阅读说明：本技术 一种苹果防碰撞分级收集机及其苹果收集方法 (Apple anti-collision grading collector and apple collecting method thereof ) 是由 马锃宏 胡润泽 黄建勋 张剑一 于 2021-07-21 设计创作，主要内容包括：本发明公开了一种苹果防碰撞分级收集机及其苹果收集方法,包括分级防撞管道机构和收集机构；分级防撞管道机构包括分级防撞管道；分级防撞管道的主管内位于每根支管的入料口下方均设有分级器件；最顶部分级器件上方以及最底部分级器件下方均设有防撞器件一；每根支管的内壁设有防撞器件二；主管和每根支管底端均设有一个收集机构。本发明通过分级防撞管道的主管和多根支管结合分级器件对不同直径苹果进行分级收集,分级等级可通过更换不同内径的环形气囊实现；防撞器件使苹果在分级防撞管道内各个位置处均不会碰撞到刚性构件；收集机构中收集管的环形气囊结合收集管的升降,使苹果以无初速度的形式进入收集框内,将苹果的碰撞损伤降到最低。(The invention discloses an apple anti-collision grading collector and an apple collecting method thereof, wherein the apple anti-collision grading collector comprises a grading anti-collision pipeline mechanism and a collecting mechanism; the grading anti-collision pipeline mechanism comprises a grading anti-collision pipeline; a grading device is arranged below a feeding port of each branch pipe in a main pipe of the grading anti-collision pipeline; a first anti-collision device is arranged above the topmost grading device and below the bottommost grading device; the inner wall of each branch pipe is provided with a second anti-collision device; the bottom ends of the main pipe and each branch pipe are respectively provided with a collecting mechanism. According to the invention, apples with different diameters are collected in a grading manner by combining the main pipe and the branch pipes of the grading anti-collision pipeline with the grading device, and the grading grade can be realized by replacing annular air bags with different inner diameters; the anti-collision device ensures that the apples cannot collide with the rigid member at each position in the grading anti-collision pipeline; the annular air bag of the collecting pipe in the collecting mechanism is combined with the lifting of the collecting pipe, so that the apples enter the collecting frame in a form without initial speed, and the collision damage of the apples is reduced to the minimum.)

1. The utility model provides an apple anticollision is gathering machine in grades, includes collection mechanism, its characterized in that: the device also comprises a grading anti-collision pipeline mechanism; the grading anti-collision pipeline mechanism comprises a grading anti-collision pipeline, a grading device, a first anti-collision device and a second anti-collision device; the grading anti-collision pipeline is fixed on the frame; the grading anti-collision pipeline is provided with a main pipe and n branch pipes which are integrally formed, wherein n is more than or equal to 2; the feeding ports of all the branch pipes are communicated with the main pipe, and the heights of the feeding ports of all the branch pipes are different; a grading device is arranged on the inner wall of the main pipe below the feeding port of each branch pipe, and a plurality of first anti-collision devices are arranged above the topmost grading device and below the bottommost grading device; the inner wall of each branch pipe is provided with a plurality of second anti-collision devices; the grading device comprises an annular air bag, a moon-shaped air bag positioned above the annular air bag and a photoelectric sensor positioned above the moon-shaped air bag; the annular air bag, the moon-shaped air bag and the photoelectric sensor of the grading device are fixed with the main pipe through a fixing ring; the first anti-collision device and the second anti-collision device respectively comprise an annular air bag and a photoelectric sensor positioned above the annular air bag; the annular air bag and the photoelectric sensor of the first anti-collision device are fixed with the main pipe through a fixing ring, and the annular air bag and the photoelectric sensor of the second anti-collision device are fixed with the branch pipe through a fixing ring; the whole outer side of the annular air bag is fixed with the fixing ring; one side of the moon-shaped air bag is fixed with the fixing ring, and the other side is freely arranged; the inner diameter of the annular air bag in the grading device with the main pipe arranged from top to bottom is gradually reduced;

the main pipe of the grading anti-collision pipeline and the bottom end of each branch pipe are respectively provided with a collecting mechanism; the collecting mechanism comprises a linear motion mechanism and a collecting frame; the linear motion mechanism comprises a collecting pipe, an anti-collision device III, a lifting cylinder, a polish rod, a connecting block and a linear bearing; a connecting block is fixed outside the collecting pipe; the connecting block is connected with a polished rod fixed on the frame through a linear bearing and is fixed with a push rod of the lifting cylinder; the cylinder body of the lifting cylinder is fixed on the frame; a push rod of the lifting cylinder is vertically arranged; the inner wall of the collecting pipe is provided with a plurality of third anti-collision devices, wherein one third anti-collision device is positioned at the bottommost position of the collecting pipe; the third anti-collision device comprises an annular air bag and a photoelectric sensor positioned above the annular air bag; the annular air bag and the photoelectric sensor of the third anti-collision device are fixed with the collecting pipe through a fixing ring; the bottom of the collecting pipe is provided with a collecting frame; the top end of the collecting pipe of the collecting mechanism is aligned with the bottom end of the main pipe or the corresponding branch pipe.

2. The apple anti-collision grading collector of claim 1, wherein: the photoelectric sensor adopts a diffuse reflection type photoelectric sensor.

3. The apple anti-collision grading collector of claim 1, wherein: the annular air bag, the moon-shaped air bag and the lifting air cylinder are all connected with an air pump through air pipes and reversing valves, and the signal output end of the photoelectric sensor is connected with a controller; the air pump is controlled by the controller.

4. The apple anti-collision grading collector of claim 1, wherein: and the bottom of the collecting pipe is provided with a bent pipe section.

5. The apple anti-collision grading collector of claim 1, wherein: the device also comprises a rotating base; the rotating base comprises a baffle plate, a rotating table, a cam wrench, a shaft, a rotary cylinder, a thrust bearing and a bottom plate; the turntable is supported on the base through a thrust bearing and is fixed with a rotor of the rotary cylinder; the stator of the rotary cylinder is fixed with the base; the rotary air cylinder is connected with the air pump through an air pipe and a reversing valve; the baffle is fixed on the rotary table; the shaft is arranged opposite to the baffle and is fixed on the rotary table; the cam wrench is in transition fit with the shaft; one end of the cam wrench facing the baffle is provided with an integrally formed cam; the collecting frame of each collecting mechanism is arranged on the rotary table corresponding to one rotary base and is positioned between the baffle plate corresponding to one rotary base and the cam wrench.

6. The apple collection method of the apple anti-collision grading collector of any one of claims 1 to 5, wherein: the method comprises the following specific steps:

putting apples to be classified from the top end of a main pipe of a classifying anti-collision pipeline, and sequentially falling the apples to be classified from top to bottom onto each anti-collision device I positioned above the topmost classifying device in the main pipe; when the apples fall onto the topmost grading device through each anti-collision device, the apples with smaller diameters fall onto the next grading device, and the apples which cannot pass through the topmost grading device are pushed into the corresponding branch pipe; then, classifying the apples by the classifying devices at all levels, wherein the apples which cannot pass through the classifying devices at all levels are pushed into the branch pipes at the corresponding levels; the apples passing through the last-stage grading device sequentially fall onto each anti-collision device I positioned below the bottommost grading device in the main pipe from top to bottom, and then are output into a collecting mechanism below the main pipe from the main pipe; the apples entering the branch pipe sequentially fall onto the second anti-collision devices in the branch pipe from top to bottom, and then are output into a collecting mechanism below the branch pipe through the branch pipe; in each collecting mechanism, after the topmost anti-collision device III in the collecting pipe falls into the apple, the lifting air cylinder drives the connecting block and the collecting pipe to descend along the polished rod, and after the collecting pipe descends in place, the apples in the collecting pipe sequentially fall onto the remaining anti-collision devices III from top to bottom and then fall into the collecting frame; finally, the lifting cylinder drives the connecting block and the collecting pipe to ascend and reset; the lifting cylinder drives the connecting block and the collecting pipe to descend, and the descending height of the connecting block and the collecting pipe is reduced by a preset step length every preset time;

wherein, when falling into the apple on anticollision device one, anticollision device two or the anticollision device three, all carry out following operation: the photoelectric sensor detects an apple, a detection signal is transmitted to the controller, the controller judges that the photoelectric sensor of one anti-collision device I, one anti-collision device II, one anti-collision device III or one grading device below the controller does not detect the apple, the reversing valve is controlled to reverse after preset time, the annular air bag is deflated, the photoelectric sensor does not detect the apple after the apple falls, and the controller controls the reversing valve to reverse again, so that the annular air bag is inflated;

wherein, when the apple falls on the grading device and can not pass through, the grading device carries out the following operations: after the photoelectric sensor of the grading device detects the apple and the controller judges that the photoelectric sensor of the lower grading device or the collision-prevention device I does not detect the apple, the reversing valve connected with the crescent-shaped air bag is controlled to reverse, so that the crescent-shaped air bag is inflated to push the apple into the corresponding branch pipe, and then the reversing valve connected with the crescent-shaped air bag is controlled to reverse again, so that the crescent-shaped air bag is deflated.

7. The apple collection method of the apple anti-collision grading collector of claim 6, wherein: fixing a rack on an apple picking vehicle, and fixing a mechanical arm at the top end of a main pipe of the grading anti-collision pipeline; apples are picked by mechanical arms and sent into a main pipe of the grading anti-collision pipeline.

8. The apple collection method of the apple anti-collision grading collector of claim 6, wherein: the collecting frame is clamped between the baffle on the rotary table and the cam wrench, and the rotary table is driven by the rotary cylinder to keep rotating at a constant speed, so that the apples are uniformly dispersed in the collecting frame; after the collection frame collects the full apples, the cam spanner is rotated, the collection frame for collecting the full apples can be loosened, and the empty collection frame is replaced and clamped between the baffle plate on the rotary table and the cam spanner.

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to an apple anti-collision grading collector and an apple collecting method thereof.

Background

With the continuous progress of agricultural production technology in China and the introduction and research and development of new apple varieties, China has become the first major world of apple production, and the yield accounts for 65% of the total global apple yield. In the whole apple planting process, a large amount of labor input is needed. In addition, for the picking and collecting work of the apples, the seasonal picking work needs to pick all the apples in a short time, the labor intensity is high, and the economic loss can be caused if the picking work is not completed in time. In the picking process, in order to meet the requirements of storage, transportation and sale, the damaged apples need to be avoided as much as possible and the apples need to be classified according to the size.

At present, apple picking and collection in China are mainly finished manually, the requirements of less damage and classification can be met, but the labor intensity is high. And for the research of the mechanism for realizing the picking process of the apples, most of the research focuses on the picking and grabbing actions, and the research of grading, collecting and anti-collision of the apples involves very little. In the existing patent of apple anticollision, a Cartesian rectangular coordinate system mechanism is involved, the mechanism is complex, the difference of sizes of different apples is ignored after classification, and therefore the apple collision cannot be avoided. In addition, a rotating mechanism is also provided, a layer of lining cloth is wrapped on the rigid fan-shaped structure to catch the fallen apples, and the apples are rolled into the frame, but the falling speed is high, and the collision with other apples cannot be avoided.

Therefore, designing a grading collector capable of preventing collision in the apple collecting process becomes an urgent need for development of the apple picking field in China.

Disclosure of Invention

The invention aims to provide an apple anti-collision grading collector and an apple collecting method thereof, which are used for collecting picked apples, can ensure that the apples are conveyed to each collecting frame without damage to the great extent, and realize grading collection.

The invention relates to an apple anti-collision grading collector which comprises a grading anti-collision pipeline mechanism and a collecting mechanism. The grading anti-collision pipeline mechanism comprises a grading anti-collision pipeline, a grading device, a first anti-collision device and a second anti-collision device; the grading anti-collision pipeline is fixed on the frame; the grading anti-collision pipeline is provided with a main pipe and n branch pipes which are integrally formed, wherein n is more than or equal to 2; the feeding ports of all the branch pipes are communicated with the main pipe, and the heights of the feeding ports of all the branch pipes are different; a grading device is arranged on the inner wall of the main pipe below the feeding port of each branch pipe, and a plurality of first anti-collision devices are arranged above the topmost grading device and below the bottommost grading device; the inner wall of each branch pipe is provided with a plurality of second anti-collision devices; the grading device comprises an annular air bag, a moon-shaped air bag positioned above the annular air bag and a photoelectric sensor positioned above the moon-shaped air bag; the annular air bag, the moon-shaped air bag and the photoelectric sensor of the grading device are fixed with the main pipe through a fixing ring; the first anti-collision device and the second anti-collision device respectively comprise an annular air bag and a photoelectric sensor positioned above the annular air bag; the annular air bag and the photoelectric sensor of the first anti-collision device are fixed with the main pipe through a fixing ring, and the annular air bag and the photoelectric sensor of the second anti-collision device are fixed with the branch pipe through a fixing ring; the whole outer side of the annular air bag is fixed with the fixing ring; one side of the moon-shaped air bag is fixed with the fixing ring, and the other side is freely arranged; the inner diameter of the annular air bag in the grading device with the main pipe arranged from top to bottom is gradually reduced.

The main pipe of the grading anti-collision pipeline and the bottom end of each branch pipe are respectively provided with a collecting mechanism; the collecting mechanism comprises a linear motion mechanism and a collecting frame; the linear motion mechanism comprises a collecting pipe, an anti-collision device III, a lifting cylinder, a polish rod, a connecting block and a linear bearing; a connecting block is fixed outside the collecting pipe; the connecting block is connected with a polished rod fixed on the frame through a linear bearing and is fixed with a push rod of the lifting cylinder; the cylinder body of the lifting cylinder is fixed on the frame; a push rod of the lifting cylinder is vertically arranged; the inner wall of the collecting pipe is provided with a plurality of third anti-collision devices, wherein one third anti-collision device is positioned at the bottommost position of the collecting pipe; the third anti-collision device comprises an annular air bag and a photoelectric sensor positioned above the annular air bag; the annular air bag and the photoelectric sensor of the third anti-collision device are fixed with the collecting pipe through a fixing ring; the bottom of the collecting pipe is provided with a collecting frame. The top end of the collecting pipe of the collecting mechanism is aligned with the bottom end of the main pipe or the corresponding branch pipe.

Preferably, the photoelectric sensor adopts a diffuse reflection type photoelectric sensor.

Preferably, the annular air bag, the moon-shaped air bag and the lifting air cylinder are all connected with an air pump through air pipes and a reversing valve, and the signal output end of the photoelectric sensor is connected with a controller; the air pump is controlled by the controller.

Preferably, the bottom of the collecting pipe is provided with a bent pipe section.

Preferably, the device further comprises a rotating base; the rotating base comprises a baffle plate, a rotating table, a cam wrench, a shaft, a rotary cylinder, a thrust bearing and a bottom plate; the turntable is supported on the base through a thrust bearing and is fixed with a rotor of the rotary cylinder; the stator of the rotary cylinder is fixed with the base; the rotary air cylinder is connected with the air pump through an air pipe and a reversing valve; the baffle is fixed on the rotary table; the shaft is arranged opposite to the baffle and is fixed on the rotary table; the cam wrench is in transition fit with the shaft; one end of the cam wrench facing the baffle is provided with an integrally formed cam; the collecting frame of each collecting mechanism is arranged on the rotary table corresponding to one rotary base and is positioned between the baffle plate corresponding to one rotary base and the cam wrench.

The apple collecting method of the apple anti-collision grading collector comprises the following specific steps:

putting apples to be classified from the top end of a main pipe of a classifying anti-collision pipeline, and sequentially falling the apples to be classified from top to bottom onto each anti-collision device I positioned above the topmost classifying device in the main pipe; when the apples fall onto the topmost grading device through each anti-collision device, the apples with smaller diameters fall onto the next grading device, and the apples which cannot pass through the topmost grading device are pushed into the corresponding branch pipe; then, classifying the apples by the classifying devices at all levels, wherein the apples which cannot pass through the classifying devices at all levels are pushed into the branch pipes at the corresponding levels; the apples passing through the last-stage grading device sequentially fall onto each anti-collision device I positioned below the bottommost grading device in the main pipe from top to bottom, and then are output into a collecting mechanism below the main pipe from the main pipe; the apples entering the branch pipe sequentially fall onto the second anti-collision devices in the branch pipe from top to bottom, and then are output into a collecting mechanism below the branch pipe through the branch pipe; in each collecting mechanism, after the topmost anti-collision device III in the collecting pipe falls into the apple, the lifting air cylinder drives the connecting block and the collecting pipe to descend along the polished rod, and after the collecting pipe descends in place, the apples in the collecting pipe sequentially fall onto the remaining anti-collision devices III from top to bottom and then fall into the collecting frame; finally, the lifting cylinder drives the connecting block and the collecting pipe to ascend and reset; and the height of the connecting block and the collecting pipe, which are driven to descend by the lifting cylinder, is reduced by a preset step length every preset time.

Wherein, when falling into the apple on anticollision device one, anticollision device two or the anticollision device three, all carry out following operation: the photoelectric sensor detects the apple, a detection signal is transmitted to the controller, the controller judges that the photoelectric sensor of one anti-collision device I, one anti-collision device II, one anti-collision device III or one grading device below does not detect the apple, the reversing valve is controlled to reverse after preset time, the annular air bag is deflated, the photoelectric sensor does not detect the apple after the apple falls, and the controller controls the reversing valve to reverse again, so that the annular air bag is inflated.

Wherein, when the apple falls on the grading device and can not pass through, the grading device carries out the following operations: after the photoelectric sensor of the grading device detects the apple and the controller judges that the photoelectric sensor of the lower grading device or the collision-prevention device I does not detect the apple, the reversing valve connected with the crescent-shaped air bag is controlled to reverse, so that the crescent-shaped air bag is inflated to push the apple into the corresponding branch pipe, and then the reversing valve connected with the crescent-shaped air bag is controlled to reverse again, so that the crescent-shaped air bag is deflated.

Preferably, the rack is fixed on an apple picking vehicle, and a mechanical arm is fixed at the top end of a main pipe of the grading anti-collision pipeline; apples are picked by mechanical arms and sent into a main pipe of the grading anti-collision pipeline.

Preferably, the collecting frame is clamped between a baffle plate on the rotary table and the cam wrench, and the rotary table is driven by the rotary cylinder to keep rotating at a constant speed, so that the apples are uniformly dispersed in the collecting frame; after the collection frame collects the full apples, the cam spanner is rotated, the collection frame for collecting the full apples can be loosened, and the empty collection frame is replaced and clamped between the baffle plate on the rotary table and the cam spanner.

The invention has the beneficial effects that:

1. the invention collects apples of different diameters in a grading way by combining the main pipe of the grading anti-collision pipeline and the branch pipes with the grading device, and the grading grade and size setting can be realized by replacing annular air bags with different inner diameters.

2. The invention ensures that the apples cannot collide with the rigid member at each position in the grading anti-collision pipeline by arranging the anti-collision device with the annular air bag in the main pipe and each branch pipe of the grading anti-collision pipeline; furthermore, the main pipe of the grading anti-collision pipeline and the bottom end of each branch pipe are respectively provided with a collecting mechanism, a plurality of annular air bags of collecting pipes in the collecting mechanisms are combined, and most importantly, the annular air bags at the bottom end position are combined with the lifting function of the collecting pipes, after the collecting pipes receive the apples output by the main pipe or the branch pipes, the apples are lowered to the proper position, so that the apples enter the collecting frame in a form without initial speed, and the collision damage of the apples and the collecting frame or the apples in the collecting frame is reduced to the minimum.

3. The apple picking machine can be connected with a robot arm, so that the mechanization and the intellectualization of apple picking are realized.

4. According to the invention, the rotary base is adopted to drive the collecting frame, and the apple is dispersed in the collecting frame more uniformly by matching with the lifting motion of the collecting pipe.

5. The invention has simple and convenient operation, and greatly reduces the labor capacity; the fixed mode of collecting the frame makes the collection frame collect conveniently change empty collection frame after full apple.

Drawings

FIG. 1 is a schematic structural view of a staged crash tube mechanism according to the present invention;

FIG. 2 is a schematic view of the structure of the collecting mechanism and the rotating base in the present invention;

FIG. 3 is a schematic view of the inflation of the moon-shaped air bag of the present invention within a staging crash duct;

FIG. 4 is a schematic view of the venting condition of the moon-shaped air bag of the present invention within the staged crash tube;

FIG. 5 is a schematic view of the structure of the linear motion mechanism of the present invention;

FIG. 6 is a schematic view of the structure of the rotating base of the present invention;

FIG. 7 is a schematic view of the assembly of the rotary cylinder, thrust bearing and base of the present invention.

In the figure: 1. the device comprises a grading anti-collision pipeline mechanism, a linear motion mechanism, a rotary base, a collecting frame, a grading anti-collision pipeline, a ring-shaped air bag, a moon-shaped air bag, a main pipe, a photoelectric sensor, an air pipe, a branch pipe, a rack, a lifting air cylinder, a connecting block, a polished rod, a linear bearing, a cam wrench, a shaft, a thrust bearing, a base, a baffle, a rotary air cylinder, a rotary table and a fixing ring, wherein the linear motion mechanism comprises 2, a rotary base, 3, 4, a collecting frame, 5, the grading anti-collision pipeline, 6, the annular air bag, 7, the moon-shaped air bag, 8, the main pipe, 9, the photoelectric sensor, 10, 11, the branch pipe, 12, the rack, 13, the lifting air cylinder, 14, the connecting block, 15, the polished rod, 16, the linear bearing, 17, the cam wrench, the shaft, 19, the thrust bearing, the base, the baffle, the rotary air cylinder, the rotary table and the fixing ring 24.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1, 3 and 4, the apple anti-collision grading collector comprises a grading anti-collision pipeline mechanism 1 and a collecting mechanism. The grading anti-collision pipeline mechanism 1 comprises a grading anti-collision pipeline 5, a grading device, a first anti-collision device and a second anti-collision device; the grading anti-collision pipeline 5 is fixed on the frame; the grading anti-collision pipeline 5 is provided with a main pipe 8 and n branch pipes 11 which are integrally formed, wherein n is more than or equal to 2; the feeding ports of all the branch pipes are communicated with the main pipe 8, and the heights of the feeding ports of all the branch pipes are different; a grading device is arranged on the inner wall of the main pipe below the feeding port of each branch pipe, and a plurality of first anti-collision devices are arranged above the topmost grading device and below the bottommost grading device; the inner wall of each branch pipe is provided with a plurality of second anti-collision devices; the grading device comprises an annular air bag 6, a moon-shaped air bag 7 positioned above the annular air bag 6 and a photoelectric sensor 9 positioned above the moon-shaped air bag 7; the annular air bag 6, the moon-shaped air bag 7 and the photoelectric sensor 9 of the grading device are fixed with the main pipe through a fixing ring 24; the first anti-collision device and the second anti-collision device both comprise an annular air bag 6 and a photoelectric sensor 9 positioned above the annular air bag 6; the annular air bag 6 and the photoelectric sensor 9 of the first anti-collision device are fixed with the main pipe through a fixing ring 24, and the annular air bag 6 and the photoelectric sensor 9 of the second anti-collision device are fixed with the branch pipe through a fixing ring 24; the whole outer side of the annular air bag 6 is fixed with the fixing ring 24; one side of the moon-shaped air bag 7 is fixed with the fixing ring 24, and the other side is freely arranged; the inner diameter of the annular air bag 6 in the grading device with the main pipe arranged from top to bottom is gradually reduced.

As shown in fig. 1, 2 and 5, the main pipe and the bottom end of each branch pipe of the graded anti-collision pipeline 5 are provided with a collecting mechanism; the collecting mechanism comprises a linear motion mechanism 2 and a collecting frame 4; the linear motion mechanism 2 comprises a collecting pipe, a third anti-collision device, a lifting cylinder 13, a polish rod 15, a connecting block 14 and a linear bearing 16; a connecting block 14 is fixed outside the collecting pipe; the connecting block 14 is connected with a polish rod 15 fixed on the frame through a linear bearing 16 and is fixed with a push rod of the lifting cylinder 13; the cylinder body of the lifting cylinder 13 is fixed on the frame 12; a push rod of the lifting cylinder 13 is vertically arranged; the inner wall of the collecting pipe is provided with a plurality of third anti-collision devices, wherein one third anti-collision device is positioned at the bottommost position of the collecting pipe; the third anti-collision device comprises an annular air bag 6 and a photoelectric sensor 9 positioned above the annular air bag 6; the annular air bag 6 and the photoelectric sensor 9 of the third anti-collision device are fixed with the collecting pipe through a fixing ring 24; the bottom of the collecting pipe is provided with a collecting frame 4. The top end of the collecting pipe of the collecting mechanism is aligned with the bottom end of the main pipe or the corresponding branch pipe.

As a preferred embodiment, the photosensor 9 is a diffuse reflection photosensor.

As a preferred embodiment, the annular air bag 6, the moon-shaped air bag 7 and the lifting air cylinder 13 are connected with an air pump through an air pipe 10 and a reversing valve, and the signal output end of the photoelectric sensor 9 is connected with a controller; the air pump is controlled by the controller.

As a preferred embodiment, the bottom of the collection tube is provided with a bent section.

As a preferred embodiment, as shown in fig. 2, 6 and 7, further comprises a rotating base 3; the rotating base 3 comprises a baffle plate 21, a rotary table 23, a cam wrench 17, a shaft 18, a rotary cylinder 22, a thrust bearing 19 and a bottom plate 20; the turntable 23 is supported on the base 20 through a thrust bearing 19 and is fixed with the rotor of the rotary cylinder 22; the stator of the rotary cylinder 22 is fixed with the base 20; the rotary air cylinder 22 is connected with an air pump through an air pipe 10 and a reversing valve; the baffle 21 is fixed on the rotary table 23; the shaft 18 is arranged opposite to the baffle 21 and fixed on the rotary table 23; the cam wrench 17 is in transition fit with the shaft 18; one end of the cam wrench 17 facing the baffle 21 is provided with an integrally formed cam; the collecting frame 4 of each collecting mechanism is arranged on the rotary table 23 of one corresponding rotary base 3 and is positioned between the baffle plate 21 of one corresponding rotary base 3 and the cam wrench 17; the tightness of the collecting frame 4 can be realized by moving the cam wrench 17; the rotation of the turntable 23 causes the collected apples to be evenly dispersed within the collection frame 4.

The apple collecting method of the apple anti-collision grading collector comprises the following specific steps:

putting apples to be classified into a main pipe of a classification anti-collision pipeline 5 from the top, and sequentially falling the apples to be classified onto each anti-collision device I positioned above the topmost classification device in the main pipe from top to bottom; when the apples fall onto the topmost grading device through each anti-collision device, the apples with smaller diameters fall onto the next grading device, and the apples which cannot pass through the topmost grading device are pushed into the corresponding branch pipe; then, classifying the apples by the classifying devices at all levels, wherein the apples which cannot pass through the classifying devices at all levels are pushed into the branch pipes at the corresponding levels; the apples passing through the last-stage grading device sequentially fall onto each anti-collision device I positioned below the bottommost grading device in the main pipe from top to bottom, and then are output into a collecting mechanism below the main pipe from the main pipe; the apples entering the branch pipe sequentially fall onto the second anti-collision devices in the branch pipe from top to bottom, and then are output into a collecting mechanism below the branch pipe through the branch pipe; in each collecting mechanism, after the topmost anti-collision device III in the collecting pipe falls into the apple, the lifting cylinder 13 drives the connecting block 14 and the collecting pipe to descend along the polished rod 15, and after the collecting pipe descends to the right place, the apples in the collecting pipe sequentially fall onto the remaining anti-collision devices III from top to bottom and then fall into the collecting frame 4; finally, the lifting cylinder 13 drives the connecting block 14 and the collecting pipe to ascend and reset; wherein, the height that lift cylinder 13 drive connecting block 14 and collecting pipe descend reduces a default step length at every preset time for the collecting pipe bottom all stays a period at the co-altitude not, guarantees that the apple highly is full of the one deck corresponding, and is enough little corresponding highly apart from previous height, avoids the striking between the apple.

Wherein, when falling into the apple on anticollision device one, anticollision device two or the anticollision device three, all carry out following operation: the photoelectric sensor 9 detects the apple, a detection signal is transmitted to the controller, after the controller judges that the photoelectric sensor 9 of one anti-collision device I, an anti-collision device II, an anti-collision device III or a classification device below does not detect the apple (the condition that the apple collides with the apple is avoided because the apple exists on the annular air bag 6 of the anti-collision device I, the anti-collision device II, the anti-collision device III or the classification device below, the reversing valve is controlled to reverse after preset time (the preset time is enough for the apple to be static and has a buffering effect), so that the annular air bag 6 is deflated, the photoelectric sensor 9 does not detect the apple after the apple falls down, and the controller controls the reversing valve to reverse again so that the annular air bag 6 is inflated.

Wherein, when the apple falls on the grading device and can not pass through, the grading device carries out the following operations: the photoelectric sensor 9 of the grading device detects the apple (here, the photoelectric sensor 9 of the grading device needs to be set to detect the apple for multiple times within 1s to trigger the controller, so that the situation that the apple with a smaller diameter touches the controller when passing through the photoelectric sensor 9 is avoided), and after the photoelectric sensor 9 of the grading device or the anti-collision device I below does not detect the apple, the controller controls the reversing valve connected with the crescent airbag 7 to reverse, so that the crescent airbag 7 is inflated, the apple is pushed into the corresponding branch pipe, and then the reversing valve connected with the crescent airbag 7 is controlled to reverse again, so that the crescent airbag 7 is deflated.

As a preferred embodiment, the frame is fixed on an apple picking vehicle, and a mechanical arm is fixed at the top end of a main pipe of the grading anti-collision pipeline; apples are picked by a mechanical arm and sent into a main pipe of the grading anti-collision pipeline 5.

As a preferred embodiment, the collecting frame 4 is clamped between the baffle 21 on the rotary table 23 and the cam wrench 17, and the rotary table 23 is driven by the rotary cylinder 22 to keep rotating at a constant speed, so that the apples are uniformly dispersed in the collecting frame 4; after the collecting frame 4 collects the full apples, the cam wrench 17 is rotated to loosen the collecting frame 4 collecting the full apples, and the empty collecting frame 4 is replaced and clamped between the baffle 21 on the rotary table 23 and the cam wrench 17.