Agricultural automatic picking device

Abstract

The invention provides an agricultural automatic picking device. The agricultural automatic picking device comprises a walking mechanism and at least one picking mechanism arranged on the walking mechanism. The picking mechanism comprises a rack, and a shearing assembly, a positioning assembly, a clamping assembly, a storage assembly, a bagging assembly and a storage box which are sequentially arranged on the rack from top to bottom. The clamping assembly is provided with two clamping arms driven to be close to or away from each other, the positioning assembly is provided with a fixing plate and rotating plates, the rotating plates are driven to rotate towards the center of the fixing plate to be in a positioning state, and the fixing plate and the two rotating plates fix fruit stems of fruits. A bag body is arranged in the material storage assembly, and a tray is arranged on the material storage box. The bagging assembly is provided with a transmission assembly and a plurality of supporting pieces arranged at the power output end of the transmission assembly, and the multiple supporting pieces are driven to be away from one another to open the bag bodies in the storage assembly. According to the fruit picking and transporting device, accurate picking can be achieved, bagging treatment is conducted after picking, and collision or damage in the fruit picking and transporting process is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural product picking, and in particular to an agricultural automatic picking device. Background Art

[0002] With the continuous advancement of science and technology and the increasing demand for high-quality and new agricultural products, the market demand for smart harvesting technology is growing. Smart harvesting technology uses artificial intelligence and machine learning to automatically identify, locate, harvest and sort crops, greatly improving production efficiency and harvesting speed while reducing labor costs.

[0003] However, while improving the efficiency of picking agricultural products, most existing picking devices have large structures and high manufacturing costs, which limits their widespread application in some small-scale agricultural production. Secondly, existing picking devices have poor adaptability to complex agricultural environments.

[0004] The key technology for automatic picking devices to pick fruits is to obtain the accurate position of the fruit in spatial coordinates and provide accurate spatial position parameters for the robot. The existing technology relies entirely on visual technology and requires the installation of multiple light measurement sensors to obtain light measurement signals. However, most visual systems with accurate recognition are costly, which directly leads to an increase in the cost of the entire device.

[0005] In addition, when picking outdoor fruits, their growth position is random and easily affected by unstable factors such as changes in natural light and wind speed. The picked fruits are often hidden among leaves and branches, and there is overlap between the fruits. When cutting the roots of the fruits, the hidden fruits can easily cause inaccurate positioning of the machinery and equipment, resulting in damage to the fruits during cutting, leading to waste of the fruits.

[0006] In addition, in order to preserve the integrity of the fruit and prevent it from being bumped when it is automatically picked by the machine, it is generally necessary to put a protective bag such as a mesh foam bag on the outside of the fruit to ensure the clean appearance and shockproof function of the fruit. Most of the existing technologies are wrapped manually and then bagged after the automatic picking device has collected it, which cannot avoid bumps during the picking process and transportation. In addition, for fruits that are easily damaged, such as grapes and strawberries, a certain amount of loss will occur during transportation and storage, causing losses to farmers. Summary of the invention

[0007] In view of this, the present invention aims to propose an agricultural automatic picking device to achieve accurate picking and bagging after picking to avoid bumps or damage during fruit picking and transportation.

[0008] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0009] An agricultural automatic picking device comprises a walking mechanism and at least one picking mechanism arranged on the walking mechanism;

[0010] The picking mechanism comprises a frame, a shearing assembly, a positioning assembly, a clamping assembly, a material storage assembly, a bagging assembly, and a material storage box which are sequentially arranged on the frame from top to bottom;

[0011] The clamping assembly comprises two clamping arms which are driven to move closer to or farther from each other, and the two clamping arms are used to clamp the fruit;

[0012] The positioning assembly is provided with a fixed plate and rotating plates pivotally connected to both sides of the fixed plate, the rotating plates are driven to rotate toward the center of the fixed plate to be in a positioning state, and the fixed plate and the two rotating plates fix the fruit stalk of the fruit;

[0013] The shearing assembly is used to cut off the fruit stalk;

[0014] A bag body is provided in the material storage assembly, a tray for holding the fruit is provided on the material storage box, and a first driving assembly and a second driving assembly are provided on the frame along the height direction, the first driving assembly is used to drive the clamping assembly to reciprocate up and down, and the second driving assembly is used to drive the material storage assembly and the bagging assembly to reciprocate up and down;

[0015] The bagging assembly has a transmission assembly and a plurality of support members arranged at the power output end of the transmission assembly. The plurality of support members are driven away from each other to open the bag body in the material storage assembly. The second driving assembly drives the bagging assembly to put the bag body on the tray of the material storage box.

[0016] Furthermore, the shearing assembly includes a first driving part and a scissors cylinder arranged at the power output end of the first driving part.

[0017] Further, the positioning assembly includes a mounting plate disposed on the frame, a second driving part connected to the mounting plate, two first connecting rods pivotally connected to the power output end of the second driving part, and a second connecting rod pivotally connected to the first connecting rod;

[0018] The fixing plate is connected to the mounting plate, the middle part of the scissor cylinder and the middle part of the fixing plate are arranged correspondingly up and down, and the two connecting rods are pivotally connected to the two rotating plates respectively.

[0019] Furthermore, a guide block is connected at the pivot axis of the first connecting rod and the second connecting rod, and a rectangular groove for accommodating the guide block is provided on the mounting plate;

[0020] The second driving part adopts a telescopic cylinder, and the guide block slides along the length direction of the rectangular groove.

[0021] Further, the clamping assembly includes a third driving part, a screw provided at a power output end of the third driving part, and a first nut and a second nut respectively provided at two sides of the third driving part;

[0022] The two clamping arms are respectively connected to the first nut and the second nut;

[0023] The thread rotation directions of the first nut and the second nut are opposite.

[0024] Furthermore, the second driving assembly is provided with two power ends spaced apart from each other, the power end located at the upper portion is connected to a first connecting plate, and the power end located at the lower portion is connected to a second connecting plate;

[0025] The material storage assembly is connected to the first connecting plate;

[0026] The bag assembly is connected to the second connecting plate.

[0027] Further, the transmission assembly includes a support plate connected to the second connecting plate, a guide plate provided on the support plate, a movable plate pivotally connected to the support plate, and a fourth driving part for driving the movable plate to rotate;

[0028] The movable plate is provided with a plurality of arc grooves arranged along its radial direction, and the lower end of the support member is connected to a roller inserted in the arc groove;

[0029] The guide plate is provided with a guide groove arranged in a radial direction, and the support member is arranged in the guide groove;

[0030] When the fourth driving unit drives the movable plate to rotate forward or reversely, the plurality of supporting members move closer to or farther from each other;

[0031] The movable plate and the guide plate are both provided with through holes in the middle for the tray to pass through.

[0032] Furthermore, the fourth driving part is connected to the supporting plate, a power output end of the fourth driving part is connected to a first connecting arm, and a second connecting arm is pivotally connected between the first connecting arm and the movable plate.

[0033] Furthermore, the bagging assembly includes a fifth driving part connected to the first connecting plate, a straight plate arranged at the power output end of the fifth driving part, and a material cover body arranged at the upper end of the straight plate, and a accommodating cavity for accommodating the bag body is formed in the material cover body.

[0034] Furthermore, the material cover body is provided with a mounting cylinder and an elastic cylinder slidably arranged along the axial direction of the mounting cylinder, the lower end of the elastic cylinder is provided with a tapered section, a plurality of the bag bodies are sleeved on the mounting cylinder, and the tapered section is used to block the downward displacement of the bag body;

[0035] The elastic cylinder is provided with expansion and contraction grooves evenly distributed along its radial circumference, and the expansion and contraction grooves are U-shaped grooves with an open lower end;

[0036] A first elastic member is provided between the upper end of the bag body and the material cover body, and a second elastic member is provided between the upper end of the elastic cylinder body and the material cover body, the first elastic member is used to press the bag body, and the second elastic member is provided in the installation cylinder;

[0037] When the elastic cylinder is pressed and moves upward, the second elastic member is compressed to store energy, and the lower end of the elastic cylinder contracts to compress and reduce the width below the telescopic groove, and the first elastic member releases energy to separate the bag below from the elastic cylinder.

[0038] Compared with the prior art, the present invention has the following advantages:

[0039] The agricultural automatic picking device described in the present invention, by arranging a positioning component and a clamping component at the lower end of the shearing component, can first position the fruit stalk by the positioning component before shearing the fruit stalk, and through the rotation of two rotating plates, the leaves of the fruit covered behind the leaves can be clamped and tilted, which is convenient for accurate observation by the visual system, and then the fruit is accurately clamped by the clamping component, and then the fruit stalk above the positioning component is sheared by the shearing component to ensure that the whole fruit can be obtained.

[0040] At the same time, a bagging assembly and a material storage assembly are provided, and a first driving assembly and a second driving assembly are provided to respectively transport the fruits clamped by the clamping assembly to the tray of the material storage box, and then the second driving assembly drives the bagging assembly to take the bag body from the material storage assembly, and the bag body is expanded through a plurality of supporting parts and then placed on the outside of the fruit, and finally the bagged fruits are placed in the material storage box.

[0041] In addition, by providing the first driving part, the stroke of the scissor cylinder can be increased, the structure is simple, and the applicability is increased. The guide block and the rectangular groove provided on the mounting plate are also provided to limit the rotation direction of the movable plate, so as to avoid the branches next to the fruit being clamped by the movable plate, and to ensure that the two movable plates move to the middle of the fixed plate at the same time, so as to lift or clamp the leaves around the fruit, thereby facilitating the exposure of the fruit.

[0042] In addition, by arranging the second drive assembly with two output ends, the storage assembly and the bagging assembly can be driven to move up and down respectively, thereby increasing the flexibility of the picking device. In addition, a fifth drive unit is also arranged on the bagging mechanism to avoid interference when the clamping assembly conveys fruits to the storage box.

[0043] Furthermore, by arranging an installation cylinder and an elastic cylinder, as well as a first elastic member and a second elastic member inside the material cover body, the elastic cylinder can be pushed to make its lower end shrink into the installation cylinder when the plurality of support members shrink, and the elastic energy release of the first elastic member allows the bag body at the lower end to be mounted on the plurality of support members, and the fourth driving part drives the plurality of support members away from each other to open the bag body, and then the second driving component moves downward, and the plurality of support members gradually shrinks so that the bag body is completely mounted on the fruit. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0045] Figure 1 This is a schematic diagram of the three-dimensional structure of the automatic agricultural picking device according to an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of the three-dimensional structure of the picking mechanism according to an embodiment of the present invention from a first viewing angle;

[0047] Figure 3 A schematic diagram of the three-dimensional structure of the picking mechanism according to the embodiment of the present invention from a second viewing angle;

[0048] Figure 4 This is a schematic diagram of the main structure of the picking mechanism according to an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram of the top view of the picking mechanism according to an embodiment of the present invention;

[0050] Figure 6 for Figure 4 Schematic cross-sectional view at AA in the middle;

[0051] Figure 7 This is a schematic diagram of the connection structure of the material storage box and the tray according to an embodiment of the present invention;

[0052] Figure 8 It is a three-dimensional schematic diagram of a transmission assembly according to an embodiment of the present invention, in which each support member is in an open state from a first viewing angle;

[0053] Fig. 9 It is a three-dimensional schematic diagram of a transmission assembly according to an embodiment of the present invention, in which each support member is in an open state from a second viewing angle;

[0054] Fig.10 It is a three-dimensional schematic diagram of a transmission assembly according to an embodiment of the present invention, in which each support member is in a retracted state from a first viewing angle;

[0055] Fig.11 It is a schematic cross-sectional structural diagram of the material cover body, the mounting cylinder, the first elastic member, the second elastic member and the elastic cylinder according to an embodiment of the present invention.

[0056] Description of reference numerals:

[0057] 1. Walking mechanism; 2. Picking mechanism; 3. Bag body;

[0058] 201, frame; 202, shearing assembly; 203, positioning assembly; 204, clamping assembly; 205, material storage assembly; 206, bagging assembly; 207, material storage box; 208, first drive assembly; 209, second drive assembly; 210, first connecting plate; 211, second connecting plate;

[0059] 2021. a first driving unit; 2022. a scissor cylinder;

[0060] 2031, fixed plate; 2032, rotating plate; 2033, mounting plate; 2034, second driving part; 2035, first connecting rod; 2036, second connecting rod; 2037, guide block; 2038, rectangular groove;

[0061] 2041, clamping arm; 2042, third driving part; 2043, screw;

[0062] 2051, second elastic member; 2052, tray; 2053, fifth driving unit; 2054, straight plate; 2055, material cover; 2056, mounting cylinder; 2057, elastic cylinder; 2058, telescopic slot; 2059, first elastic member;

[0063] 2061, roller; 2062, support member; 2063, support plate; 2064, guide plate; 2065, movable plate; 2066, fourth driving part; 2067, through hole; 2068, first connecting arm; 2069, second connecting arm;

[0064] 2071, through hole; 2072, longitudinal push rod; 2073, transverse push rod; 2074, guide plate;

[0065] 20641, guide groove;

[0066] 20651, arc groove. DETAILED DESCRIPTION

[0067] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0068] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "back", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0069] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installed", "connected", "connected", and "connector" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in combination with specific circumstances.

[0070] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0071] This embodiment relates to an agricultural automatic picking device, combined with Figures 1 to 5 As shown, the picking device includes a walking mechanism 1 and at least one picking mechanism 2 arranged on the walking mechanism 1. The picking mechanism 2 includes a frame 201, a shearing assembly 202, a positioning assembly 203, a clamping assembly 204, a material storage assembly 205, a bagging assembly 206, and a material storage box 207 arranged on the frame 201 from top to bottom.

[0072] The clamping assembly 204 has two clamping arms 2041 that are driven to move closer to or farther from each other, and the two clamping arms 2041 are used to clamp the fruit. The positioning assembly 203 is provided with a fixed plate 2031 and a rotating plate 2032 pivotally connected to both sides of the fixed plate 2031. The rotating plate 2032 is driven to rotate toward the center of the fixed plate 2031 to be in a positioning state. The fixed plate 2031 and the two rotating plates 2032 fix the fruit stalk. The shearing assembly 202 is used to cut the fruit stalk.

[0073] Meanwhile, a bag body 3 is arranged in the storage assembly 205, a tray 2052 for holding fruits is arranged on the storage box 207, and a first driving assembly 208 and a second driving assembly 209 arranged in the height direction are also arranged on the frame 201, the first driving assembly 208 is used to drive the clamping assembly 204 to reciprocate up and down, and the second driving assembly 209 is used to drive the storage assembly 205 and the bagging assembly 206 to reciprocate up and down. The bagging assembly 206 has a transmission assembly and a plurality of supporting members 2062 arranged at the power output end of the transmission assembly, the plurality of supporting members 2062 are driven away from each other to open the bag body 3 in the storage assembly 205, and the second driving assembly 209 drives the bagging assembly 206 to cover the bag body 3 on the tray 2052 of the storage box 207.

[0074] The agricultural automatic picking device of this embodiment is provided with a positioning component 203 and a clamping component 204 at the lower end of the shearing component 202. Before shearing the fruit stalk, the positioning component 203 can be used to first position the fruit stalk. By rotating the two rotating plates 2032, the leaves of the fruit covered behind the leaves can be clamped and tilted up to facilitate accurate observation by the visual system. The fruit can then be accurately clamped by the clamping component 204, and the fruit stalk on the upper part of the positioning component 203 can be sheared by the shearing component 202 to ensure that the whole fruit can be obtained.

[0075] In addition, by setting up a bagging component 206 and a storage component 205, and setting up a first drive component 208 and a second drive component 209, the fruits clamped by the clamping component 204 are respectively transported to the tray 2052 of the storage box 207, and then the second drive component 209 drives the bagging component 206 to take the bag body 3 from the storage component 205, and the bag body 3 is expanded and placed on the outside of the fruit through a plurality of support members 2062, and finally the bagged fruits are placed in the storage box 207.

[0076] Based on the above overall introduction, Figure 1 As shown, the walking mechanism 1 adopts a crawler system, which is the same as the existing crawler system structure and will not be described here. It should be pointed out that the walking mechanism 1 can also be a transport vehicle or a walking frame for a greenhouse. The frame 201 structure of the picking device can be adaptively adjusted according to the picking form of different types of fruits or crops.

[0077] In addition, the positioning component 203, the clamping component 204 and the shearing component 202 of this embodiment can be used as a large component in other picking equipment to be combined with a visual system to improve the accuracy of visual capture of fruits and effectively avoid fruit damage caused by inaccurate fruit position detection.

[0078] It is also necessary to point out that, for example, a scissor lift mechanism for increasing the height, a driving mechanism for moving along the width direction and the length direction of the traveling mechanism 1, etc. can be set between the frame 201 and the traveling system of this embodiment. The scissor lift structure and the driving mechanism can refer to the structures in the prior art, and the function of the picking mechanism 2 moving along the three directions of X, Y, and Z relative to the traveling mechanism 1 can be achieved to expand the picking range of the picking device. The specific structures of the two mechanisms are not limited in this embodiment.

[0079] As a preferred implementation mode, Figures 5 and 6 As shown, the shearing assembly 202 includes a first driving part 2021 and a scissor cylinder 2022 provided at the power output end of the first driving part 2021. By providing the first driving part 2021, the stroke of the scissor cylinder 2022 can be increased, the structure is simple, and the applicability is increased.

[0080] Preferably, if Figure 6 As shown, the positioning assembly 203 includes a mounting plate 2033 disposed on the frame 201, a second driving portion 2034 connected to the mounting plate 2033, two first connecting rods 2035 pivotally connected to the power output end of the second driving portion 2034, and a second connecting rod 2036 pivotally connected to the first connecting rod 2035. The fixing plate 2031 is connected to the mounting plate 2033, the middle part of the scissor cylinder 2022 is arranged corresponding to the middle part of the fixing plate 2031, and the two connecting rods are pivotally connected to the two rotating plates 2032 respectively.

[0081] Further, as Figure 6 As shown, a guide block 2037 is connected to the pivot axis of the first connecting rod 2035 and the second connecting rod 2036, and a rectangular groove 2038 for accommodating the guide block 2037 is provided on the mounting plate 2033. The second driving part 2034 adopts a telescopic cylinder, and the guide block 2037 slides along the length direction of the rectangular groove 2038.

[0082] In this embodiment, by providing a guide block 2037 and a rectangular groove 2038 on the mounting plate 2033, the rotation direction of the movable plate 2065 is limited to prevent the branches next to the fruit from being clamped by the movable plate 2065, and to ensure that the two movable plates 2065 move to the middle of the fixed plate 2031 at the same time, lifting or clamping the leaves around the fruit, thereby facilitating the exposure of the fruit.

[0083] like Figure 6As shown, the clamping assembly 204 includes a third driving part 2042, a screw 2043 disposed at the power output end of the third driving part 2042, and two first nuts and second nuts disposed on both sides of the third driving part 2042. Two clamping arms 2041 are connected to the first nut and the second nut respectively. The first nut and the second nut have opposite thread rotation directions. The third driving part 2042 adopts a rodless motor, and the screw 2043 is connected to the output sleeve of the rodless motor.

[0084] In addition, if Figure 2 and Figure 6 As shown, the clamping arm 2041 is Z-shaped to avoid interference with the storage assembly 205 during the downward movement. A circular arc-shaped clamping plate is provided at the front end of the clamping arm 2041, and the clamping plate is used to clamp the fruit. The rear end of the clamping arm 2041 is sleeved on the outside of the first nut or the second nut, and in order to ensure that the clamping arm 2041 moves laterally along the screw rod 2043 without turning over, a limiting shaft is provided on each clamping arm 2041, and a limiting plate perpendicular to the limiting shaft is provided on the mounting plate 2033 of the third driving part 2042 accordingly, and a long groove is provided on the limiting plate, and the limiting shaft slides in the long groove.

[0085] Combination Figure 2 , Figure 3 , Figure 7 As shown, the storage box 207 of this embodiment adopts a rectangular box body with a cavity inside. A through hole 2071 is provided on the upper part of the storage box 207, and a longitudinal push rod 2072 is provided on the bottom wall of the storage box 207. The longitudinal push rod 2072 adopts a multi-stage telescopic cylinder, and can also adopt a multi-stage oil cylinder. The power output end of the cylinder is connected to the tray 2052. When the fruit is bagged, the fruit is brought to the inside of the storage box by the telescopic cylinder. There is still a transverse push rod 2073 in the storage box, and the push rod also adopts a multi-stage telescopic cylinder. A conical guide plate 2074 is provided in the middle of the storage box 207. After the push rod pushes the fruit off the tray 2052, the fruit rolls along the guide plate 2074 into the cavity of the storage box 207.

[0086] In addition, in the case of picking large fruits, large storage areas can be set on both sides of the walking mechanism 1, and the storage box 207 is connected to the storage area to facilitate the transportation of fruits and improve the storage function of the picking device.

[0087] As a specific implementation, the first drive assembly 208 and the second drive assembly 209 of this embodiment both use linear modules. Figures 2 to 4 As shown, the second driving assembly 209 is provided with two power ends spaced apart from each other, the power end at the upper portion is connected to the first connecting plate 210, and the power end at the lower portion is connected to the second connecting plate 211. The material storage assembly 205 is connected to the first connecting plate 210, and the bagging assembly 206 is connected to the second connecting plate 211.

[0088] like Figures 2 to 4 As shown, the transmission assembly includes a support plate 2063 connected to the second connecting plate 211, a guide plate 2064 provided on the support plate 2063, a movable plate 2065 pivotally connected to the support plate 2063, and a fourth driving part 2066 for driving the movable plate 2065 to rotate. The movable plate 2065 is provided with a plurality of arc grooves 20651 arranged along its radial direction, and the lower end of the support member 2062 is connected to a roller 2061 inserted into the arc groove 20651.

[0089] like Figures 8 to 10 As shown, the guide plate 2064 is provided with a guide groove 20641 arranged in a radial direction, and the support member 2062 is arranged in the guide groove 20641. When the fourth driving part 2066 drives the movable plate 2065 to rotate forward or reverse, the plurality of support members 2062 are moved closer to or away from each other. The movable plate 2065 and the guide plate 2064 are both provided with a through hole 2067 in the middle for the tray 2052 to pass through.

[0090] In addition, if Figures 2 to 4 As shown, a rectangular square plate is provided on the outer side of the guide plate 2064, and the square plate is used to support and maintain the guide plate 2064 and the movable plate 2065 on the support plate 2063 described below, wherein a circular hole for accommodating the guide plate 2064 is formed in the square plate, and the movable plate 2065 is provided at the lower end of the guide plate 2064, and a deep groove ball bearing is provided between the movable plate 2065 and the guide plate 2064 to facilitate the flexible movement of the support member 2062.

[0091] To facilitate the connection, Figures 2 to 4 As shown, the fourth driving part 2066 is connected to the support plate 2063. In addition, in order to facilitate the rotation of the movable plate 2065, the power output end of the fourth driving part 2066 is connected to the first connecting arm 2068, and the second connecting arm 2069 is pivotally connected between the first connecting arm 2068 and the movable plate 2065. The fourth driving part 2066 adopts a telescopic cylinder.

[0092] like Figures 8 to 10 As shown, the support member 2062 is composed of a rectangular block arranged in the guide groove 20641 and an L-shaped shift block arranged on the upper part of the rectangular block. A pin is provided on the side of the rectangular block facing the roller 2061, and the roller 2061 is sleeved on the outside of the pin, and a deep groove ball bearing is also provided between the roller 2061 and the pin.

[0093] As a preferred implementation mode, Figures 2 to 4As shown, the bagging mechanism includes a fifth driving part 2053 connected to the first connecting plate 210, a straight plate 2054 provided at the power output end of the fifth driving part 2053, and a material cover 2055 provided at the upper end of the straight plate 2054, wherein a receiving cavity for receiving the bag 3 is formed in the material cover 2055. The fifth driving part 2053 adopts a driving cylinder, and the fifth driving part 2053 is provided in the bagging mechanism to avoid interference when the clamping assembly 204 conveys the fruit to the storage box 207.

[0094] In addition, if Fig.11 As shown, a mounting cylinder 2056 is provided inside the material cover 2055, and an elastic cylinder 2057 is axially slidably arranged along the mounting cylinder 2056. A tapered section is provided at the lower end of the elastic cylinder 2057. A plurality of bag bodies 3 are sleeved on the mounting cylinder 2056. The tapered section is used to block the downward displacement of the bag bodies 3. The elastic cylinder 2057 is provided with telescopic grooves 2058 evenly distributed along its radial circumference. The telescopic grooves 2058 are U-shaped grooves with an opening at the lower end. A first elastic member 2059 is provided between the upper end of the bag body 3 and the material cover 2055. A second elastic member 2051 is provided between the upper end of the elastic cylinder 2057 and the material cover 2055. The first elastic member 2059 is used to press the bag body 3. The second elastic member 2051 is provided in the mounting cylinder 2056.

[0095] When the elastic cylinder 2057 is pressed and moves upward, the second elastic member 2051 is compressed to store energy, and the lower end of the elastic cylinder 2057 contracts to compress the width below the telescopic groove 2058 and reduce it. The first elastic member 2059 releases energy to separate the bag body 3 below from the elastic cylinder 2057.

[0096] By arranging the installation cylinder 2056 and the elastic cylinder 2057, as well as the first elastic member 2059 and the second elastic member 2051 inside the material cover body 2055, the elastic cylinder 2057 can be pushed to make the lower end of the support members 2062 shrink to the installation cylinder 2056 when the support members 2062 shrink. The elastic energy release of the first elastic member 2059 allows the bag body 3 at the lower end to be mounted on the support members 2062, and the support members 2062 are driven away from each other by the fourth driving part 2066 to open the bag body 3. Then, the second driving component 209 moves downward, and the support members 2062 gradually shrink so that the bag body 3 is completely mounted on the fruit.

[0097] In order to achieve the purpose of automatic picking, the agricultural automatic picking device of this embodiment is also provided with a control system and a visual system. The control system is the same as the automatic equipment control system in the prior art, and adopts controllers such as PLC, travel switches, pressure sensors and other electrical detection parts. The controller is electrically connected to the above-mentioned driving parts to realize automatic control.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic agricultural picking device, characterized in that: It comprises a walking mechanism (1) and at least one picking mechanism (2) arranged on the walking mechanism (1); The picking mechanism (2) comprises a frame (201), a shearing assembly (202), a positioning assembly (203), a clamping assembly (204), a material storage assembly (205), a bagging assembly (206), and a material storage box (207) which are arranged on the frame (201) in order from top to bottom; The clamping assembly (204) has two clamping arms (2041) that are driven to move closer to or farther from each other, and the two clamping arms (2041) are used to clamp the fruit; The positioning assembly (203) is provided with a fixed plate (2031) and rotating plates (2032) pivotally connected to both sides of the fixed plate (2031); the rotating plates (2032) are driven to rotate toward the center of the fixed plate (2031) to be in a positioning state; the fixed plate (2031) and the two rotating plates (2032) fix the fruit stalk of the fruit; The shearing assembly (202) is used to cut the fruit stalk; The material storage component (205) is provided with a bag body (3), the material storage box (207) is provided with a tray (2052) for holding the fruit, and the frame (201) is also provided with a first driving component (208) and a second driving component (209) arranged in a height direction, the first driving component (208) is used to drive the clamping component (204) to reciprocate up and down, and the second driving component (209) is used to drive the material storage component (205) and the bagging component (206) to reciprocate up and down; The bagging assembly (206) has a transmission assembly and a plurality of support members (2062) arranged at the power output end of the transmission assembly. The plurality of support members (2062) are driven away from each other to open the bag body (3) in the material storage assembly (205). The second driving assembly (209) drives the bagging assembly (206) to put the bag body (3) on the tray (2052) of the material storage box (207).

2. The automatic agricultural picking device according to claim 1, characterized in that: The shearing assembly (202) comprises a first driving part (2021) and a scissor cylinder (2022) provided at a power output end of the first driving part (2021).

3. The automatic agricultural picking device according to claim 2, characterized in that: The positioning assembly (203) comprises a mounting plate (2033) disposed on the frame (201), a second driving portion (2034) connected to the mounting plate (2033), two first connecting rods (2035) pivotally connected to the power output end of the second driving portion (2034), and a second connecting rod (2036) pivotally connected to the first connecting rod (2035); The fixed plate (2031) is connected to the mounting plate (2033), the middle part of the scissor cylinder (2022) is arranged correspondingly to the middle part of the fixed plate (2031) in the upper and lower parts, and the two connecting rods are pivotally connected to the two rotating plates (2032) respectively.

4. The automatic agricultural picking device according to claim 3, characterized in that: A guide block (2037) is connected at the pivot axis of the first connecting rod (2035) and the second connecting rod (2036), and a rectangular groove (2038) for accommodating the guide block (2037) is provided on the mounting plate (2033); The second driving part (2034) adopts a telescopic cylinder, and the guide block (2037) slides along the length direction of the rectangular groove (2038).

5. The automatic agricultural picking device according to claim 3, characterized in that: The clamping assembly (204) comprises a third driving part (2042), a screw rod (2043) arranged at a power output end of the third driving part (2042), and two first nuts and a second nut respectively arranged at two sides of the third driving part (2042); The two clamping arms (2041) are respectively connected to the first nut and the second nut; The thread rotation directions of the first nut and the second nut are opposite.

6. The automatic agricultural picking device according to claim 3, characterized in that: The second driving assembly (209) is provided with two power ends spaced apart from each other, the power end located at the upper portion is connected to a first connecting plate (210), and the power end located at the lower portion is connected to a second connecting plate (211); The material storage assembly (205) is connected to the first connecting plate (210); The bag assembly (206) is connected to the second connecting plate (211).

7. The automatic agricultural picking device according to claim 3, characterized in that: The transmission assembly comprises a support plate (2063) connected to the second connecting plate (211), a guide plate (2064) provided on the support plate (2063), a movable plate (2065) pivotally connected to the support plate (2063), and a fourth driving part (2066) for driving the movable plate (2065) to rotate; The movable plate (2065) is provided with a plurality of arc-shaped grooves (20651) arranged along its radial direction, and the lower end of the support member (2062) is connected to a roller (2061) inserted into the arc-shaped groove (20651); The guide plate (2064) is provided with a guide groove (20641) arranged in a radial direction, and the support member (2062) is arranged in the guide groove (20641); When the fourth driving part (2066) drives the movable plate (2065) to rotate forward or reversely, the plurality of supporting members (2062) move closer to or farther from each other; The movable plate (2065) and the guide plate (2064) are both provided in the middle with a through hole (2067) for the tray (2052) to pass through.

8. The automatic agricultural picking device according to claim 7, characterized in that: The fourth driving part (2066) is connected to the supporting plate (2063), the power output end of the fourth driving part (2066) is connected to a first connecting arm (2068), and a second connecting arm (2069) is pivotally connected between the first connecting arm (2068) and the movable plate (2065).

9. The automatic agricultural picking device according to claim 8, characterized in that: The bagging assembly (206) comprises a fifth driving part (2053) connected to the first connecting plate (210), a straight plate (2054) arranged at the power output end of the fifth driving part (2053), and a material cover body (2055) arranged at the upper end of the straight plate (2054), wherein a accommodating cavity for accommodating the bag body (3) is formed in the material cover body (2055).

10. The automatic agricultural picking device according to claim 9, characterized in that: The material cover body (2055) is provided with a mounting cylinder (2056) and an elastic cylinder (2057) axially slidably arranged along the mounting cylinder (2056), a tapered section is provided at the lower end of the elastic cylinder (2057), a plurality of the bag bodies (3) are sleeved on the mounting cylinder (2056), and the tapered section is used to block the downward displacement of the bag bodies (3); The elastic cylinder (2057) is provided with expansion and contraction grooves (2058) evenly distributed along its radial circumference, and the expansion and contraction grooves (2058) are U-shaped grooves with an open lower end; A first elastic member (2059) is provided between the upper end of the bag body (3) and the material cover body (2055), and a second elastic member (2051) is provided between the upper end of the elastic cylinder (2057) and the material cover body (2055), the first elastic member (2059) is used to press the bag body (3), and the second elastic member (2051) is provided in the installation cylinder (2056); When the elastic cylinder (2057) is pressed and moves upward, the second elastic member (2051) is compressed and stores energy, and the lower end of the elastic cylinder (2057) contracts, so that the width below the telescopic groove (2058) is compressed and reduced, and the first elastic member (2059) releases energy to allow the bag body (3) below to separate from the elastic cylinder (2057).

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