An agricultural picking robot places trays with agricultural products

Abstract

The present invention relates to the technical field of agricultural product placement trays, and in particular to an agricultural product placement tray for an agricultural harvesting robot, comprising a lower box body and an upper box body, wherein the lower box body and the upper box body are provided with: a spray head and a movable plate, wherein the spray head is provided on the upper box body and is used to rinse the agricultural products, the movable plate is movably sleeved in a first cavity, and the movable plate can move up and down or rotate to transport the agricultural products, a driving mechanism is used to drive the movable plate to move up and down, and a locking mechanism is used to lock the rotation state of the movable plate. The present invention places the agricultural products on the movable plate, activates the spray head, allows water to rinse the agricultural products, and temporarily stores the water at the upper end of the movable plate, thereby rinsing the surface of the agricultural products to improve the packaging appearance of the agricultural products. At the same time, when the movable plate moves to the lower end of the filter hole, the water at the upper end of the movable plate is discharged from the filter hole to wait for the next rinse.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural product placement trays, and in particular to an agricultural product placement tray for an agricultural picking robot. Background Art

[0002] The Chinese patent with announcement number CN219601850U discloses a pallet for placing agricultural products for an agricultural picking robot. This technology installs a movable plate at the lower part of the guardrail, so that the driving hydraulic rod can control the push plate to move up and down, thereby pushing the movable plate and the pad to move up and down. When there are fewer agricultural products on the pad, the pad is at a higher position inside the guardrail. As the total weight of the agricultural products increases, the driving hydraulic rod controls the movable plate and the pad to gradually descend, so that in the process of agricultural products filling the entire guardrail, the agricultural products will never have a large falling distance, thereby protecting the agricultural products. The process of placing the guardrail on the back plate of the robot can be guided. At the same time, this locking relationship can limit the shaking of the guardrail when the robot is active. By setting a hinge mechanism for fixing the position of the guardrail, the streamlined threaded connection is easy to install and disassemble, and improves the fixing strength. However, the above technology still has problems during use due to structural limitations:

[0003] When agricultural products are placed on pallets, a large amount of dirt is present on their surface due to long-term exposure to the external environment. However, the above-mentioned technology does not have corresponding rinsing equipment, so the agricultural products are packaged with dirt on their surface, which in turn affects consumers' purchasing desire. At the same time, the water after rinsing needs to be discharged for the next rinse. The above-mentioned technology does not have a discharge structure and cannot meet the water discharge needs. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems in the prior art and to propose an agricultural picking robot for placing agricultural products on a tray.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An agricultural harvesting robot is provided with a tray for placing agricultural products, comprising a lower box body and an upper box body, wherein the lower box body and the upper box body are respectively provided with a first cavity and a second cavity connected to each other, and the lower box body is provided with a third cavity, and the lower box body and the upper box body are provided with:

[0007] A spray head and a movable plate, wherein the spray head is provided on the upper box body and is used to rinse the agricultural products, and the movable plate is movably sleeved in the first cavity and can move up and down or rotate to transport the agricultural products;

[0008] A filter hole and a guide plate, wherein the filter hole is provided on the upper box body and is used to drain the water from the upper end of the movable plate. The guide plate is fixedly installed in the lower box body and cooperates with the rotating movable plate to transport the washed agricultural products.

[0009] A driving mechanism is provided in the lower box body and is used to drive the movable plate to move up and down;

[0010] The locking mechanism is arranged on the movable plate and is used to lock the movable plate in a rotating state.

[0011] Preferably, the lower box body and the upper box body are further provided with:

[0012] An opening and a storage box, wherein the opening is formed on the lower box body and communicates with the second cavity, the storage box is fixedly connected to the lower box body and communicates with the opening, and the guide plate extends to the opening;

[0013] A delivery pipe and a water inlet pipe, wherein the delivery pipe is fixedly mounted on the upper box body, the sprinkler head is fixedly connected to the delivery pipe, and the water inlet pipe is fixedly connected to the delivery pipe;

[0014] A water outlet, an inclined surface and a chute, wherein the water outlet is fixedly connected to the upper box body and is communicated with the filter hole, the inclined surface is fixedly installed on the water outlet, and the inclined surface is used to guide the water to flow downward, and the chute is opened on the lower box body.

[0015] Preferably, the driving mechanism comprises:

[0016] A first motor and a driving shaft, wherein the first motor is fixedly mounted in the lower box body, and the driving shaft is fixedly connected to the output end of the first motor;

[0017] A rotating member and an annular groove, wherein the rotating member is fixedly connected to the driving shaft, and the annular groove is formed on the rotating member;

[0018] A rotating shaft, a long rod gear and a short yoke, wherein the rotating shaft is rotatably mounted in the lower box body, the long rod gear is fixedly sleeved on the rotating shaft, and the short yoke is integrally formed on the long rod gear, and the short yoke is connected to the annular groove;

[0019] A vertical slot, a driven rack and a lower opening, wherein the vertical slot is opened in the lower box body, the driven rack is arranged in the vertical slot, and the driven rack is meshed and connected with the long rod gear, and the lower opening is opened on the second cavity and communicates with the third cavity;

[0020] A long rod, a fixed block and a rotating shaft, the long rod is fixedly connected to the driven rack, the fixed block is fixedly installed at the lower end of the movable plate, the rotating shaft is fixedly installed on the fixed block, and the upper end of the long rod is rotatably connected to the rotating shaft.

[0021] Preferably, the short yoke is slidably sleeved in an annular groove, and the annular groove is an annular closed groove body.

[0022] Preferably, the driven rack is slidably sleeved in the vertical groove, and the driven rack is movably sleeved in the lower opening.

[0023] Preferably, the locking mechanism comprises:

[0024] a second motor, a transverse slot and a spring, wherein the second motor is fixedly mounted on the rotating shaft and is used to drive the movable plate to rotate, the two transverse slots are provided on the fixed block, and the spring is welded in the transverse slot;

[0025] The electromagnet and the iron block are respectively slidably sleeved in the two transverse grooves, and the two free ends of the springs are respectively fixedly connected to the electromagnet and the iron block. The electromagnet attracts the iron block through magnetism to lock the rotating shaft.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] The present invention places agricultural products on a movable plate, starts a spray head, allows water to rinse the agricultural products, and temporarily stores the water at the upper end of the movable plate to rinse the surface of the agricultural products, thereby improving the packaging appearance of the agricultural products. At the same time, when the movable plate moves to the lower end of the filter hole, the water at the upper end of the movable plate is discharged from the filter hole to wait for the next rinse.

[0028] 2. In the present invention, when the movable plate moves into the second cavity, the first motor and the electromagnet are turned off, and the rotating shaft is unlocked under the elastic force of the spring. Then the second motor is started, and the output end of the second motor drives the rotating shaft to rotate, so that the movable plate rotates toward the guide plate. Under the guidance of the guide plate, the agricultural products enter the storage box for storage, so that the movable plate can be placed on the agricultural products to be washed again. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of an agricultural harvesting robot for placing agricultural products on a tray proposed by the present invention;

[0030] Figure 2 A cross-sectional view of a tray for placing agricultural products on an agricultural picking robot proposed by the present invention Figure 1 ;

[0031] Figure 3 A cross-sectional view of a tray for placing agricultural products on an agricultural picking robot proposed by the present invention Figure 2 ;

[0032] Figure 4 For the present invention Figure 3 A schematic diagram of the enlarged structure of part A;

[0033] Figure 5 A cross-sectional view of a tray for placing agricultural products on an agricultural picking robot proposed by the present invention Figure 3 ;

[0034] Figure 6 For the present invention Figure 5 Schematic diagram of the enlarged structure of part B.

[0035] In the figure: 1. lower box body; 2. upper box body; 3. first cavity; 4. second cavity; 5. third cavity; 6. sprinkler head; 7. movable plate; 8. filter hole; 9. guide plate; 10. storage box; 11. delivery pipe; 12. water inlet pipe; 13. water outlet; 14. inclined surface; 15. slide; 16. first motor; 17. driving shaft; 18. rotating part; 19. annular groove; 20. rotating shaft; 21. long rod gear; 22. short yoke; 23. vertical groove; 24. driven rack; 25. lower opening; 26. long rod; 27. fixed block; 28. rotating shaft; 29. ​​second motor; 30. horizontal groove; 31. spring; 32. electromagnet; 33. iron block. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0037] Reference Figures 1-6 An agricultural picking robot is used to place agricultural products on a tray, comprising a lower box body 1 and an upper box body 2. The lower box body 1 and the upper box body 2 are respectively provided with a first cavity 3 and a second cavity 4 that are connected to each other. The lower box body 1 is provided with a third cavity 5. The lower box body 1 and the upper box body 2 are provided with:

[0038] The spray head 6 and the movable plate 7 are provided on the upper box body 2 and are used to rinse the agricultural products. The movable plate 7 is movably sleeved in the first cavity 3 and can move up and down or rotate to transport the agricultural products.

[0039] The filter hole 8 and the guide plate 9 are provided on the upper box body 2. The filter hole 8 is used to discharge the water above the movable plate 7. At the same time, the impurities in the water can be filtered through the filter hole 8. The guide plate 9 is fixedly installed in the lower box body 1. The guide plate 9 cooperates with the rotating movable plate 7 to transport the washed agricultural products.

[0040] The driving mechanism is provided in the lower box body 1 and is used to drive the movable plate 7 to move up and down;

[0041] The locking mechanism is provided on the movable plate 7 and is used to lock the movable plate 7 in a rotating state.

[0042] The lower box body 1 and the upper box body 2 are also provided with:

[0043] An opening and a storage box 10, wherein the opening is formed on the lower box body 1 and communicates with the second cavity 4, the storage box 10 is fixedly connected to the lower box body 1, and the storage box 10 communicates with the opening, and the guide plate 9 extends to the opening;

[0044] The delivery pipe 11 and the water inlet pipe 12, the delivery pipe 11 is fixedly installed on the upper box body 2, the sprinkler head 6 is fixedly connected to the delivery pipe 11, and the water inlet pipe 12 is fixedly connected to the delivery pipe 11, and the water inlet pipe 12 is connected to the external water source to allow water to be transported from the delivery pipe 11 to the sprinkler head 6;

[0045] The water outlet 13, the inclined surface 14 and the chute 15, the water outlet 13 is fixedly connected to the upper box body 2, and the water outlet 13 is communicated with the filter hole 8, the inclined surface 14 is fixedly installed on the water outlet 13, and the inclined surface 14 is used to guide the water to flow downward, the chute 15 is opened on the lower box body 1, and the agricultural picking robot can be detachably connected to the chute 15 through the slider to be detachably connected to the lower box body 1.

[0046] The water body is guided by the inclined surface 14 of the water outlet 13 so that the water body flows downward. A water reservoir can be installed at the water outlet 13 to store the water body, and the water body can flow downward to irrigate the branches and vines of agricultural products.

[0047] The driving mechanism includes:

[0048] A first motor 16 and a driving shaft 17, wherein the first motor 16 is fixedly mounted in the lower box body 1, and the driving shaft 17 is fixedly connected to the output end of the first motor 16;

[0049] The rotating member 18 and the annular groove 19 are fixedly connected to the driving shaft 17, and the annular groove 19 is formed on the rotating member 18;

[0050] Rotating shaft 20, long rod gear 21 and short yoke 22, the rotating shaft 20 is rotatably mounted in the lower box body 1, the long rod gear 21 is fixedly sleeved on the rotating shaft 20, the short yoke 22 is integrally formed on the long rod gear 21, and the short yoke 22 is connected to the annular groove 19;

[0051] A vertical slot 23, a driven rack 24, and a lower opening 25. The vertical slot 23 is opened in the lower box body 1. The driven rack 24 is set in the vertical slot 23. The driven rack 24 is meshed and connected with the long rod gear 21. The lower opening 25 is opened on the second cavity 4 and communicates with the third cavity 5.

[0052] The long rod 26, the fixed block 27 and the rotating shaft 28, the long rod 26 is fixedly connected to the driven rack 24, the fixed block 27 is fixedly installed at the lower end of the movable plate 7, the rotating shaft 28 is fixedly installed on the fixed block 27, and the upper end of the long rod 26 is rotatably connected to the rotating shaft 28.

[0053] The short yoke 22 is slidably sleeved in the annular groove 19 , and the annular groove 19 is an annular closed groove body.

[0054] The driven rack 24 is slidably sleeved in the vertical slot 23 , and the driven rack 24 is movably sleeved in the lower opening 25 .

[0055] By driving the movable plate 7 downward, the movable plate 7 moves to the lower end of the filter hole 8, and the water on the upper end of the movable plate 7 is discharged from the filter hole 8 to facilitate the next washing of agricultural products;

[0056] The locking mechanism includes:

[0057] A second motor 29, a transverse slot 30 and a spring 31. The second motor 29 is fixedly mounted on the rotating shaft 28 and is used to drive the movable plate 7 to rotate. Two transverse slots 30 are provided on the fixed block 27, and the spring 31 is welded in the transverse slot 30.

[0058] The electromagnet 32 ​​and the iron block 33 are respectively slidably mounted in the two transverse grooves 30 , and the free ends of the two springs 31 are respectively fixedly connected to the electromagnet 32 ​​and the iron block 33 . The electromagnet 32 ​​attracts the iron block 33 by magnetism to lock the rotating shaft 28 .

[0059] When the movable plate 7 moves into the second cavity 4 , the rotating shaft 28 is unlocked, and the movable plate 7 is rotated toward the guide plate 9 , so that the agricultural products enter the storage box 10 for storage.

[0060] The present invention can be explained through the following operation mode:

[0061] The agricultural harvesting robot picks the agricultural products and places them on the movable plate 7. The water inlet pipe 12 is connected to the external water source, and the sprinkler head 6 is started to rinse the agricultural products with water.

[0062] The electromagnet 32 ​​is activated, and the electromagnet 32 ​​magnetically attracts the iron block 33 to lock the rotating shaft 28, thereby locking the movable plate 7 in a horizontal state;

[0063] At the same time, the first motor 16 is started, and the output end of the first motor 16 drives the driving shaft 17 to rotate, the driving shaft 17 drives the rotating member 18 to rotate, and the rotating member 18 drives the annular groove 19 to move together, so that the short yoke 22 slides back and forth in the annular groove 19, as shown in the attached figure. Figure 4As shown, the short yoke 22 drives the long rod gear 21 and the rotating shaft 20 to rotate reciprocatingly up and down, and the long rod gear 21 and the driven rack 24 are engaged for transmission. The driven rack 24 slides reciprocatingly up and down in the vertical slot 23. At the same time, the driven rack 24 can move from the lower opening 25 to the third cavity 5 and drive the long rod 26 to move into the second cavity 4.

[0064] When the driven rack 24 drives the long rod 26 to move downward, the long rod 26 drives the movable plate 7 to move downward in the first cavity 3. When the movable plate 7 moves to the lower end of the filter hole 8, the water at the upper end of the movable plate 7 is discharged from the filter hole 8. At the same time, the water flows downward under the guidance of the inclined surface 14 of the water outlet 13. A water reservoir can be installed at the water outlet 13 to store water and allow the water to irrigate the branches and vines of agricultural products.

[0065] When the movable plate 7 moves to the top of the second cavity 4, the driven rack 24 moves into the third cavity 5, and the long rod 26 moves into the second cavity 4, turning off the first motor 16 and the electromagnet 32. The electromagnet 32 ​​loses its magnetic attraction to the iron block 33. Under the elastic force of the spring 31, the electromagnet 32 ​​and the iron block 33 move to the initial position to unlock the rotating shaft 28, and then start the second motor 29. The output end of the second motor 29 drives the rotating shaft 28 to rotate, and the rotating shaft 28 drives the movable plate 7 to rotate, so that the movable plate 7 rotates toward the guide plate 9, so that the agricultural products fall onto the guide plate 9. Under the guidance of the guide plate 9, the agricultural products enter the storage box 10 through the opening for storage.

[0066] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An agricultural harvesting robot for placing agricultural products on a tray, comprising a lower box body (1) and an upper box body (2), wherein the lower box body (1) and the upper box body (2) are respectively provided with a first cavity (3) and a second cavity (4) which are connected to each other, and the lower box body (1) is provided with a third cavity (5), characterized in that: The lower box body (1) and the upper box body (2) are provided with: A spray head (6) and a movable plate (7), wherein the spray head (6) is provided on the upper box body (2) and is used for washing the agricultural products, and the movable plate (7) is movably sleeved in the first cavity (3), and the movable plate (7) can move up and down or rotate to transport the agricultural products; A filter hole (8) and a guide plate (9), wherein the filter hole (8) is provided on the upper box body (2), and the filter hole (8) is used to discharge water from the upper end of the movable plate (7); the guide plate (9) is fixedly mounted in the lower box body (1), and the guide plate (9) cooperates with the rotating movable plate (7) to transport washed agricultural products; A driving mechanism, the driving mechanism being arranged in the lower box body (1) and being used for driving the movable plate (7) to move up and down; A locking mechanism, the locking mechanism being provided on the movable plate (7) and being used to lock the movable plate (7) in a rotational state; The driving mechanism comprises: A first motor (16) and a driving shaft (17), wherein the first motor (16) is fixedly mounted in the lower box body (1), and the driving shaft (17) is fixedly connected to the output end of the first motor (16); A rotating member (18) and an annular groove (19), wherein the rotating member (18) is fixedly connected to the driving shaft (17), and the annular groove (19) is formed on the rotating member (18); A rotating shaft (20), a long rod gear (21) and a short yoke (22), wherein the rotating shaft (20) is rotatably mounted in the lower box body (1), the long rod gear (21) is fixedly sleeved on the rotating shaft (20), and the short yoke (22) is integrally formed on the long rod gear (21), and the short yoke (22) is connected to the annular groove (19); A vertical slot (23), a driven rack (24) and a lower opening (25), wherein the vertical slot (23) is opened in the lower box body (1), the driven rack (24) is arranged in the vertical slot (23), and the driven rack (24) and the long rod gear (21) are meshed and connected, and the lower opening (25) is opened on the second cavity (4), and the lower opening (25) is connected to the third cavity (5); A long rod (26), a fixed block (27) and a rotating shaft (28), wherein the long rod (26) is fixedly connected to the driven rack (24), the fixed block (27) is fixedly mounted on the lower end of the movable plate (7), the rotating shaft (28) is fixedly mounted on the fixed block (27), and the upper end of the long rod (26) is rotatably connected to the rotating shaft (28).

2. The agricultural product placement tray for an agricultural picking robot according to claim 1, characterized in that: The lower box body (1) and the upper box body (2) are further provided with: An opening and a storage box (10), wherein the opening is formed on the lower box body (1) and is in communication with the second cavity (4), the storage box (10) is fixedly connected to the lower box body (1), and the storage box (10) is in communication with the opening, and the guide plate (9) extends to the opening; A delivery pipe (11) and a water inlet pipe (12), wherein the delivery pipe (11) is fixedly mounted on the upper box body (2), the sprinkler head (6) is fixedly connected to the delivery pipe (11), and the water inlet pipe (12) is fixedly connected to the delivery pipe (11); A water outlet (13), an inclined surface (14) and a chute (15), wherein the water outlet (13) is fixedly connected to the upper box body (2), and the water outlet (13) is communicated with the filter hole (8), the inclined surface (14) is fixedly installed on the water outlet (13), and the inclined surface (14) is used to guide the water to flow downward, and the chute (15) is opened on the lower box body (1).

3. The agricultural product placement tray for an agricultural picking robot according to claim 1, characterized in that: The short yoke (22) is slidably sleeved in the annular groove (19), and the annular groove (19) is an annular closed groove body.

4. The agricultural product placement tray for an agricultural picking robot according to claim 1, characterized in that: The driven rack (24) is slidably sleeved in the vertical groove (23), and the driven rack (24) is movably sleeved in the lower opening (25).

5. The agricultural product placement tray for an agricultural picking robot according to claim 1, characterized in that: The locking mechanism comprises: a second motor (29), a transverse slot (30) and a spring (31), wherein the second motor (29) is fixedly mounted on the rotating shaft (28), and the second motor (29) is used to drive the movable plate (7) to rotate, two transverse slots (30) are provided on the fixed block (27), and the spring (31) is welded in the transverse slot (30); The electromagnet (32) and the iron block (33) are respectively slidably mounted in the two transverse grooves (30), and the free ends of the two springs (31) are respectively fixedly connected to the electromagnet (32) and the iron block (33). The electromagnet (32) attracts the iron block (33) by magnetism to lock the rotating shaft (28).

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