CN210726043U

CN210726043U - Mechanical device for assisting in picking fruits manually

Info

Publication number: CN210726043U
Application number: CN201921565566.3U
Authority: CN
Inventors: 贾檀; 王旭坤; 杨子坤
Original assignee: Xiamen University Tan Kah Kee College
Current assignee: Xiamen University Tan Kah Kee College
Priority date: 2019-09-20
Filing date: 2019-09-20
Publication date: 2020-06-12
Anticipated expiration: 2029-09-20

Abstract

The utility model relates to a supplementary artifical mechanical device who picks fruit, including mobile device and robotic arm picking mechanism, still include carousel mechanism, upper and lower transport mechanism and empty the mechanism, robotic arm picking mechanism and carousel mechanism all locate on mobile device's mounting platform, evenly laid a plurality of along week portion in the carousel mechanism transport mechanism from top to bottom to transport mechanism operates to different stations about each in the drive, is equipped with one respectively on each transport mechanism from top to bottom empty the mechanism to drive and empty the mechanism up-and-down motion, empty and be equipped with the fruit basket that can empty in the mechanism to receive the fruit that robotic arm picking mechanism picked, and when empting the mechanism and moving the lower part of transport mechanism from top to bottom, empty fruit. The mechanical device is high in automation degree, is favorable for protecting picked fruits and is good in picking effect.

Description

Mechanical device for assisting in picking fruits manually

Technical Field

The utility model relates to the technical field of agricultural machinery, concretely relates to supplementary artifical mechanical device who picks fruit.

Background

Nowadays, with the continuous improvement of modern agricultural production technology, the yield of fruits and other crops is also increased. Although the mechanized operation of fruit dates back to the 60's of the last century at the earliest, there are still significant limitations in harvesting soft fresh fruit due to the damage to the fruit that can easily be caused by simple mechanical harvesting. Moreover, fruit harvesting is required to be carried out selectively, and moreover, the market has high requirements on the freshness of the fruit, which requires high timeliness of fruit harvesting. Therefore, it is the best way to solve the above problems to adopt robot operation in fruit harvesting to realize automation and intellectualization of fruit harvesting.

Patent CN201811610301 discloses a fruit picking robot, which comprises a moving platform, a mechanical arm, and an end effector. Through the analysis of the robot, the robot only rotates the mechanical arm through the rotating platform to carry out picking work, the picking freedom degree is improved to a certain degree, and other mechanisms are not arranged to reduce the gravitational potential energy of fruits to carry out picking. Patent CN201811448320 discloses a fruit picking robot comprising a gripping part, an arm part, a lifting part, a rotating part and a moving base. Through the analysis of the robot, although the lifting structure and the rotating platform are added below the mechanical arm, the problem of fruit transportation between the upper part and the lower part is not considered. Patent CN201810874419 discloses a bionic robot for picking fruits, which comprises a walking mechanism, a mechanical arm and a picking mechanism, but the robot is not provided with an up-and-down transportation mechanism for transporting fruits.

In the prior art, a plurality of patent technologies related to fruit picking are disclosed, wherein some patent technologies realize unidirectional fruit picking and some patent technologies can change directions to realize omnidirectional fruit picking. However, the commercialized pickers in the current market are single in variety, expensive in price and inconvenient to operate. In addition, the existing fruit picking robots are improved from mechanical arms, but mechanical structures for safely transporting fruits to the ground from trees are few, and generally pipeline mechanisms are mostly built in the fruit picking robots, and air compressors or hydraulic mechanisms are built in the fruit picking robots, but the transportation mechanisms require large vehicle body volume and cannot ensure that the air pressure provided by the air compressors can safely transport the fruits to the bottoms of the trees.

Disclosure of Invention

An object of the utility model is to provide a supplementary artifical mechanical device who picks fruit, this mechanical device degree of automation is high not only, is favorable to the protection to pick fruit moreover, picks effectually.

In order to achieve the above object, the utility model adopts the following technical scheme: the utility model provides a supplementary artifical mechanical device who picks fruit, includes mobile device and robotic arm picking mechanism, still includes carousel mechanism, upper and lower transport mechanism and emptys the mechanism, robotic arm picking mechanism and carousel mechanism all locate on mobile device's mounting platform, evenly laid a plurality of along week portion in the carousel mechanism transport mechanism from top to bottom to the transport mechanism operates to different stations about each of drive, is equipped with one respectively on each transport mechanism from top to bottom topples the mechanism to drive and topple over the mechanism up-and-down motion, topple over and be equipped with the fruit basket that can topple over in the mechanism to receive the fruit that robotic arm picking mechanism picked, and when toppling over the mechanism and moving the lower part of transport mechanism from top to bottom, empty fruit.

Further, the mechanical arm picking mechanism and the rotary table mechanism are respectively arranged at the front part and the rear part of the mounting platform, 3 upper and lower conveying mechanisms are uniformly distributed on the rotary table mechanism along the peripheral part, three stations of the upper and lower conveying mechanisms are spaced by 120 degrees, and the first station faces the mechanical arm picking mechanism forwards, so that when the moving device moves to a set position, the mechanical arm picking mechanism picks fruits forwards and puts the fruits backwards into a fruit basket of the dumping mechanism.

Furthermore, the moving device mainly comprises a crawler-type moving mechanism and a mounting platform arranged on the crawler-type moving mechanism and used for mounting the mechanical arm picking mechanism and the turntable mechanism.

Furthermore, the mechanical arm picking mechanism mainly comprises a rotating chassis, a mechanical arm and an end effector for picking fruits, wherein the rotating chassis is installed on the moving device, the lower end of the mechanical arm is installed on the rotating chassis, and the upper end of the mechanical arm is provided with the end effector.

Furthermore, the turntable mechanism comprises a steering engine mounting frame, a steering engine and a turntable, the steering engine is fixedly mounted on the mounting platform through the steering engine mounting frame and a threaded fastener, the output end of the steering engine is connected with a steering wheel, the steering wheel is connected with the turntable to drive the steering wheel and the turntable to rotate, and the upper and lower transport mechanisms are uniformly distributed on the turntable to run to different stations along with the turntable.

Furthermore, the up-down conveying mechanism comprises a left frame and a right frame, a left sliding rail and a right sliding rail are respectively arranged on the left frame and the right frame, a left sliding block and a right sliding block which can slide up and down are respectively arranged on the left sliding rail and the right sliding rail, and the dumping mechanism is arranged between the left sliding block and the right sliding block in a spanning manner and is respectively fixedly connected with the front parts of the left sliding block and the right sliding block; the upper and lower parts of the left and right frames are respectively provided with an upper transmission shaft and a lower transmission shaft in a spanning manner, each transmission shaft is rotatably connected with the frames, the left and right ends of the upper and lower transmission shafts are respectively provided with a transmission belt wheel, a left transmission belt and a right transmission belt matched with the transmission belt wheels are wound between the upper and lower transmission shafts, the front side sections of the left and right transmission belts are respectively fixedly connected with the rear parts of the left and right sliding blocks, the frames are provided with motors, the output ends of the motors are connected with one of the transmission shafts so as to drive the transmission belts to operate through the transmission shafts, and further drive the sliding blocks and the dumping mechanisms on the sliding blocks to slide up.

Further, topple over the mechanism and include long U-shaped frame, biax steering wheel, short U-shaped frame and fruit basket, the middle part and the upper and lower transport mechanism fixed connection of long U-shaped frame, the steering wheel at biax steering wheel both ends and the left and right two front end fixed connection of long U-shaped frame, the biax steering wheel is through short U-shaped frame and fruit basket fixed connection to the rotation through the biax steering wheel drives toppling over of fruit basket.

The automatic picking and dumping device further comprises a control unit, wherein the control unit is respectively connected with the control ends of the moving device, the mechanical arm picking mechanism, the turntable mechanism, the up-and-down conveying mechanism and the dumping mechanism so as to control the mechanisms of the device to work.

Compared with the prior art, the utility model discloses following beneficial effect has: the utility model provides a supplementary artifical mechanical device who picks fruit, this mechanical device passes through mobile device, robotic arm picking mechanism, carousel mechanism, the cooperation work of each mechanisms such as upper and lower transport mechanism and toppling over the mechanism, the picking of fruit has been realized, from the whole process of high to low transportation and toppling over, not only degree of automation is high, picking efficiency has been improved, and can transport fruit to the low from the eminence safely, topple over again in the low, the impaired possibility of picked fruit in collecting process has been reduced, picking effect has been improved greatly, has very strong practicality and wide application prospect.

Drawings

Fig. 1 is a front view of the structure of the embodiment of the present invention.

Fig. 2 is a top view of the structure of the embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a turntable mechanism in an embodiment of the present invention.

Fig. 4 is a front view of the upper and lower transport mechanisms in the embodiment of the present invention.

Fig. 5 is a structural side view of the up-down transport mechanism in the embodiment of the present invention.

Fig. 6 is a schematic structural diagram of the dumping mechanism in the embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The utility model provides a mechanical device of supplementary artifical fruit of picking, as shown in figure 1, including mobile device, robotic arm picking mechanism, carousel mechanism 3, upper and lower transport mechanism 4 and empty mechanism 5, robotic arm picking mechanism and carousel mechanism 3 all locate on mobile device's mounting platform 2, carousel mechanism 3 is last evenly to have laid a plurality of along week portion transport mechanism 4 from top to bottom to transport mechanism operates to different stations about the drive respectively, is equipped with one respectively on transport mechanism 4 from top to bottom empty mechanism 5 in order to drive and empty mechanism 5 up-and-down motion, empty and be equipped with the fruit basket that can empty on the mechanism 5 to receive the fruit that robotic arm picking mechanism picked, and when empting mechanism 5 and move the lower part of transport mechanism 4 from top to bottom, empty fruit.

As shown in fig. 2, in the present embodiment, the robot picking mechanism and the turntable mechanism 3 are respectively disposed at the front and the rear of the

mounting platform

2, 3 upper and lower transport mechanisms 4 are uniformly distributed on the turntable mechanism 3 along the circumference, three stations of the upper and lower transport mechanisms 4 are spaced by 120 ° and the first station faces forward toward the robot picking mechanism, so that when the moving device moves to the set position, the robot picking mechanism picks fruits forward and puts them backward into the fruit basket of the dumping mechanism 5.

The moving device mainly comprises a crawler-type moving mechanism 1 and a mounting platform 2 arranged on the crawler-type moving mechanism and used for mounting a mechanical arm picking mechanism and a turntable mechanism 3. The mechanical arm picking mechanism mainly comprises a rotating chassis 8, a mechanical arm 7 and an end effector 6 for picking fruits, wherein the rotating chassis 8 is installed on a moving device, the lower end of the mechanical arm 7 is installed on the rotating chassis 8, and the end effector 6 is installed at the upper end of the mechanical arm.

As shown in fig. 3, the turntable mechanism 3 includes a steering engine mounting bracket 103, a steering engine 111 and a turntable 104, the steering engine 111 is fixedly mounted on the mounting platform 100 through the steering engine mounting bracket 103 and the threaded

fasteners

101 and 102, an output end of the steering engine 111 is connected with a steering wheel 110, the steering wheel 110 is connected with the turntable 104 to drive the steering wheel 110 and the turntable 104 to rotate, and the up-and-down transport mechanisms 4 are uniformly distributed on the turntable 104 to run to different stations along with the turntable 104.

Specifically, the turntable of the turntable mechanism is connected 6815 to the deep groove ball bearing 109 by a bolt. The bearing 109 is bolted to a cleat which is bolted to a rudder disk 110 which is engaged with a steering gear 111 via an internal gear. The steering engine is fixedly connected to a steering engine mounting frame 103 through bolts and

studs

101 and 102, and then fixed to the mounting platform 100. The steering engine 111 controls the turntable 104 to drive the up-down conveying mechanism 4 to convey the fruit basket to a proper position when the mechanical arm picking mechanism picks the fruit. After picking, the picking machine rotates 120 degrees, the up-and-down conveying mechanism is driven to leave the first station, and the second up-and-down conveying mechanism 4 is allowed to carry out the previous step.

As shown in fig. 4 and 5, the up-down transport mechanism 4 includes a left frame and a right frame, the left frame and the right frame are respectively provided with a left slide rail 203 and a right slide rail 203, the left slide rail 203 and the right slide rail 203 are respectively provided with a left slide block 204 and a right slide block 204 which can slide up and down, and the dumping mechanism 5 spans between the left slide block 204 and the right slide block 204 and is respectively fixedly connected with the front portions of the left slide block and the right slide block; the upper and lower parts of the left and right frames are respectively provided with an upper and a lower transmission shafts 201 in a spanning manner, each transmission shaft 201 is rotatably connected with the frames, the left and right ends of the upper and lower transmission shafts are respectively provided with a transmission belt pulley 202, a left and a right transmission belts 216 matched with the transmission belt pulleys 202 are wound between the upper and lower transmission shafts, the front side sections of the left and right transmission belts 216 are respectively fixedly connected with the rear parts of the left and right sliders 204, the frames are provided with motors, the output ends of the motors are connected with one of the transmission shafts so as to drive the transmission belts to run through the transmission shafts, and further drive the sliders and the dumping mechanisms on the sliders to slide up and down along the slide.

Specifically, the up-down transport mechanism includes an L-shaped frame 200 fixed to the turntable 104 by screws, and forms a frame of the up-down transport mechanism together with a long U-shaped frame 205 and an H-shaped frame 207. The slide rails 203 are bolted to the L-shaped frame 200 and the long U-shaped frame 205. The slider 204 is attached to the slide rail 203. The sliding block is controlled by a belt transmission mechanism, the transmission shafts 201 are respectively arranged at the upper end and the lower end of the H-shaped frame 207, synchronous toothed belt wheels 202 are arranged on the transmission shafts, and synchronous toothed belts 216 are arranged on the belt wheels, so that the belt transmission mechanism is formed, and the sliding block is driven to move up and down. Between the timing belt and the slider, a groove type slider front fixing plate 211 and a timing belt front clamping plate 219 and a rear clamping plate 218 are bolted to the slider 204, so that the timing belt 216 can drive the slider 204 to move up and down.

As shown in fig. 6, the dumping mechanism 5 comprises a long U-shaped frame 300, a double-shaft steering engine 303, a short U-shaped frame 301 and a fruit basket 209, the middle part of the long U-shaped frame 300 is fixedly connected with the upper and lower transport mechanisms 4, the steering wheels 302 at the two ends of the double-shaft steering engine 303 are fixedly connected with the left and right front end parts of the long U-shaped frame 300, and the double-shaft steering engine 303 is fixedly connected with the fruit basket 209 through the short U-shaped frame 301 so as to drive the fruit basket 209 to dump through the rotation of the double-shaft steering engine 303.

Specifically, the long U-shaped frame 300 of the dumping mechanism is connected to the front fixing plate 211 of the sliding block through bolts, the steering wheel 302 is fixedly connected to the long U-shaped frame 300, the double-shaft steering engine 303 is connected to the steering wheel 302 at two ends, the rear end of the double-shaft steering engine 303 is connected to the short U-shaped frame 301, the other end of the short U-shaped frame is connected to the fruit basket 209, and dumping of the fruit basket is achieved through rotation of the double-shaft steering engine 303.

When the turntable 104 of the turntable mechanism transports the up-down transport mechanism 4 to a side close to the mechanical arm picking mechanism, the transmission shaft 201 of the up-down transport mechanism rotates forward to drive 202 the synchronous cog belt wheel to rotate to drive the synchronous cog belt 216 to work, the slide block 204 is driven to ascend along the slide rail 203 through the slide block front fixing plate 211, the synchronous cog belt front clamping plate 219 and the synchronous cog belt rear clamping plate 218, the slide block is connected with the dumping mechanism and the fruit basket thereon, and the fruit basket 209 is driven to ascend through the method. Similarly, after picking is finished, the rotating disc rotates 120 degrees, and the rear transmission shaft 201 rotates reversely to drive the fruit basket to descend. When the sliding block 204 descends along the sliding rail 203, the double-shaft steering engine 301 rotates to rotate the fruit basket 209 for a certain angle, and then the fruit basket is tilted.

In order to realize the work control of each mechanism of the device, a control unit is further arranged on the mounting platform 2 and is respectively connected with the control ends of the moving device, the mechanical arm picking mechanism, the turntable mechanism, the up-down conveying mechanism and the dumping mechanism so as to control each mechanism of the device to work.

The working process of the utility model is as follows: 1) the mobile device moves to a set position; 2) the turntable mechanism rotates one of the up-and-down conveying mechanisms to a first station facing the mechanical arm picking mechanism, and then the up-and-down conveying mechanism drives the dumping mechanism and the fruit basket on the dumping mechanism to ascend; 3) the mechanical arm picking mechanism picks fruits forwards and puts the fruits backwards into a fruit basket of the dumping mechanism; 4) after full picking, the turntable mechanism rotates to rotate the upper and lower transport mechanisms to a second station for dumping fruits, and simultaneously, the next upper and lower transport mechanism rotates to a first station facing the mechanical arm picking mechanism; 5) the upper and lower conveying mechanisms at the second station drive the dumping mechanism and the fruit basket thereon to descend, and simultaneously, the upper and lower conveying mechanisms at the first station drive the dumping mechanism and the fruit basket thereon to ascend; 6) the dumping mechanism at the second station rotates for a set angle to dump the fruits in the fruit basket to a corresponding position or a container; picking fruits by a mechanical arm picking mechanism and putting the fruits into a fruit basket at a first station; and the above steps are repeated in a reciprocating way until the picking work is finished.

Above is the utility model discloses a preferred embodiment, all rely on the utility model discloses the change that technical scheme made, produced functional action does not surpass the utility model discloses during technical scheme's scope, all belong to the utility model discloses a protection scope.

Claims

1. The utility model provides a supplementary artifical mechanical device who picks fruit, includes mobile device and robotic arm picking mechanism, its characterized in that still includes carousel mechanism, upper and lower transport mechanism and emptys the mechanism, robotic arm picking mechanism and carousel mechanism all locate on mobile device's mounting platform, evenly laid a plurality of along week portion in the carousel mechanism transport mechanism from top to bottom to each transport mechanism operates to different stations about the drive, is equipped with one respectively on each transport mechanism from top to bottom topples the mechanism to drive and topple over the mechanism up-and-down motion, it is equipped with the fruit basket that can topple over to topple over the mechanism on, in order to receive the fruit that robotic arm picking mechanism picked, and when toppling over the mechanism and moving the lower part of transport mechanism from top to bottom, topples over the fruit.

2. The mechanical device for assisting in picking fruits manually according to claim 1, wherein the mechanical arm picking mechanism and the turntable mechanism are respectively arranged at the front part and the rear part of the mounting platform, the turntable mechanism is uniformly distributed with 3 upper and lower conveying mechanisms along the periphery, three stations of the upper and lower conveying mechanisms are spaced by 120 degrees, and the first station faces the mechanical arm picking mechanism forwards, so that when the moving device moves to a set position, the mechanical arm picking mechanism picks fruits forwards and puts the fruits backwards into the fruit basket of the dumping mechanism.

3. The mechanical device for assisting in manually picking fruits according to claim 1, wherein the moving device mainly comprises a crawler-type moving mechanism and a mounting platform arranged on the crawler-type moving mechanism for mounting the mechanical arm picking mechanism and the turntable mechanism.

4. The mechanical device for assisting in picking fruits manually according to claim 1, wherein the mechanical arm picking mechanism mainly comprises a rotating chassis, a mechanical arm and an end effector for picking fruits, wherein the rotating chassis is mounted on the moving device, the lower end of the mechanical arm is mounted on the rotating chassis, and the upper end of the mechanical arm is mounted on the end effector.

5. The mechanical device for assisting in picking fruits manually according to claim 1, wherein the turntable mechanism comprises a steering engine mounting frame, a steering engine and a turntable, the steering engine is fixedly mounted on the mounting platform through the steering engine mounting frame and a threaded fastener, the output end of the steering engine is connected with a steering wheel, the steering wheel is connected with the turntable to drive the steering wheel and the turntable to rotate, and the upper and lower transport mechanisms are uniformly distributed on the turntable to run to different stations along with the turntable.

6. The mechanical device for assisting in manually picking fruits according to claim 1, wherein the up-down transportation mechanism comprises a left frame and a right frame, the left frame and the right frame are respectively provided with a left slide rail and a right slide rail, the left slide rail and the right slide rail are respectively provided with a left slide block and a right slide block which can slide up and down, and the dumping mechanism is spanned between the left slide block and the right slide block and is respectively fixedly connected with the front parts of the left slide block and the right slide block; the upper and lower parts of the left and right frames are respectively provided with an upper transmission shaft and a lower transmission shaft in a spanning manner, each transmission shaft is rotatably connected with the frames, the left and right ends of the upper and lower transmission shafts are respectively provided with a transmission belt wheel, a left transmission belt and a right transmission belt matched with the transmission belt wheels are wound between the upper and lower transmission shafts, the front side sections of the left and right transmission belts are respectively fixedly connected with the rear parts of the left and right sliding blocks, the frames are provided with motors, the output ends of the motors are connected with one of the transmission shafts so as to drive the transmission belts to operate through the transmission shafts, and further drive the sliding blocks and the dumping mechanisms on the sliding blocks to slide up.

7. The mechanical device for assisting in picking fruits manually as claimed in claim 1, wherein the dumping mechanism comprises a long U-shaped frame, a double-shaft steering engine, a short U-shaped frame and a fruit basket, the middle part of the long U-shaped frame is fixedly connected with the upper and lower conveying mechanisms, steering discs at two ends of the double-shaft steering engine are fixedly connected with the left and right front end parts of the long U-shaped frame, and the double-shaft steering engine is fixedly connected with the fruit basket through the short U-shaped frame so as to drive the fruit basket to dump through rotation of the double-shaft steering engine.

8. The mechanical device for assisting in picking fruits manually as claimed in claim 1, further comprising a control unit, wherein the control unit is respectively connected with the control ends of the moving device, the mechanical arm picking mechanism, the turntable mechanism, the up-down transportation mechanism and the dumping mechanism so as to control the operation of the mechanisms of the device.