Multifunctional picking and transporting all-in-one machine for orchard

Abstract

The invention discloses an orchard multifunctional picking and transporting all-in-one machine, and relates to the technical field of fruit picking, the orchard multifunctional picking and transporting all-in-one machine comprises a picking and transporting mechanism, and the top of the picking and transporting mechanism is provided with a material receiving mechanism. When the device is used, the two electric push rods are started, the two second buffer pipelines are pushed through the two fixing blocks to move obliquely downwards at the same time and enter the material receiving frame, and the height is reduced. And the buffer net buffers the fruits firstly. And the hydraulic cylinder is started to pull the moving plate to move upwards, so that the rubber gasket jacks the buffer net upwards. A forward and reverse motor is started to drive a rotating rod and an overturning plate to rotate, a rubber gasket and one side of a buffering net are jacked upwards, and fruits roll into one first buffering pipeline under thrust, fall onto an arc-shaped guide plate along a second buffering pipeline and finally fall into a material receiving frame. The first buffer pad and the second buffer pad are used for buffering the fruits again, and the arc-shaped buffer pad is used for final buffering.

Description

Technical Field

[0001] The invention relates to the technical field of fruit picking, in particular to a multifunctional integrated picking and transporting machine for an orchard. Background Art

[0002] Fruit picking refers to the process of harvesting ripe fruits from fruit trees. This process is crucial to agricultural production because it directly affects the quality and market supply of fruits. If fruits are not picked in time after they are ripe, they may over-ripen, resulting in a poor taste, loss of nutrients, or even rot and deterioration, affecting the commercial value and edible value of the fruits. Picking fruits in time can reduce nutrient consumption of fruit trees, help fruit trees recover their vigor, accumulate nutrients for the next year's growth and fruiting, and ensure the continued high and stable yield of fruit trees.

[0003] In the prior art, the orchard multifunctional picking and transporting integrated machine is an agricultural mechanical equipment specially used for orchard operations. It integrates the fruit picking and transporting functions into one, and can complete a series of tasks such as fruit picking and transporting in the orchard, thereby improving the efficiency and automation of orchard picking operations and reducing the intensity of manual labor. During the fruit picking process, the fruit is picked by the cooperation of the mechanical arm and the picker, and then placed on the conveyor belt for transportation, and then falls into the storage box. However, there is a certain height difference between the conveyor belt and the bottom surface of the storage box. The fruit will be subjected to a certain impact during the falling process. When the impact force is large, it will cause the fruit to be scratched, indented or cracked, etc., affecting the appearance quality of the fruit and reducing the quality of fruit picking. The fruit is more likely to rot and deteriorate during storage, shortening the shelf life, thereby reducing the commodity value and affecting the economic benefits.

[0004] Therefore, we propose a multifunctional orchard picking and transporting integrated machine to solve the problems raised in the above background technology. Summary of the invention

[0005] The purpose of the present invention is to provide a multifunctional picking and transporting machine for an orchard, so as to solve the problem that the mechanical arm and the picker cooperate to pick the fruits and then transport them to the storage frame through the conveyor belt proposed in the above background technology, but there is a certain height difference between the conveyor belt and the inner bottom surface of the storage frame. The fruits will be subjected to a certain impact during the falling process, which may easily cause the fruits to be damaged, affect the appearance quality of the fruits, reduce the quality of fruit picking, shorten the shelf life of the fruits, thereby reducing the commodity value and affecting the economic benefits.

[0006] To achieve the above object, the present invention provides the following technical solution: a multifunctional orchard picking and transporting integrated machine, comprising a picking and transporting mechanism, a material receiving mechanism is arranged on the top of the picking and transporting mechanism, and a shaking mechanism is arranged on the bottom of the material receiving mechanism; The picking and transporting mechanism comprises a crawler transport vehicle, a base is arranged on the top of the crawler transport vehicle, two mounting frames are fixedly installed on the top of the base, a conveyor is installed between the two mounting frames through an auxiliary rod, a mechanical arm body is arranged on one side of the top of the base, a picker body is arranged at one end of the mechanical arm body, a camera is arranged on the top of the picker body, and a PLC control system is arranged on the top of the base near the mechanical arm body; The material receiving mechanism includes a buffer material discharge component and an auxiliary material pushing component, the buffer material discharge component includes a fixed ring, the interior of the fixed ring is fixedly connected to a buffer net, the bottom of the fixed ring is fixedly installed with two first buffer pipes, the inner walls of the two first buffer pipes are fixedly connected to a first buffer pad, the outer surfaces of the two first buffer pipes are movably sleeved with a second buffer pipe, and the inner walls of the two second buffer pipes are fixedly connected to a second buffer pad.

[0007] Preferably, an arc-shaped guide plate is fixedly installed on the bottom of the two second buffer pipes, an arc-shaped buffer pad is fixedly connected to the inner walls of the two arc-shaped guide plates, mounting blocks are fixedly installed on the outer surfaces of the two first buffer pipes near the fixing ring, an electric push rod is fixedly installed on the outer surface of one side of the two mounting blocks, a fixing block is fixedly installed on one end of the two electric push rods, and a sponge pad is fixedly connected to the outer surface of the other side of the two mounting blocks.

[0008] Preferably, two limit rods are fixedly installed on both sides of the top of the two second buffer pipes, two limit grooves are provided on the outer surfaces of both sides of the two first buffer pipes, two connecting rods are fixedly installed on the outer surfaces of the two second buffer pipes away from the fixed blocks, one end of the four connecting rods is fixedly installed with a sliding block, and three fixing rods are fixedly installed on the outer surfaces of the two first buffer pipes away from the mounting blocks.

[0009] Preferably, slide rails are installed at the edges of opposite sides of the two mounting frames through auxiliary plates, two slide grooves are provided on the outer surfaces of one side of the two slide rails, a protective ring is fixedly installed at the edge of the top of the fixing ring, a weighing groove is provided at the other side of the top of the base, a weight scale is arranged inside the weighing groove, a weighing plate is fixedly installed on the top of the weight scale, a plurality of ball grooves are provided on the top of the weighing plate, and balls are movably embedded in the plurality of ball grooves.

[0010] Preferably, the outer surfaces of the two first buffer pipes are movably embedded in the inside of the two second buffer pads, the outer surfaces of the two fixed blocks are fixedly installed on the outer surfaces of the two second buffer pipes, one ends of the eight limit rods are movably embedded in the inside of the eight limit grooves, the outer surfaces of the four slide blocks are movably embedded in the inside of the four slide grooves, the six fixed rods are grouped into three adjacent groups, one ends of the two groups of fixed rods are fixedly installed at the center of the outer surface of one side of the two slide rails, and the outer surface of the weighing plate is located inside the weighing groove.

[0011] Preferably, the auxiliary pushing assembly includes a reinforcement frame, a hydraulic cylinder is fixedly installed at the edge of the bottom of the reinforcement frame, a movable plate is fixedly installed at one end of the hydraulic cylinder, a pushing ring is fixedly installed on the bottom surface of the movable plate, a flip plate is movably embedded in the push ring, a forward and reverse motor is fixedly installed on the bottom surface of the movable plate, a rotating rod is fixedly installed on the output end of the forward and reverse motor, a center rod is fixedly installed on the top of the push ring, and a rubber gasket is fixedly connected to the outer surface of the center rod.

[0012] Preferably, a rotating hole is opened on the bottom surface of the movable plate near the push ring, one end of the rotating rod movably passes through the interior of the push ring and one end of the rotating rod movably embedded in the inner wall of the push ring, the flip plate is fixedly mounted on the outer surface of the rotating rod, the bottom of the rubber gasket contacts the top of the push ring, and the reinforcement frame is mounted on the top of the conveyor through an auxiliary frame.

[0013] Preferably, the shaking mechanism includes two fixed seats, a hydraulic rod is fixedly installed on one side inside the two fixed seats, an I-shaped sleeve is fixedly installed on one end of the two hydraulic rods, a clamping plate is movably provided inside the two I-shaped sleeves, an insertion plate is fixedly installed at the edge of the bottom of the two clamping plates, two insertion rods are fixedly installed on the outer surface of one side of the two clamping plates, and a limiting plate is fixedly installed at the bottom of the opposite side of the two mounting frames.

[0014] Preferably, a material receiving frame is provided on the top of the weighing plate, and slots are provided on the top of the material receiving frame near the front surface and the rear surface. Support rods are fixedly installed on the other side of the two fixed seats, and one end of the two support rods are movably inserted into the interior of the two working sleeves, and the bottom of the two fixed seats is fixedly installed on the top of the base near the weighing slot.

[0015] Preferably, each of the four laterally distributed two insertion rods forms a group, the outer surfaces of the two groups of insertion rods are respectively movably embedded in the two limit plates, the bottom of the material receiving frame contacts the outer surfaces of multiple balls, and the outer surfaces of the two insertion plates are respectively movably embedded in the two slots.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. When the present invention is used, two electric push rods are started, and two second buffer pipes are pushed by two fixed blocks to move obliquely downward at the same time and enter the inside of the material receiving frame. When the two electric push rods are automatically closed, the height between the two arc-shaped guide plates and the bottom surface of the inside of the material receiving frame is small. The buffer net first buffers the fruit. The hydraulic cylinder is started, and the movable plate is pulled upward so that the rubber gasket pushes the buffer net upward. The forward and reverse motors are started to drive the rotating rod and the flip plate to rotate, and one side of the rubber gasket and the buffer net is pushed upward. The fruit is pushed and rolled into one of the first buffer pipes, falls along the second buffer pipe onto the arc guide plate, and finally falls into the material receiving frame. The first buffer pad and the second buffer pad buffer the fruit again, and the arc buffer pad performs the final buffering. Under the action of the buffering unloading assembly, the height difference is reduced, and the fruit is also buffered, and the impact force is reduced, so that the fruit enters the material receiving frame in a better falling manner, avoiding excessive impact force during falling, causing damage to the fruit, affecting the quality and shelf life of the fruit, and improving the quality of fruit picking.

[0017] 2. When the present invention is used, when the forward and reverse motors are started again, their output ends will rotate in the opposite direction, driving the flip plate to reverse, so that the fruit falls into another first buffer pipe for buffered feeding. With the cooperation of the buffer feeding assembly and the auxiliary pushing assembly, two dropping points are set, so that the fruit is alternately fed from the two first buffer pipes for buffering in turn, thereby avoiding the accumulation of fruit in a certain place in the receiving frame. The weight scale performs a weight detection on the receiving frame, and transmits the detected weight data to the PLC control system for identification and analysis. When the weight data meets the set data, the PLC control system will control the two electric push rods to start again, pull the two second buffer pipes upward for a distance, and then automatically close, so that the arc guide plate moves upward for a distance, maintaining a suitable distance from the fruit in the receiving frame, avoiding the fruit from being blocked in the second buffer pipe and affecting the normal falling of other fruits.

[0018] 3. When the present invention is used, two hydraulic rods are activated to push the tool sleeve to move back and forth, driving the card plate and the plug plate to move back and forth, so that the material receiving frame shakes back and forth. The fruits will move to other areas inside the material receiving frame due to the shaking, and be evenly distributed in the material receiving frame, so as to avoid excessive accumulation of fruits, facilitate the storage of more fruits, and improve the space utilization rate of the material receiving frame. After the picking and transporting mechanism transports the fruits to the destination, the two card plates are pulled out upwards, driving the plug plate to leave the slot, and the plug rod is removed from the limit plate, and the material receiving frame can be removed.

[0019] 4. When the present invention is used, the camera is started to identify the position and maturity of the fruit and other information, and the image data is transmitted to the PLC control system. The PLC control system drives the mechanical arm body to move according to the information fed back by the camera, so that the picker body accurately approaches the target fruit and picks the fruit. Under the rotation of the mechanical arm body, the fruit is placed on the conveyor, and the fruit is intermittently transported to the receiving mechanism by the conveyor for buffering and finally falls into the receiving frame of the shaking mechanism. When the receiving frame collects an appropriate amount of fruit, the crawler transport vehicle drives the equipment to move and transports the picked fruit to the destination, completing the integration of fruit picking and transportation and reducing manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a front perspective view of a multifunctional integrated picking and transporting machine for an orchard according to the present invention; Figure 2 It is a structural unfolded stereoscopic diagram of a material receiving mechanism in a multifunctional integrated picking and transporting machine for an orchard according to the present invention; Figure 3 It is a schematic cross-sectional view of the structure of a weighing tank in a multifunctional integrated picking and transporting machine for an orchard according to the present invention; Figure 4 It is a structural unfolded stereoscopic diagram of an auxiliary material pushing component in a multifunctional integrated picking and transporting machine for an orchard according to the present invention; Figure 5 It is a schematic cross-sectional view of the structure of a rubber gasket in a multifunctional integrated picking and transporting machine for an orchard according to the present invention; Figure 6 It is a schematic cross-sectional view of the structure of a pusher ring in a multifunctional integrated picking and transporting machine for an orchard according to the present invention; Figure 7 It is a schematic cross-sectional view of the structure of a shaking mechanism in a multifunctional integrated picking and transporting machine for an orchard according to the present invention; Figure 8 It is a schematic cross-sectional view of the structure of a tool sleeve in a multifunctional integrated picking and transporting machine for an orchard according to the present invention; Fig. 9 It is a structural schematic diagram of a buffer unloading component in a multifunctional integrated picking and transporting machine for an orchard according to the present invention; Fig.10 This is a perspective view of the structure of the first buffer pipeline in the multifunctional integrated picking and transporting machine for orchards of the present invention; Fig.11 It is a three-dimensional diagram of the structure of the second buffer pipe in the multifunctional integrated picking and transporting machine for orchards of the present invention.

[0021] In the figure: 1. Picking and transporting mechanism; 101. Crawler transport vehicle; 102. Base; 103. Mounting frame; 104. Conveyor; 105. Robot arm body; 106. Picker body; 107. Camera; 108. PLC control system; 2. Material receiving mechanism; 21. Buffering and unloading assembly; 2101. Fixed ring; 2102. Buffer net; 2103. First buffer pipe; 2104. First buffer pad; 2105. Second buffer pipe; 2106. Second buffer pad; 2107. Arc guide plate; 2108. Arc buffer pad; 2109. Mounting block; 2110. Electric push rod; 2111. Fixed block; 2112. Sponge pad; 2113. Limit rod; 2114. Limit groove; 2115. Connecting rod; 2116. Slider; 21 17. Fixed rod; 2118. Slide rail; 2119. Slide groove; 2120. Protective ring; 2121. Weight scale; 2122. Weighing plate; 2123. Ball groove; 2124. Ball; 22. Auxiliary pushing assembly; 2201. Reinforcement frame; 2202. Hydraulic cylinder; 2203. Moving plate; 2204. Pushing ring; 2205. Flipping plate; 2206. Forward and reverse motor; 2207. Rotating rod; 2208. Center rod; 2209. Rubber gasket; 2210. Rotating hole; 3. Shaking mechanism; 301. Fixed seat; 302. Hydraulic rod; 303. Work sleeve; 304. Card plate; 305. Insert plate; 306. Insert rod; 307. Limiting plate; 308. Material receiving frame; 309. Slot; 3110. Support rod; 4. Weighing groove. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Example 1: Please refer to Figure 1-Figure 11As shown, the present invention provides a technical solution: a multifunctional integrated picking and transporting machine for an orchard, comprising a picking and transporting mechanism 1, a material receiving mechanism 2 is arranged on the top of the picking and transporting mechanism 1, and a shaking mechanism 3 is arranged on the bottom of the material receiving mechanism 2; the picking and transporting mechanism 1 comprises a crawler transport vehicle 101, a base 102 is arranged on the top of the crawler transport vehicle 101, two mounting frames 103 are fixedly installed on the top of the base 102, a conveyor 104 is installed between the two mounting frames 103 through an auxiliary rod, a mechanical arm body 105 is arranged on one side of the top of the base 102, a picker body 106 is arranged at one end of the mechanical arm body 105, a camera 107 is arranged on the top of the picker body 106, and a PLC control is arranged on the top of the base 102 near the mechanical arm body 105 System 108; the material receiving mechanism 2 includes a buffer material discharge component 21 and an auxiliary material pushing component 22, the buffer material discharge component 21 includes a fixed ring 2101, the interior of the fixed ring 2101 is fixedly connected with a buffer net 2102, the bottom of the fixed ring 2101 is fixedly installed with two first buffer pipes 2103, the inner walls of the two first buffer pipes 2103 are fixedly connected with a first buffer pad 2104, the outer surfaces of the two first buffer pipes 2103 are movably sleeved with a second buffer pipe 2105, the inner walls of the two second buffer pipes 2105 are fixedly connected with a second buffer pad 2106, the bottoms of the two second buffer pipes 2105 are fixedly installed with arc guide plates 2107, the inner walls of the two arc guide plates 2107 are fixedly connected with arc buffers Pad 2108, the outer surfaces of the two first buffer pipes 2103 are fixedly installed with mounting blocks 2109 near the fixing ring 2101, the outer surfaces of one side of the two mounting blocks 2109 are fixedly installed with electric push rods 2110, one end of the two electric push rods 2110 is fixedly installed with fixing blocks 2111, the outer surfaces of the other sides of the two mounting blocks 2109 are fixedly connected with sponge pads 2112, two limiting rods 2113 are fixedly installed on both sides of the top of the two second buffer pipes 2105, two limiting grooves 2114 are provided on the outer surfaces of both sides of the two first buffer pipes 2103, two connecting rods 2115 are fixedly installed on the outer surfaces of the two second buffer pipes 2105 away from the fixing blocks 2111, and the four connecting rods 2115 are fixedly installed. A slider 2116 is fixedly installed at one end, three fixing rods 2117 are fixedly installed on the outer surfaces of the two first buffer pipes 2103 away from the mounting block 2109, slide rails 2118 are installed on the edges of the opposite sides of the two mounting frames 103 through auxiliary plates, and two slide grooves 2119 are provided on the outer surfaces of one side of the two slide rails 2118, a protective ring 2120 is fixedly installed on the edge of the top of the fixing ring 2101, a weighing slot 4 is provided on the other side of the top of the base 102, a weight scale 2121 is arranged inside the weighing slot 4, a weighing plate 2122 is fixedly installed on the top of the weight scale 2121, a plurality of ball grooves 2123 are provided on the top of the weighing plate 2122, and balls 2124 are movably embedded in the plurality of ball grooves 2123.The outer surfaces of the two first buffer pipes 2103 are respectively movably embedded in the interior of the two second buffer pads 2106, the outer surfaces of the two fixed blocks 2111 are respectively fixedly installed on the outer surfaces of the two second buffer pipes 2105, one ends of the eight limit rods 2113 are respectively movably embedded in the interior of the eight limit grooves 2114, the outer surfaces of the four sliding blocks 2116 are respectively movably embedded in the interior of the four sliding grooves 2119, the six fixed rods 2117, each adjacent three fixed rods 2117 form a group, one ends of the two groups of fixed rods 2117 are respectively fixedly installed at the center of the outer surface of one side of the two slide rails 2118, the outer surface of the weighing plate 2122 is located inside the weighing groove 4, the auxiliary pushing assembly 22 includes a reinforcement frame 2201, a hydraulic cylinder 2202 is fixedly installed at the edge of the bottom of the reinforcement frame 2201, a movable plate 2203 is fixedly installed at one end of the hydraulic cylinder 2202, and the movable plate 2203 A push ring 2204 is fixedly installed on the bottom surface of the interior, and a flip plate 2205 is movably embedded in the interior of the push ring 2204. A forward and reverse motor 2206 is fixedly installed on the bottom surface of the interior of the moving plate 2203, and a rotating rod 2207 is fixedly installed on the output end of the forward and reverse motor 2206. A center rod 2208 is fixedly installed on the top of the push ring 2204, and a rubber gasket 2209 is fixedly connected to the outer surface of the center rod 2208. A rotating hole 2210 is opened on the bottom surface of the interior of the moving plate 2203 near the push ring 2204. One end of the rotating rod 2207 movably penetrates the interior of the push ring 2204 and one end of the rotating rod 2207 is movably embedded in the inner wall of the push ring 2204. The flip plate 2205 is fixedly installed on the outer surface of the rotating rod 2207. The bottom of the rubber gasket 2209 contacts the top of the push ring 2204. The reinforcement frame 2201 is installed on the top of the conveyor 104 through the auxiliary frame.

[0024] In this embodiment, when in use, the crawler transport vehicle 101, the conveyor 104, the robotic arm body 105, the picker body 106, the camera 107, the electric push rod 2110, the weight scale 2121, the hydraulic cylinder 2202, the forward and reverse motors 2206, the hydraulic rod 302 and the PLC control system 108 are electrically connected. After the material receiving frame 308 is installed under the material receiving mechanism 2, the two electric push rods 2110 are started, and the two fixed blocks 2111 are pushed to move obliquely downward respectively, and then the two second buffer pipes 2105 are pushed to move obliquely downward at the same time, gradually entering the inside of the material receiving frame 308, and driving the connecting rod 2115 and the slider 2116 to slide. When the two electric push rods 2110 are automatically closed, the two second buffer pipes 2105 are moved to the inside of the material receiving frame 308, and the height between the two arc guide plates 2107 and the bottom surface of the material receiving frame 308 is small. At this time, the first buffer pipe 2103 cooperates with the second buffer pipe 2105 to form a pipe path that is inclined downward, and the first buffer pad 2104 and the second buffer pad 2106 form an inclined buffer path. Then the picking and transport mechanism 1 is started to pick the fruit. The conveyor 104 is intermittent conveying. When the conveyor 104 is paused, the fruits at the outlet of the conveyor 104 will fall into the buffer net 2102. The protective ring 2120 protects the fruits, which is conducive to the fruits falling into the buffer net 2102. The buffer net 2102 has a certain elasticity. When the fruits fall, the buffer net 2102 first buffers the fruits to reduce the impact of the fruits falling. At this time, the buffer net 2102 is concave. Then, the hydraulic cylinder 2202 is started, and the movable plate 2203 is pulled upward to move, and the push ring 2204 and the flip plate 2205 are driven to move upward, so that the top of the rubber gasket 2209 contacts the concave buffer net 2102 and the fruit, and as the movable plate 2203 continues to move upward, the buffer net 2102 is pushed upward, so that the buffer net 2102 changes from a concave shape to a convex shape, and the center of the buffer net 2102 is raised, and the four sides are inclined toward the first buffer pipe 2103, and the fruit is located at the central raised part of the buffer net 2102.Then, the forward and reverse motor 2206 is started to drive the rotating rod 2207 to rotate, and the flip plate 2205 is driven to rotate in the pushing ring 2204 and the rotating hole 2210. Under the limit of the central rod 2208, one side of the rubber gasket 2209 is lifted, so that one side of the buffer net 2102 is pushed up, and a thrust is generated on the fruit at the central protrusion, so that the fruit rolls to one side, rolls along the downward inclined net surface of the buffer net 2102, and then rolls into one of the first buffer pipes 2103, contacts the first buffer pad 2104, and then rolls into the second buffer pipe 2105 along the formed inclined path, contacts the second buffer pad 2106, and under the buffering of the first buffer pad 2104 and the second buffer pad 2106, the fruit is further buffered to reduce the impact, and finally the fruit falls onto the arc guide plate 2107, and rolls into the receiving frame 308 through the arc guide plate 2107. The arc buffer pad 2108 performs the final buffering on the fruit to reduce the falling speed. Under the action of the buffering material discharging component 21, not only the height difference of the fruit falling is reduced, but also the fruit discharging process is buffered to reduce the impact force, so that the fruit enters the receiving frame 308 in a better falling manner, avoiding excessive impact force during falling, causing damage to the fruit, affecting the quality and shelf life of the fruit, and improving the quality of fruit picking. When the fruit is pushed into one of the first buffer pipes 2103 by the auxiliary pushing component 22, the forward and reverse motor 2206 will drive the rotating rod 2207 to reverse and reset, and then the hydraulic cylinder 2202 will start again, pushing the moving plate 2203 to move downward, so that the rubber gasket 2209 is separated from the buffer net 2102 and restored to the initial state. Then the conveyor 104 is started again to continue conveying the fruit, and the next fruit falls into the buffer net 2102 again. Then the hydraulic cylinder 2202 pulls the moving plate 2203 to move upward again. The same as the above process, at this time, the output end of the forward and reverse motor 2206 will rotate in the opposite direction, driving the flip plate 2205 to reverse, and generating thrust on the fruit again, so that the fruit falls into another first buffer pipe 2103 for buffering. With the cooperation of the buffering material discharge component 21 and the auxiliary pushing component 22, two drop points are set, so that the fruit is alternately buffered and discharged from the two first buffer pipes 2103 in turn, avoiding the accumulation of fruit in a certain place in the receiving frame 308, which affects the placement of subsequent fruit.As the amount of fruits in the receiving frame 308 increases, the weight of the receiving frame 308 will also increase. The weight scale 2121 performs weight detection on the receiving frame 308, and transmits the detected weight data to the PLC control system 108 for identification and analysis in the form of electrical signals. Three sets of different data are set in the PLC control system 108. When the weight data meets the set minimum data, the PLC control system 108 will control the two electric push rods 2110 to start again, pull the two second buffer pipes 2105 to move upward a distance on the outer surfaces of the two first buffer pipes 2103 respectively, and then automatically close, so that the arc guide plate 2107 moves upward a distance to maintain a suitable distance from the fruits in the receiving frame 308, so as to avoid the fruits being blocked in the second buffer pipe 2105 and affecting the normal falling of other fruits. When the weight data meets the set data in the middle, the electric push rod 2110 will be started again, so that the arc guide plate 2107 moves upward for a distance. When the weight data meets the set maximum data, the electric push rod 2110 will drive the arc guide plate 2107 to move above the receiving frame 308 to restore the initial state. The problem that the mechanical arm and the picker cooperate to pick the fruit and then transport it to the storage frame through the conveyor belt, but there is a certain height difference between the conveyor belt and the bottom surface of the storage frame, and the fruit will be subjected to a certain impact during the falling process, which is easy to cause the fruit to be damaged, affecting the appearance quality of the fruit, reducing the quality of fruit picking, shortening the fruit shelf life, thereby reducing the commodity value and affecting the economic benefits is solved.

[0025] Embodiment 2: Figure 2-Figure 3 and Figure 7-Figure 8As shown, a material receiving mechanism 2 is arranged on the top of the picking and transporting mechanism 1, and a shaking mechanism 3 is arranged on the bottom of the material receiving mechanism 2, and the shaking mechanism 3 includes two fixed seats 301, a hydraulic rod 302 is fixedly installed on one side of the two fixed seats 301, and a work-shaped sleeve 303 is fixedly installed on one end of the two hydraulic rods 302, and a clamping plate 304 is movably sleeved inside the two work-shaped sleeves 303, and a plugging plate 305 is fixedly installed on the edge of the bottom of the two clamping plates 304, and two plugging rods 306 are fixedly installed on the outer surface of one side of the two clamping plates 304, and a limiting plate 307 is fixedly installed on the bottom of the opposite side of the two mounting frames 103, and a material receiving frame 308 is arranged on the top of the weighing plate 2122. Slots 309 are provided at the top of the material frame 308 near the front surface and the rear surface, and support rods 3110 are fixedly installed on the other side of the two fixed seats 301. One end of the two support rods 3110 is movably inserted into the interior of the two working sleeves 303. The bottom of the two fixed seats 301 is fixedly installed on the top of the base 102 near the weighing slot 4. Each two laterally distributed four insertion rods 306 form a group, and the outer surfaces of the two groups of insertion rods 306 are movably embedded in the two limit plates 307 respectively. The bottom of the material receiving frame 308 contacts the outer surfaces of the multiple balls 2124, and the outer surfaces of the two insertion plates 305 are movably embedded in the two slots 309 respectively.

[0026] In this embodiment, when in use, the card plate 304 matches the concave part of the outer surface of the industrial sleeve 303, and the card plate 304 is firmly inserted into the outer surface of the industrial sleeve 303. When the material receiving frame 308 collects the fruits, the two hydraulic rods 302 are started to push the industrial sleeve 303 to move, drive the card plate 304 to move together, and drive the material receiving frame 308 to move to one side under the cooperation of the plug plate 305 and the slot 309. Then the hydraulic rod 302 pulls the industrial sleeve 303 to move in the opposite direction to reset, and drives the material receiving frame 308 to move in the opposite direction through the card plate 304 and the plug plate 305. Under the back and forth push of the hydraulic rod 302, the material receiving frame 308 shakes back and forth, so that the fruits in the material receiving frame 308 are shaken and move to other areas inside the material receiving frame 308, and are evenly distributed in the material receiving frame 308, so as to avoid excessive accumulation of fruits, facilitate the storage of more fruits, and improve the space utilization rate of the material receiving frame 308. The shaking mechanism 3 will pause for a while after working for a while, and the weight scale 2121 will perform a weight detection on the receiving frame 308. Under the rolling action of the ball 2124, the friction between the receiving frame 308 and the weighing plate 2122 is reduced, so that the receiving frame 308 can shake back and forth better. After the picking and transporting mechanism 1 transports the fruit to the destination, the two card plates 304 are pulled upward, driving the plug plate 305 to leave the slot 309, and the plug rod 306 is taken out of the limit plate 307, and the receiving frame 308 can be removed.

[0027] Embodiment 3: Figure 1As shown, a material receiving mechanism 2 is arranged on the top of the picking and transporting mechanism 1, and a shaking mechanism 3 is arranged on the bottom of the material receiving mechanism 2; the picking and transporting mechanism 1 comprises a crawler transport vehicle 101, a base 102 is arranged on the top of the crawler transport vehicle 101, two mounting frames 103 are fixedly installed on the top of the base 102, a conveyor 104 is installed between the two mounting frames 103 through an auxiliary rod, a robot body 105 is arranged on one side of the top of the base 102, a picker body 106 is arranged at one end of the robot body 105, a camera 107 is arranged on the top of the picker body 106, and a PLC control system 108 is arranged on the top of the base 102 near the robot body 105.

[0028] In this embodiment, when in use, the crawler transport vehicle 101 is powered by a power system, and its driving direction and speed are controlled by the PLC control system 108, so that it can travel along a predetermined path in the orchard to reach different picking areas and transportation destinations. The mechanical arm body 105 imitates the movements of human arms, can achieve multi-degree-of-freedom movements, can flexibly stretch, bend and rotate, reach fruits at different positions, provide an operating platform and power transmission for the picker body 106, so that the picker body 106 can accurately approach the fruit for picking operations. The picker body 106 is used to separate the fruit from the fruit tree, and the camera 107 is used to collect image information of the orchard environment and the fruit, which can identify the position, maturity, shape and other characteristics of the fruit, provide visual feedback for the operation of the mechanical arm body 105 and the picker body 106, and help the PLC control system 108 to accurately control the picking action, thereby improving the accuracy and success rate of picking. The conveyor 104 is responsible for conveying the fruits picked by the picker body 106 from the picking position to the receiving frame 308. The conveyor 104 is intermittent. The PLC control system 108 receives information from sensors such as the camera 107, analyzes and processes it, and issues instructions to control the movement of the crawler transport vehicle 101, the movement of the robot body 105, the operation of the picker body 106, the operation of the conveyor 104 and other components according to the preset program and algorithm, so as to realize automated and intelligent operation. Start the crawler transporter 101, drive the entire device to move to the picking area, start the camera 107, scan the orchard environment, identify the location and maturity of the fruit and other information, and transmit the image data to the PLC control system 108. The PLC control system 108 calculates the position and angle that the mechanical arm body 105 needs to reach based on the information fed back by the camera 107, drives the mechanical arm body 105 to move, makes the picker body 106 accurately approach the target fruit, and picks the fruit through the picker body 106. Under the rotation of the mechanical arm body 105, the fruit is placed on the conveyor 104, and the conveyor 104 intermittently transports the fruit to the receiving mechanism 2 for buffering and finally falls into the receiving frame 308 of the shaking mechanism 3. When the receiving frame 308 collects an appropriate amount of fruit, the crawler transporter 101 drives the device to move and transports the picked fruit to the destination, completing the integration of fruit picking and transportation and reducing manpower.

[0029] The effect and working principle achieved by the entire mechanism are as follows: start the two electric push rods 2110, and push the two fixed blocks 2111 to move obliquely downward respectively, and then push the two second buffer pipes 2105 to move obliquely downward at the same time, gradually entering the interior of the material receiving frame 308, and at the same time drive the connecting rod 2115 and the slider 2116 to slide. When the two electric push rods 2110 are automatically closed, the two second buffer pipes 2105 are moved to the interior of the material receiving frame 308, and the height between the two arc guide plates 2107 and the bottom surface of the interior of the material receiving frame 308 is small. At this time, the first buffer pipe 2103 cooperates with the second buffer pipe 2105 to form a downward inclined pipe path, and the first buffer pad 2104 and the second buffer pad 2106 form an inclined buffer path. Start the crawler transporter 101, drive the entire device to move to the picking area, start the camera 107, scan the orchard environment, identify the position and maturity of the fruit and other information, and transmit the image data to the PLC control system 108. The PLC control system 108 calculates the position and angle that the robot body 105 needs to reach based on the information fed back by the camera 107, drives the robot body 105 to move, makes the picker body 106 accurately approach the target fruit, and picks the fruit through the picker body 106. Under the rotation of the robot body 105, the fruit is placed on the conveyor 104 for transportation. When the conveyor 104 is paused, the fruit at the outlet of the conveyor 104 will fall into the buffer net 2102. The buffer net 2102 first buffers the fruit to reduce the impact of the fruit falling, and the buffer net 2102 is concave at this time. Then, the hydraulic cylinder 2202 is started to pull the movable plate 2203 upward, driving the push ring 2204 and the flip plate 2205 upward, so that the top of the rubber gasket 2209 contacts the concave buffer net 2102 and the fruit, and as the movable plate 2203 continues to move upward, the buffer net 2102 is pushed upward, so that the buffer net 2102 changes from a concave shape to a convex shape. Then, the forward and reverse motor 2206 is started to drive the rotating rod 2207 to rotate, driving the flip plate 2205 to rotate in the pushing ring 2204 and the rotating hole 2210, and under the limit of the central rod 2208, one side of the rubber gasket 2209 is lifted, thereby pushing one side of the buffer net 2102 upward, so that the fruit rolls to one side, rolls along the downward inclined mesh surface of the buffer net 2102, and then rolls into one of the first buffer pipes 2103, contacts the first buffer pad 2104, and then rolls into the second buffer pipe 2105 along the formed inclined path, contacts the second buffer pad 2106, and under the buffering of the first buffer pad 2104 and the second buffer pad 2106, the fruit is further buffered to reduce the impact, and finally rolls into the receiving frame 308 through the arc guide plate 2107, and the arc buffer pad 2108 performs the final buffering on the fruit to reduce the falling speed.Under the action of the buffering unloading component 21, not only the height difference of the fruit falling is reduced, but also the fruit unloading process is buffered to reduce the impact, so that the fruit enters the receiving frame 308 in a better falling manner. When the fruit is pushed into one of the first buffer pipes 2103 by the auxiliary pushing component 22, the forward and reverse motor 2206 will drive the rotating rod 2207 to reverse and reset, and then the hydraulic cylinder 2202 will start again to push the moving plate 2203 to move downward, so that the rubber gasket 2209 is separated from the buffer net 2102 and restored to the initial state. Then the conveyor 104 is started again to continue to transport the fruit, and the next fruit falls into the buffer net 2102 again. Then the hydraulic cylinder 2202 pulls the moving plate 2203 to move upward again. The same as the above process, at this time, the output end of the forward and reverse motor 2206 will rotate in the opposite direction, driving the flip plate 2205 to reverse, and generating thrust on the fruit again, so that the fruit falls into another first buffer pipe 2103 for buffering unloading. With the cooperation of the buffer unloading component 21 and the auxiliary pushing component 22, two drop points are set, so that the fruits are alternately buffered and unloaded from the two first buffer pipes 2103. As the number of fruits in the receiving frame 308 increases, the weight of the receiving frame 308 will also increase. The weight scale 2121 performs weight detection on the receiving frame 308, and transmits the detected weight data to the PLC control system 108 in the form of electrical signals for identification and analysis. Three sets of different data are set in the PLC control system 108. When the weight data meets the set minimum data, the PLC control system 108 will control the two electric push rods 2110 to start again, pull the two second buffer pipes 2105 to move upward a distance on the outer surface of the two first buffer pipes 2103, and then automatically close, so that the arc guide plate 2107 moves upward a distance to keep a suitable distance from the fruits in the receiving frame 308, so as to avoid the fruit from being blocked in the second buffer pipe 2105 and affecting the normal drop of other fruits. When the weight data meets the set data in the middle, the electric push rod 2110 will be started again, so that the arc guide plate 2107 moves upward for a distance. When the weight data meets the set maximum data, the electric push rod 2110 will drive the arc guide plate 2107 to move above the material receiving frame 308 to restore the initial state. The two hydraulic rods 302 are started to push the tool sleeve 303 to move back and forth, driving the card plate 304 and the plug plate 305 back and forth, so that the material receiving frame 308 shakes back and forth, and the fruits are shaken to move to other areas and are evenly distributed in the material receiving frame 308.

[0030] Among them, the crawler transport vehicle 101, the conveyor 104, the robotic arm body 105, the picker body 106, the camera 107, the electric push rod 2110, the weight scale 2121, the hydraulic cylinder 2202, the forward and reverse motor 2206, the hydraulic rod 302 and the PLC control system 108 are all existing technologies, and their components and usage principles are all public technologies, so no excessive explanation will be given here.

[0031] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional orchard picking and transporting machine, comprising a picking and transporting mechanism (1), characterized in that: A material receiving mechanism (2) is arranged at the top of the picking and transporting mechanism (1), and a shaking mechanism (3) is arranged at the bottom of the material receiving mechanism (2); The picking and transporting mechanism (1) comprises a crawler transport vehicle (101), a base (102) is arranged on the top of the crawler transport vehicle (101), two mounting frames (103) are fixedly mounted on the top of the base (102), a conveyor (104) is mounted between the two mounting frames (103) via an auxiliary rod, a mechanical arm body (105) is arranged on one side of the top of the base (102), a picker body (106) is arranged at one end of the mechanical arm body (105), a camera (107) is arranged on the top of the picker body (106), and a PLC control system (108) is arranged on the top of the base (102) near the mechanical arm body (105); The material receiving mechanism (2) comprises a buffer material discharge component (21) and an auxiliary material pushing component (22), wherein the buffer material discharge component (21) comprises a fixed ring (2101), the interior of the fixed ring (2101) is fixedly connected to a buffer net (2102), the bottom of the fixed ring (2101) is fixedly mounted with two first buffer pipes (2103), the inner walls of the two first buffer pipes (2103) are fixedly connected to a first buffer pad (2104), the outer surfaces of the two first buffer pipes (2103) are movably sleeved with a second buffer pipe (2105), and the inner walls of the two second buffer pipes (2105) are fixedly connected to a second buffer pad (2106).

2. The multifunctional orchard picking and transporting integrated machine according to claim 1 is characterized in that: The bottoms of the two second buffer pipes (2105) are fixedly installed with arc-shaped guide plates (2107), the inner walls of the two arc-shaped guide plates (2107) are fixedly connected with arc-shaped buffer pads (2108), the outer surfaces of the two first buffer pipes (2103) near the fixing ring (2101) are fixedly installed with mounting blocks (2109), the outer surfaces of one side of the two mounting blocks (2109) are fixedly installed with electric push rods (2110), one ends of the two electric push rods (2110) are fixedly installed with fixing blocks (2111), and the outer surfaces of the other sides of the two mounting blocks (2109) are fixedly connected with sponge pads (2112).

3. The multifunctional orchard picking and transporting machine according to claim 2 is characterized in that: Two limiting rods (2113) are fixedly installed on both sides of the top of the two second buffer pipes (2105), two limiting grooves (2114) are provided on the outer surfaces of both sides of the two first buffer pipes (2103), two connecting rods (2115) are fixedly installed on the outer surfaces of the two second buffer pipes (2105) away from the fixing block (2111), a sliding block (2116) is fixedly installed on one end of the four connecting rods (2115), and three fixing rods (2117) are fixedly installed on the outer surfaces of the two first buffer pipes (2103) away from the mounting block (2109).

4. The multifunctional orchard picking and transporting integrated machine according to claim 3 is characterized in that: A slide rail (2118) is installed at the edge of the opposite side of the two mounting frames (103) through an auxiliary plate, and two slide grooves (2119) are provided on the outer surface of one side of the two slide rails (2118). A protective ring (2120) is fixedly installed at the edge of the top of the fixing ring (2101), and a weighing groove (4) is provided at the other side of the top of the base (102). A weight scale (2121) is arranged inside the weighing groove (4), and a weighing plate (2122) is fixedly installed on the top of the weight scale (2121). A plurality of ball grooves (2123) are provided on the top of the weighing plate (2122), and balls (2124) are movably embedded inside the plurality of ball grooves (2123).

5. The multifunctional orchard picking and transporting machine according to claim 4 is characterized in that: The outer surfaces of the two first buffer pipes (2103) are respectively movably embedded in the interior of the two second buffer pads (2106), the outer surfaces of the two fixed blocks (2111) are respectively fixedly installed on the outer surfaces of the two second buffer pipes (2105), one ends of the eight limit rods (2113) are respectively movably embedded in the interior of the eight limit grooves (2114), the outer surfaces of the four sliding blocks (2116) are respectively movably embedded in the interior of the four sliding grooves (2119), the six fixed rods (2117) are each composed of three adjacent fixed rods (2117) as a group, one ends of the two groups of fixed rods (2117) are respectively fixedly installed at the center of the outer surface of one side of the two slide rails (2118), and the outer surface of the weighing plate (2122) is located inside the weighing groove (4).

6. The multifunctional orchard picking and transporting integrated machine according to claim 5, characterized in that: The auxiliary pushing assembly (22) comprises a reinforcement frame (2201), a hydraulic cylinder (2202) is fixedly mounted at the edge of the bottom of the reinforcement frame (2201), a movable plate (2203) is fixedly mounted at one end of the hydraulic cylinder (2202), a pushing ring (2204) is fixedly mounted on the bottom surface of the movable plate (2203), a flip plate (2205) is movably embedded inside the pushing ring (2204), a forward and reverse motor (2206) is fixedly mounted on the bottom surface of the movable plate (2203), a rotating rod (2207) is fixedly mounted at the output end of the forward and reverse motor (2206), a center rod (2208) is fixedly mounted on the top of the pushing ring (2204), and a rubber gasket (2209) is fixedly connected to the outer surface of the center rod (2208).

7. The multifunctional orchard picking and transporting machine according to claim 6 is characterized in that: A rotating hole (2210) is provided on the bottom surface of the movable plate (2203) near the push ring (2204), one end of the rotating rod (2207) is movably inserted into the interior of the push ring (2204) and one end of the rotating rod (2207) is movably embedded in the inner wall of the push ring (2204), the flip plate (2205) is fixedly mounted on the outer surface of the rotating rod (2207), the bottom of the rubber gasket (2209) is in contact with the top of the push ring (2204), and the reinforcement frame (2201) is mounted on the top of the conveyor (104) through an auxiliary frame.

8. The multifunctional orchard picking and transporting machine according to claim 7 is characterized in that: The shaking mechanism (3) comprises two fixed seats (301), one side of the inside of the two fixed seats (301) is fixedly mounted with a hydraulic rod (302), one end of the two hydraulic rods (302) is fixedly mounted with a work-shaped sleeve (303), the inside of the two work-shaped sleeves (303) are movably sleeved with a clamping plate (304), the bottom edges of the two clamping plates (304) are fixedly mounted with an insertion plate (305), the outer surfaces of one side of the two clamping plates (304) are fixedly mounted with two insertion rods (306), and the bottoms of the opposite sides of the two mounting frames (103) are fixedly mounted with a limiting plate (307).

9. The multifunctional orchard picking and transporting machine according to claim 8, characterized in that: A material receiving frame (308) is arranged on the top of the weighing plate (2122), and slots (309) are provided on the top of the material receiving frame (308) near the front surface and the rear surface. Support rods (3110) are fixedly installed on the other side of the two fixing seats (301), and one end of the two support rods (3110) is movably inserted into the inside of the two tool sleeves (303). The bottom of the two fixing seats (301) is fixedly installed on the top of the base (102) near the weighing slot (4).

10. The multifunctional orchard picking and transporting machine according to claim 9, characterized in that: Each of the four insert rods (306) is composed of two insert rods (306) distributed laterally, and the outer surfaces of the two groups of the insert rods (306) are movably embedded in the two limit plates (307), respectively. The bottom of the material receiving frame (308) contacts the outer surfaces of the plurality of balls (2124), and the outer surfaces of the two insert plates (305) are movably embedded in the two slots (309), respectively.

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