Multidirectional picking mechanism

Abstract

The utility model discloses a multidirectional picking mechanism which comprises a six-axis carrying mechanical arm, an installation frame is fixed on the six-axis carrying mechanical arm, a fixing ring is fixed at the lower end of the installation frame and connected with a net bag, a cross rod is further fixed on the installation frame, a first hydraulic rod is installed on the cross rod, and a second hydraulic rod is installed on the first hydraulic rod. And a mounting ring is fixed to the outer side of the first hydraulic rod, a clamping jaw is connected to the mounting ring, a mounting rod is further fixed to the upper side of the mounting frame, a fixed cutter is fixed to the mounting rod, and one end of a second hydraulic rod is further rotationally connected to the mounting rod. According to the multi-direction picking mechanism, the six-axis carrying mechanical arm is adopted to conduct multi-direction adjustment on the picking mechanism so as to meet the actual picking requirement, the clamping and fixing mechanism and the shearing mechanism are matched, the automatic picking requirement of palm fruits can be met, and compared with traditional manual picking, the safety is higher, the efficiency is greatly improved, and the cost is effectively reduced; the method is suitable for wide popularization.

Description

Technical Field

[0001] The utility model relates to the technical field of palm fruit picking, in particular to a multi-directional picking mechanism. Background Art

[0002] Palm fruit is the main raw material for palm oil production. When picking palm fruit, it is mainly done by climbing up the palm tree. However, since mature palm fruit trees grow to a height of 3-5 meters, manual climbing and picking has the following problems:

[0003] 1. Due to the high growth height of palm fruits, there are certain safety risks when picking them manually;

[0004] 2. During manual picking, the limited space on the tree results in low picking efficiency and greatly increases labor intensity and picking costs.

[0005] To this end, in response to the above problems, a multi-directional picking mechanism is designed to better meet actual picking needs. Utility Model Content

[0006] The purpose of the present invention is to provide a multi-directional picking mechanism to solve the problems of safety hazards, low picking efficiency and high cost in manual picking proposed in the above background technology.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multi-directional picking mechanism, including a six-axis transport robotic arm, a mounting frame is fixed on the six-axis transport robotic arm, a fixing ring is fixed at the lower end of the mounting frame, the fixing ring is connected to the net bag, a cross bar is also fixed on the mounting frame, a first hydraulic rod is installed on the cross bar, a mounting ring is fixed on the outer side of the first hydraulic rod, a clamping claw is connected to the mounting ring, a mounting rod is also fixed on the upper side of the mounting frame, a fixed cutter is fixed on the mounting rod, and one end of a second hydraulic rod is rotatably connected to the mounting rod, and the output end of the second hydraulic rod is connected to the movable cutter.

[0008] Preferably, the fixing ring is symmetrically distributed front to back about the center line of the mounting frame, and the fixing ring is an arc-shaped structure. An elastic pressing plate is also fixed on the fixing ring. Through the above structure, the net bag can be easily disassembled and assembled, thereby improving the convenience of device assembly.

[0009] Preferably, a ring is fixed to the upper end of the net bag, and a zipper is installed on the lower side of the net bag. The zipper can be used to easily take out the palm fruits stored in the net bag, without the need to disassemble the net bag, thereby improving the convenience of device operation.

[0010] Preferably, the sleeve and the fixed ring are connected by a sleeve, and the sleeve and the fixed ring can achieve a limiting effect through the elastic pressure plate. The positioning installation of the net bag can be achieved by sleeve-connecting the sleeve and the fixed ring, and the compression and limiting effect of the elastic pressure plate can ensure the stability of the installation and fixation of the net bag.

[0011] Preferably, a fixed plate is also fixed to the output end of the first hydraulic rod, and one end of a rotatable connecting rod is connected to the fixed plate, and the other end of the connecting rod is rotatably connected to the clamping claw. The above structure constitutes a transmission mechanism. When the fixed plate is moved under force, the transmission action of the connecting rod cooperates with the transmission action of the connecting rod to provide a basic force for the rotation of the clamping claw, thereby ensuring the normal operation of the device.

[0012] Preferably, the first hydraulic rod, fixed plate, connecting rod, mounting ring and clamping claw constitute a clamping mechanism, and the clamping mechanism is located below the fixed cutter. The above mechanism can achieve the clamping and fixing effect of the palm fruit, making it convenient to pick the palm fruit.

[0013] Preferably, the clamping jaws are rotatably connected to the mounting ring, and there are three groups of clamping jaws distributed at equal angles about the center of the mounting ring. Through the action of multiple groups of clamping jaws, the stability of the palm fruit clamping and fixing can be ensured.

[0014] Preferably, the mounting rod, fixed cutter, second hydraulic rod and movable cutter constitute a cutting mechanism, and the movable cutter is rotatably connected to the second hydraulic rod, and the movable cutter is also rotatably connected to the mounting rod. Through the above structure, the clamped and fixed palm fruits can be conveniently cut, thereby realizing the automatic picking of palm fruits.

[0015] Compared with the existing technology, the beneficial effects of the present invention are: the multi-directional picking mechanism adopts a six-axis handling robot arm to adjust the picking mechanism in multiple directions to meet the actual picking needs. Combined with the clamping and fixing mechanism and the shearing mechanism, the automatic picking needs of palm fruits can be realized. Compared with traditional manual picking, it is safer, greatly improved in efficiency and effectively reduced in cost, and is suitable for wide promotion. The specific contents are as follows:

[0016] 1. This multi-directional picking mechanism is equipped with a clamping claw. During picking, the clamping claw can be adjusted through the action of the first hydraulic rod, the fixing plate, the connecting rod and the mounting ring. The clamping claw can achieve the function of clamping and fixing the palm fruit so that the palm fruit can be picked;

[0017] 2. The multi-directional picking mechanism is equipped with a movable cutter. When picking palm fruits, the distance between the fixed cutter and the movable cutter can be adjusted through the action of the mounting rod and the second hydraulic rod, so that the clamped palm fruits can be sheared, thereby realizing the automatic picking of palm fruits. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall front view of the three-dimensional structure of the device of the utility model;

[0019] Figure 2 This is a schematic diagram of the three-dimensional structure of the mounting frame of the utility model;

[0020] Figure 3 This is a schematic diagram of the three-dimensional structure composed of the installation ring and the net bag of the utility model;

[0021] Figure 4 For this utility model Figure 3 Enlarged structural diagram at point A in the middle.

[0022] In the figure: 1. Six-axis handling robot arm; 2. Mounting frame; 3. Fixing ring; 301. Elastic pressure piece; 4. Net bag; 401. Ring; 402. Zipper; 5. Crossbar; 6. First hydraulic rod; 601. Fixing plate; 602. Connecting rod; 7. Mounting ring; 8. Clamping claw; 9. Mounting rod; 10. Fixed cutter; 11. Second hydraulic rod; 12. Movable cutter. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] See also Figure 1-Figure 4 The utility model provides a technical solution: a multi-directional picking mechanism, including a six-axis transport robotic arm 1, a mounting frame 2 is fixed on the six-axis transport robotic arm 1, a fixing ring 3 is fixed at the lower end of the mounting frame 2, the fixing ring 3 and the net bag 4 are connected to each other, a cross bar 5 is also fixed on the mounting frame 2, a first hydraulic rod 6 is installed on the cross bar 5, a mounting ring 7 is fixed on the outside of the first hydraulic rod 6, a clamping claw 8 is connected to the mounting ring 7, a mounting rod 9 is also fixed on the upper side of the mounting frame 2, a fixed cutter 10 is fixed on the mounting rod 9, and one end of the second hydraulic rod 11 is rotatably connected to the mounting rod 9, and the output end of the second hydraulic rod 11 is connected to the movable cutter 12.

[0025] The fixing ring 3 is symmetrically distributed front to back about the center line of the mounting frame 2, and the fixing ring 3 is an arc-shaped structure. An elastic pressure piece 301 is fixed to the fixing ring 3; a ring 401 is fixed to the upper end of the net bag 4, and a zipper 402 is installed on the lower side of the net bag 4; the ring 401 and the fixing ring 3 are connected through a sleeve, and the ring 401 and the fixing ring 3 can achieve a limiting effect through the elastic pressure piece 301;

[0026] When using the multi-directional picking mechanism, Figure 1-Figure 4 As shown, first, the net bag 4 is installed. The installation of the net bag 4 can be achieved by inserting the ring 401 and the fixing ring 3. Then, with the help of the elastic pressing piece 301, the ring 401 can be pressed and positioned to ensure the stability of the installation and fixation of the net bag 4. Then, the six-axis handling robot arm 1 is installed and fixed with the external lifting mechanism to adjust the height of the entire device, thereby facilitating the picking of palm fruits at different heights.

[0027] A fixed plate 601 is also fixed to the output end of the first hydraulic rod 6, and one end of a rotatable connecting rod 602 is connected to the fixed plate 601, and the other end of the connecting rod 602 is rotatably connected to the clamping jaw 8. The first hydraulic rod 6, the fixed plate 601, the connecting rod 602, the mounting ring 7, and the clamping jaw 8 constitute a clamping mechanism, and the clamping mechanism is located below the fixed cutter 10. The clamping jaw 8 is rotatably connected to the mounting ring 7, and the clamping jaw 8 is arranged in three groups at equal angles about the center of the mounting ring 7. The mounting rod 9, the fixed cutter 10, the second hydraulic rod 11, and the movable cutter 12 constitute a cutting mechanism, and the movable cutter 12 is rotatably connected to the second hydraulic rod 11, and the movable cutter 12 is also rotatably connected to the mounting rod 9.

[0028] After the device is installed, when picking, if Figure 1-Figure 2 As shown, the device is adjusted to a suitable height by an external lifting mechanism, and the positions of the clamping mechanism and the cutting mechanism are adjusted by the six-axis handling robot arm 1 to ensure that the clamping mechanism cooperates with the palm fruit bunch to be picked. Then, by controlling the extension of the first hydraulic rod 6, the fixed plate 601 is driven to move, and the transmission action of the connecting rod 602 is coordinated to force the clamping claw 8 to rotate until the clamping claw 8 contacts the root of the palm fruit bunch to achieve clamping and fixing. Then, by controlling the extension of the second hydraulic rod 11, the movable cutter 12 is forced to rotate, and the movable cutter 12 is coordinated to rotate. The knife 12 and the fixed cutter 10 can cut the roots of the palm fruits, thereby realizing the automatic picking of the palm fruit bunches. In the picking process, the palm fruits that fall due to collision or shaking can fall into the net bag 4 and be automatically collected. The picked palm fruit bunches can also be automatically dropped into the net bag 4 and collected by loosening the clamping mechanism. There is no need for manual collection, which greatly reduces the labor intensity. When the palm fruits in the net bag 4 need to be taken out later, the fruit can be taken out by opening the zipper 402 without disassembling the net bag 4. The operation is convenient and simple. This is the working principle of the multi-directional picking mechanism.

[0029] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-directional picking mechanism, comprising a six-axis handling robot arm (1), characterized in that: The six-axis handling robot arm (1) is fixed with a mounting frame (2), a fixing ring (3) is fixed at the lower end of the mounting frame (2), the fixing ring (3) is connected to the net bag (4), a cross bar (5) is also fixed to the mounting frame (2), a first hydraulic rod (6) is installed on the cross bar (5), a mounting ring (7) is fixed on the outer side of the first hydraulic rod (6), a clamping claw (8) is connected to the mounting ring (7), a mounting rod (9) is also fixed on the upper side of the mounting frame (2), a fixed cutter (10) is fixed on the mounting rod (9), and one end of a second hydraulic rod (11) is rotatably connected to the mounting rod (9), and the output end of the second hydraulic rod (11) is connected to the movable cutter (12).

2. A multi-directional picking mechanism according to claim 1, characterized in that: The fixing ring (3) is symmetrically distributed front and back about the center line of the mounting frame (2), and the fixing ring (3) is an arc-shaped structure. An elastic pressing sheet (301) is also fixed on the fixing ring (3).

3. A multi-directional picking mechanism according to claim 1, characterized in that: A ring (401) is also fixed to the upper end of the net bag (4), and a zipper (402) is installed on the lower side of the net bag (4).

4. A multi-directional picking mechanism according to claim 3, characterized in that: The sleeve ring (401) and the fixing ring (3) are connected in a sleeve-through manner, and a limiting function can be achieved between the sleeve ring (401) and the fixing ring (3) through the elastic pressing sheet (301).

5. A multi-directional picking mechanism according to claim 1, characterized in that: A fixed plate (601) is also fixed to the output end of the first hydraulic rod (6), and one end of a rotatable connecting rod (602) is connected to the fixed plate (601), and the other end of the connecting rod (602) is rotatably connected to the clamping claw (8).

6. A multi-directional picking mechanism according to claim 1, characterized in that: The first hydraulic rod (6), the fixed plate (601), the connecting rod (602), the mounting ring (7) and the clamping claw (8) constitute a clamping mechanism, and the clamping mechanism is located below the fixed cutter (10).

7. The multi-directional picking mechanism according to claim 1, characterized in that: The clamping jaws (8) are rotatably connected to the mounting ring (7), and the clamping jaws (8) are arranged in three groups at equal angles with respect to the center of the mounting ring (7).

8. The multi-directional picking mechanism according to claim 1, characterized in that: The mounting rod (9), the fixed cutter (10), the second hydraulic rod (11) and the movable cutter (12) constitute a cutting mechanism, and the movable cutter (12) is rotatably connected to the second hydraulic rod (11), and the movable cutter (12) is also rotatably connected to the mounting rod (9).

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