Bistable structure nectarine fruit picking device

Abstract

The invention relates to the technical field of agricultural production, in particular to a bistable structure nectarine fruit picking device.The bistable structure nectarine fruit picking device.The bistable structure nectarine fruit picking device comprises a supporting frame part, a net bag, a power source, a rotating motor and a clamping module, the clamping module is installed at the tail end of an output shaft of the rotating motor, and the clamping module comprises a base frame part, a fixing rod piece, a clamping jaw part, a flexible movable hinge and a driving part; the base frame part comprises a lower disc fixedly connected with the tail end of an output shaft of the rotating motor, a plurality of guide rods are fixedly connected to the upper side of the lower disc, an upper disc is fixedly connected to the upper ends of one set of guide rods, and a plurality of first adapters arranged at equal angles are fixedly connected to the upper side of the upper disc. By arranging the rotating motor, the base frame part, the clamping jaw part, the flexible movable hinge, the driving part and other structures, the clamping mechanism of the nectarine fruit picking device can softly clamp fruits, the clamping mechanism can be rapidly switched between the two stable states of opening and closing, and the accuracy of clamping and releasing operation is remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural production, in particular to a nectarine fruit picking device with a bistable structure. Background Art

[0002] Nectarine is a variety of peach, belonging to the Rosaceae family and the genus Prunus. It is a common fruit. In agricultural production, fruit picking is an important link, and the requirements for efficiency and quality are increasing. However, the traditional picking method is labor-intensive and inefficient, and it is difficult to meet the production needs of large-scale cultivation.

[0003] In order to meet the production needs and abandon the traditional picking method, mechanized picking becomes an inevitable choice. However, the existing mechanized picking equipment still faces many challenges in practical application. The traditional mechanized clamping mechanism generally lacks flexibility, which can easily cause mechanical damage to the fruit during picking, affecting the appearance and quality of the fruit. The picking action control accuracy is insufficient, resulting in a high picking failure rate. From the above, it can be seen that the existing equipment is difficult to be directly applied to fruit picking. Moreover, each time a fruit is picked at high altitude, the clamping mechanism of the picking equipment needs to be lowered, the fruit is placed in the fruit basket, and then the clamping mechanism is controlled to return to the altitude to pick the next fruit. This picking method is inefficient, and most of the time is wasted in the reciprocating lifting process of the clamping mechanism, which seriously affects the overall picking efficiency. Therefore, according to the above problems, a bistable structure nectarine fruit picking device is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a nectarine fruit picking device with a bistable structure to solve the problem that existing mechanical picking and clamping equipment is difficult to be directly applied to fruit picking.

[0005] To achieve the above object, the present invention provides the following technical solutions: A bistable nectarine fruit picking device comprises a support frame, a net bag, a power supply, a rotating motor and a clamping module, wherein the clamping module is installed at the end of the output shaft of the rotating motor, and the clamping module comprises a base frame, a fixed rod, a clamping claw, a flexible living hinge and a driving part. The base frame comprises a lower plate fixedly connected to the end of the output shaft of the rotating motor, a plurality of guide rods are fixedly connected to the upper side of the lower plate, a group of upper ends of the guide rods are fixedly connected to an upper plate, and a plurality of adapters arranged at equal angles are fixedly connected to the upper side of the upper plate. A fixed rod is installed on the upper side of the hole of the upper plate, and a plurality of clamping claws arranged at equal angles are installed on the outer side of the fixed rod, and the clamping claws include a snap strip, and a bistable mechanism is fixedly connected to the outer side of the snap strip, and the bistable mechanism is fitted with the fixed rod, and a claw body is fixedly connected to the side of the bistable mechanism away from the snap strip, and a sliding groove is provided on the side of the claw body away from the bistable mechanism, a flexible living hinge is fixedly connected between the top of the claw body and the top of the bistable mechanism, and a driving part is installed at one group of the clamping claws.

[0006] Preferably, the driving part includes a driving motor fixed on the upper side of the lower plate, the end of the output shaft of the driving motor is fixedly connected to a screw rod, the outer side of the screw rod is threadedly connected to a thread sleeve, the outer side of the thread sleeve is fixedly connected to a lifting plate, and the lifting plate is slidably connected to the guide rod, and a plurality of adapters 2 arranged at equal angles are fixedly connected to the outer curved surface of the lifting plate, each of the adapters 2 is rotatably connected to a connecting rod 1, the upper end of the connecting rod 1 is rotatably connected to a connecting rod 2 and a connecting rod 3 in sequence, the end of the connecting rod 2 away from the connecting rod 1 is rotatably connected to the adapter 1, the upper end of the connecting rod 3 is rotatably connected to a slider, and the slider is slidably connected to a sliding groove.

[0007] Preferably, a threaded hole is provided on the lower side of the fixing rod, the fixing rod and the upper plate are detachably connected by bolts, a plurality of snap grooves arranged at equal angles are provided on the outer end surface of the fixing rod, and the snap strips are all installed in the snap grooves of the fixing rod.

[0008] Preferably, the bistable mechanism is a flexible deformable mechanism, a flexible silicone coating is provided on the upper curved surface of the bistable mechanism, and the flexible living hinge consists of a flexible belt, a first flexible sheet and a second flexible sheet.

[0009] Preferably, a plurality of rod grooves arranged at equal angles are provided on the upper side of the upper plate, the rod grooves of the upper plate are all arranged directly below the second connecting rod, the lower ends of the bistable mechanism and the claw body are both provided with grooves, and the second connecting rod is arranged on the inner side of the grooves of the bistable mechanism and the claw body.

[0010] Preferably, a support frame portion is provided on the lower side of the rotating motor, and the support frame portion includes a base frame, a fixed hole block is fixedly connected to the right side of the base frame, a support plate is fixedly connected to the left side of the upper end surface of the base frame, a swivel seat is fixedly connected to the right end of the support plate, a motor is fixedly connected to the front side of the swivel seat, a swivel block rotatably connected to the swivel seat is fixedly connected to the end of the output shaft of the motor, the upper end surface of the swivel block is fixedly connected to the lower end surface of the rotating motor, a power source is fixedly connected to the upper side of the support plate, and a net bag located directly below the clamping module is fixedly connected to the lower side of the base frame.

[0011] Preferably, the power supply is electrically connected to the motor, the rotating motor and the driving motor, the front and rear sides of the swivel seat are fixedly connected with support bars, the lower ends of the support bars are fixedly connected to the upper end surface of the base frame, and the height of the support bars is 1.5 times the height of the clamping module.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, by setting structures such as a rotating motor, a base frame, a clamping claw, a flexible living hinge and a driving part, the rotating motor can drive the clamping module to rotate, the driving part can drive the clamping claw to move, and the clamping claw innovatively introduces a bistable mechanism to achieve rapid switching of the clamping module between the two stable states of opening and closing, significantly improving the accuracy of clamping and releasing operations, and effectively reducing the risk of damage to the fruit skin. At the same time, the clamping module adopts a combination design of a flexible living hinge and a flexible silicone coating, which makes the clamping action softer and more adaptable, and can flexibly adapt to fruits of different shapes such as nectarines. On the basis of ensuring the clamping stability, the integrity and quality of the fruit are protected, and the clamping mechanism of the nectarine fruit picking device can softly clamp the fruit and enable it to quickly switch between the two stable states of opening and closing, significantly improving the accuracy of clamping and releasing operations, and solving the problem that the existing mechanical picking and clamping equipment is difficult to be directly applied to fruit picking; 2. In the present invention, by providing structures such as the support frame, net bag, rotating motor and clamping module, the motor can be controlled to run after the fruit is picked, so that the rotating block drives the rotating motor, the clamping module and the picked fruit to rotate and displace. At this time, the fruit will be at the opening of the net bag, and then the driving part is reset to reset the four groups of clamping claws and open them, so that each flexible living hinge is away from the surface of the fruit, so that the fruit can be released smoothly and fall into the net bag for storage. After the fruit is released, the motor is controlled to reset the rotating block counterclockwise, so that the rotating motor and the clamping module are reset upward, so that other fruits in the air can be picked in time. The whole picking process is completed by the above operations, so that the nectarine fruit picking device can efficiently store the picked fruits, avoid wasting a lot of time due to the frequent lifting and lowering of the clamping mechanism, thereby significantly improving the overall picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the support frame of the present invention; Figure 3 It is a structural schematic diagram of the clamping module of the present invention; Figure 4 For the present invention Figure 3 A schematic diagram of a top view structure; Figure 5 It is a schematic diagram of the split structure of the driving part of the present invention; Figure 6 For the present invention Figure 5 A schematic diagram of the structure at A; Figure 7 It is a structural schematic diagram of the base frame of the present invention; Figure 8 It is a schematic structural diagram of the clamping jaw portion of the present invention.

[0014] In the figure: 1. support frame; 11. base frame; 12. fixed hole block; 13. support plate; 14. support bar; 15. swivel seat; 16. motor; 17. swivel block; 2. net bag; 3. power supply; 4. rotating motor; 5. clamping module; 51. base frame; 511. lower plate; 512. guide rod; 513. upper plate; 514. adapter one; 52. fixed rod; 53. clamping claw; 531. snap strip; 532. bistable mechanism; 533. claw body; 534. sliding groove; 54. flexible living hinge; 55. driving part; 551. driving motor; 552. lead screw; 553. thread sleeve; 554. lifting plate; 555. adapter two; 556. connecting rod one; 557. connecting rod two; 558. connecting rod three; 559. slider. DETAILED DESCRIPTION

[0015] See also Figure 1-8 , the present invention provides a technical solution: A bistable structure nectarine fruit picking device, comprising a support frame 1, a net bag 2, a power supply 3, a rotating motor 4 and a clamping module 5, wherein the clamping module 5 is installed at the end of the output shaft of the rotating motor 4, and the clamping module 5 comprises a base frame 51, a fixed rod 52, a clamping claw 53, a flexible hinge 54 and a driving part 55, the base frame 51 comprises a lower plate 511 fixedly connected to the end of the output shaft of the rotating motor 4, a plurality of guide rods 512 are fixedly connected to the upper side of the lower plate 511, a group of guide rods 512 are fixedly connected to the upper end of an upper plate 513, a plurality of adapters 514 arranged at equal angles are fixedly connected to the upper side of the upper plate 513, and a plurality of adapters 514 arranged at equal angles are fixedly connected to the upper side of the hole position of the upper plate 513. A fixed rod 52 is provided with a plurality of clamping claws 53 arranged at equal angles on the outer side of the fixed rod 52. The clamping claws 53 include a buckle strip 531. A bistable mechanism 532 is fixedly connected to the outer side of the buckle strip 531. The bistable mechanism 532 is fitted with the fixed rod 52. A claw body 533 is fixedly connected to the side of the bistable mechanism 532 away from the buckle strip 531. A sliding groove 534 is provided on the side of the claw body 533 away from the bistable mechanism 532. A flexible living hinge 54 is fixedly connected between the top of the claw body 533 and the top of the bistable mechanism 532. A driving part 55 is installed at a group of the clamping claws 53. The driving part 55 includes a A driving motor 551, the end of the output shaft of the driving motor 551 is fixedly connected with a screw rod 552, the outer side of the screw rod 552 is threadedly connected with a thread sleeve 553, the outer side of the thread sleeve 553 is fixedly connected with a lifting plate 554, and the lifting plate 554 is slidably connected to the guide rod 512, and the outer curved surface of the lifting plate 554 is fixedly connected with a plurality of adapters 555 arranged at equal angles, and the adapters 555 are all rotatably connected with a connecting rod 1 556, and the upper end of the connecting rod 1 556 is rotatably connected with a connecting rod 2 557 and a connecting rod 3 558 in turn, and the end of the connecting rod 2 557 away from the connecting rod 1 556 is rotatably connected to the adapter 1 514, and the upper end of the connecting rod 3 558 is rotatably connected to a slider 559, and the sliders 559 are all slidably connected with the sliding grooves 534. Through this arrangement, the driving part 55 can drive the clamping claw part 53 to switch actions; a threaded hole is arranged on the lower side of the fixed rod 52, and the fixed rod 52 and the upper plate 513 are detachably connected by bolts. A plurality of buckle grooves arranged at equal angles are opened on the outer end surface of the fixed rod 52, and the buckle strips 531 are all installed in the buckle grooves of the fixed rod 52. Through this arrangement, the fixed rod 52 can position each clamping claw part 53, ensuring that the clamping claw part 53 will not be loosened or shifted due to external force during use, and taking into account the convenience of disassembly, which significantly improves the usability and maintenance efficiency of the equipment;The bistable mechanism 532 is a flexible deformable mechanism. Through this setting, the clamping module 5 can quickly switch between the two stable states of opening and closing. A flexible silicone coating is provided on the upper curved surface of the bistable mechanism 532. The flexible living hinge 54 is composed of a flexible belt, a flexible sheet 1 and a flexible sheet 2. Through this setting, the combination design of the flexible living hinge 54 and the flexible silicone coating makes the clamping action softer and more adaptable, and can flexibly adapt to fruits of different shapes such as nectarines. On the basis of ensuring the clamping stability, the integrity and quality of the fruit are protected; a plurality of rod grooves arranged at equal angles are provided on the upper side of the upper plate 513. The rod grooves of the upper plate 513 are all arranged on the lower side of the second connecting rod 557. The lower ends of the bistable mechanism 532 and the claw body 533 are both provided with grooves. The second connecting rod 557 is arranged on the inner side of the grooves of the bistable mechanism 532 and the claw body 533. Through this setting, the rotation of the second connecting rod 557 will not be affected by the interference of the clamping claw part 53 and the upper plate 513. ;

[0016] like Figure 1 , Figure 2As shown, a support frame 1 is provided at the lower side of the rotating motor 4, and the support frame 1 includes a base frame 11, a fixed hole block 12 is fixedly connected to the right side of the base frame 11, a support plate 13 is fixedly connected to the left side of the upper end surface of the base frame 11, a swivel seat 15 is fixedly connected to the right end of the support plate 13, a motor 16 is fixedly connected to the front side of the swivel seat 15, a swivel block 17 rotatably connected to the swivel seat 15 is fixedly connected to the end of the output shaft of the motor 16, the upper end surface of the swivel block 17 is fixedly connected to the lower end surface of the rotating motor 4, and the upper side of the support plate 13 is fixed A power source 3 is connected, and a net bag 2 located just below the clamping module 5 is fixedly connected to the lower side of the base frame 11. Through this arrangement, after the fruit is picked, the motor 16 can be controlled to run, so that the rotating block 17 drives the rotating motor 4, the clamping module 5 and the picked fruit to rotate and move. At this time, the fruit will be at the opening of the net bag 2, and then the driving part 55 is reset to reset the four groups of clamping claws 53 to open, so that each flexible hinge 54 is away from the surface of the fruit, so that the fruit can be released smoothly and fall into the net bag 2. The nectarine fruit picking device can efficiently store the picked fruits, and avoid wasting a lot of time due to the frequent lifting and lowering of the clamping mechanism, thereby significantly improving the overall picking efficiency; the power supply 3 is electrically connected with the motor 16, the rotary motor 4 and the drive motor 551, and the power supply 3 can supply power to the motor 16, the rotary motor 4 and the drive motor 551 through this setting, and the front and rear sides of the rotating seat 15 are fixedly connected with the support bar 14, and the lower end of the support bar 14 is fixedly connected to the upper end surface of the base frame 11, and the rotating seat 15 can be further supported through this setting, so that the rotating seat 15 remains stable, and the height dimension of the support bar 14 is 1.5 times the height dimension of the clamping module 5, and the clamping module 5 and the rotary motor 4 are rotated with the rotating block 17, and will not be affected by the interference of the base frame 11.

[0017] Workflow: The picking operation of the nectarine fruit picking device is as follows: Note 1, the device of this scheme can be position-adjusted and centrally controlled by an external control device and a manipulator, thereby realizing a high degree of automation and coordination of the entire picking process; Note 2, the external manipulator can be connected to the fixed hole block 12 of the device of this scheme through an external bolt, thereby driving the device to move; Note 3, all electrical appliances of the device of this scheme are powered by a power supply 3, and the rotating motor 4, the motor 16 and the drive motor 551 of this device all have a self-locking function; when the device performs the nectarine fruit picking operation, first the clamping module 5 is moved to a predetermined picking position, and then the drive motor 551 is started to operate, so that the screw rod 552 can realize rotational motion, and the rotation of the screw rod 552 will drive the wire sleeve 553 and the lifting plate 554 to move upward along the axis of the guide rod 512. In this process, the connecting rod 1 556 moves upward accordingly, and causes the connecting rod 2 557 to rotate with the adapter 1 514 as the fulcrum, and the upward movement of the connecting rod 1 556 will drive the connecting rod 2 557 to move upward together The two work together to drive the connecting rod 3 558 to move upward, thereby causing the slider 559 rotatably connected thereto to slide upward along the sliding groove 534 of the clamping claw portion 53. When the slider 559 moves to the top of the sliding groove 534, the force of the slider 559 is transmitted to the claw body 533 to complete the pre-tightening operation of the claw body 533. At this time, the control driving motor 551 stops rotating, and the claw body 533 presses the bistable mechanism 532 to deform the bistable mechanism 532. The bistable mechanism 532 deforms The shape generates a motion pair, which quickly retracts the clamping jaws 53 from the open state. The retraction of several clamping jaws 53 will form a clamping action in cooperation. The clamping action is flexible and rapid. The retraction of the clamping jaws 53 further drives the flexible hinges 54. These flexible hinges 54 can smoothly fit the surface of the fruit, providing a stable and gentle envelope for the fruit. At this stage, the four groups of clamping jaws 53 synchronously complete the envelope action on the fruit, forming a stable clamping state, thereby completing the clamping operation of the clamping module 5 on the fruit;At this time, the rotating motor 4 is started to run, so that the clamping module 5 rotates. This rotating motion picks the fruit smoothly from the fruit stalk, ensuring that the picking process does not damage the fruit skin. Through the above operation, the clamping mechanism of the nectarine fruit picking device can gently clamp the fruit and enable it to quickly switch between the two stable states of opening and closing, which significantly improves the accuracy of clamping and releasing operations. After the fruit is picked, the motor 16 is controlled to run, so that the rotating block 17 rotates 180 degrees clockwise. Through the rotation of the rotating block 17, the rotating motor 4, the clamping module 5 and the picked fruit are rotated and displaced accordingly. At this time, the fruit will be at the opening of the net bag 2. At this time, the driving part 55 is reset to reset and open the four groups of clamping claws 53, so that each flexible hinge 54 is away from the surface of the fruit, so that the fruit can be released smoothly and fall into the net bag 2 for storage. After the fruit is released, the motor 16 is controlled to rotate the rotating block 17 180 degrees counterclockwise, and the rotating motor 4 and the clamping module 5 are reset upward, so that other fruits in the air can be picked in time. Through the above operations, the entire picking process is completed, so that the nectarine fruit picking device can efficiently store the picked fruits, avoid wasting a lot of time due to the frequent lifting and lowering of the clamping mechanism, and thus significantly improve the overall picking efficiency. ;

[0018] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. The above are only preferred implementation methods of the present invention. It should be pointed out that due to the limitations of textual expression, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of the present invention, they can make several improvements, modifications or changes, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the protection scope of the present invention.

Claims

1. A nectarine fruit picking device with a bistable structure, comprising a support frame (1), a net bag (2), a power source (3), a rotating motor (4) and a clamping module (5), characterized in that: A clamping module (5) is installed at the end of the output shaft of the rotating motor (4), and the clamping module (5) comprises a base frame (51), a fixed rod (52), a clamping claw (53), a flexible hinge (54) and a driving portion (55). The base frame (51) comprises a lower plate (511) fixedly connected to the end of the output shaft of the rotating motor (4), a plurality of guide rods (512) are fixedly connected to the upper side of the lower plate (511), a group of upper ends of the guide rods (512) are fixedly connected to an upper plate (513), a plurality of adapters (514) arranged at equal angles are fixedly connected to the upper side of the upper plate (513), a fixed rod (52) is installed on the upper side of the hole of the upper plate (513), and the fixed rod A plurality of clamping claws (53) arranged at equal angles are installed on the outer side of (52), the clamping claws (53) comprising a buckle strip (531), the outer side of the buckle strip (531) is fixedly connected with a bistable mechanism (532), and the bistable mechanism (532) is fitted with the fixed rod (52), a claw body (533) is fixedly connected to the side of the bistable mechanism (532) away from the buckle strip (531), a sliding groove (534) is provided on the side of the claw body (533) away from the bistable mechanism (532), a flexible living hinge (54) is fixedly connected between the top of the claw body (533) and the top of the bistable mechanism (532), and a driving part (55) is installed at one group of the clamping claws (53).

2. A bistable nectarine fruit picking device according to claim 1, characterized in that: The driving part (55) comprises a driving motor (551) fixed on the upper side of the lower plate (511); the end of the output shaft of the driving motor (551) is fixedly connected to a lead screw (552); the outer side of the lead screw (552) is threadedly connected to a thread sleeve (553); the outer side of the thread sleeve (553) is fixedly connected to a lifting plate (554); the lifting plate (554) is slidably connected to the guide rod (512); a plurality of equiangularly arranged guide rods are fixedly connected to the outer curved surface of the lifting plate (554); A second adapter member (555) is disposed, and the second adapter member (555) is rotatably connected to a first connecting rod (556). The upper end of the first connecting rod (556) is rotatably connected to a second connecting rod (557) and a third connecting rod (558) in sequence. The end of the second connecting rod (557) away from the first connecting rod (556) is rotatably connected to the first adapter member (514). The upper end of the third connecting rod (558) is rotatably connected to a slider (559), and the slider (559) is slidably connected to the sliding groove (534).

3. A bistable structure nectarine fruit picking device according to claim 2, characterized in that: A threaded hole is provided on the lower side of the fixing rod (52); the fixing rod (52) and the upper plate (513) are detachably connected via bolts; a plurality of snap-fit ​​grooves arranged at equal angles are provided on the outer end surface of the fixing rod (52); the snap-fit ​​strips (531) are all installed in the snap-fit ​​grooves of the fixing rod (52).

4. A bistable nectarine fruit picking device according to claim 2, characterized in that: The bistable mechanism (532) is a flexible deformable mechanism, a flexible silicone coating is provided on the upper curved surface of the bistable mechanism (532), and the flexible living hinge (54) is composed of a flexible belt, a first flexible sheet, and a second flexible sheet.

5. A bistable nectarine fruit picking device according to claim 2, characterized in that: The upper side of the upper plate (513) is provided with a plurality of rod grooves arranged at equal angles, the rod grooves of the upper plate (513) are all arranged directly below the second connecting rod (557), the lower ends of the bistable mechanism (532) and the claw body (533) are both provided with grooves, and the second connecting rod (557) is both arranged inside the grooves of the bistable mechanism (532) and the claw body (533).

6. A bistable nectarine fruit picking device according to claim 2, characterized in that: A support frame part (1) is provided at the lower side of the rotating motor (4), and the support frame part (1) comprises a base frame (11), a fixed hole block (12) is fixedly connected to the right side of the base frame (11), a support plate (13) is fixedly connected to the left side of the upper end surface of the base frame (11), a swivel seat (15) is fixedly connected to the right end of the support plate (13), a motor (16) is fixedly connected to the front side of the swivel seat (15), a swivel block (17) rotatably connected to the swivel seat (15) is fixedly connected to the end of the output shaft of the motor (16), the upper end surface of the swivel block (17) is fixedly connected to the lower end surface of the rotating motor (4), a power source (3) is fixedly connected to the upper side of the support plate (13), and a net bag (2) located directly below the clamping module (5) is fixedly connected to the lower side of the base frame (11).

7. A bistable nectarine fruit picking device according to claim 6, characterized in that: The power source (3) is electrically connected to the motor (16), the rotating motor (4) and the driving motor (551); the front and rear sides of the rotating seat (15) are fixedly connected to support bars (14); the lower ends of the support bars (14) are fixedly connected to the upper end surface of the base frame (11); and the height of the support bars (14) is 1.5 times the height of the clamping module (5).

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