CN223219533U

CN223219533U - Fruit picking robot

Info

Publication number: CN223219533U
Application number: CN202422549783.0U
Authority: CN
Inventors: 马也; 周浩; 林辉华; 王君; 谢童; 彭亚敏; 王健羽
Original assignee: Hangzhou Anxian Robot Technology Co ltd
Current assignee: Hangzhou Anxian Robot Technology Co ltd
Priority date: 2024-10-22
Filing date: 2024-10-22
Publication date: 2025-08-15
Anticipated expiration: 2034-10-22

Abstract

The utility model belongs to the technical field of fruit picking, and relates to a fruit picking robot, comprising a main body, a motor fixedly connected to the top of the main body, a second gear fixedly sleeved on the output shaft of the motor, a first hydraulic cylinder rotatably connected to the top of the main body, a third gear fixedly sleeved on the first hydraulic cylinder, the third gear meshing with the second gear, a support plate fixedly connected to the top of the output end of the first hydraulic cylinder, a scissors provided on the support plate, a material receiving assembly provided at the bottom of the support plate, a collection box slidably provided on the top of the main body, the collection box and the material receiving assembly being connected via a telescopic tube. The advantage is that when using the scissors to pick fruit, starting the motor drives the second gear to rotate, the second gear drives the third gear to rotate, causing the first hydraulic cylinder to rotate, causing the scissors to rotate, and starting the first hydraulic cylinder pushes the scissors up and down, which can automatically adjust the angle and height of the scissors, reducing the workload of the staff.

Description

Fruit picking robot

Technical Field

The utility model belongs to the technical field of fruit picking, and relates to a fruit picking robot.

Background

When people pick fruits such as dates and oranges, the fruits such as dates and oranges are frequently picked off from the trees by hands, so that branches are easily broken, the growth of the trees is influenced, the yield of the later fruits is further influenced, and the joints of the fruits and the branches are easily broken, so that the fruits cannot be stored for a long time. There is a need for a fruit picking robot that automatically picks fruit.

The automatic citrus picking robot disclosed in China patent CN220511682U comprises an adjusting assembly arranged above a bottom plate and close to one side of a working box, wherein the adjusting assembly comprises an adjusting box fixedly connected above the bottom plate and close to one side of the working box, a threaded rod rotatably connected inside the adjusting box through a bearing A and a threaded cylinder in threaded connection with the surface of the threaded rod, and the threaded cylinder is fixedly connected with the working box.

This picking robot carries out relative motion through two sets of picking blades to be close to gradually, picking the blade and can cutting off the stem of oranges and tangerines, and then picking oranges and tangerines. Before picking, the workers are required to move the position of the bottom plate for many times, so that the positions of the picking blades and fruits are matched, the workload of the workers is increased, and the use is not convenient.

In order to solve the problems, the utility model provides a fruit picking robot.

Disclosure of utility model

In order to solve the problems in the background technology, the utility model provides a fruit picking robot.

In order to achieve the aim, the utility model adopts the following technical scheme that the device comprises a main body, wherein the top of the main body is fixedly connected with a motor, a second gear is fixedly sleeved on an output shaft of the motor, the top of the main body is rotatably connected with a first hydraulic cylinder, a third gear is fixedly sleeved on the first hydraulic cylinder, and the third gear is meshed with the second gear;

The top fixedly connected with backup pad of the output of first pneumatic cylinder is provided with the scissors in the backup pad, the bottom of backup pad is provided with and connects the material subassembly, and the top of main part is provided with the collecting box in a sliding way, and the collecting box passes through telescopic tube connection with receiving the material subassembly.

Further, two symmetrical grooves are formed in the top surface of the main body, two sliding plates are fixedly connected to the bottom surface of the collecting box and are respectively arranged in the corresponding grooves in a sliding mode, and the bottom surface of the collecting box is in sliding fit with the main body.

Further, one side of the collecting box is fixedly connected with a first rack, and the first rack is meshed with a third gear.

Further, a mounting groove is formed in one side of the supporting plate, a hinge of the scissors is arranged in the mounting groove, and two knife edges of the scissors extend out of the supporting plate;

The top surface of the supporting plate is provided with a sliding groove, the sliding groove is communicated with the mounting groove, and two handles of the scissors extend into the sliding groove;

the top of the supporting plate is provided with a driving component, and the driving component drives the two knife edges of the scissors to rotate oppositely or rotate oppositely.

Further, the driving assembly comprises a second hydraulic cylinder, the second hydraulic cylinder is fixedly connected to the top of the supporting plate, the output end of the second hydraulic cylinder is fixedly connected with a second moving plate, the second moving plate is fixedly penetrated with a first moving plate, the second moving plate is perpendicular to the first moving plate, the bottom of one end of the second moving plate is fixedly connected with a bulge, the bulge is positioned in the sliding groove, a through hole is formed in the bulge, and two handles of the scissors penetrate through the through hole in a sliding manner;

One side of each of the two handles of the scissors is fixedly connected with a spring, and the other end of the spring is fixedly connected to the inner wall of the chute.

Further, the material receiving assembly comprises a collecting hopper, two fixing plates are fixedly connected to the bottom surface of the supporting plate, the collecting hopper is positioned between the two fixing plates, two sides of one end of the collecting hopper are fixedly connected with rotating shafts, the rotating shafts respectively rotate to penetrate through the corresponding fixing plates, and one end of one rotating shaft, which is far away from the collecting hopper, is fixedly connected with a first gear;

The bottom surface of first movable plate fixedly connected with second rack, second rack and first gear engagement.

Further, the telescopic pipe is a corrugated pipe, one end of the telescopic pipe is fixedly connected to the side surface of the collecting hopper, the other end of the telescopic pipe is fixedly connected to the side surface of the collecting box, and the end part of the telescopic pipe is communicated with the collecting hopper and the collecting box;

the inside fixedly connected with mounting panel of collecting box has evenly offered a plurality of filtration pore on the mounting panel, and the flexible pipe is located the top of mounting panel with the link of collecting box.

Compared with the prior art, the utility model has the following beneficial effects:

1. This fruit picking robot is provided with first pneumatic cylinder, and the scissors setting is at the top of first pneumatic cylinder, when using the scissors to pick fruit, starts the motor, drives the second gear and rotates, and the second gear drives the third gear and rotates, makes first pneumatic cylinder rotate, makes the scissors rotate, can promote the scissors and reciprocate through starting first pneumatic cylinder, and then can automatically regulated scissors's angle and height, reduces staff work load, uses more convenient.

2. This fruit picking robot is provided with collects the fill, collects the bottom that the fill rotation set up in the backup pad, and at the second hydraulic cylinder pulling second movable plate removal, when two handles through the through-hole promotion scissors rotated, two edges of a knife rotated in opposite directions and sheared, can drive the second rack simultaneously and remove, and drive first gear rotates, makes the one end that the fixed plate was kept away from to the collection fill upwards rotate, makes the fruit of picking fall in collecting the fill, later gets into the collection box through flexible pipe in, and then collects fruit voluntarily.

Drawings

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

FIG. 2 is an enlarged schematic view of the portion A of FIG. 1 in accordance with the present utility model;

FIG. 3 is a schematic view of the structure of the telescopic tube of the present utility model;

FIG. 4 is a schematic view of the structure of the scissors according to the present utility model;

Fig. 5 is a schematic structural view of a second moving plate in the present utility model.

In the figure, 1, a main body; 2, a first hydraulic cylinder, 3, a motor, 4, a telescopic pipe, 5, a collecting bucket, 6, a supporting plate, 7, a second hydraulic cylinder, 8, a first gear, 9, a collecting box, 10, a mounting plate, 11, scissors, 12, a binocular camera, 13, a first moving plate, 14, a second gear, 15, a third gear, 16, a first rack, 17, a spring, 18, a chute, 19, a second rack, 20, a second moving plate, 21, a fixed plate, 22, a groove, 23 and a mounting groove.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1 to 5, the fruit picking robot adopts the technical scheme that the fruit picking robot comprises a main body 1, and moving wheels are arranged at four corners of the bottom of the main body 1. The top of main part 1 fixedly connected with motor 3, fixed cover is equipped with second gear 14 on the output shaft of motor 3. The top of the main body 1 is rotatably connected with a first hydraulic cylinder 2, a third gear 15 is fixedly sleeved on the first hydraulic cylinder 2, and the third gear 15 is meshed with a second gear 14. The motor 3 is started, and the output shaft of the motor 3 drives the second gear 14 to rotate and drives the third gear 15 and the first hydraulic cylinder 2 to rotate.

The top fixedly connected with backup pad 6 of the output of first pneumatic cylinder 2 is provided with scissors 11 on the backup pad 6.

One side of the supporting plate 6 is provided with a mounting groove 23, a hinge of the scissors 11 is arranged in the mounting groove 23, and two knife edges of the scissors 11 extend out of the supporting plate 6. So that the fruit is sheared at the fruit stalks by the two edges of the scissors 11.

The top surface of backup pad 6 has seted up spout 18, and spout 18 and mounting groove 23 intercommunication, and two handles of scissors 11 stretch into the inside of spout 18. The two knife edges are rotated by driving the two handles to rotate.

The top of the supporting plate 6 is provided with a driving component which drives the two knife edges of the scissors 11 to rotate oppositely or reversely.

The drive assembly comprises a second hydraulic cylinder 7, the second hydraulic cylinder 7 being fixedly connected to the top of the support plate 6. The output end of the second hydraulic cylinder 7 is fixedly connected with a second movable plate 20, a first movable plate 13 is fixedly penetrated through the second movable plate 20, and the second movable plate 20 is perpendicular to the first movable plate 13. The bottom of one end of the second moving plate 20 is fixedly connected with a bulge, the bulge is positioned in the chute 18, a through hole is formed in the bulge, and two handles of the scissors 11 penetrate through the through hole in a sliding mode. Since the size of the through hole is fixed, the two handles of the scissors 11 can be pushed to rotate by moving the through hole.

One side of each of the two handles of the scissors 11 is fixedly connected with a spring 17, and the other end of the spring 17 is fixedly connected to the inner wall of the chute 18. When the spring 17 is in a natural state, the two handles of the scissors 11 are in an open state.

The bottom of the supporting plate 6 is provided with a receiving component.

The receiving assembly comprises a collecting hopper 5. The bottom surface of backup pad 6 fixedly connected with two fixed plates 21, collection fill 5 is located between two fixed plates 21. Both sides of one end of the collecting hopper 5 are fixedly connected with rotating shafts which respectively rotate to penetrate through corresponding fixing plates 21. One end of one of the rotating shafts, which is far away from the collecting hopper 5, is fixedly connected with a first gear 8. The two edges of the scissors 11 are located directly above the collection hopper 5. So that the fruit sheared by the scissors 11 falls into the collecting hopper 5.

The bottom surface of the first moving plate 13 is fixedly connected with a second rack 19, and the second rack 19 is meshed with the first gear 8. When the second rack 19 moves, the first gear 8 is driven to rotate.

The top of the main body 1 is slidably provided with a collecting box 9, and the collecting box 9 is connected with a receiving component through a telescopic pipe 4.

Two symmetrical grooves 22 are formed in the top surface of the main body 1, two sliding plates are fixedly connected to the bottom surface of the collecting box 9, and the sliding plates are respectively arranged in the corresponding grooves 22 in a sliding mode. The bottom surface of the collection box 9 is in sliding fit with the main body 1.

A first rack 16 is fixedly connected to one side of the collecting box 9, and the first rack 16 is meshed with a third gear 15. When the third gear 15 rotates, the first rack 16 is driven to move, so that the collection box 9 slides on the top of the main body 1.

The telescopic tube 4 is a bellows so that the telescopic tube 4 can move together when the first hydraulic cylinder 2 drives the support plate 6 to move. One end of the telescopic tube 4 is fixedly connected to the side face of the collecting hopper 5, and the other end of the telescopic tube 4 is fixedly connected to the side face of the collecting box 9. The end of the telescopic pipe 4 is communicated with the collecting hopper 5 and the collecting box 9. The fruit in the collecting hopper 5 can be led into the collecting box 9 through the telescopic pipe 4.

The inside fixedly connected with mounting panel 10 of collecting box 9, evenly set up a plurality of filtration pore on the mounting panel 10. The connecting end of the telescopic pipe 4 and the collecting box 9 is positioned above the mounting plate 10. The filtering holes can filter out partial impurities on the fruits, so that workers can classify the picked fruits.

The top of backup pad 6 fixed mounting has binocular camera 12, is provided with the controller on the main part 1, and the controller is connected with binocular camera 12, first pneumatic cylinder 2, second pneumatic cylinder 7, motor 3. The positions of the fruits can be checked through the binocular camera 12, then the controller controls the first hydraulic cylinder 2 and the motor 3 to adjust the positions of the scissors 11, and finally the scissors 11 pick the fruits through the second hydraulic cylinder 7.

Working principle:

When fruits which are difficult to break such as dates and oranges are picked, the motor 3 is started, the output shaft of the motor 3 drives the second gear 14 to rotate, and the second gear 14 drives the third gear 15 to rotate, so that the first hydraulic cylinder 2 rotates. The supporting plate 6 is driven to rotate, so that the scissors 11 rotate in the horizontal direction, and the angle of the scissors 11 is adjusted.

The third gear 15 will drive the first rack 16 to move, sliding the collection box 9 on top of the main body 1.

The first hydraulic cylinder 2 is started to push the supporting plate 6 to move up and down, so that the scissors 11 are driven to move in the vertical direction, and the height of the scissors 11 is adjusted. When the support plate 6 moves, the telescopic pipe 4 is driven to move together.

After the position of the scissors 11 is adjusted, the second hydraulic cylinder 7 is activated, pulling the second moving plate 20 to slide on top of the support plate 6. The second moving plate 20 slides toward one end away from the edge of the scissors 11, so that the through hole moves on both handles of the scissors 11. Since the size of the through hole is fixed, the through hole gradually presses the two handles of the scissors 11, so that the two handles of the scissors 11 rotate in opposite directions.

When the handle rotates, the corresponding spring 17 is stretched, and simultaneously the two knife edges of the scissors 11 are driven to rotate, so that the two knife edges are contacted to cut the fruit stalks. The sheared fruit will fall into the collection hopper 5.

The second moving plate 20 drives the second rack 19 to move, and the second rack 19 drives the first gear 8 to rotate, so that one end of the collecting bucket 5 away from the fixed plate 21 rotates upwards. So that the collecting hopper 5 is in an inclined state, the fruits roll into the telescopic pipe 4 and finally fall into the collecting box 9.

After shearing, the second hydraulic cylinder 7 pushes the second moving plate 20 to slide towards one end close to the edge of the scissors 11, the through hole does not press the handle of the scissors 11 any more, and the spring 17 pushes the handle to rotate, so that the handle is restored to the initial state. At the same time, the two edges of the scissors 11 are opened, and one end of the collecting hopper 5 far away from the fixed plate 21 is rotated downwards.

After picking is completed, the motor 3 is started, and the output shaft of the motor 3 rotates positively and reversely. The collection box 9 is driven to slide back and forth on the top of the main body 1, and the fruits on the mounting plate 10 are sieved to remove more impurities so as to facilitate subsequent fruit boxing.

Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.

Claims

1. The fruit picking robot is characterized by comprising a main body (1), wherein the top of the main body (1) is fixedly connected with a motor (3), a second gear (14) is fixedly sleeved on an output shaft of the motor (3), the top of the main body (1) is rotatably connected with a first hydraulic cylinder (2), a third gear (15) is fixedly sleeved on the first hydraulic cylinder (2), and the third gear (15) is meshed with the second gear (14);

The top fixedly connected with backup pad (6) of the output of first pneumatic cylinder (2), be provided with scissors (11) on backup pad (6), the bottom of backup pad (6) is provided with and connects the material subassembly, and the top of main part (1) slides and is provided with collecting box (9), and collecting box (9) are connected through flexible pipe (4) with connecing the material subassembly.

2. The fruit picking robot according to claim 1, wherein the top surface of the main body (1) is provided with two symmetrical grooves (22), the bottom surface of the collecting box (9) is fixedly connected with two sliding plates, the sliding plates are respectively arranged in the corresponding grooves (22) in a sliding manner, and the bottom surface of the collecting box (9) is in sliding fit with the main body (1).

3. Fruit picking robot according to claim 2, characterized in that a first rack (16) is fixedly connected to one side of the collecting box (9), the first rack (16) being in engagement with a third gear (15).

4. The fruit picking robot according to claim 1, wherein a mounting groove (23) is formed in one side of the supporting plate (6), a hinge of the scissors (11) is arranged in the mounting groove (23), and two knife edges of the scissors (11) extend out of the supporting plate (6);

A sliding groove (18) is formed in the top surface of the supporting plate (6), the sliding groove (18) is communicated with the mounting groove (23), and two handles of the scissors (11) extend into the sliding groove (18);

The top of the supporting plate (6) is provided with a driving component, and the driving component drives the two knife edges of the scissors (11) to rotate oppositely or rotate oppositely.

5. The fruit picking robot according to claim 4, wherein the driving assembly comprises a second hydraulic cylinder (7), the second hydraulic cylinder (7) is fixedly connected to the top of the supporting plate (6), the output end of the second hydraulic cylinder (7) is fixedly connected with a second moving plate (20), a first moving plate (13) is fixedly penetrated on the second moving plate (20), the second moving plate (20) is perpendicular to the first moving plate (13), a bulge is fixedly connected to the bottom of one end of the second moving plate (20), the bulge is positioned in the sliding groove (18), a through hole is formed in the bulge, and two handles of the scissors (11) penetrate through the through hole in a sliding manner;

One side of each of the two handles of the scissors (11) is fixedly connected with a spring (17), and the other end of the spring (17) is fixedly connected to the inner wall of the chute (18).

6. The fruit picking robot according to claim 5, wherein the material receiving assembly comprises a collecting hopper (5), two fixing plates (21) are fixedly connected to the bottom surface of the supporting plate (6), the collecting hopper (5) is positioned between the two fixing plates (21), two sides of one end of the collecting hopper (5) are fixedly connected with rotating shafts, the rotating shafts respectively rotate to penetrate through the corresponding fixing plates (21), and a first gear (8) is fixedly connected to one end of one rotating shaft, far away from the collecting hopper (5);

The bottom surface of first movable plate (13) fixedly connected with second rack (19), second rack (19) and first gear (8) meshing.

7. The fruit picking robot according to claim 6, wherein the telescopic tube (4) is a corrugated tube, one end of the telescopic tube (4) is fixedly connected to the side surface of the collecting hopper (5), the other end of the telescopic tube (4) is fixedly connected to the side surface of the collecting box (9), and the end part of the telescopic tube (4) is communicated with the collecting hopper (5) and the collecting box (9);

The inside fixedly connected with mounting panel (10) of collection box (9), evenly offered a plurality of filtration pore on mounting panel (10), the link of flexible pipe (4) and collection box (9) is located the top of mounting panel (10).