Automatic melon and fruit picking equipment used in greenhouse

Abstract

The invention belongs to the technical field of automatic picking, and particularly relates to automatic melon and fruit picking equipment used in a greenhouse, the automatic melon and fruit picking equipment comprises a bottom plate, a mechanical arm is rotatably connected to the upper surface of the bottom plate, a fixing frame is rotatably connected to one end of the mechanical arm, and a picking assembly is arranged in the fixing frame; the picking assembly comprises two cutters arranged on one side of the fixing frame in a sliding mode, and the two cutters are used for cutting off the stems of melons and fruits; a fixing block is fixedly connected to the upper surface of the bottom plate, two fixing rods are fixedly connected to one side of the fixing block, a balance assembly is arranged between the two fixing rods and comprises arc-shaped rails fixedly connected between the two fixing rods, and the same positioning plate is slidably arranged between the two arc-shaped rails. A storage frame is connected to the upper surface of the positioning plate in a clamped mode and used for storing melons and fruits. Through the wiping assembly, the problem that the scanning mirror is interfered by water drops and detection is affected is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic picking, in particular to an automatic fruit picking device used in a greenhouse. Background Art

[0002] With the continuous expansion of fruit and vegetable planting areas, the gradual decrease in agricultural practitioners and the intensification of the aging population trend, manual picking can no longer meet the needs of concentrated and rapid picking of fruits and vegetables during the ripening period. Therefore, most of the existing fruit and vegetable picking uses automatic picking equipment for picking.

[0003] Most of the existing picking equipment uses automatic picking robots for picking. This kind of picking equipment is usually used for picking fruits hanging in greenhouses. First, the robot moves along the rows between two rows of fruits. During the movement, the maturity of the fruits hanging on both sides is analyzed and identified through the camera. Then, the stems of fruits that meet the maturity standards are broken and clamped by the robot arm, and then the fruits with the clamped stems are placed in the collection box to complete the picking.

[0004] However, in the process of using the existing picking robots, because the greenhouse is a closed environment, when it encounters rainy weather, the humidity in the greenhouse will increase significantly. At this time, when using the picking robot for picking, the water mist in the greenhouse will adhere to the maturity detection lens to form water droplets, interfering with the scanning detection of the lens. At the same time, because the humidity in the greenhouse is high, the soil between the two rows of fruits will be extremely wet. Then the movement of the picking robot will cause the wet soil to adhere to the moving wheels, but the soil attached to each moving wheel is uncontrollable, causing the picking robot to tilt to the side where the moving wheel is adhered to thicker soil. The tilted picking robot's lens and collection frame will also tilt. The tilt of the lens will reduce the detection range of picking, and the tilt of the collection frame will cause the fruits to pile up on one side when the robotic arm places the fruits. After too much accumulation, the fruits may fall out of the collection frame, resulting in reduced picking quality and picking efficiency.

[0005] To this end, the present invention provides an automatic fruit picking device for use in a greenhouse. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is as follows: the automatic fruit picking device for use in a greenhouse according to the present invention comprises a bottom plate, a mechanical arm is rotatably connected to the upper surface of the bottom plate, one end of the mechanical arm is rotatably connected to a fixed frame, a picking assembly is arranged in the fixed frame, the picking assembly comprises two cutters slidably arranged on one side of the fixed frame, and the two cutters are used to cut the stems of fruits and vegetables;

[0008] A fixing block is fixedly connected to the upper surface of the bottom plate, two fixing rods are fixedly connected to one side of the fixing block, a balancing assembly is arranged between the two fixing rods, the balancing assembly comprises an arc-shaped rail fixedly connected between the two fixing rods, a same positioning plate is slidably arranged between the two arc-shaped rails, a storage frame is clamped on the upper surface of the positioning plate, and the storage frame is used to store fruits;

[0009] The upper surface of the bottom plate is fixedly connected with a support frame, the top of the support frame is fixedly connected with a positioning frame, the lower surface of the positioning frame is fixedly connected with two protection frames, each of the protection frames is fixedly connected with a scanning mirror, and the scanning mirror is used to detect the maturity of fruits and vegetables;

[0010] A wiping assembly is arranged on one side of the positioning frame close to the scanning mirror. The wiping assembly comprises a protective cover fixedly connected to one side of the positioning frame. Two adsorption columns are slidably arranged in the protective cover. The two adsorption columns are used for adsorbing and wiping water droplets on the scanning mirror.

[0011] Preferably, the wiping assembly also includes a third groove body opened on one side of the positioning frame, a second servo motor is fixedly connected to one side of the third groove body, a second reciprocating screw is fixedly connected to the output end of the second servo motor, the second reciprocating screw is located inside the second groove body, the circumferential surface of the second reciprocating screw is slidably connected to two sliding blocks, the surface of each sliding block is rotatably connected to a fixed shaft, the circumferential surface of the fixed shaft is fixedly connected to an adsorption column, and an adsorption layer is pasted on the surface of the adsorption column.

[0012] Preferably, a gear is fixedly connected to the top end of the fixed shaft, a rack plate is fixedly connected to one side of the positioning frame, the gear is meshed with the rack plate, and the rack plate is used to drive the adsorption column to rotate.

[0013] Preferably, a scraping assembly is provided on the lower surface of the positioning frame, and the scraping assembly includes a fixed box fixedly connected to the lower surface of the positioning frame, and two first guide rails are opened on the side of the fixed box close to the adsorption column, and the bottom surface of each of the first guide rails is rotatably connected to a reciprocating screw, and the circumferential surface of each of the reciprocating screws is slidably connected to a first guide block, and the upper surface of each of the first guide blocks is rotatably fixed to a positioning shaft, and the circumferential surface of each of the positioning shafts is rotatably connected to a connecting rod, and one end of each of the connecting rods is fixedly connected to a fixed half ring, and every two of the fixed half rings can clamp the adsorption column, and the connecting rod is controlled by an air pump in the fixed box.

[0014] Preferably, a plurality of slots are provided on one side of the fixing box close to the fixing plate, and the slots are used to receive the fixing half rings and to clamp the fixing half rings.

[0015] Preferably, a guide plate is fixedly connected to the middle of the support frame, and the cross section of the guide plate is conical and is used to guide the water squeezed out of the two adsorption columns.

[0016] Preferably, a fixing groove is provided inside the fixed frame, a limiting block is fixedly connected to one side of the fixed frame, a second groove body is provided on one side of the limiting block, a middle partition block is fixedly connected to the middle of the second groove body, first servo motors are fixedly connected to both sides of the limiting block, a first reciprocating screw is fixedly connected to the output end of each of the first servo motors, a first sliding block is slidably connected to the circumferential surface of each of the first reciprocating screws, and a cutter is fixedly connected to one side of each of the first sliding blocks.

[0017] Preferably, a plurality of support rods are fixedly connected to the upper surface of the base plate, and a curved scraper is fixedly connected to one side of each of the support rods. Each of the curved scrapers abuts against each moving wheel for scraping away soil.

[0018] Preferably, two arc rails are fixedly connected between the two fixed rods, the surface of each arc rail is provided with an arc groove, two positioning rods are slidably connected in each arc groove, the lower surface of each positioning rod is hinged with a steel ball, the upper surfaces of several positioning rods are fixedly connected to the same positioning plate, the upper surface of the positioning plate is fixedly connected to two partitions, the upper surface of the positioning rod plate is provided with several limiting members, the two partitions and the several limiting members are used to limit the storage frame, and the lower surface of the positioning plate is fixedly connected to a counterweight lead block.

[0019] Preferably, the limiting member includes a plurality of first grooves opened on the upper surface of the positioning plate, each of the first grooves is fixedly connected with a rotating shaft, a torsion spring is sleeved on the circumferential surface of each rotating shaft, and a rotating clamp is fixedly connected to the circumferential surface of each torsion spring.

[0020] The beneficial effects of the present invention are as follows:

[0021] 1. The automatic fruit picking device for use in a greenhouse described in the present invention drives the entire picking device to move between rows in the greenhouse through a number of moving wheels at the bottom of the bottom plate, then starts the mechanical arm on the bottom plate, and simultaneously starts the scanning mirrors in the two protective frames below the positioning frame. This is a high-precision scanning mirror that can detect the maturity of fruits and vegetables in real time to ensure that only fruits that are in the best edible or storage state are picked. This function reduces the blindness of picking, and then rotates to a designated position according to a preset program or remote control command to accurately locate the fruits and vegetables to be picked. When the scanning mirror scans and detects that there are ripe fruits and vegetables, a set of efficient picking components is installed in the fixed frame at the end of the mechanical arm. Specifically, two synchronously sliding cutters are used to accurately and quickly cut off the stems of fruits and vegetables to achieve non-destructive picking, reduce errors and damage in manual operations, and ensure the integrity and freshness of fruits and vegetables.

[0022] 2. The automatic fruit picking device for use in greenhouses described in the present invention cooperates with a positioning plate sliding in the arc track through an arc rail between two fixed rods. When the picking device tilts, the positioning plate can slide and correct itself in the arc track to maintain balance, ensuring that the storage frame can move smoothly when receiving the picked fruits and vegetables, and automatically adjust to the optimal receiving position, effectively preventing damage to the fruits and vegetables caused by falling or collision. At the same time, the problem of water droplets forming on the scanning mirror due to the high humidity environment in the greenhouse can be solved by providing a wiping component, so that the two adsorption columns in the protective cover can automatically slide back and forth when necessary, gently adsorb and wipe the water droplets on the surface of the scanning mirror, maintain its clear field of view, ensure that the detection accuracy is not affected, and further improve the reliability and durability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] Figure 1 is a three-dimensional diagram of the first embodiment of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the main body of the present invention;

[0026] Figure 3 It is a structural schematic diagram of the fixing block of the present invention;

[0027] Figure 4 It is a structural schematic diagram of the positioning plate of the present invention;

[0028] Figure 5 It is a schematic diagram of the structure of the lead counterweight of the present invention;

[0029] Figure 6 It is a schematic structural diagram of the rotating clamp of the present invention;

[0030] Figure 7 It is a structural schematic diagram of the positioning frame of the present invention;

[0031] Figure 8 It is a schematic diagram of the structure of the wiping assembly of the present invention;

[0032] Fig. 9 It is a structural schematic diagram of the card slot of the present invention;

[0033] In the figure: 1. bottom plate;

[0034] 2. Support rod; 21. Arc scraper;

[0035] 3. Fixed block; 31. Fixed rod; 32. Storage frame; 33. Arc rail; 34. Arc groove; 35. Positioning rod; 36. Steel ball; 37. Positioning plate; 38. Partition plate; 39. First trough body; 310. Rotating clamp; 311. Rotating shaft; 312. Torsion spring; 313. Counterweight lead block;

[0036] 4. Robotic arm; 41. Fixed frame; 42. Fixed slot; 43. Limit block; 44. Second slot body; 45. First servo motor; 46. First reciprocating screw; 47. Middle partition block; 48. First slider; 49. Cutter;

[0037] 5. Support frame; 51. Guide plate; 52. Positioning frame; 53. Protection frame; 54. Scanning mirror;

[0038] 55, fixed box; 551, first guide rail; 552, reciprocating screw rod; 553, first guide block; 554, positioning shaft; 555, connecting rod; 556, fixed half ring; 557, slot;

[0039] 56. Protective cover; 57. Second servo motor; 58. Third tank; 59. Second reciprocating screw; 510. Sliding block; 511. Fixed shaft; 512. Adsorption column; 513. Rack plate; 514. Gear. DETAILED DESCRIPTION

[0040] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0041] Embodiment 1

[0042] like Figures 1 to 9As shown, an automatic fruit picking device for use in a greenhouse according to an embodiment of the present invention comprises a base plate 1, a mechanical arm 4 is rotatably connected to the upper surface of the base plate 1, one end of the mechanical arm 4 is rotatably connected to a fixed frame 41, a picking assembly is arranged in the fixed frame 41, and the picking assembly comprises two cutters 49 slidably arranged on one side of the fixed frame 41, and the two cutters 49 are used for cutting the stems of fruits and vegetables; a fixed block 3 is fixedly connected to the upper surface of the base plate 1, two fixed rods 31 are fixedly connected to one side of the fixed block 3, a balancing assembly is arranged between the two fixed rods 31, and the balancing assembly comprises an arc rail 33 fixedly connected between the two fixed rods 31, and a The same positioning plate 37 has a storage frame 32 on its upper surface, and the storage frame 32 is used to store fruits and vegetables; a support frame 5 is fixedly connected to the upper surface of the bottom plate 1, a positioning frame 52 is fixedly connected to the top of the support frame 5, and two protective frames 53 are fixedly connected to the lower surface of the positioning frame 52, and a scanning mirror 54 is fixedly connected to each protective frame 53, and the scanning mirror 54 is used to detect the maturity of fruits and vegetables; a wiping assembly is provided on the side of the positioning frame 52 close to the scanning mirror 54, and the wiping assembly includes a protective cover 56 fixedly connected to one side of the positioning frame 52, and two adsorption columns 512 are slidably provided in the protective cover 56, and the two adsorption columns 512 are used to adsorb and wipe water droplets on the scanning mirror 54.

[0043] Specifically, in the process of using the existing picking robot, because the greenhouse is a closed environment, when it encounters rainy weather, the humidity in the greenhouse will increase significantly. At this time, when the picking robot is used for picking, the water mist in the greenhouse will adhere to the maturity detection lens to form water droplets, which interferes with the scanning detection of the lens. At the same time, because the humidity in the greenhouse is high, the soil between the two rows of fruits will be extremely wet, and then the movement of the picking robot will cause the wet soil to adhere to the moving wheels, but the soil attached to each moving wheel is uncontrollable, causing the picking robot to tilt toward the side where the moving wheel is adhered to thicker soil, and the tilted picking robot's lens and collection frame will tilt. The tilt of the lens will reduce the detection range of picking, and the tilt of the collection frame will cause the mechanical arm 4 to place the fruits. The fruits will pile up on one side. After too much accumulation, the fruits may fall out of the collection frame, resulting in reduced picking quality and picking efficiency.

[0044] Therefore, the present invention solves this problem by setting a certain structure. First, the whole picking device is driven to move between the rows in the greenhouse by a number of moving wheels at the bottom of the bottom plate 1. Then, the mechanical arm 4 on the bottom plate 1 is started, and at the same time, the scanning mirror 54 located in the two protection frames 53 below the positioning frame 52 is started. This is a high-precision scanning mirror 54, which can detect the maturity of fruits in real time to ensure that only fruits that are in the best edible or storage state are picked. This function reduces the blindness of picking. Then, according to the preset program or remote control command, it rotates to the specified position to accurately locate the fruits to be picked. When the scanning mirror 54 scans and detects that there are ripe fruits, a set of efficient picking components is installed in the fixed frame 41 at the end of the mechanical arm 4. Specifically, by using two synchronously sliding cutters 49, the stems of fruits are accurately and quickly cut off to achieve non-destructive picking, reduce errors and damages in manual operation, and ensure the integrity and freshness of fruits.

[0045] In addition, by means of a balancing component provided on the bottom plate 1, specifically, by means of the arc rail 33 between the two fixing rods 31 and the positioning plate 37 sliding in the arc rail 33, when the picking device tilts, the positioning plate 37 can slide and self-correct in the arc rail 33, thereby maintaining balance, ensuring that the storage frame 32 can move smoothly when receiving the picked fruits and vegetables, and automatically adjust to the best receiving position, effectively preventing the fruits and vegetables from being damaged by falling or collision. At the same time, the problem of water droplets on the scanning mirror 54 that may be caused by the high humidity environment in the greenhouse can be solved by providing a wiping component, so that the two adsorption columns 512 in the protective cover 56 can automatically slide back and forth when necessary, gently adsorb and wipe the water droplets on the surface of the scanning mirror 54, maintain its clear field of view, ensure that the detection accuracy is not affected, and further improve the reliability and durability of the equipment;

[0046] The problem that the scanning mirror 54 is disturbed by water droplets and affects the detection is solved. At the same time, the problem that the wet soil adheres to the moving wheel, resulting in thick soil adhering to the circumferential surface of the moving wheel, causes the picking equipment to tilt toward the moving wheel where the thick soil is attached, and then the fruits may pile up to one side. After too much accumulation, the fruits may fall out of the collection frame, resulting in reduced picking quality and picking efficiency.

[0047] like Figure 8As shown, the wiping assembly of this embodiment also includes a third slot body 58 opened on one side of the positioning frame 52, a second servo motor 57 is fixedly connected to one side of the third slot body 58, a second reciprocating screw 59 is fixedly connected to the output end of the second servo motor 57, the second reciprocating screw 59 is located inside the second slot body 44, the circumferential surface of the second reciprocating screw 59 is slidably connected to two sliding blocks 510, the surface of each sliding block 510 is rotatably connected to a fixed shaft 511, the circumferential surface of the fixed shaft 511 is fixedly connected to an adsorption column 512, and an adsorption layer is pasted on the surface of the adsorption column 512. In actual use, the adsorption layer can be made of a cloth with a softer texture.

[0048] Specifically, a second servo motor 57 is installed on one side of the positioning frame 52. The motor serves as a power source to drive the second reciprocating screw 59 to rotate in the third groove 58. As the second reciprocating screw 59 rotates, the two sliding blocks 510 thereon realize reciprocating motion due to the spiral trajectory. Then, the fixed shaft 511 rotatably connected to the sliding block 510 and the adsorption column 512 fixed thereon can gently adsorb and wipe the water droplets on the surface of the scanning mirror 54, maintain its clear field of view, and ensure that the detection accuracy is not affected. In addition, the use of soft cloth material can protect the surface of the scanning mirror 54 and reduce the risk of scratches and damage.

[0049] like Figure 8 As shown, in this embodiment, a gear 514 is fixedly connected to the top of the fixed shaft 511, and a rack plate 513 is fixedly connected to one side of the positioning frame 52. The gear 514 is meshed with the rack plate 513, and the rack plate 513 is used to drive the adsorption column 512 to rotate.

[0050] Specifically, by meshing the gear 514 at the top of the fixed shaft 511 with the rack plate 513 on the side of the positioning frame 52, when the sliding block 510 moves along the second reciprocating screw 59, the gear 514 rolls on the rack plate 513 with the fixed shaft 511, thereby driving the fixed shaft 511 to rotate, and then the adsorption column 512 can be driven to rotate. The combination of rotation and reciprocating motion enhances the cleaning effect, ensures that the soft cloth can more comprehensively cover and deeply clean the surface, and improves the cleaning efficiency and quality.

[0051] like Figure 8 and Fig. 9As shown, a scraping assembly is provided on the lower surface of the positioning frame 52 of this embodiment, and the scraping assembly includes a fixed box 55 fixedly connected to the lower surface of the positioning frame 52, and two first guide rails 551 are opened on the side of the fixed box 55 close to the adsorption column 512, and the bottom surface of each first guide rail 551 is rotatably connected to a reciprocating screw 552, and the circumferential surface of each reciprocating screw 552 is slidably connected to a first guide block 553, and the upper surface of each first guide block 553 is rotatably fixed to a positioning shaft 554, and the circumferential surface of each positioning shaft 554 is rotatably connected to a connecting rod 555, and one end of each connecting rod 555 is fixedly connected to a fixed half ring 556, and every two fixed half rings 556 can clamp the adsorption column 512, and the connecting rod 555 is controlled by an air pump in the fixed box 55.

[0052] Specifically, a combination mechanism of a first guide rail 551 and a reciprocating screw rod 552 is arranged in a fixed box 55 on the lower surface of the positioning frame 52, and the reciprocating screw rod 552 is driven to rotate by starting the built-in motor in the fixed box 55. Then, the first guide block 553 slides along the reciprocating screw rod 552 under the limit of the first guide rail 551, driving the positioning shaft 554 and the connecting rod 555 fixed thereon to reciprocate. The other ends of these connecting rods 555 are connected to the fixed semi-ring 556. The opening and closing of the fixed semi-ring 556 is realized by accurately controlling the switch of the air pump, and then the air pump 556 is turned on and off. The closure of the fixed half ring 556 clamps the adsorption column 512. Because the adsorption column 512 will be saturated after absorbing more water droplets from the scanning mirror 54, the water on the adsorption column 512 will form a watermark on the lens of the scanning mirror 54. Therefore, the fixed half ring 556 is quickly closed through the action of the air pump to clamp the adsorption column 512, and then the built-in motor of the fixed box 55 is started to drive the first guide block 553 to move up and down, thereby squeezing and scraping off the water adsorbed on the adsorption column 512, thereby increasing the service life of the adsorption column 512 and being able to continue the wiping work better.

[0053] like Fig. 9 As shown, in this embodiment, a plurality of slots 557 are provided on one side of the fixing box 55 close to the fixing plate. The slots 557 are used to receive the fixing half ring 556 and to clamp the fixing half ring 556 .

[0054] Specifically, the card slot 557 design opened on the side of the fixed box 55 close to the fixed plate realizes the convenient storage and card connection of the fixed half ring 556. When the fixed half ring 556 is not in use, the fixed half ring 556 is driven by starting the air pump to rotate and card into the card slot 557, thereby achieving the effect of saving space, and also facilitating the protection and replacement of the fixed half ring 556, and being able to quickly scrape off the water on the adsorption column 512.

[0055] like Figure 1As shown, in this embodiment, a guide plate 51 is fixedly connected to the middle of the support frame 5 . The cross section of the guide plate 51 is conical and is used to guide the water squeezed out of the two adsorption columns 512 .

[0056] Specifically, by fixing a guide plate 51 in the middle of the support frame 5, the water squeezed out by the two adsorption columns 512 is guided to a specific direction, which effectively prevents the water from dispersing everywhere and prevents the water from flowing into the picking equipment and affecting the picking equipment.

[0057] Embodiment 2

[0058] like Figures 1 to 9 As shown, compared with Example 1, another implementation of the present invention is: a fixing groove 42 is opened inside the fixing frame 41, a limiting block 43 is fixedly connected to one side of the fixing frame 41, a second groove body 44 is opened on one side of the limiting block 43, a middle partition block 47 is fixedly connected to the middle of the second groove body 44, first servo motors 45 are fixedly connected to both sides of the limiting block 43, a first reciprocating screw 46 is fixedly connected to the output end of each first servo motor 45, a first sliding block 48 is slidably connected to the circumferential surface of each first reciprocating screw 46, and a cutter 49 is fixedly connected to one side of each first sliding block 48.

[0059] Specifically, a fixing groove 42 is opened in the fixing frame 41, and the fixing groove 42 is used to stably place the cut fruits and vegetables. Then, the second groove body 44 on the limit block 43 is separated by the middle partition block 47, and then the first servo motor 45 on both sides of the limit block 43 is started. The first servo motor 45 will drive the first reciprocating screw 46 to rotate, and the first slider 48 is made to realize reciprocating linear motion on the screw by utilizing the principle of thread. Therefore, the cutter 49 can accurately pick fruits and vegetables as the first slider 48 moves, thereby improving the degree of automation of picking and enhancing the accuracy and efficiency of picking.

[0060] like Figure 1 As shown, a plurality of support rods 2 are fixedly connected to the upper surface of the bottom plate 1 of this embodiment, and an arc-shaped scraper 21 is fixedly connected to one side of each of the support rods 2. Each arc-shaped scraper 21 abuts against each moving wheel for scraping away soil.

[0061] Specifically, through the design of the support rod 2 and the arc scraper 21 on the bottom plate 1, as the moving wheel rolls, the arc scraper 21 sticks to its surface, effectively removing the attached soil, keeping the wheel clean, reducing resistance, and improving movement efficiency and stability. At the same time, it solves the problem that the wet soil adheres to the moving wheel, resulting in thicker soil adhering to the circumferential surface of the moving wheel, causing the picking equipment to tilt toward the moving wheel where the thicker soil is attached. Then the fruits may pile up to one side. If there is too much accumulation, the fruits may fall out of the collection frame, resulting in reduced picking quality and picking efficiency.

[0062] like Figure 4 and Figure 5 As shown, in this embodiment, two arc rails 33 are fixedly connected between the two fixing rods 31, and the surface of each arc rail 33 is provided with an arc groove 34. Two positioning rods 35 are slidably connected in each arc groove 34. The lower surface of each positioning rod 35 is hinged with a steel ball 36. The upper surfaces of several positioning rods 35 are fixedly connected to the same positioning plate 37, and the upper surface of the positioning plate 37 is fixedly connected to two partitions 38. The upper surface of the positioning rod 35 plate is provided with several limiting members, and the two partitions 38 and the several limiting members are used to limit the storage frame 32. The lower surface of the positioning plate 37 is fixedly connected to a counterweight lead block 313.

[0063] Specifically, when a lot of soil adheres to the moving wheel, causing it to tilt and resulting in the picking equipment tilting, a counterweight lead block 313 is fixed to the lower surface of the positioning plate 37, so that the positioning plate 37 will always maintain gravity vertically downward. Therefore, the counterweight lead block 313 will drive the storage frame 32 clamped on the top to slide in the two arc rails 33, thereby ensuring that the storage frame 32 and the positioning plate 37 are always level with the ground, thereby achieving the effect of keeping the storage frame 32 balanced and improving the picking efficiency.

[0064] like Figure 6 As shown, the limiting member of this embodiment includes a plurality of first grooves 39 opened on the upper surface of the positioning plate 37, each of which has a rotating shaft 311 fixedly connected therein, a torsion spring 312 sleeved on the circumferential surface of each rotating shaft 311, and a rotating clamp 310 fixedly connected to the circumferential surface of each torsion spring 312.

[0065] Specifically, the rotating clamp 310 is installed on the rotating shaft 311 through the torsion spring 312, and can adaptively clamp the edge of the storage frame 32 to achieve stable limiting, improve the flexibility and reliability of limiting, and effectively ensure the safe fixation of the storage frame 32.

[0066] Working principle: first, the whole picking equipment is driven to move between the rows in the greenhouse through several moving wheels at the bottom of the bottom plate 1, and then the mechanical arm 4 on the bottom plate 1 is started, and at the same time, the scanning mirror 54 located in the two protection frames 53 below the positioning frame 52 is started. This is a high-precision scanning mirror 54, which can detect the maturity of fruits in real time to ensure that only fruits that are in the best state for eating or storing are picked. This function reduces the blindness of picking, and then according to the preset program or remote control command, it rotates to the specified position to accurately locate the fruits to be picked. When the scanning mirror 54 scans and detects that there are ripe fruits, the mechanical arm 4 is used to move the fruit to the designated position. A fixing groove 42 is provided in the end fixing frame 41, and the fixing groove 42 is used to stably place the cut fruits and vegetables, and then the second groove body 44 on the limit block 43 is separated by the middle partition block 47, and then the first servo motor 45 on both sides of the limit block 43 is started, and the first servo motor 45 will drive the first reciprocating screw 46 to rotate, and the first slider 48 is made to realize reciprocating linear motion on the screw by using the principle of thread, so that the cutter 49 can accurately perform the fruit picking work with the movement of the first slider 48, thereby improving the degree of automation of picking, reducing errors and damages in manual operation, and ensuring the integrity and freshness of the fruits and vegetables;

[0067] In addition, by means of a balancing assembly arranged on the bottom plate 1, specifically by means of the arc rail 33 between the two fixing rods 31 cooperating with the positioning plate 37 sliding in the arc rail 33, when the picking device tilts, a counterweight lead block 313 is fixed to the lower surface of the positioning plate 37, so that the positioning plate 37 will always keep the gravity vertically downward, so the counterweight lead block 313 will drive the storage frame 32 clamped above to slide in the two arc rails 33, thereby ensuring that the storage frame 32 and the positioning plate 37 are always level with the ground, thereby achieving the effect of keeping the storage frame 32 balanced, improving the picking efficiency, ensuring that the storage frame 32 can move smoothly when receiving the picked fruits and vegetables, and automatically adjust to the best receiving position, effectively preventing the fruits and vegetables from being damaged by falling or collision;

[0068] At the same time, due to the problem of water droplets on the scanning mirror 54 caused by the high humidity environment in the greenhouse, a wiping component is set up, and a second servo motor 57 is installed on one side of the positioning frame 52. The motor serves as a power source to drive the second reciprocating screw 59 to rotate in the third slot 58. As the second reciprocating screw 59 rotates, the two sliding blocks 510 thereon realize reciprocating motion due to the spiral trajectory, and then the fixed shaft 511 rotatably connected to the sliding block 510 and the adsorption column 512 fixed thereon can gently adsorb and wipe the water droplets on the surface of the scanning mirror 54, maintain its clear field of view, and ensure that the detection accuracy is not affected. In addition, the use of soft cloth material can protect the surface of the scanning mirror 54, reduce the risk of scratches and damage, ensure that the detection accuracy is not affected, and further improve the reliability and durability of the equipment;

[0069] In addition, the gear 514 at the top of the fixed shaft 511 is meshed with the rack plate 513 on the side of the positioning frame 52, so that when the sliding block 510 moves along the second reciprocating screw 59, the gear 514 rolls on the rack plate 513 with the fixed shaft 511, thereby driving the fixed shaft 511 to rotate, and then the adsorption column 512 can be driven to rotate. This combination of rotation and reciprocating motion enhances the cleaning effect, ensures that the soft cloth can more comprehensively cover and deeply clean the surface, and improves the cleaning efficiency and quality;

[0070] Finally, a combination mechanism of a first guide rail 551 and a reciprocating screw rod 552 is arranged in a fixed box 55 on the lower surface of the positioning frame 52, and the reciprocating screw rod 552 is driven to rotate by starting the built-in motor in the fixed box 55. Then, the first guide block 553 slides along the reciprocating screw rod 552 under the limit of the first guide rail 551, driving the positioning shaft 554 and the connecting rod 555 fixed thereon to reciprocate. The other ends of these connecting rods 555 are connected to the fixed semi-ring 556. The opening and closing of the fixed semi-ring 556 is realized by accurately controlling the switch of the air pump, and then the fixed semi-ring 556 is opened and closed by the fixed semi-ring 556. The closure of the fixed half ring 556 clamps the adsorption column 512. Because the adsorption column 512 will be saturated after absorbing more water droplets from the scanning mirror 54, the water on the adsorption column 512 will form a watermark on the lens of the scanning mirror 54. Therefore, the fixed half ring 556 is quickly closed through the action of the air pump to clamp the adsorption column 512, and then the built-in motor of the fixed box 55 is started to drive the first guide block 553 to move up and down, thereby squeezing and scraping off the water adsorbed on the adsorption column 512, thereby increasing the service life of the adsorption column 512 and being able to continue wiping work better.

[0071] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic fruit picking device for use in a greenhouse, characterized in that: It comprises a bottom plate (1), the upper surface of the bottom plate (1) is rotatably connected to a mechanical arm (4), one end of the mechanical arm (4) is rotatably connected to a fixed frame (41), a picking assembly is arranged inside the fixed frame (41), and the picking assembly comprises two cutters (49) slidably arranged on one side of the fixed frame (41), and the two cutters (49) are used to cut the stems of fruits and vegetables; A fixing block (3) is fixedly connected to the upper surface of the bottom plate (1), two fixing rods (31) are fixedly connected to one side of the fixing block (3), a balancing assembly is arranged between the two fixing rods (31), the balancing assembly comprises an arc-shaped rail (33) fixedly connected between the two fixing rods (31), a same positioning plate (37) is slidably arranged between the two arc-shaped rails (33), a storage frame (32) is clamped on the upper surface of the positioning plate (37), and the storage frame (32) is used for storing fruits; A support frame (5) is fixedly connected to the upper surface of the bottom plate (1); a positioning frame (52) is fixedly connected to the top of the support frame (5); two protection frames (53) are fixedly connected to the lower surface of the positioning frame (52); a scanning mirror (54) is fixedly connected to each of the protection frames (53); and the scanning mirror (54) is used to detect the maturity of fruits and vegetables; A wiping assembly is provided on one side of the positioning frame (52) close to the scanning mirror (54), the wiping assembly comprising a protective cover (56) fixedly connected to one side of the positioning frame (52), two adsorption columns (512) being slidably arranged inside the protective cover (56), the two adsorption columns (512) being used for adsorbing and wiping water droplets on the scanning mirror (54).

2. The automatic fruit picking device for use in a greenhouse according to claim 1, characterized in that: The wiping assembly also includes a third slot body (58) opened on one side of the positioning frame (52), a second servo motor (57) is fixedly connected to one side of the third slot body (58), an output end of the second servo motor (57) is fixedly connected to a second reciprocating screw (59), the second reciprocating screw (59) is located inside the second slot body (44), the circumferential surface of the second reciprocating screw (59) is slidably connected to two sliding blocks (510), the surface of each sliding block (510) is rotatably connected to a fixed shaft (511), the circumferential surface of the fixed shaft (511) is fixedly connected to an adsorption column (512), and a layer of adsorption layer is adhered to the surface of the adsorption column (512).

3. The automatic fruit picking device for use in a greenhouse according to claim 2 is characterized in that: A gear (514) is fixedly connected to the top of the fixed shaft (511), a rack plate (513) is fixedly connected to one side of the positioning frame (52), the gear (514) meshes with the rack plate (513), and the rack plate (513) is used to drive the adsorption column (512) to rotate.

4. The automatic fruit picking device for use in a greenhouse according to claim 1, characterized in that: A scraping assembly is provided on the lower surface of the positioning frame (52), and the scraping assembly includes a fixed box (55) fixedly connected to the lower surface of the positioning frame (52); two first guide rails (551) are provided on one side of the fixed box (55) close to the adsorption column (512); the bottom surface of each of the first guide rails (551) is rotatably connected to a reciprocating screw rod (552); the circumferential surface of each of the reciprocating screw rods (552) is slidably connected to a first guide block (553); the upper surface of each of the first guide blocks (553) is rotatably fixedly connected to a positioning shaft (554); the circumferential surface of each of the positioning shafts (554) is rotatably connected to a connecting rod (555); one end of each of the connecting rods (555) is fixedly connected to a fixed half ring (556); every two of the fixed half rings (556) can clamp the adsorption column (512); and the connecting rod (555) is controlled by an air pump in the fixed box (55).

5. The automatic fruit picking device for use in a greenhouse according to claim 4 is characterized in that: A plurality of clamping grooves (557) are provided on one side of the fixing box (55) close to the fixing plate. The clamping grooves (557) are used to receive the fixing half ring (556) and clamp the fixing half ring (556).

6. The automatic fruit picking device for use in a greenhouse according to claim 1, characterized in that: A guide plate (51) is fixedly connected to the middle of the support frame (5); the guide plate (51) has a conical cross section and is used to guide water squeezed out of the two adsorption columns (512).

7. The automatic fruit picking device for use in a greenhouse according to claim 1, characterized in that: A fixing groove (42) is provided inside the fixing frame (41); a limiting block (43) is fixedly connected to one side of the fixing frame (41); a second groove body (44) is provided on one side of the limiting block (43); a middle partition block (47) is fixedly connected to the middle of the second groove body (44); first servo motors (45) are fixedly connected to both sides of the limiting block (43); a first reciprocating screw (46) is fixedly connected to the output end of each of the first servo motors (45); a first sliding block (48) is slidably connected to the circumferential surface of each of the first reciprocating screws (46); and a cutter (49) is fixedly connected to one side of each of the first sliding blocks (48).

8. The automatic fruit picking device for use in a greenhouse according to claim 1, characterized in that: A plurality of support rods (2) are fixedly connected to the upper surface of the bottom plate (1), and an arc-shaped scraper (21) is fixedly connected to one side of each of the support rods (2). Each of the arc-shaped scrapers (21) is in contact with each moving wheel and is used for scraping away soil.

9. The automatic fruit picking device for use in a greenhouse according to claim 1, characterized in that: Two arc rails (33) are fixedly connected between the two fixing rods (31), and the surface of each arc rail (33) is provided with an arc groove (34). Two positioning rods (35) are slidably connected in each arc groove (34). The lower surface of each positioning rod (35) is hinged with a steel ball (36). The upper surfaces of several positioning rods (35) are fixedly connected with the same positioning plate (37), and the upper surface of the positioning plate (37) is fixedly connected with two partitions (38). The upper surface of the positioning rod (35) plate is provided with several limiting members, and the two partitions (38) and the several limiting members are used for limiting the storage frame (32). The lower surface of the positioning plate (37) is fixedly connected with a counterweight lead block (313).

10. The automatic fruit picking device for use in a greenhouse according to claim 9, characterized in that: The limiting member comprises a plurality of first grooves (39) formed on the upper surface of the positioning plate (37), each of the first grooves (39) being fixedly connected with a rotating shaft (311), a torsion spring (312) being sleeved on the circumferential surface of each rotating shaft (311), and a rotating clamp (310) being fixedly connected to the circumferential surface of each torsion spring (312).

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