CN221598694U - A cherry picking robot fruit picking device - Google Patents

Abstract

The utility model relates to the technical field of cherry picking, in particular to a cherry picking robot fruit picking device which comprises a driving device, a supporting arm and a hydraulic rod, wherein the outer side of the driving device is fixedly connected with the supporting arm, the inner side of the supporting arm is provided with the hydraulic rod, the outer side of the supporting arm is fixedly connected with a fixed plate, one end of the hydraulic rod is rotationally connected with a movable plate, one end of the movable plate, which is close to the fixed plate, is fixedly connected with a first connecting column, the other end of the first connecting column is fixedly connected with a first sliding block, one side of the movable plate, which is far away from the hydraulic rod, is rotationally connected with a sliding rod.

Description

A cherry picking robot fruit picking device

Technical Field

The utility model relates to the technical field of cherry picking, in particular to a cherry picking robot fruit picking device.

Background Art

When harvesting cherries, the cherry picking robot picks the cherries growing on the trees in a mechanized way, replacing manual picking work, improving the efficiency of cherry picking, and reducing the cost of manual picking and manpower.

In the process of using a cherry picking robot to pick cherries from a cherry tree, the connection strength between the ripe cherries and the branches decreases accordingly. The cherry picking robot usually uses a high-frequency shaking method on the cherry tree so that the ripe cherries can automatically detach from the cherry branches. However, in the process of using the cherry picking robot to perform high-frequency shaking on the cherry tree, the cherry picking robot is required to fix and clamp the cherry tree trunk and restrict it. However, the trunks of some cherry trees are tilted due to the influence of the environment and weather disasters during their growth. Therefore, it is not convenient for the cherry picking robot to perform a relatively stable and fixed restriction on the cherry trees with tilted trunks. As a result, the cherry picking robot's clamping device is easily detached from the cherry tree trunk when the cherry picking robot performs high-frequency shaking to pick fruits from the cherry trees with tilted trunks. Therefore, a cherry picking robot fruit picking device is proposed to address the above problem.

Utility Model Content

The utility model aims to provide a cherry picking robot fruit picking device to solve the problem that it is inconvenient for the cherry picking robot to relatively stably fix and restrict the cherry tree with a tilted trunk, which may cause the clamping device of the cherry picking robot to easily separate from the trunk of the cherry tree when the cherry picking robot performs high-frequency shaking to pick fruits from the cherry tree with a tilted trunk.

In order to achieve the above purpose, the utility model provides the following technical solutions:

The jackup plate is fixedly connected to the support frame, and the hydraulic rod is arranged on the inner side of the support arm. The outer side of the support arm is fixedly connected to the fixing plate. One end of the hydraulic rod is rotatably connected to the movable plate, and one end of the movable plate close to the fixing plate is fixedly connected to the first connecting column, and the other end of the first connecting column is fixedly connected to the first sliding block. The movable plate is rotatably connected to the sliding rod at a side away from the hydraulic rod, and the other end of the sliding rod is fixedly connected to a limiting block. The side of the limiting block close to the sliding rod is fixedly connected to a telescopic spring, and the other end of the telescopic spring is fixedly connected to a positioning plate, and the side of the positioning plate close to the fixing plate is fixedly connected to a second connecting column, and the other end of the second connecting column is fixedly connected to a second sliding block. The side of the fixing plate close to the hydraulic rod is fixedly connected to a protective plate, and the side of the fixing plate close to the hydraulic rod is fixedly connected to the fixing column, and the other end of the fixing column is fixedly connected to a limiting circular plate.

Preferably, the first connecting column and the first slider slide in a straight sliding groove opened on the inner side of the fixed plate, and the diameter of the first connecting column is much smaller than the diameter of the first slider. The second connecting column and the second slider slide in two arc-shaped sliding grooves opened on the inner side of the fixed plate, and the diameter of the second connecting column is much smaller than the diameter of the second slider.

Preferably, the number of the second connecting columns and the second sliding block is the same as 2, the second connecting columns are symmetrically arranged on the same side of the positioning plate, the positioning plate rotates on the outside of the fixed column, the positioning plate is close to the outside of the fixed plate, the diameter of the hole opened on the inner side of the positioning plate is much larger than the diameter of the sliding rod, and the diameter of the hole opened on the inner side of the positioning plate is much smaller than the maximum side length of the limit block.

Preferably, there are two protective plates, the movable plate is tightly attached between two symmetrical protective plates on the fixed plate, the width of the protective plate is much larger than the farthest straight-line distance from the slide rod to the fixed plate, and the protective plate is outside the range of rotation of the positioning plate with the axis of the fixed column as the center.

Preferably, there are two slide bars in total, and the slide bars are symmetrically arranged on the inner side of the positioning plate. The slide bars slide in holes opened on the inner side of the positioning plate, and the telescopic springs are arranged on the outer sides of the slide bars.

Compared with the prior art, the beneficial effects of the utility model are:

In the utility model, by providing the first connecting column, the first sliding block, the sliding rod, the limit block, the telescopic spring, the positioning plate, the second connecting column, the second sliding block, the protective plate and the fixed column, when the cherry picking robot is used, the driving device controls the positioning plate to be in close contact with the outside of the inclined cherry tree trunk through the supporting arm, and then the hydraulic rod is started at this time to make the moving plate gradually move toward the position of the positioning plate until the moving plate is in close contact with the inclined cherry tree trunk part, and then the moving plate is continued to be pushed at this time to make the moving plate gradually rotate and be in close contact with the outside of the inclined cherry tree trunk, and in this process, the movement of the moving plate and the rotation control The sliding rod moves inside the positioning plate and exerts a stretching force on the telescopic spring fixedly connected to the positioning plate, so that the positioning plate rotates around the fixed column to the same inclination angle as the moving plate, and under the action of the telescopic spring and the moving plate on the positioning plate through the sliding rod, the positioning plate and the other side of the inclined cherry tree trunk are at a fitting angle, so that the cherry picking robot can more stably fix and restrict the cherry tree with the inclined trunk, and ensure that the cherry picking robot's clamping device can firmly clamp the cherry tree trunk when the cherry picking robot performs high-frequency shaking to pick fruits from the cherry tree with the inclined trunk.

BRIEF DESCRIPTION OF THE DRAWINGS

Figure 1 is a schematic diagram of the overall structure of the utility model;

FIG2 is a schematic diagram of the structure of point A in FIG1 of the present utility model;

FIG3 is a schematic diagram of the cross-sectional structure of the protective plate of the utility model;

FIG4 is a schematic diagram of the cross-sectional structure of the positioning plate of the utility model;

FIG. 5 is a schematic diagram of the side cross-sectional structure of the positioning plate of the present utility model.

In the figure: 1. driving device; 2. supporting arm; 3. hydraulic rod; 4. fixed plate; 5. movable plate; 6. first connecting column; 7. first sliding block; 8. sliding rod; 9. limiting block; 10. telescopic spring; 11. positioning plate; 12. second connecting column; 13. second sliding block; 14. protective plate; 15. fixed column; 16. limiting circular plate.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and/or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and/or combinations thereof.

Please refer to Figures 1-5, the utility model provides a technical solution:

A cherry picking robot fruit picking device comprises a driving device 1, a supporting arm 2 and a hydraulic rod 3, wherein the driving device 1 is fixedly connected to the supporting arm 2 on the outside, the supporting arm 2 is provided with the hydraulic rod 3 on the inside, the supporting arm 2 is fixedly connected to the fixed plate 4 on the outside, a moving plate 5 is rotatably connected to one end of the hydraulic rod 3, the moving plate 5 is fixedly connected to the first connecting column 6 on one end close to the fixed plate 4, the first connecting column 6 is fixedly connected to the first sliding block 7 on the other end, the moving plate 5 is rotatably connected to the sliding bar 8 on the side away from the hydraulic rod 3, the sliding bar 8 is fixedly connected to a limiting block 9 on the other end, the limiting block 9 is fixedly connected to the side close to the sliding bar 8 on the side, the telescopic spring 10 is fixedly connected to the other end of the positioning plate 11, the positioning plate 11 is fixedly connected to the second connecting column 12 on the side close to the fixed plate 4, the second connecting column 12 is fixedly connected to the second sliding block 13 on the other end, the fixing plate 4 is fixedly connected to the protective plate 14 on the side close to the hydraulic rod 3, the fixing plate 4 is fixedly connected to the fixing column 15 on the side close to the hydraulic rod 3, and the fixing column 15 is fixedly connected to the limiting circular plate 16 on the other end.

The first connecting column 6 and the first sliding block 7 slide in the straight sliding groove opened on the inner side of the fixed plate 4, and the diameter of the first connecting column 6 is much smaller than the diameter of the first sliding block 7. The second connecting column 12 and the second sliding block 13 slide in the two arc-shaped sliding grooves opened on the inner side of the fixed plate 4, and the diameter of the second connecting column 12 is much smaller than the diameter of the second sliding block 13, which can ensure that the movable plate 5 and the positioning plate 11 can slide or rotate stably on the fixed plate 4; the number of the second connecting columns 12 and the second sliding block 13 is the same as 2, and the second connecting columns 12 are symmetrically arranged on the same side of the positioning plate 11, and the positioning plate 11 rotates on the outside of the fixed column 15, and the positioning plate 11 is close to the outside of the fixed plate 4. The diameter of the hole opened on the inner side of the positioning plate 11 is much larger than the diameter of the sliding rod 8, and the inner side of the positioning plate 11 is opened. The diameter of the hole is much smaller than the maximum side length of the limit block 9, which is convenient for the positioning plate 11 to rotate and fit the inclined cherry tree trunk; there are two protective plates 14, and the movable plate 5 is tightly attached to the fixed plate 4 between the two symmetrical protective plates 14. The width of the protective plate 14 is much larger than the farthest straight-line distance from the slide bar 8 to the fixed plate 4. The protective plate 14 is outside the range of rotation of the positioning plate 11 with the axis of the fixed column 15 as the center of the circle, which can prevent the cherry tree trunk from squeezing the slide bar 8 and affecting the sliding work of the slide bar 8; there are two slide bars 8, which are symmetrically arranged on the inner side of the positioning plate 11, and the slide bar 8 slides in the hole opened on the inner side of the positioning plate 11. The telescopic spring 10 is arranged on the outer side of the slide bar 8, which is convenient for controlling the rotation of the positioning plate 11 around the fixed column 15.

Working process: During use, the equipment is powered by an external power supply. When the cherry picking robot is used to pick fruits from cherry trees, the driving device 1 controls the fixed plate 4 fixedly connected to the supporting arm 2 through the supporting arm 2 to approach the cherry trunk, and make the cherry trunk be between the moving plate 5 and the positioning plate 11 on the same side of the fixed plate 4, and the cherry trunk is close to the positioning plate 11 and the outer side of the protective plate 14 fixedly connected to the fixed plate 4, and then the hydraulic rod 3 on the inner side of the supporting arm 2 is started, and the hydraulic rod 3 pushes the moving plate 5 connected thereto to gradually move toward the positioning plate 11. At this time, the moving plate 5 moves in the straight sliding groove opened on the inner side of the fixed plate 4 through the first connecting column 6 and the first sliding block 7 fixedly connected thereto, so as to ensure that the moving plate 5 always maintains horizontal and straight movement. While the moving plate 5 moves, the sliding rod 8 connected thereto on the same side thereof slides inside the positioning plate 11 connected thereto to rotate outside the fixed column 15. At the same time, because the limit block 9 fixedly connected to the sliding rod 8 is fixedly connected to the positioning plate 11 through the telescopic spring 10, the sliding rod 8 is fixed to the positioning plate 11 on the positioning plate 1 1 and a certain stretching force is generated on the telescopic spring 10 while sliding inside. After the moving plate 5 begins to contact the tilted cherry tree, under the continuous force of the hydraulic rod 3, the moving plate 5 rotates relative to the hydraulic rod 3, and its overall plane is closely attached to the outer side of the tilted cherry tree trunk. While the moving plate 5 rotates, the two sliding rods 8 connected to it control the positioning plate 11 to rotate in the same direction as the moving plate 5 around the fixed column 15 through the telescopic spring 10, and the two pairs of second connecting columns 12 and the second sliding block 13 fixedly connected to the positioning plate 11 slide in the arc-shaped slide groove on the inner side of the fixed plate 4, so as to ensure the stability of the positioning plate 11 on the fixed plate 4. At this time, the moving plate 5 and the positioning plate 11 tilted in the same direction clamp the tilted cherry tree trunk at an angle that fits the inclination of the cherry tree trunk, which can effectively improve the stable fixing and limiting force of the cherry picking robot on the cherry tree with the tilted trunk, and ensure that the cherry picking robot can firmly clamp the cherry tree trunk when the cherry picking robot performs high-frequency shaking to pick fruits on the cherry tree with the tilted trunk.

Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims (5)

1. A cherry picking robot fruit picking device, comprising a driving device (1), a support arm (2) and a hydraulic rod (3), characterized in that: the driving device (1) is fixedly connected to the support arm (2) on the outside, the support arm (2) is provided with a hydraulic rod (3) on the inside, the support arm (2) is fixedly connected to the outside of the support arm (2), one end of the hydraulic rod (3) is rotatably connected to a moving plate (5), one end of the moving plate (5) close to the fixed plate (4) is fixedly connected to a first connecting column (6), the other end of the first connecting column (6) is fixedly connected to a first sliding block (7), the side of the moving plate (5) away from the hydraulic rod (3) is rotatably connected to a sliding rod (8), the sliding rod ( 8) The other end is fixedly connected to a limit block (9), the limit block (9) is fixedly connected to a telescopic spring (10) on one side close to the slide rod (8), the telescopic spring (10) is fixedly connected to a positioning plate (11) on the other end, the positioning plate (11) is fixedly connected to a second connecting column (12) on one side close to the fixed plate (4), the second connecting column (12) is fixedly connected to a second sliding block (13) on the other end, the fixed plate (4) is fixedly connected to a protective plate (14) on one side close to the hydraulic rod (3), the fixed plate (4) is fixedly connected to a fixing column (15) on one side close to the hydraulic rod (3), and the other end of the fixing column (15) is fixedly connected to a limit circular plate (16). 2. A cherry picking robot fruit picking device according to claim 1, characterized in that: the first connecting column (6) and the first sliding block (7) slide in a straight sliding groove opened on the inner side of the fixed plate (4), and the diameter of the first connecting column (6) is much smaller than the diameter of the first sliding block (7); the second connecting column (12) and the second sliding block (13) slide in two arc-shaped sliding grooves opened on the inner side of the fixed plate (4), and the diameter of the second connecting column (12) is much smaller than the diameter of the second sliding block (13). 3. A cherry picking robot fruit picking device according to claim 1, characterized in that: the number of the second connecting column (12) and the second sliding block (13) is the same as 2, the second connecting column (12) is symmetrically arranged on the same side of the positioning plate (11), the positioning plate (11) rotates outside the fixing column (15), the positioning plate (11) is close to the outside of the fixing plate (4), the diameter of the hole opened on the inner side of the positioning plate (11) is much larger than the diameter of the sliding rod (8), and the diameter of the hole opened on the inner side of the positioning plate (11) is much smaller than the maximum side length of the limit block (9). 4. A cherry picking robot fruit picking device according to claim 1, characterized in that: there are two protective plates (14), the movable plate (5) is tightly attached between two symmetrical protective plates (14) on the fixed plate (4), the width of the protective plate (14) is much larger than the farthest straight-line distance from the slide bar (8) to the fixed plate (4), and the protective plate (14) is outside the range of rotation of the positioning plate (11) with the axis of the fixed column (15) as the center. 5. A cherry picking robot fruit picking device according to claim 1, characterized in that: there are two slide bars (8), the slide bars (8) are symmetrically arranged on the inner side of the positioning plate (11), the slide bars (8) slide in the holes opened on the inner side of the positioning plate (11), and the telescopic spring (10) is arranged on the outer side of the slide bars (8).