Novel apple picking and sorting device and method

Abstract

The invention discloses a novel apple picking and sorting device and method. The device comprises a walking apple basket, a telescopic rod set, a rotatable picking head and a sorting and collecting mechanism. The walking apple basket can walk on the ground and is hinged to the telescopic rod set. The tail end of the telescopic rod set is provided with the rotatable picking head. The walking applebasket and the sorting and collecting mechanism are fixedly connected. In work, the walking apple basket is pushed under an apple tree, the telescopic rod set is rotated to adjust the length so as toget close to apples on the tree, the apples are grabbed by adjusting the space angle of the rotatable picking head and then picked and sent into the sorting and collecting mechanism, and the apples ofvarious sizes are classified to be collected. According to the device, through the design of a 3UPS parallel-connection mechanism, a flexible bowl sleeve and a pneumatic adsorption mechanism, the mode of picking apples under the synergistic effect of human wrists and fingers is simulated, high-efficiency and bruise-free apple picking is realized, and the device is suitable for fruit garden picking of fruits such as peaches, apples and pears which grow in high places and have tender peel.

Description

technical field [0001] The invention relates to a novel apple picking and sorting device and method, which is especially suitable for orchard picking of fruits that grow at high places and have fragile skins, such as peaches, apples, pears and the like. Background technique [0002] In 2014, my country's apple planting area and total output reached 2.22 million hectares and 38.49 million tons respectively, both accounting for 50% of the world's total output in that year, and showing an increasing trend year by year. In 2016, the total apple output reached 43.8 million tons. As the production of apples increases year by year, the workload of harvesting will also continue to increase. [0003] Since the working environment of picking robots is changeable, mainly in unstructured environments, the requirements for intelligence are much higher than those of machines in other fields. Although high-end picking robots are easy to use, there are still many problems. For example, mani...

AI Technical Summary

Problems solved by technology

These picking machines have defects such as complex structure, high price, bulky and inconvenient to carry. Therefore, at present, most of the apple picking in my country is carried out by hand.

However, apple trees usually grow vigorously, with tall crowns, and the tree height can reach 15 meters. Under cultivation conditions, the height is generally about 3 to 5 meters. During the picking process, there are problems such as climbing and picking danger, low efficiency, small picking range, and high labor intensity. , the picking cost accounts for about 50% to 70% of the cost, and the labor intensity and labor cost are relatively high

Moreover, due to the fragile and soft skin of ordinary apples, pears and other fruits, improper picking can easily cause damage to the surface or interior of the fruit, resulting in rot in the subsequent storage and transportation of fresh fruits

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