轮同轴固定于贯穿轴(510)上，所述贯穿轴(510)贯穿转动设置于传动仓(59)中，且由驱动电机(53)所驱动。7 . The Luo Han Guo picking vehicle according to claim 6 , wherein the base ( 57 ) is rotatably mounted on the mounting seat ( 512 ) by a shaft body, and one end of the shaft body passes through the mounting seat ( 512 ). 8 . ) and is connected with a driven gear (513), the driven gear (513) meshes with the driving gear, the driving gear is coaxially fixed on the through shaft (510), and the through shaft (510) is rotatably arranged through the in the transmission compartment (59) and driven by the drive motor (53).8.根据权利要求7所述的一种罗汉果采摘车，其特征在于：所述贯穿轴(510)远离主动齿轮的一端同轴固定有主动锥齿轮，所述主动锥齿轮与从动锥齿轮相啮合，所述从动锥齿轮上同轴固定有主动同步轮。8 . The Monk fruit picking vehicle according to claim 7 , wherein a driving bevel gear is coaxially fixed at one end of the through shaft (510) away from the driving gear, and the driving bevel gear is in phase with the driven bevel gear. 9 . The driven bevel gear is coaxially fixed with a driving synchronizing wheel.9.根据权利要求6所述的一种罗汉果采摘车，其特征在于：所述伸缩杆(55)上采用多个弹簧连接有底板(58)，所述底板(58)为弧形结构。9 . The Luo Han Guo picking vehicle according to claim 6 , wherein the telescopic rod ( 55 ) is connected with a bottom plate ( 58 ) by a plurality of springs, and the bottom plate ( 58 ) has an arc structure. 10 .10.根据权利要求1所述的一种罗汉果采摘车，其特征在于：所述第一管体(7)的一端竖向连通于所述处理仓(4)的底部，所述第二管体(8)水平连通于所述第一管体(7)的一侧，所述第一管体(7)的另一侧还设置有导料杆(9)，所述导料杆(9)能够伸缩，且伸长时能够为罗汉果提供导向，使其在导料杆的导向下进入至第二管体(8)中。10. The Luo Han Guo picking vehicle according to claim 1, characterized in that: one end of the first pipe body (7) is vertically communicated with the bottom of the processing bin (4), and the second pipe body (8) horizontally connected to one side of the first pipe body (7), the other side of the first pipe body (7) is also provided with a material guide rod (9), the material guide rod (9) It can be stretched and stretched, and when stretched, it can provide guidance for Luo Han Guo, so that it can enter into the second pipe body (8) under the guidance of the material guide rod.

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