Automatic pecan picking robot for mountain land

Abstract

The structure of the automatic picking robot comprises a basket, a base, walking wheels, a rotary table, a grabbing mechanical arm and a bearing device, the basket and the rotary table are fixed to the base, the grabbing mechanical arm is mechanically connected to the rotary table, the bearing device is arranged at the bottom of the grabbing mechanical arm, and the bearing device is connected with the basket. The fruit picking gripper is matched with the free arm, the fruit picking gripper clamps the whole hickory nut supporting rod and can slide down along hickory nut pieces of the whole tree trunk to achieve picking under the swing of the free arm, the picking efficiency is higher compared with single picking, when the fruit picking gripper picks the hickory nut, the picking efficiency is improved, and the picking efficiency is improved. The carya cathayensis pieces fall into the bearing frame at the bottom and then are collected into the basket through the output guide pipe connected with the bearing frame, the picked carya cathayensis does not fall onto the ground, manual picking is not needed, and the safety performance is high.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, in particular to an automatic pecan picking robot for mountain areas. Background Art

[0002] Pecan trees are generally more than 20 meters tall and grow on relatively steep mountains with an average slope of about 20 degrees, and some even reach 35 to 45 degrees. Pecans are generally picked by hand, which is actually not safe. Since the trees grow on steep slopes and are relatively high, they are also more dangerous. There are also certain skills in hitting pecans. First, you have to be accurate, that is, aim at the pecan and hit it, otherwise you will hit the leaves. The second is to slightly shake the end of the bamboo pole to drive the head of the bamboo pole to shake freely to hit the pecan.

[0003] In recent years, in order to reduce the risk of pecan picking and improve the degree of mechanization of harvesting, automatic picking robots have been introduced to replace manual fruit picking. However, the automatic pecan picking robots currently used pick the fruits one by one with a gripper and then place them in a basket, or they shake the fruits off by machine and then pick them up manually. The single gripping method is inefficient, and the machine shaking method and then picking them up manually requires gloves to be worn when picking pecans because the shell of pecans is poisonous. However, wearing gloves is not necessarily completely safe, so there is a problem of low safety performance. Summary of the invention

[0004] In view of the above problems, the present invention provides an automatic pecan picking robot for mountain areas.

[0005] In order to achieve the above-mentioned purpose, the present invention is implemented through the following technical scheme: an automatic mountain pecan picking robot, whose structure includes a basket, a base, running wheels, a turntable, a grabbing robot arm, and a receiving device. The base is fixed with a basket and a turntable, the turntable is mechanically connected to the grabbing robot arm, the bottom of the grabbing robot arm is provided with a receiving device, the receiving device is connected to the basket, and the bottom of the base is mechanically connected to the running wheels.

[0006] As a further improvement of the present invention, the grabbing mechanical arm is provided with a fruit picking gripper and a free arm, the free arm is provided with a connecting turntable, and the connecting turntable and the fruit picking gripper are mechanically connected.

[0007] As a further improvement of the present invention, the receiving device includes a receiving frame, a connecting seat, and an output duct. The receiving frame is fixedly connected to the bottom of the free arm through the connecting seat. The receiving frame and the fruit picking gripper are vertically opposite each other. One end of the output duct is connected to the receiving frame, and the other end is connected to the basket.

[0008] As a further improvement of the present invention, the fruit picking gripper includes a clip structure, a pressure plate, an elastic airbag, and a mounting seat. The clip structure and the mounting seat are connected by bolts. The mounting seat is provided with an elastic airbag. One end of the pressure plate cooperates with the surface of the elastic airbag, and the other end is connected to the mounting seat.

[0009] As a further improvement of the present invention, the clip structure includes a first clip, a drum outlet, a slide, a telescopic tube, and a second clip. Two first clips are provided, and a slide is provided inside the first clip. The first clip is slidably matched with the inside of the second clip through the slide. The drum outlet is provided inside the first clip, and the drum outlet is matched with the second clip. The drum outlet and the telescopic tube are interconnected, and the input port of the telescopic tube is connected to the elastic airbag.

[0010] As a further improvement of the present invention, four pressing plates are provided and are symmetrically distributed between two pressing plates, a second clamping piece is provided between two pressing plates on the same side, and the pressing plates are connected in the form of a lever.

[0011] As a further improvement of the present invention, a connecting rocker arm, a piston rod and a cylinder are provided inside the mounting seat, one end of the connecting rocker arm is mechanically connected to the first clip, and the other end is connected to the piston rod, and the piston rod cooperates with the cylinder.

[0012] As a further improvement of the present invention, the receiving frame includes a bottom plate, a receiving groove, a connecting port, a walnut outlet, and a spring. A connecting port is provided at the center of the bottom plate, and a spring is connected to the bottom of the connecting port. The bottom plate is installed in an inclined manner inside the receiving groove. The receiving groove is provided with a walnut outlet, and the walnut outlet is connected to the output duct.

[0013] Beneficial effects of the present invention: The fruit picking gripper of the present invention cooperates with the free arm, and the fruit picking gripper clamps the entire pecan support rod. Under the swing of the free arm, the pecans along the entire trunk can slide down in pieces to be picked, which is more efficient than a single picking.

[0014] The fruit picking gripper of the present invention is provided with a clamping piece structure, wherein the first clamping piece and the second clamping piece cooperate with each other, and when the first clamping piece is clamped, the pressure plate pushes and squeezes the elastic air bag inward, thereby pushing out the second clamping piece arranged inside the first clamping piece, thereby reducing the clamping gap between the fruit picking grippers, increasing the contact density between the fruit picking grippers and the pecan support rod when grasping, and further improving the picking efficiency.

[0015] The bottom of the fruit picking gripper of the present invention is matched with a receiving frame. When the fruit picking gripper picks pecans, the pecans fall into the receiving frame at the bottom in pieces and are then collected in a basket through an output conduit connected to the receiving frame. The picked pecans will not fall to the ground and do not need to be picked up manually, thereby having high safety performance.

[0016] The receiving frame of the present invention is provided with a bottom plate which cooperates with the walnut outlet. The bottom plate is installed in the receiving groove in an inclined manner. When the pieces of pecans fall, based on the gravity of a large number of pecans, the bottom plate compresses the spring to open the walnut outlet, thereby ensuring the normal delivery of the pecans. In addition, the inclined bottom plate can improve the delivery rate of pecans and will not be retained in the groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The present invention is a schematic structural diagram of an automatic mountain pecan picking robot.

[0018] Figure 2 It is a schematic diagram of the partial three-dimensional structure of the grabbing robot arm of the present invention.

[0019] Figure 3 It is a schematic diagram of the planar structure of the fruit picking gripper of the present invention after being opened.

[0020] Figure 4 This is a schematic diagram of the internal structure of the fruit picking gripper after being combined.

[0021] Figure 5 It is a schematic diagram of the internal structure of the receiving frame of the present invention.

[0022] Figure 6 It is a schematic diagram of the structure of the receiving frame of the present invention after the bottom plate is pressed down.

[0023] In the figure: basket 1, base 2, walking wheel 3, turntable 4, grabbing mechanical arm 5, receiving device 6, fruit picking gripper 51, free arm 52, receiving frame 61, connecting seat 62, output duct 63, clip structure 511, pressure plate 512, elastic air bag 513, mounting seat 514, first clip 11a, drum outlet 11b, slide 11c, telescopic tube 11d, second clip 11e, connecting rocker 14a, piston rod 14b, cylinder 14c, bottom plate 61a, receiving groove 61b, connecting port 61c, walnut outlet 61d, spring 61e. Implementation

[0024] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, Figure 1 to Figure 6 The structure of the automatic picking robot according to the embodiment of the present invention is schematically shown, and the present invention is further explained below in conjunction with specific embodiments. Example

[0025] like Figure 1-Figure 6As shown, the present invention provides an automatic mountain pecan picking robot, which structure includes a basket 1, a base 2, a wheel 3, a turntable 4, a grabbing mechanical arm 5, and a receiving device 6. The basket 1 and the turntable 4 are fixed on the base 2, and the grabbing mechanical arm 5 is mechanically connected to the turntable 4. The bottom of the grabbing mechanical arm 5 is provided with a receiving device 6, and the receiving device 6 is connected to the basket 1. The bottom of the base 2 is mechanically connected with the wheel 3. The grabbing mechanical arm 5 is provided with a fruit picking gripper 51 and a free arm 52. The free arm 52 is provided with a connecting turntable. The connecting turntable and the fruit picking gripper 51 are mechanically connected. The receiving device 6 includes a receiving frame 61, a connecting seat 62, and an output conduit 63. The receiving frame 61 is fixedly connected to the bottom of the free arm 52 through the connecting seat 62. The receiving frame 61 is vertically opposite to the fruit picking gripper 51. One end of the output conduit 63 is connected to the receiving frame 61, and the other end is connected to the basket 1. The fruit picking gripper 51 includes a clip structure 511, a pressure plate 512, an elastic air bag 513, and a mounting seat 514. The clip structure 511 is connected to the mounting seat 514 by bolts. The mounting seat 514 is provided with an elastic air bag 513. One end of the pressure plate 512 is matched with the surface of the elastic air bag 513, and the other end is connected to the mounting seat 514. The clip structure 511 includes a first clip 11a, a drum outlet 11b, a slide 11 c, telescopic tube 11d, second clamp 11e, two first clamps 11a are provided, a slideway 11c is provided inside the first clamp 11a, the first clamp 11a is slidably matched with the inside of the second clamp 11e through the slideway 11c, the drum outlet 11b is provided inside the first clamp 11a, and the drum outlet 11b is matched with the second clamp 11e, the drum outlet 11b and the telescopic tube 11d are mutually connected, the input port of the telescopic tube 11d is connected with the elastic airbag 513, four pressure plates 512 are provided, and they are symmetrically distributed between each other, the second clamp 11e is matched between the two pressure plates 512 on the same side, the pressure plates 512 are connected in a lever manner, and the installation A connecting rocker arm 14a, a piston rod 14b and a cylinder 14c are provided inside the seat 514. One end of the connecting rocker arm 14a is mechanically connected to the first clamp 11a, and the other end is connected to the piston rod 14b. The piston rod 14b cooperates with the cylinder 14c. The receiving frame 61 includes a bottom plate 61a, a receiving groove 61b, a connecting port 61c, a walnut outlet 61d and a spring 61e. A connecting port 61c is provided at the center of the bottom plate 61a, and a spring 61e is connected to the bottom of the connecting port 61c. The bottom plate 61a is installed in an inclined manner inside the receiving groove 61b. The receiving groove 61b is provided with a walnut outlet 61d, and the walnut outlet 61d is connected to the output conduit 63.

[0026] The working principle of the automatic picking robot in the above technical solution is explained as follows: When picking pecans, the present invention moves through the running wheel 3 and can brake to fix the entire device on the hillside of the pecan planting area. The grabbing mechanical arm 5 is driven by a motor, and the control of the free arm 52 is operated by a controller connected to the external signal. The operator swings the free arm 52 to the pecan support pole with the fruit attached according to the specific characteristics of the pecan tree, and then drives the connecting turntable on the free arm 52 to rotate, and faces the opening of the fruit picking gripper 51 to the support pole, and then retracts the first clamping piece 11a inward to clamp the support pole. At this time, when the first clamping piece 11a is retracted, since the first clamping piece 11a is a semicircular structure, when it is retracted, the pressure plate 512 connected to the bottom of the first clamping piece 11a moves inward to squeeze the elastic air bag 513. When the elastic air bag 513 is squeezed, the gas inside it is output to the drum outlet 11b through the telescopic tube 11d. The position of the drum outlet 11b causes the drum outlet 11b to continuously arch, thereby pushing the second clamping piece 11e to move toward each other along the first clamping piece 11a. The support rod will be more compact when clamped by the second clamping piece 11e, and then the free arm 52 drives the entire fruit picking gripper to slide down along the support rod to separate the pecans from the support rod into pieces. This is more efficient than picking one by one, and the picked pecans will directly fall into the receiving frame 61. When the pecans in the receiving frame 61 reach a certain number, their weight presses the spring 61e downward, thereby opening the pecan outlet 61d, and the pecans continue to flow from the pecan outlet 61d along the inclined bottom plate through the output duct 63 and are finally collected in the basket 1. The top cover at the upper end of the basket 1 prevents the pecans from falling out of the basket 1. The entire picking of pecans can not only effectively improve the picking efficiency but also avoid manual picking, and has high safety performance.

Claims

1. A robot for automatically picking pecans for mountainous areas, characterized in that: The structure comprises a basket (1), a base (2), running wheels (3), a turntable (4), a grabbing mechanical arm (5), and a receiving device (6); the basket (1) and the turntable (4) are fixed on the base (2); the grabbing mechanical arm (5) is mechanically connected to the turntable (4); the bottom of the grabbing mechanical arm (5) is provided with a receiving device (6); the receiving device (6) is connected to the basket (1); and the bottom of the base (2) is mechanically connected to the running wheels (3).

2. The automatic mountain pecan picking robot according to claim 1, characterized in that: The grabbing mechanical arm (5) is provided with a fruit picking gripper (51) and a free arm (52); a connecting turntable is provided in the free arm (52); and the connecting turntable and the fruit picking gripper (51) are mechanically connected.

3. The automatic mountain pecan picking robot according to claim 1, characterized in that: The receiving device (6) comprises a receiving frame (61), a connecting seat (62), and an output conduit (63); the receiving frame (61) is fixedly connected to the bottom of the free arm (52) via the connecting seat (62); the receiving frame (61) and the fruit picking gripper (51) are vertically opposite; one end of the output conduit (63) is connected to the receiving frame (61), and the other end is in communication with the basket (1).

4. The automatic mountain pecan picking robot according to claim 2, characterized in that: The fruit picking gripper (51) comprises a clip structure (511), a pressure plate (512), an elastic airbag (513), and a mounting seat (514); the clip structure (511) and the mounting seat (514) are connected by bolts; the mounting seat (514) is provided with an elastic airbag (513); one end of the pressure plate (512) is matched with the surface of the elastic airbag (513), and the other end is connected to the mounting seat (514).

5. The automatic mountain pecan picking robot according to claim 4, characterized in that: The clip structure (511) comprises a first clip (11a), a drum outlet (11b), a slideway (11c), a telescopic tube (11d), and a second clip (11e). Two first clips (11a) are provided, and a slideway (11c) is provided inside the first clip (11a). The first clip (11a) is slidably matched inside the second clip (11e) through the slideway (11c). The drum outlet (11b) is provided inside the first clip (11a), and the drum outlet (11b) is matched with the second clip (11e). The drum outlet (11b) and the telescopic tube (11d) are interconnected, and the input port of the telescopic tube (11d) is connected to the elastic airbag (513).

6. The automatic mountain pecan picking robot according to claim 4, characterized in that: Four pressing plates (512) are provided and are symmetrically distributed between each other; a second clamping piece (11e) is provided between two pressing plates (512) on the same side; and the pressing plates (512) are connected in the form of a lever.

7. The automatic mountain pecan picking robot according to claim 4 is characterized in that: A connecting rocker arm (14a), a piston rod (14b), and a cylinder (14c) are provided inside the mounting seat (514); one end of the connecting rocker arm (14a) is mechanically connected to the first clamp (11a), and the other end is connected to the piston rod (14b); and the piston rod (14b) cooperates with the cylinder (14c).

8. The automatic mountain pecan picking robot according to claim 3, characterized in that: The receiving frame (61) comprises a bottom plate (61a), a receiving groove (61b), a connecting port (61c), a walnut outlet (61d), and a spring (61e); a connecting port (61c) is provided at the center of the bottom plate (61a); a spring (61e) is connected to the bottom of the connecting port (61c); the bottom plate (61a) is installed inside the receiving groove (61b) in an inclined manner; the receiving groove (61b) is provided with a walnut outlet (61d); and the walnut outlet (61d) is connected to an output conduit (63).

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