CN220342912U

CN220342912U - Tomato picking manipulator

Info

Publication number: CN220342912U
Application number: CN202322025704.1U
Authority: CN
Inventors: 张之玥; 李敏; 陈立强; 冯惠媛; 师晋燕
Original assignee: Shanxi Agricultural University
Current assignee: Shanxi Agricultural University
Priority date: 2023-07-31
Filing date: 2023-07-31
Publication date: 2024-01-16
Anticipated expiration: 2033-07-31

Abstract

The utility model discloses a tomato picking manipulator, which relates to the technical field of picking manipulators and comprises a driving seat, wherein the lower end of the driving seat is fixedly connected with a connecting plate, the inside of the driving seat is rotationally connected with a driving frame, the driving frame is fixedly connected with a hemispherical cover, the hemispherical cover is provided with a stem cutting mechanism, the inside of the driving seat is fixedly provided with a servo motor, the output shaft of the servo motor is fixedly connected with a screw rod, the outer side of the screw rod is connected with a threaded pipe through threads, the outer side of the threaded pipe is fixedly connected with a rack, one end of the threaded pipe is fixedly connected with a connecting strip, and the connecting strip is in contact with the driving seat. According to the utility model, the hemispherical covers are additionally arranged on the driving frame, so that tomatoes can be placed into the two hemispherical covers in the process of combining the two hemispherical covers in the picking process, and the tomatoes are prevented from being extruded, so that the quality of the tomatoes can be effectively ensured.

Description

Tomato picking manipulator

Technical Field

The utility model relates to the technical field of picking manipulators, in particular to a tomato picking manipulator.

Background

Tomato is an annual herb plant of the genus solanum of the family solanaceae, the plant being up to 2 meters. The transgenic tomatoes are bright red in color, hard in fruits, not easy to crack, and easy to lodge in tomato stems; the leaves are feathered compound leaves, the base part is wedge-shaped and is more inclined, and irregular saw teeth are formed; the corolla is radial, yellow and the split is narrow and long round; berries are in a flat sphere shape or a nearly sphere shape, have multiple successes, are orange or bright red, have smooth surfaces and are in summer and autumn in flower and fruit periods; seeds are yellow, cover soft hair, when picking in batches in the in-process of planting on a large scale, can effectually reduce the labour through picking the manipulator to the tomato, but install when picking the manipulator among the prior art and use on the arm, the dismantlement dynamics of manipulator is inconvenient for controlling the in-process of picking and is out of shape tomato extrusion easily, influences subsequent quality to need pulling tomato to take off the tomato from the fruit stem at the in-process of dismantling, cause the tomato fruit body to damage easily in the in-process of pulling, influence the quality. Accordingly, improvements in the art are needed.

Disclosure of Invention

The utility model provides a tomato picking manipulator which solves the technical problems that tomatoes are easy to crush and deform and stretch-break fruit stems during picking, and the tomatoes are easy to damage.

In order to solve the technical problems, the tomato picking manipulator provided by the utility model comprises a driving seat, wherein the lower end of the driving seat is fixedly connected with a connecting plate, the inside of the driving seat is rotationally connected with a driving frame, the driving frame is fixedly connected with a hemispherical cover, the hemispherical cover is provided with a stem cutting mechanism, the inside of the driving seat is fixedly provided with a servo motor, the output shaft of the servo motor is fixedly connected with a screw rod, the outer side of the screw rod is connected with a threaded pipe through threads, the outer side of the threaded pipe is fixedly connected with a rack, one end of the threaded pipe is fixedly connected with a connecting strip, and the connecting strip is in contact with the driving seat.

Preferably, teeth are arranged on the outer side of the driving frame, the rack is meshed with the teeth on the outer side of the driving frame, and the rack can drive the driving frame to rotate through the teeth.

Preferably, a guide rod is fixedly connected in the driving seat, the guide rod is in sliding connection with the connecting strip, and the guide rod can guide the movement of the connecting strip.

Preferably, the inside fixedly connected with backup pad of drive seat, the backup pad with the screw rod passes through the bearing to be connected, and the backup pad can support the screw rod.

Preferably, the stem cutting mechanism comprises a fixed cover, a support frame, a cutting knife and a spring, wherein the upper end of the hemispherical cover is fixedly connected with the fixed cover, the support frame is connected with the inside of the fixed cover in a sliding manner, one end of the support frame is fixedly connected with the cutting knife, the spring is arranged in the fixed cover, the cutting knife is connected with the fixed cover in a sliding manner, and the cutting knife can cut off the fruit stems.

Preferably, one end of the spring is fixedly connected with the fixed cover, the other end of the spring is fixedly connected with the supporting frame, and the spring can support the supporting frame through elasticity.

Compared with the related art, the tomato picking manipulator provided by the utility model has the following beneficial effects:

according to the tomato picking manipulator provided by the utility model, the hemispherical covers are additionally arranged on the driving frame, so that tomatoes can be placed into the two hemispherical covers in the process of combining the two hemispherical covers in the picking process, the tomatoes are prevented from being extruded, and the quality of the tomatoes can be effectively ensured.

The utility model provides a tomato picking manipulator, which is characterized in that a fixed cover, a cutting knife, a spring and other structures are additionally arranged on a hemispherical cover, and the fruit stems can be cut off through the cutting knife in the using process, so that tomatoes are more convenient to pick, after the tomatoes are cut off, the impact force of the two cutting knives contacted by the spring can be buffered, and the damage of the cutting knives can be avoided.

Drawings

FIG. 1 is a perspective view of the overall structure of the present utility model;

FIG. 2 is an enlarged front cross-sectional view of the drive socket of FIG. 1 in accordance with the present utility model;

fig. 3 is an enlarged front cross-sectional view of the stationary cover of fig. 1 of the present utility model.

Reference numerals in the drawings: 1. a driving seat; 2. a connecting plate; 3. a drive rack; 4. a hemispherical cover; 5. a stem cutting mechanism; 6. a servo motor; 7. a screw; 8. a threaded tube; 9. a connecting strip; 10. a rack; 11. a guide rod; 12. a support plate; 51. a fixed cover; 52. a support frame; 53. a cutting knife; 54. and (3) a spring.

Detailed Description

Referring to fig. 1, 2 and 3, a tomato picking manipulator comprises a driving seat 1, wherein a connecting plate 2 is fixedly connected to the lower end of the driving seat 1, a driving frame 3 is rotatably connected to the inside of the driving seat 1, a hemispherical cover 4 is fixedly connected to the driving frame 3, and a stem cutting mechanism 5 is arranged on the hemispherical cover 4.

Referring to fig. 1 and 2, a servo motor 6 is fixedly installed inside a driving seat 1, a screw rod 7 is fixedly connected to an output shaft of the servo motor 6, a threaded pipe 8 is connected to the outer side of the screw rod 7 through threads, a rack 10 is fixedly connected to the outer side of the threaded pipe 8, a connecting strip 9 is fixedly connected to one end of the threaded pipe 8, the connecting strip 9 is in contact with the driving seat 1, teeth are arranged on the outer side of a driving frame 3, the rack 10 is meshed with the teeth on the outer side of the driving frame 3, the rack 10 can drive the driving frame 3 to rotate through the teeth, a guide rod 11 is fixedly connected inside the driving seat 1, the guide rod 11 is slidably connected with the connecting strip 9, a supporting plate 12 is fixedly connected to the inner side of the driving seat 1, the supporting plate 12 is connected with the screw rod 7 through a bearing, and the supporting plate 12 can support the screw rod 7.

Referring to fig. 1 and 3, the stem cutting mechanism 5 includes a fixed cover 51, a supporting frame 52, a cutting knife 53, and a spring 54, wherein the fixed cover 51 is fixedly connected to the upper end of the hemispherical cover 4, the supporting frame 52 is slidably connected to the inside of the fixed cover 51, the cutting knife 53 is fixedly connected to one end of the supporting frame 52, the spring 54 is disposed in the fixed cover 51, the cutting knife 53 is slidably connected to the fixed cover 51, the cutting knife 53 can cut off the stems, one end of the spring 54 is fixedly connected to the fixed cover 51, the other end of the spring 54 is fixedly connected to the supporting frame 52, and the spring 54 can support the supporting frame 52 through elastic force.

Working principle: when the tomato harvester is used, the mechanical arm drives the hemispherical cover 4 on the driving seat 1 to move to the outer side of a tomato, then the servo motor 6 is started, the servo motor 6 drives the screw rod 7 to rotate, the screw rod 7 can drive the rack 10 to move through threaded fit between the screw rod and the threaded pipe 8 in the rotating process, the rack 10 can drive the driving frame 3 to deflect through teeth on the outer side of the driving frame 3 in the moving process, the hemispherical cover 4 is covered on the outer side of the tomato, the tomato can be clamped in the overturning process of the hemispherical cover 4, the fruit stem can be cut through the cutting knife 53 in the clamping process, and when the two cutting knives 53 are in contact with each other, the cutting can be completed, so that the tomato is more convenient to pick, and the quality of the tomato can be effectively ensured.

Claims

1. The utility model provides a tomato picking manipulator, includes drive seat (1), its characterized in that, the lower extreme fixedly connected with connecting plate (2) of drive seat (1), the inside rotation of drive seat (1) is connected with drive frame (3), fixedly connected with hemisphere cover (4) on drive frame (3), be provided with stem cutting mechanism (5) on hemisphere cover (4), the inside fixed mounting of drive seat (1) has servo motor (6), fixedly connected with screw rod (7) on the output shaft of servo motor (6), threaded connection has screwed pipe (8) in the outside of screw rod (7), the outside fixedly connected with rack (10) of screwed pipe (8), the one end fixedly connected with connecting strip (9) of screwed pipe (8), connecting strip (9) with drive seat (1) contact.

2. Tomato picking manipulator according to claim 1, characterized in that the outer side of the driving rack (3) is provided with teeth, and the rack (10) is engaged with the teeth on the outer side of the driving rack (3).

3. Tomato picking manipulator according to claim 1, characterized in that the inside of the driving seat (1) is fixedly connected with a guide rod (11), the guide rod (11) is slidingly connected with the connecting strip (9).

4. Tomato picking manipulator according to claim 1, characterized in that the inside of the driving seat (1) is fixedly connected with a supporting plate (12), and the supporting plate (12) is connected with the screw (7) through a bearing.

5. Tomato picking manipulator according to claim 1, characterized in that the stem cutting mechanism (5) comprises a fixed cover (51), a support frame (52), a cutting knife (53) and a spring (54), the upper end of the hemispherical cover (4) is fixedly connected with the fixed cover (51), the inside of the fixed cover (51) is slidably connected with the support frame (52), one end of the support frame (52) is fixedly connected with the cutting knife (53), the inside of the fixed cover (51) is provided with the spring (54), and the cutting knife (53) is slidably connected with the fixed cover (51).

6. Tomato picking manipulator according to claim 5, wherein one end of the spring (54) is fixedly connected with the fixed cover (51), and the other end of the spring (54) is fixedly connected with the supporting frame (52).