CN210746109U

CN210746109U - Agricultural production fruit tree picking robot

Info

Publication number: CN210746109U
Application number: CN201920938617.6U
Authority: CN
Inventors: 孙锐; 谢红
Original assignee: Leshan Normal University
Current assignee: Leshan Normal University
Priority date: 2019-06-20
Filing date: 2019-06-20
Publication date: 2020-06-16
Anticipated expiration: 2029-06-20

Abstract

The utility model discloses a fruit tree picking robot for agricultural production, when in use, firstly, a worker drives a walking motor and a driving motor through a controller to move a device body to a place needing picking, controls the angle of a straight arm through a hydraulic cylinder, the angle is controlled, so that the shearing angle is wider, the problem that picking cannot be carried out due to the shielding of fruit tree branches is avoided, the practicability is stronger, the shearing table is stretched to the branches with fruits, when the shearing table contacts the branch, cut sword cooperation guide arm and cut fruit with the branch is leading-in between sword and the guide arm of cutting, pulling arm cooperation shearing table stretches and cuts fruit, realizes picking the operation to fruit, and the fruit after the shearing falls to in collecting the mouth through flexible bag whereabouts to collect in the frame and concentrate to pick and collect, cuts the sword downside and is equipped with corrosion-resistant coating, can improve and cut sword durability, avoids fruit juice to be infected with and leads to it to rust or be corroded on cutting the sword.

Description

Agricultural production fruit tree picking robot

Technical Field

The utility model relates to a fruit picking technical field specifically is an agricultural production fruit tree picking robot.

Background

China is a large fruit producing country and also the first large fruit consuming country in the world. The market demand of orchard machinery is promoted by the rapid development of fruit planting industry, most of the fruit picking in China is mainly manual picking at present, the picking operation is complex, the seasonality is strong, and if the manual picking is used, the efficiency is low, the labor amount is large, the fruit is easy to damage, and therefore the development of mechanical picking is very necessary.

Therefore, the technical personnel in the field provide a fruit tree picking robot for agricultural production to solve the problems in the background technology.

Disclosure of Invention

An object of the utility model is to provide an agricultural production fruit tree picking robot to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

an agricultural production fruit tree picking robot comprises a mounting seat, a supporting rocker arm and a shearing table; the lower end of the mounting seat is provided with a walking crawler, a plurality of walking wheels which are arranged in order are arranged at two inner ends and the middle position of the walking crawler, a support frame is arranged between the walking wheels at two inner ends of the walking crawler and the mounting seat in a mounting connection mode, the left end of the upper side of the mounting seat is provided with a controller, a mounting frame is arranged on the lower side of the right end of the controller, a driving motor is arranged on the left side of the upper end of the mounting frame, a fixed mounting shaft is arranged on the right side of the upper end of the mounting frame, an inclined supporting rocker arm is arranged on the upper side of the fixed mounting shaft, a rotating mounting shaft is arranged at one side end, away from the fixed mounting shaft, of the supporting rocker arm, a bent beam is;

a collection port is formed in the lower bent end of the installation rod, a collection frame is arranged on the right side of the upper end of the installation seat, a flexible bag is arranged between the lower end of the collection port and the upper end of the collection frame, a straight arm is arranged at the right end of the bent beam, a first clamping groove is formed between the straight arm and the installation connection of the bent beam, a first clamping block is arranged between the bent beam and the first clamping groove in a corresponding mode, a fixed end is arranged on the side edge of the straight arm, a hydraulic cylinder is arranged on the side edge of the bent beam, a hydraulic rod is arranged at the end part, close to the straight arm, of the hydraulic cylinder, the end part, far away from the hydraulic cylinder, of the hydraulic rod is rotatably connected with the fixed; and the right side tip of straight arm is equipped with the shearing table that corresponds the setting with collecting the mouth, and be equipped with the connecting plate between the left side tip of shearing table and the erection joint of straight arm, the upside tip of shearing table is equipped with cuts the sword, it is connected with the pivot to rotate between the left side tip of cutting the sword and the installation of shearing table, and be equipped with corrosion-resistant coating between the downside tip of cutting the sword and the contact of shearing table, and the upside tip of cutting the sword is equipped with the pulling arm, and one side of connecting plate is equipped with the lift cylinder, the upside tip of lift cylinder is equipped with the lifter, and a side tip and pulling arm fixed connection that the lifter kept away from the lift cylinder, the side of shearing table and the corresponding one side of lift cylinder are equipped.

As a further aspect of the present invention: and rotating shafts are arranged between the second clamping groove and the hydraulic rod and between the first clamping groove and the first clamping block in a rotating connection mode.

As a further aspect of the present invention: the back end of walking wheel is equipped with the walking motor, and walking motor, driving motor, pneumatic cylinder, lift cylinder and switch all with external power source and controller electric connection, and the model of controller is: TECH-698.

As a further aspect of the present invention: the corrosion-resistant coating is bonded with the shearing knife through glue.

As a further aspect of the present invention: an arc-shaped guide rod is arranged between the lower side of the right end of the shearing table and the corrosion-resistant coating.

Compared with the prior art, the beneficial effects of the utility model are that: the device is suitable for various fruit tree picking occasions, when in use, firstly, a worker drives the walking motor and the driving motor to move the device body to a place needing picking through the controller, controls the angle of the straight arm through the hydraulic cylinder, controls the angle, enables the shearing angle to be wider, avoids the situation that the fruit tree cannot pick due to the shielding of the branches of the fruit tree, has stronger practicability, extends the shearing table to the branches with fruits, when the shearing table contacts the branches, the shearing knife is matched with the guide rod to guide the branches between the shearing knife and the guide rod, the device body controls the straight arm to extend forwards, the branches move towards the shearing table, the lifting cylinder starts to work at the moment and drives the lifting rod to descend, the lifting rod can drive the pulling arm to descend in the descending process, the other end of the pulling arm is connected with the shearing knife, therefore, the one end of the pulling arm can be driven to descend in the descending process of the pulling arm, the pulling arm is matched with the shearing, the operation is picked to fruit in the realization, and the fruit after the shearing falls to in collecting the mouth through flexible bag whereabouts to collect the frame in concentrate to pick the collection, cuts the sword downside and is equipped with the corrosion-resistant coating, can improve and cut sword durability, avoids fruit juice to be infected with and leads to it to rust or be corroded on cutting the sword.

Drawings

Fig. 1 is a schematic structural diagram of a fruit tree picking robot for agricultural production.

Fig. 2 is an enlarged structure schematic diagram of a cutting table of a fruit tree picking robot in agricultural production.

Fig. 3 is a schematic structural diagram of a fruit tree picking robot A in agricultural production.

In the figure: 1-walking crawler belt, 2-walking wheel, 3-supporting frame, 4-mounting seat, 5-controller, 6-mounting frame, 7-driving motor, 8-fixed mounting shaft, 9-supporting rocker arm, 10-rotating mounting shaft, 11-mounting rod, 12-bent beam, 13-collecting frame, 14-flexible bag, 15-collecting port, 16-straight arm, 17-shearing table, 18-connecting plate, 19-rotating shaft, 20-lifting cylinder, 21-lifting rod, 22-power switch, 23-pulling arm, 24-shearing knife, 25-corrosion-resistant coating, 26-guide rod, 27-hydraulic cylinder, 28-first clamping block, 29-first clamping groove, 30-hydraulic rod, 31-second clamping groove, 32-fixed end.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 3, in an embodiment of the present invention, an agricultural fruit tree picking robot includes a mounting base 4, a supporting rocker arm 9 and a shearing table 17; the lower end of the mounting seat 4 is provided with a walking crawler 1, a plurality of walking wheels 2 which are arranged in order are arranged at two ends and in the middle of the inside of the walking crawler 1, a support frame 3 is arranged between the walking wheels 2 at two ends of the inside of the walking crawler 1 and the mounting seat 4, a controller 5 is arranged at the left end of the upper side of the mounting seat 4, a mounting frame 6 is arranged at the lower side of the right end of the controller 5, a driving motor 7 is arranged at the left side of the upper end of the mounting frame 6, a fixed mounting shaft 8 is arranged at the right side of the upper end of the mounting frame 6, an inclined supporting rocker arm 9 is arranged at the upper side of the fixed mounting shaft 8, a rotating mounting shaft 10 is arranged at the end part, away from the fixed mounting shaft 8, of the supporting rocker arm 9, a bent beam 12 is arranged at one side of;

a collection port 15 is formed in the bent end of the lower side of the installation rod 11, a collection frame 13 is arranged on the right side of the upper end of the installation seat 4, a flexible bag 14 is arranged between the lower end of the collection port 15 and the upper end of the collection frame 13, a straight arm 16 is arranged at the right end of the bent beam 12, a first clamping groove 29 is formed between the straight arm 16 and the bent beam 12, a first clamping block 28 is arranged between the bent beam 12 and the first clamping groove 29 in a corresponding mode, a fixed end 32 is arranged on the side edge of the straight arm 16, a hydraulic cylinder 27 is arranged on the side edge of the bent beam 12, a hydraulic rod 30 is arranged at the end part, close to the straight arm 16, of the hydraulic cylinder 27, one end part, far away from the hydraulic cylinder 27, of the hydraulic rod 30 is rotatably connected with the fixed end 32, and a second; and the right side end of the straight arm 16 is provided with a shearing table 17 corresponding to the collecting port 15, a connecting plate 18 is arranged between the left side end of the shearing table 17 and the straight arm 16, the upper side end of the shearing table 17 is provided with a shearing knife 24, a rotating shaft 19 is rotatably connected between the left side end of the shearing knife 24 and the installation of the shearing table 17, a corrosion-resistant coating 25 is arranged between the lower side end of the shearing knife 24 and the contact of the shearing table 17, the upper side end of the shearing knife 24 is provided with a pulling arm 23, one side of the connecting plate 18 is provided with a lifting cylinder 20, the upper side end of the lifting cylinder 20 is provided with a lifting rod 21, one side end of the lifting rod 21 far away from the lifting cylinder 20 is fixedly connected with the pulling arm 23, and one side of the shearing table 17 corresponding to the lifting cylinder 20 is provided with.

Rotating shafts are arranged between the second clamping groove 31 and the hydraulic rod 30 and between the first clamping groove 29 and the first clamping block 28 in a rotating mode.

The back end of walking wheel 2 is equipped with the walking motor, and walking motor, driving motor 7, pneumatic cylinder 27, lift cylinder 20 and switch 22 all with external power source and 5 electric connection of controller, and the model of controller 5 is: TECH-698.

The corrosion-resistant coating 25 is bonded to the shear blade 24 by glue.

An arc-shaped guide rod 26 is arranged between the lower side of the right end of the shearing table 17 and the corrosion-resistant coating 25.

The utility model discloses a theory of operation is:

the utility model relates to a fruit tree picking robot for agricultural production, which is suitable for various fruit tree picking occasions, when in use, firstly, the operator drives a walking motor and a driving motor 7 through a controller 5 to move a device body to a place needing picking, controls the angle of a straight arm 16 through a hydraulic cylinder 27, controls the angle to be wider, avoids the situation that the picking can not be carried out due to the shielding of fruit tree branches, has stronger practicability, stretches a cutting table 17 to the branches with fruits, when the cutting table 17 contacts the branches, the cutting knife 24 is matched with a guide rod 26 to lead the branches into the space between the cutting knife 24 and the guide rod 26, the device body controls the straight arm 16 to extend forwards, the branches move towards the cutting table 17, at the moment, a lifting cylinder 20 starts to work and drives a lifting rod 21 to descend, the lifting rod 21 can drive a pulling arm 23 to descend in the descending process, and the other end of the pulling arm 34 is connected with the cutting knife 24, therefore, the pulling arm 23 can also drive one end of the pulling arm 23 to descend in the descending process, the pulling arm 23 is matched with the shearing table 17 to stretch to shear the fruits, the fruits are picked, the sheared fruits fall into the collecting port 15 and fall into the collecting frame 13 through the flexible bag 14 to be collected in a centralized picking mode, the corrosion-resistant coating 25 is arranged on the lower side of the shearing knife 24, the durability of the shearing knife 24 can be improved, and fruit juice is prevented from being stained on the shearing knife 24 to cause rusting or corrosion.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. An agricultural production fruit tree picking robot comprises a mounting seat (4), a supporting rocker arm (9) and a shearing table (17); the device is characterized in that a walking crawler belt (1) is arranged at the lower end of the mounting seat (4), a plurality of walking wheels (2) which are arranged in order are arranged at two ends and in the middle of the inside of the walking crawler belt (1), a support frame (3) is arranged between the walking wheels (2) at two ends of the inside of the walking crawler belt (1) and the mounting seat (4) in a mounting connection mode, a controller (5) is arranged at the left end of the upper side of the mounting seat (4), a mounting frame (6) is arranged on the lower side of the right end of the controller (5), a driving motor (7) is arranged on the left side of the upper end of the mounting frame (6), a fixed mounting shaft (8) is arranged on the right side of the upper end of the mounting frame (6), a support rocker arm (9) which is inclined is arranged on the upper side of the fixed mounting shaft (8), a rotating mounting shaft (10) is arranged at the end of, a bent mounting rod (11) is arranged between the connection of the bent beam (12) and the rotary mounting shaft (10);

a collecting opening (15) is arranged at the lower side bending end of the mounting rod (11), a collecting frame (13) is arranged at the right side of the upper end of the mounting seat (4), a flexible bag (14) is arranged between the lower end of the collecting opening (15) and the upper end of the collecting frame (13), a straight arm (16) is arranged at the right end of the bent beam (12), a first clamping groove (29) is arranged between the straight arm (16) and the curved beam (12) in the installation connection, a first clamping block (28) is arranged between the curved beam (12) and the first clamping groove (29), a fixed end (32) is arranged on the side edge of the straight arm (16), a hydraulic cylinder (27) is arranged on the side edge of the curved beam (12), a hydraulic rod (30) is arranged at the end part of one side of the hydraulic cylinder (27) close to the straight arm (16), and the end part of one side of the hydraulic rod (30) far away from the hydraulic cylinder (27) is rotationally connected with the fixed end (32), a second clamping groove (31) which is arranged corresponding to the hydraulic rod (30) is arranged on the fixed end (32); and the right end part of the straight arm (16) is provided with a shearing table (17) which is arranged corresponding to the collecting port (15), a connecting plate (18) is arranged between the left end part of the shearing table (17) and the installation connection of the straight arm (16), a shearing knife (24) is arranged at the upper end part of the shearing table (17), a rotating shaft (19) is rotatably connected between the left end part of the shearing knife (24) and the installation of the shearing table (17), and a corrosion-resistant coating (25) is arranged between the contact of the lower end part of the shearing knife (24) and the shearing table (17), a pull arm (23) is arranged at the upper end part of the shearing knife (24), a lifting cylinder (20) is arranged at one side of the connecting plate (18), a lifting rod (21) is arranged at the upper end part of the lifting cylinder (20), and the end part of one side of the lifting rod (21) far away from the lifting cylinder (20) is fixedly connected with the pull arm (23), and a power switch (22) is arranged on the side of the shearing table (17) corresponding to one side of the lifting cylinder (20).

2. The agricultural fruit tree picking robot as claimed in claim 1, wherein a rotating shaft is arranged between the second clamping groove (31) and the hydraulic rod (30) and the rotating connection of the first clamping groove (29) and the first clamping block (28).

3. The fruit tree picking robot for agricultural production according to claim 1, wherein a walking motor is arranged at the back end of the walking wheel (2), the walking motor, the driving motor (7), the hydraulic cylinder (27), the lifting cylinder (20) and the power switch (22) are electrically connected with an external power supply and the controller (5), and the controller (5) is of the type: TECH-698.

4. An agricultural production fruit tree picking robot as claimed in claim 1, characterized in that the corrosion-resistant coating (25) and the shearing blade (24) are bonded by glue.

5. An agricultural fruit tree picking robot as claimed in claim 1, characterized in that an arc-shaped guide rod (26) is arranged between the lower side of the right end of the shearing table (17) and the corrosion-resistant coating (25).