Picking device of unmanned pepper picking machine

Abstract

The invention relates to the technical field of pepper picking, and discloses a picking device of an unmanned pepper picking machine, which comprises a vehicle body, the top of the vehicle body is fixedly connected with a square frame, the inner side of the square frame is provided with an electric turntable, and the top of the electric turntable is provided with a connecting arm I; and a third electric telescopic rod is rotationally installed on the outer side of the first connecting arm, a second connecting arm is rotationally installed at the output end of the third electric telescopic rod, a fixing plate is installed at the tail end of the second connecting arm through an electric rotating shaft, and two driving rods are connected to the inner side of the fixing plate through rotating shafts. And through the design of the automatic picking assembly and multi-range flexible movement, the efficiency and precision of pepper picking can be remarkably improved. According to the picking structure, the working posture can be automatically adjusted according to different Chinese prickly ash tree shapes and growing environments, dependence on manual labor is reduced through automatic control, and the phenomena of mistaken picking, missing picking and damage in manual operation are avoided.

Description

Technical Field

[0001] The invention relates to the technical field of prickly ash picking, and in particular to a picking device of an unmanned prickly ash picking machine. Background Art

[0002] Sichuan pepper, as a traditional cash crop in my country, is widely distributed in mountainous and hilly areas. It has strong resistance to drought and poor soil. Due to the unique growth habits of Sichuan pepper, Sichuan pepper trees generally grow taller, with complex tree shapes and uneven distribution of fruits, which makes the picking of Sichuan pepper face great challenges. Traditional methods of picking Sichuan pepper mainly rely on manual picking or semi-mechanized picking. Although manual picking is suitable for small-scale planting, due to the tall branches of Sichuan pepper and the scattered distribution of fruits, manual picking is not only labor-intensive and inefficient, but also often fails to accurately judge the maturity, resulting in frequent missed picking and mis-picking, and even damages the branches of Sichuan pepper, causing economic losses.

[0003] With the development of agricultural mechanization, some pepper picking machines have appeared on the market. Most of these devices use vibration picking, which uses mechanical vibration to make the mature pepper fruits fall from the tree. They are suitable for use when the pepper fruits are relatively mature and the tree shape is relatively regular. However, the vibration picking method is not effective for all pepper tree shapes, especially when the tree shape is complex, the fruit maturity is uneven, or the growth environment is relatively special. Vibration picking cannot guarantee efficient and accurate picking of all peppers, and it is easy to cause damage to the trees and fruits, affecting the picking quality and the market value of peppers.

[0004] Therefore, a solution is proposed. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a picking device for an unmanned pepper picking machine, which solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a picking device of an unmanned pepper picking machine, comprising a body, a square frame fixedly connected to the top of the body, an electric turntable installed on the inner side of the square frame, a connecting arm 1 installed on the top of the electric turntable, an electric telescopic rod 3 is rotatably installed on the outer side of the connecting arm 1, a connecting arm 2 is rotatably installed on the output end of the electric telescopic rod 3, a fixing plate is installed on the end of the connecting arm 2 through an electric rotating shaft, two driving rods are connected to the inner side of the fixing plate through the rotating shaft, a special-shaped splint is fixedly connected to the inner side of the driving rod, an electric telescopic rod 2 is installed on the outer side of the fixing plate, a driving block is fixedly connected to the driving end of the electric telescopic rod 2, and a slide groove is provided on the outer surface of the driving rod.

[0007] Preferably, two support plates are installed on one side of the top of the vehicle body, a lifting arm is hinged on one side of the top of the support plate, an electric telescopic rod is installed on the top of the support plate, a mounting plate is fixedly connected to the inner side of the lifting arm, a rotating frame is rotatably connected between the two mounting plates, a motor for driving the rotating frame to rotate is fixedly installed on one side of the mounting plate, and a number of picking plates are fixedly connected between the two mounting plates.

[0008] Preferably, a threaded rod is movably connected to the inner side of the square frame via a bearing, two threaded blocks are threadedly connected to the outer side of the threaded rod, a movable frame is fixedly connected to the outer side of the threaded block, and a motor for driving the threaded rod is fixedly installed on the outer side of the square frame.

[0009] Preferably, an electric guide rail is installed on one side of the top of the square frame, an electric slider is installed on the outer side of the electric guide rail, and a camera is detachably connected to the top of the electric slider.

[0010] Preferably, the driving block is movably connected inside the sliding groove, a rubber pad is provided on the inner side of the special-shaped clamping plate, and one side of the driving block is connected to one side of the second connecting arm via a rotating shaft.

[0011] Preferably, two connecting plates are fixedly connected to one side of the top of the vehicle body, and the inner sides of the two connecting plates are rotatably connected with a driving roller and a driven roller in turn. The outer sides of the driving roller and the outer sides of the driven roller are connected through a conveyor belt transmission, and a plurality of unloading plates are equidistantly arranged on the outer side of the conveyor belt, and a motor for driving the driven roller is fixedly installed on the outer side of one of the connecting plates.

[0012] Preferably, a collecting box is installed at the middle of the top of the vehicle body, and the collecting box is used to place the picked peppercorns.

[0013] Preferably, the driving end of the electric telescopic rod 1 is movably connected to the inner side of the lifting arm, and the longitudinal section of the picking plate is a "V"-shaped design.

[0014] The present invention provides a picking device for an unmanned pepper picking machine. It has the following beneficial effects:

[0015] 1. The present invention can significantly improve the efficiency and accuracy of pepper picking through the design of automated picking components and multi-range flexible movement. The picking structure can not only automatically adjust the working posture according to different pepper tree shapes and growth environments, but also provide two mechanical picking methods: one is to effectively shake off the mature pepper through a vibration picking method, and the other is to use a grabbing picking method to accurately pick the pepper fruits. This flexible and diverse picking method can cope with pepper fruits in different growth states and maximize the picking effect. The use of automated control reduces dependence on manual labor, avoids mis-picking, missed picking and damage in manual operations, and thus ensures the picking quality and yield of pepper.

[0016] 2. The present invention adds a conveyor belt, a driving roller, a driven roller and other structures that cooperate with each other, and can accurately and efficiently transfer the picked peppercorns to a collection box in real time while the peppercorns are being picked, thereby avoiding problems such as missing, loss and untimely storage during manual transportation, thereby ensuring that the picked peppercorns can be properly preserved as soon as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A perspective view of the present invention;

[0018] Figure 2 It is a schematic diagram of the square frame structure of the present invention;

[0019] Figure 3 It is a schematic diagram of the structure of the electric turntable of the present invention;

[0020] Figure 4 is a cross-sectional view of a fixing plate of the present invention;

[0021] Figure 5 It is a schematic diagram of the picking plate structure of the present invention;

[0022] Figure 6 It is a schematic diagram of the conveyor belt structure of the present invention;

[0023] Figure 7 It is a schematic diagram of the electric guide rail structure of the present invention;

[0024] Figure 8 for Figure 1 Enlarged view of point A in the middle.

[0025] Among them, 1. body; 201. support plate; 202. electric telescopic rod 1; 203. rotating frame; 204. lifting arm; 205. mounting plate; 206. picking plate; 301. connecting plate; 302. conveyor belt; 303. driving roller; 304. driven roller; 401. connecting arm 1; 402. electric turntable; 403. connecting arm 2; 404. fixing plate; 405. electric telescopic rod 2; 406. driving rod; 407. electric telescopic rod 3; 408. special-shaped splint; 409. slide; 410. driving block; 501. moving frame; 502. threaded rod; 503. threaded block; 601. electric guide rail; 602. electric slider; 603. camera; 7. square frame; 8. collection box. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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 creative work are within the scope of protection of the present invention.

[0027] Please see attached Figure 1 - Attachment Figure 8 The embodiment of the present invention provides a picking device of an unmanned pepper picking machine, including a body 1, a square frame 7 is fixedly connected to the top of the body 1, an electric turntable 402 is installed on the inner side of the square frame 7, a connecting arm 1 401 is installed on the top of the electric turntable 402, an electric telescopic rod 3 407 is rotatably installed on the outer side of the connecting arm 1 401, a connecting arm 2 403 is rotatably installed on the output end of the electric telescopic rod 3 407, a fixing plate 404 is installed on the end of the connecting arm 2 403 through an electric rotating shaft, two driving rods 406 are connected to the inner side of the fixing plate 404 through the rotating shaft, a special-shaped splint 408 is fixedly connected to the inner side of the driving rod 406, an electric telescopic rod 2 405 is installed on the outer side of the fixing plate 404, a driving block 410 is fixedly connected to the driving end of the electric telescopic rod 2 405, and a slide groove 409 is provided on the outer surface of the driving rod 406. The driving block 410 is movably connected inside the slide slot 409 , a rubber pad is provided inside the special-shaped clamping plate 408 , and one side of the driving block 410 is connected to one side of the second connecting arm 403 via a rotating shaft.

[0028] Specifically, the vehicle body 1 serves as the basis of the entire picking device and undertakes the supporting and moving functions. It can provide a stable platform for the picking device and is equipped with a driving system so that the picking machine can automatically walk, position and move in the pepper garden. The square frame 7 is located on the top of the vehicle body 1 and is fixedly connected to the vehicle body 1 to play a supporting and fixing role. It provides a stable foundation for the subsequent installation of the electric turntable 402 and other components. The electric turntable 402 is installed on the inner side of the square frame 7 and plays a rotating role. Driven by the electric turntable 402, the entire picking device can be rotated on a horizontal plane, thereby helping the picking components to accurately align with the pepper branches and ensure the flexibility and coverage of picking.

[0029] The driving block 410 is used in conjunction with the driving rod 406 and the electric telescopic rod 405. The driving block 410 moves on the driving rod 406 through the slide 409, generating a swinging traction force, driving the driving rod 406 to move inward, controlling the closing of the splint, and realizing the precise grasping of the pepper. The special-shaped splint 408 is designed to grasp the pepper fruit. A rubber pad is provided on the inside of the splint to reduce the damage to the pepper fruit and ensure flexible contact and efficient grasping during the picking process. Through the push of the driving block 410, the splint will close and clamp the pepper fruit.

[0030] First, the motor on the outside of the square frame 7 drives the threaded rod 502 to rotate, driving the threaded block 503 to move left and right along the outer surface of the threaded rod 502. The movement of the threaded block 503 drives the mobile frame 501 to move synchronously, so that the entire grab-type picking assembly can move horizontally on the horizontal plane to cover a wider picking area. At the same time, the electric turntable 402 drives the entire picking assembly to rotate, so that the picking device can be accurately aligned at different angles, thereby ensuring that the pepper can be effectively grabbed. By starting the electric telescopic rod three 407, the end of the connecting arm two 403 will swing, so that the splint of the picking device can be adjusted to the position of docking with the pepper fruit. At the same time, start the electric telescopic rod two 405, drive the drive block 410 to move along the inside of the slide 409, and the movement of the drive block 410 will generate traction, forcing one end of the drive rod 406 to move closer to the inside. As the drive block 410 moves, the drive rod 406 drives the special-shaped splint 408 to gradually close. When the two splints are close to each other, they will clamp the pepper fruit. Thanks to the rubber pads on the inside of the clamps, they can grip the peppercorns securely without causing damage to the fruits.

[0031] Two support plates 201 are installed on one side of the top of the vehicle body 1, a lifting arm 204 is hinged on one side of the top of the support plate 201, an electric telescopic rod 202 is installed on the top of the support plate 201, a mounting plate 205 is fixedly connected to the inner side of the lifting arm 204, a rotating frame 203 is rotatably connected between the two mounting plates 205, a motor for driving the rotating frame 203 to rotate is fixedly installed on one side of the mounting plate 205, and a number of picking plates 206 are fixedly connected between the two mounting plates 205.

[0032] Specifically, the lifting arm 204 is hingedly connected to one side of the top of the support plate 201. The function of the lifting arm 204 is to swing at a certain angle through the drive of the electric telescopic rod, thereby driving the mounting plate 205 to lift upward and bring it to a suitable position to contact the leaves and branches of the pepper. The movement of the lifting arm 204 provides vertical displacement during the picking process, ensuring that the picking plate 206 can accurately contact the pepper plant.

[0033] Start the electric telescopic rod 202, and through the telescopic effect of the electric telescopic rod 202, one end of the lifting arm 204 swings, driving the mounting plate 205 to move upward. Through this process, the picking plate 206 will gradually approach the leaves and branches of the pepper plant. When the picking plate 206 contacts the branches of the pepper, the device will enter the picking state. When the mounting plate 205 drives the lifting arm 204 to move upward, the picking plate 206 will eventually contact the branches of the pepper. At this time, the contact between the picking plate 206 and the pepper prepares for the subsequent picking action. Next, start the drive motor on the mounting plate 205 to drive the rotating frame 203 to rotate. Through the rotation of the rotating frame 203, the picking plate 206 will also rotate or vibrate. The rotational motion will produce a certain inertia and vibration effect, which helps to knock down the pepper fruits.

[0034] As the picking plate 206 rotates or vibrates, the contact point between the picking plate 206 and the Chinese prickly ash will vibrate, and this vibration causes the Chinese prickly ash fruit to separate from the branches, thus completing the picking.

[0035] There are two ways of picking: one is to use vibration picking to effectively shake off the mature pepper, and the other is to use grab picking to accurately pick the pepper fruits. This flexible and diverse picking method can handle pepper fruits in different growth states and maximize the picking effect. The use of automated control reduces the reliance on manual labor and avoids the phenomenon of mis-picking, missing picking and damage in manual operation, thus ensuring the picking quality and yield of pepper.

[0036] The inner side of the square frame 7 is movably connected with a threaded rod 502 through a bearing, the outer side of the threaded rod 502 is threadedly connected with two threaded blocks 503, the outer side of the threaded block 503 is fixedly connected with a movable frame 501, and the outer side of the square frame 7 is fixedly installed with a motor for driving the threaded rod 502.

[0037] Specifically, the threaded rod 502 is driven to rotate by a motor, driving the threaded block 503 to move left and right along the outer surface of the threaded rod 502. The movement of the threaded block 503 drives the moving frame 501 to move synchronously, so that the entire grab-type picking assembly can move laterally on a horizontal plane.

[0038] An electric guide rail 601 is installed on one side of the top of the square frame 7, an electric slider 602 is installed on the outer side of the electric guide rail 601, and a camera 603 is detachably connected to the top of the electric slider 602.

[0039] Specifically, during operation, the electric guide rail 601 is responsible for driving the slider to move along the track. Under the guidance of the guide rail, the electric slider 602 can accurately move along the predetermined route. The camera 603 will collect images of the prickly ash tree in real time and analyze these images through the built-in computer vision system. The system will identify the maturity of the prickly ash and mark which prickly ash is suitable for picking.

[0040] According to the image analysis result of the camera 603, the system will transmit the information to the picking mechanism or the manipulator, instructing the picking point to perform the picking operation. In this way, the whole process can be completed efficiently and accurately.

[0041] Two connecting plates 301 are fixedly connected to one side of the top of the vehicle body 1, and the inner sides of the two connecting plates 301 are rotatably connected with a driving roller 303 and a driven roller 304 in turn. The outer sides of the driving roller 303 and the outer sides of the driven roller 304 are connected by a conveyor belt 302. A plurality of unloading plates are equidistantly arranged on the outer side of the conveyor belt 302, and a motor for driving the driven roller 304 is fixedly installed on the outer side of one of the connecting plates 301. A collecting box 8 is installed in the middle of the top of the vehicle body 1, and the collecting box 8 is used to place the picked peppercorns.

[0042] Specifically, the connecting plate 301 plays a fixing and supporting role, connecting other key components such as the driving roller 303 and the driven roller 304 to the vehicle body 1. The driving roller 303 is driven by a motor, and the driven roller 304 is driven by the rotation of the driving roller 303. The roller structure ensures that the conveyor belt 302 can maintain stable operation during the transmission process. The conveyor belt 302 is driven by the transmission between the driving roller 303 and the driven roller 304. A plurality of equidistant unloading plates are provided on the outside of the conveyor belt 302, which are used to timely transport and put the peppercorns into the collection box 8 after picking them from the crops. The design of the conveyor belt 302 enables the peppercorns to be continuously and stably transported to the collection box 8, thus avoiding problems such as missing, loss and untimely storage during manual handling, thereby ensuring that the picked peppercorns can be properly preserved in the first place.

[0043] By starting the motor on the outside of the connecting plate 301, the motor starts to work and drives the driving roller 303 connected thereto to rotate. When the driving roller 303 rotates, the power is transmitted to the driven roller 304 through the conveyor belt 302, so that the entire conveyor belt 302 system starts to operate. The rotation of the driving roller 303 and the driven roller 304 drives the conveyor belt 302 to run along a predetermined path. A plurality of unloading plates are arranged on the outside of the conveyor belt 302, which help guide the fallen pepper from the pepper tree or the picking point to the conveyor belt 302, and then transport it to the collection box 8.

[0044] The driving end of the electric telescopic rod 202 is movably connected to the inner side of the lifting arm 204, and the longitudinal section of the picking plate 206 is a "V"-shaped design.

[0045] Specifically, the "V" design can better concentrate the force point, making the cutting or contact surface more precise during picking operations. Because the two inclined surfaces of the "V" structure will concentrate the force under a certain pressure, it can shake the target object more quickly and efficiently, reducing the resistance during operation.

[0046] Working principle: The present invention can adopt two picking modes according to the needs, namely vibration picking and grabbing picking, wherein:

[0047] Vibration picking: by starting the electric telescopic rod 202, one end of the lifting arm 204 is swung, and the mounting plate 205 moves upward under the traction of the lifting arm 204 until the picking plate 206 contacts the leaf branches of the pepper. At this time, by starting the driving motor outside the rotating frame 203, the driving motor drives the rotating frame 203 to rotate, and the picking plate 206 is in a rotating state, and the picking plate 206 is used to shake off the pepper, and the shaken pepper will fall on the outer surface of the conveyor belt 302;

[0048] At this time, the motor outside the connecting plate 301 is started to drive the driving roller 303 to rotate, and the driving roller 303 drives the driven roller 304 to rotate under the transmission effect of the conveyor belt 302, so that the whole transport device works, and the fallen peppercorns are transported by the conveyor belt 302 and flow into the collection box 8 for centralized processing, thus avoiding the problems of missing, loss and untimely storage in the process of manual transportation;

[0049] The grabbing picking is carried out by starting the motor on the outside of the square frame 7 to drive the threaded rod 502 to rotate, which further drives the threaded block 503 to move left and right along the outer surface of the threaded rod 502, thereby driving the movable frame 501 to move synchronously, so that the grabbing picking assembly can move laterally. In addition, the entire grabbing picking assembly is driven by the electric turntable 402 to rotate, and the electric telescopic rod three 407 is started to drive one end of the connecting arm two 403 to swing, and the electric telescopic rod two 405 is started to drive the driving block 410 to move laterally. At this time, the driving block 410 will move along the inner wall of the slide groove 409. As the driving block 410 moves, a swinging traction force will be generated on the driving rod 406, so that one end of the driving rod 406 is moved closer to the inside until the two special-shaped splints 408 are close to each other, and the special-shaped splints 408 are used to pick the peppercorns, and the picked peppercorns are transported to the inside of the collection box 8 through the conveyor belt 302.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A picking device for an unmanned pepper picking machine, comprising a vehicle body (1), characterized in that: The top of the vehicle body (1) is fixedly connected with a square frame (7), the inner side of the square frame (7) is installed with an electric turntable (402), the top of the electric turntable (402) is installed with a connecting arm 1 (401), the outer side of the connecting arm 1 (401) is rotatably installed with an electric telescopic rod 3 (407), the output end of the electric telescopic rod 3 (407) is rotatably installed with a connecting arm 2 (403), the end of the connecting arm 2 (403) is installed with a fixing plate (404) via an electric rotating shaft, the inner side of the fixing plate (404) is connected with two driving rods (406) via a rotating shaft, the inner side of the driving rod (406) is fixedly connected with a special-shaped clamping plate (408), the outer side of the fixing plate (404) is installed with an electric telescopic rod 2 (405), the driving end of the electric telescopic rod 2 (405) is fixedly connected with a driving block (410), and the outer surface of the driving rod (406) is provided with a sliding groove (409).

2. The picking device of the unmanned pepper picking machine according to claim 1 is characterized in that: Two support plates (201) are installed on one side of the top of the vehicle body (1); a lifting arm (204) is hinged on one side of the top of the support plate (201); an electric telescopic rod (202) is installed on the top of the support plate (201); a mounting plate (205) is fixedly connected to the inner side of the lifting arm (204); a rotating frame (203) is rotatably connected between the two mounting plates (205); a motor for driving the rotating frame (203) to rotate is fixedly installed on one side of the mounting plate (205); and a plurality of picking plates (206) are fixedly connected between the two mounting plates (205).

3. The picking device of the unmanned pepper picking machine according to claim 1 is characterized in that: The inner side of the square frame (7) is movably connected to a threaded rod (502) via a bearing, the outer side of the threaded rod (502) is threadedly connected to two threaded blocks (503), the outer side of the threaded block (503) is fixedly connected to a movable frame (501), and the outer side of the square frame (7) is fixedly mounted with a motor for driving the threaded rod (502).

4. The picking device of the unmanned pepper picking machine according to claim 1 is characterized in that: An electric guide rail (601) is installed on one side of the top of the square frame (7), an electric slider (602) is installed on the outer side of the electric guide rail (601), and a camera (603) is detachably connected to the top of the electric slider (602).

5. The picking device of the unmanned pepper picking machine according to claim 1, characterized in that: The driving block (410) is movably connected to the inside of the sliding groove (409), a rubber pad is arranged on the inner side of the special-shaped clamping plate (408), and one side of the driving block (410) is connected to one side of the second connecting arm (403) via a rotating shaft.

6. The picking device of the unmanned pepper picking machine according to claim 1, characterized in that: Two connecting plates (301) are fixedly connected to one side of the top of the vehicle body (1); the inner sides of the two connecting plates (301) are rotatably connected with a driving roller (303) and a driven roller (304) in sequence; the outer sides of the driving roller (303) and the outer sides of the driven roller (304) are connected by a conveyor belt (302); a plurality of unloading plates are equidistantly arranged on the outer side of the conveyor belt (302); a motor for driving the driven roller (304) is fixedly installed on the outer side of one of the connecting plates (301).

7. The picking device of the unmanned pepper picking machine according to claim 1, characterized in that: A collecting box (8) is installed at the middle of the top end of the vehicle body (1), and the collecting box (8) is used to place the picked peppercorns.

8. The picking device of the unmanned pepper picking machine according to claim 2, characterized in that: The driving end of the electric telescopic rod (202) is movably connected to the inner side of the lifting arm (204), and the longitudinal section of the picking plate (206) is of "V"-shaped design.

Images