Flexible traction electric intelligent picking machine

Abstract

The invention relates to the technical field of agricultural machinery, and discloses a flexible traction electric intelligent picking machine which comprises a base, a mechanical arm is rotationally connected to the top of the base, and a rotating rod is rotationally connected to the end, away from the base, of the mechanical arm through a bearing. The picking mechanism comprises a first connecting ring rotationally connected to the inner wall of the rotating rod through a bearing, a shell is fixedly connected to the inner wall of the first connecting ring, and a first connecting plate is fixedly connected to the inner wall of the shell. The time wasted when the mechanical arm drives the picking mechanism to move between the picking point and the storage point is avoided, the fruits temporarily stored in the shell of the equipment can be uniformly moved into the storage equipment after being stored to a certain amount, and the fruit picking efficiency of the equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and particularly to an electric intelligent picking machine with flexible traction. Background Art

[0002] For a long time, agricultural picking operations have mostly relied on manual labor. For example, in an orchard, fruit farmers need to pick fruits tree by tree and fruit by fruit, with extremely high labor intensity. Moreover, for some large-scale plantations, it is often difficult to complete all picking work within the optimal ripening period of the fruits by manual picking, resulting in some fruits over-ripening and falling, causing economic losses.

[0003] The patent application with the application number CN202123080024.7 discloses an electric intelligent picking machine with flexible traction, belonging to the technical field of agricultural machinery, including a picking frame, an electric drive mechanism, a vibration excitation mechanism, a flexible traction mechanism. The electric drive mechanism is fixed on the picking frame, and an electrically controlled vibration tuner is provided on the electric drive mechanism. The vibration excitation mechanism is movably connected to the electric drive mechanism and the flexible traction mechanism; the flexible traction mechanism is composed of a flexible traction member or a flexible traction member and a tensioning mechanism, the vibration excitation mechanism is a vibration excitation mechanism with a guide or a vibration excitation mechanism without a guide, and a picking vibration receiver is provided at the end of the flexible traction mechanism. It has the characteristics of simple structure, light weight, high efficiency and low energy consumption.

[0004] When the above-mentioned device picks fruits, every time a fruit is picked, it is necessary to control the picking device to move to the corresponding storage area through the robotic arm. Such a picking method will waste a lot of time on the movement of the robotic arm between the fruit and the storage area, resulting in a decrease in the picking efficiency of the device. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides an electric intelligent picking machine with flexible traction to solve the problems raised in the above background art.

[0006] To achieve the above object, the present invention provides the following technical solution: An electric intelligent picking machine with flexible traction, including a base, a robotic arm is rotatably connected to the top of the base, and a rotating rod is rotatably connected to one end of the robotic arm away from the base through a bearing. The machine also includes:

[0007] Picking mechanism, the picking mechanism includes a connecting ring 1 rotatably connected to the inner wall of the rotating rod through a bearing. The inner wall of the connecting ring 1 is fixedly connected with a housing. The inner wall of the housing is fixedly connected with a connecting plate 1. One end of the connecting plate 1 away from the housing is fixedly connected with a hollow column. The top of the hollow column is fixedly connected with an arc plate. The bottom of the hollow column is fixedly connected with a semi-circular plate. The inner wall of the connecting plate 1 is fixedly connected with a slide rail. The outer wall of the slide rail is movably connected with a clamping assembly. The inner wall of the housing is fixedly connected with a raised plate. The inner wall of the raised plate is fixedly connected with a pushing assembly. When the device picks fruits, it allows the fruits to enter the interior of the housing through the hollow column, playing a role in temporarily storing the fruits. By setting the picking mechanism, when the device picks fruits, the fruits can be directly stored in the housing of the device, avoiding the time wasted when the robotic arm drives the picking mechanism to move between the picking point and the storage point. When the fruits stored in the housing of the device reach a certain quantity, the fruits will be uniformly moved to the storage device, improving the efficiency of the device in picking fruits.

[0008] According to the above technical solution, a circular plate 1 is fixedly connected to the inner wall of the housing. A push rod 1 is fixedly connected to the bottom of the circular plate 1. The bottom of the push rod 1 is fixedly connected with a circular plate 1. This push rod 1 can control the height of the circular plate 1, playing a role in discharging the fruits in the device.

[0009] According to the above technical solution, the clamping assembly includes a slider. The outer wall of the slide rail is movably connected with the slider. The top of the slider is fixedly connected with a connecting plate 2. One end of the connecting plate 2 away from the slide is rotatably connected with a rotating seat through a bearing. The top of the rotating seat is fixedly connected with a right-angle plate. The top of the right-angle plate is fixedly connected with an elastic plate. A first elastic support plate is fixedly connected to the rear side of the right-angle plate. The top of the first elastic support plate is fixedly connected with the elastic plate. The outer wall of the first elastic support plate is fixedly connected with a second elastic support plate. One end of the second elastic support plate away from the first elastic support plate is fixedly connected with the elastic plate. As the angle of the rotating seat changes, the elastic plate fits with the fruit, playing a role in clamping the fruit. By setting the clamping assembly, in a flexible clamping manner, the clamping part of the device wraps the fruit, avoiding damage to the fruit by the clamping assembly while ensuring that the device can smoothly pick the fruit from the tree and ensuring the stability of the device during operation.

[0010] According to the above technical solution, a second push rod is fixedly connected to the inner wall of the slider. The top of the second push rod is fixedly connected to a U-shaped plate. A second chute is provided at the top of the U-shaped plate. A second movable column is fixedly connected to the outer wall of the rotating seat. The outer wall of the second movable column is movably connected to the second chute. The second push rod controls the height of the U-shaped plate, which plays a role in controlling the deflection angle of the rotating seat. By setting the clamping assembly, the picked fruits can directly fall into the inner wall of the device. This process only requires the clamping assembly to move backward, without unnecessary mechanical movements, reducing the time required for the device to temporarily store fruits and improving the efficiency of the device in picking fruits.

[0011] According to the above technical solution, a first chute is provided on the outer wall of the first connecting plate. A first movable column is fixedly connected to the outer wall of the slider. The outer wall of the first movable column is movably connected to the first chute. One end of the first movable column away from the slider is fixedly connected to a force-bearing plate. When the force-bearing plate receives the thrust of the pushing assembly, the distance between the clamping assembly and the center point will change.

[0012] According to the above technical solution, the pushing assembly includes a third push rod. The outer wall of the third push rod is fixedly connected to a raised plate. The bottom of the third push rod is fixedly connected to a second annular plate. The top of the second annular plate is fixedly connected to a pressing plate. The third push rod drives the pressing plate to move up and down, providing power for the movement of the clamping assembly.

[0013] According to the above technical solution, a second connecting ring is fixedly connected to the inner wall of the second annular plate. A blocking ring is fixedly connected to the inner wall of the second connecting ring. The inner wall of the blocking ring is movably connected to a hollow column. The outer wall of the blocking ring is movably connected to the first annular plate. The up and down movement of the blocking ring plays a role in controlling the opening state of the semi-circular plate. By setting the pushing assembly, when the device temporarily stores fruits, it will block the semi-circular plate at the bottom of the hollow column, preventing the fruits from colliding with the fruits below and causing damage, and also preventing too many fruits from accumulating in the hollow column and affecting the normal operation of the device.

[0014] According to the above technical solution, an elastic component is fixedly connected to one end of the slider away from the hollow column. One end of the elastic component away from the slider is fixedly connected to the housing. After the clamping assembly no longer receives the push of the pushing assembly, the elastic component uses its own elastic force to reset the clamping assembly.

[0015] Compared with the prior art, the present invention provides a flexible traction electric intelligent picking machine, which has the following beneficial effects:

[0016] 1. By setting up a picking mechanism, when the device picks fruits, the fruits can be directly stored temporarily in the outer shell of the device, avoiding the time wasted when the robotic arm drives the picking mechanism to move between the picking point and the storage point. After the fruits stored temporarily in the outer shell of the device reach a certain quantity, the fruits will be uniformly moved to the storage device, thus improving the efficiency of the device in picking fruits.

[0017] 2. By setting up a clamping component, the picked fruits can directly fall onto the inner wall of the device. This process only requires the clamping component to move backward, without any extra mechanical movement, reducing the time required for the process of temporarily storing fruits in the device and improving the efficiency of the device in picking fruits.

[0018] 3. By setting up a pushing component, when the device temporarily stores fruits, it will block the semi-circular plate at the bottom of the hollow column, preventing the fruits from colliding with the fruits below and causing damage, and also preventing too many fruits from accumulating in the hollow column, which may affect the normal operation of the device.

[0019] 4. By setting up a clamping component, through a flexible clamping method, the clamping part of the device wraps the fruits, thus avoiding damage to the fruits by the clamping component and ensuring that the device can smoothly pick the fruits from the tree and ensuring the stability of the device during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings are used to provide a further understanding of the present invention and form a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation to the present invention. In the drawings:

[0021] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 is a schematic diagram of the picking mechanism of the present invention Figure 1 ;

[0023] Figure 3 is a cross-sectional view of the picking mechanism of the present invention;

[0024] Figure 4 is of the present invention Figure 3 is an enlarged view of A in the present invention;

[0025] Figure 5 is a schematic diagram of the picking mechanism of the present invention Figure 2 ;

[0026] Figure 6 is a cross-sectional view of the picking mechanism of the present invention Figure 2 ;

[0027] Figure 7 is a schematic diagram of the pushing component of the present invention;

[0028] Figure 8 Schematic diagram of the clamping assembly of the present invention.

[0029] In the figure: 1, base; 101, robotic arm; 102, rotating rod; 2, picking mechanism; 201, first connecting ring; 202, housing; 203, first connecting plate; 204, hollow column; 205, arc plate; 206, semi-circular plate; 207, slide rail; 208, first chute; 209, elastic component; 2010, protruding plate; 2011, first annular plate; 2012, first push rod; 2013, first circular plate; 21, clamping assembly; 211, slider; 212, first movable column; 213, force-bearing plate; 214, second push rod; 215, U-shaped plate; 216, second chute; 217, second connecting plate; 218, rotating seat; 219, second movable column; 2110, right-angled plate; 2111, elastic plate; 2112, first elastic support plate; 2113, second elastic support plate; 22, pushing component; 221, third push rod; 222, second annular plate; 223, extrusion plate; 224, second connecting ring; 225, blocking ring. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0031] Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0032] In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection", "fixation" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] Embodiment 1: Refer to Figures 1 - 6 , Figure 8 , the present invention provides a technical solution: a flexible traction electric intelligent picking machine, including a base 1, the top of the base 1 is rotatably connected with a robotic arm 101, and one end of the robotic arm 101 away from the base 1 is rotatably connected with a rotating rod 102 through a bearing. It further includes:

[0034] Picking mechanism 2. The picking mechanism 2 includes a first connecting ring 201 rotatably connected to the inner wall of the rotating rod 102 through a bearing. The inner wall of the first connecting ring 201 is fixedly connected with a housing 202. The inner wall of the housing 202 is fixedly connected with a first connecting plate 203. One end of the first connecting plate 203 away from the housing 202 is fixedly connected with a hollow column 204. The top of the hollow column 204 is fixedly connected with an arc-shaped plate 205. The bottom of the hollow column 204 is fixedly connected with a semi-circular plate 206. The inner wall of the first connecting plate 203 is fixedly connected with a slide rail 207. The outer wall of the slide rail 207 is movably connected with a clamping assembly 21. The inner wall of the housing 202 is fixedly connected with a raised plate 2010. The inner wall of the raised plate 2010 is fixedly connected with a pushing assembly 22. When the device picks fruits, the fruits will enter the interior of the housing 202 through the hollow column 204, playing a role in temporarily storing the fruits. The inner wall of the housing 202 is fixedly connected with a first annular plate 2011. The bottom of the first annular plate 2011 is fixedly connected with a first push rod 2012. The bottom of the first push rod 2012 is fixedly connected with a first circular plate 2013. When the device is running, the picking mechanism 2 will move driven by the robotic arm 101 to pick fruits. During this process, the picked fruits will fall to the bottom through the hollow column 204. The arc-shaped plate 205 at the bottom of the hollow column 204 can effectively prevent the fruits from falling off from the outside. When the fruits fall on the first circular plate 2013 at the bottom, the fruits will be temporarily stored at the bottom of the housing 202. When the device needs to transfer the fruits to the storage device, the push rod is started to drive the circular plate to move downward, so that the fruits are unloaded from the bottom of the housing 202.

[0035] The clamping assembly 21 includes a slider 211. The outer wall of the slide rail 207 is movably connected to the slider 211. A second connecting plate 217 is fixedly connected to the top of the slider 211. One end of the second connecting plate 217 away from the slide is rotatably connected to a rotating seat 218 through a bearing. A right-angle plate 2110 is fixedly connected to the top of the rotating seat 218. An elastic plate 2111 is fixedly connected to the top of the right-angle plate 2110. An elastic support plate one 2112 is fixedly connected to the rear side of the right-angle plate 2110. The top of the elastic support plate one 2112 is fixedly connected to the elastic plate 2111. An elastic support plate two 2113 is fixedly connected to the outer wall of the elastic support plate one 2112. One end of the elastic support plate two 2113 away from the elastic support plate one 2112 is fixedly connected to the elastic plate 2111. As the angle of the rotating seat 218 changes, the elastic plate 2111 fits with the fruit, playing a role in clamping the fruit. A second push rod 214 is fixedly connected to the inner wall of the slider 211. The top of the second push rod 214 is fixedly connected to a U-shaped plate 215. A second chute 216 is opened at the top of the U-shaped plate 215. A second movable column 219 is fixedly connected to the outer wall of the rotating seat 218. The outer wall of the second movable column 219 is movably connected to the second chute 216. The second push rod 214 controls the height of the U-shaped plate 215, playing a role in controlling the deflection angle of the rotating seat 218. A first chute 208 is opened on the outer wall of the first connecting plate 203. A first movable column 212 is fixedly connected to the outer wall of the slider 211. The outer wall of the first movable column 212 is movably connected to the first chute 208. One end of the first movable column 212 away from the slider 211 is fixedly connected to a force-bearing plate 213. When the device picks fruits, the second push rod 214 is started to drive the U-shaped plate 215 to move obliquely upward. The moving U-shaped plate 215 will drive the rotating seat 218 to deflect through the second chute 216. The deflected rotating seat 218 will wrap the fruit through the elastic plate 2111. The elastic support plate one 2112 and the support plate behind the elastic plate 2111 will give the elastic plate 2111 a supporting force. Then, the robotic arm 101 is moved to let the picking mechanism 2 pick the fruit.

[0036] Embodiment 2: Please refer to Figure 7, on the basis of the first embodiment, the present invention provides a technical solution: the pushing component 22 includes a third push rod 221. The outer wall of the third push rod 221 is fixedly connected to the convex plate 2010. The bottom of the third push rod 221 is fixedly connected to a second annular plate 222. The top of the second annular plate 222 is fixedly connected to a pressing plate 223. The third push rod 221 drives the pressing plate 223 to move up and down, providing power for the movement of the clamping component 21. The inner wall of the second annular plate 222 is fixedly connected to a second connecting ring 224. The inner wall of the second connecting ring 224 is fixedly connected to a blocking ring 225. The inner wall of the blocking ring 225 is movably connected to the hollow column 204. The outer wall of the blocking ring 225 is movably connected to the first annular plate 2011. After the equipment completes the picking operation, the third push rod 221 will contract. The contracting third push rod 221 will drive the pressing plate 223 to move upward through the second annular plate 222. The upward moving pressing plate 223 will apply pressure to the force receiving plate 213, driving the force receiving plate 213 to move backward. The backward force receiving plate 213 will drive the elastic plate 2111 to move backward through the slider 211, the first connecting plate 203, and the rotating plate, releasing the clamping of the fruit by the clamping component 21. At this time, the fruit will fall into the hollow column 204 under its own weight. At the same time, as the third push rod 221 contracts, the blocking ring 225 will also move upward under the drive of the second annular plate 222 and the second connecting ring 224. The upward moving blocking ring 225 will expand the opening of the semi-circular plate 206, allowing the fruit to enter the outer shell 202.

[0037] One end of the slider 211 away from the hollow column 204 is fixedly connected to an elastic component 209. The end of the elastic component 209 away from the slider 211 is fixedly connected to the outer shell 202. After the temporary storage of the fruit is completed, the third push rod 221 will be reset. At this time, the slider 211 will be reset under the push of the elastic component 209, and the deflection angle of the rotating seat 218 will also be reset under the contraction of the second push rod 214. At the same time, due to the reset of the third push rod 221, the blocking ring 225 will re-block the opening of the semi-circular plate 206, preventing the fruit from falling to the bottom of the hollow column 204 when the robotic arm 101 drives the picking mechanism 2 to move, affecting the subsequent entry of the fruit.

[0038] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0039] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An electric intelligent picking machine with flexible traction, comprising a base (1), a robotic arm (101) is rotatably connected to the top of the base (1), and a rotating rod (102) is rotatably connected to one end of the robotic arm (101) away from the base (1) through a bearing, characterized in that, Further included are: A picking mechanism (2), the picking mechanism (2) includes a first connecting ring (201) rotatably connected to the inner wall of the rotating rod (102) through a bearing. The inner wall of the first connecting ring (201) is fixedly connected with a housing (202). The inner wall of the housing (202) is fixedly connected with a first connecting plate (203). One end of the first connecting plate (203) far from the housing (202) is fixedly connected with a hollow column (204). The top of the hollow column (204) is fixedly connected with an arc-shaped plate (205). The bottom of the hollow column (204) is fixedly connected with a semi-circular plate (206). The inner wall of the first connecting plate (203) is fixedly connected with a slide rail (207). The outer wall of the slide rail (207) is movably connected with a clamping assembly (21). The inner wall of the housing (202) is fixedly connected with a raised plate (2010). The inner wall of the raised plate (2010) is fixedly connected with a pushing assembly (22). When the device picks fruits, the fruits will enter the interior of the housing (202) through the hollow column (204), playing a role in temporarily storing the fruits.

2. The electric intelligent picking machine with flexible traction according to claim 1, wherein: The inner wall of the housing (202) is fixedly connected with a first annular plate (2011). The bottom of the first annular plate (2011) is fixedly connected with a first push rod (2012). The bottom of the first push rod (2012) is fixedly connected with a first circular plate (2013). The first push rod (2012) can control the height of the first circular plate (2013), playing a role in discharging the fruits in the device.

3. The electric intelligent picking machine with flexible traction according to claim 2, wherein: The clamping assembly (21) includes a slider (211). The outer wall of the slide rail (207) is movably connected with the slider (211). The top of the slider (211) is fixedly connected with a second connecting plate (217). One end of the second connecting plate (217) far from the slide is rotatably connected with a rotating seat (218) through a bearing. The top of the rotating seat (218) is fixedly connected with a right-angled plate (2110). The top of the right-angled plate (2110) is fixedly connected with an elastic plate (2111). The rear side of the right-angled plate (2110) is fixedly connected with a first elastic support plate (2112). The top of the first elastic support plate (2112) is fixedly connected with the elastic plate (2111). The outer wall of the first elastic support plate (2112) is fixedly connected with a second elastic support plate (2113). One end of the second elastic support plate (2113) far from the first elastic support plate (2112) is fixedly connected with the elastic plate (2111). As the angle of the rotating seat (218) changes, the elastic plate (2111) fits with the fruit, playing a role in clamping the fruit.

4. The electric intelligent picking machine with flexible traction according to claim 3, characterized in that: The inner wall of the slider (211) is fixedly connected with a second push rod (214). The top of the second push rod (214) is fixedly connected with a U-shaped plate (215). A second chute (216) is formed in the top of the U-shaped plate (215). The outer wall of the rotating seat (218) is fixedly connected with a second movable column (219). The outer wall of the second movable column (219) is movably connected with the second chute (216). The second push rod (214) controls the height of the U-shaped plate (215), playing a role in controlling the deflection angle of the rotating seat (218).

5. The electric intelligent picking machine with flexible traction according to claim 4, characterized in that: A first chute (208) is formed in the outer wall of the first connecting plate (203). The outer wall of the slider (211) is fixedly connected with a first movable column (212). The outer wall of the first movable column (212) is movably connected with the first chute (208). One end of the first movable column (212) far from the slider (211) is fixedly connected with a force-bearing plate (213). When the force-bearing plate (213) is subjected to the thrust of the pushing assembly (22), the distance between the clamping assembly (21) and the center point will be changed.

6. The electric intelligent picking machine with flexible traction according to claim 5, characterized in that: The pushing assembly (22) includes a third push rod (221). The outer wall of the third push rod (221) is fixedly connected with a convex plate (2010). The bottom of the third push rod (221) is fixedly connected with a second annular plate (222). The top of the second annular plate (222) is fixedly connected with a pressing plate (223). The third push rod (221) drives the pressing plate (223) to move up and down, providing power for the movement of the clamping assembly (21).

7. The electric intelligent picking machine with flexible traction according to claim 6, characterized in that: A second connecting ring (224) is fixedly connected to the inner wall of the second annular plate (222). A blocking ring (225) is fixedly connected to the inner wall of the second connecting ring (224). The inner wall of the blocking ring (225) is movably connected with the hollow column (204). The outer wall of the blocking ring (225) is movably connected with the first annular plate (2011). The up and down movement of the blocking ring (225) plays a role in controlling the opening state of the semi-circular plate (206).

8. The electric intelligent picking machine with flexible traction according to claim 7, characterized in that: One end of the slider (211) far from the hollow column (204) is fixedly connected with an elastic assembly (209). One end of the elastic assembly (209) far from the slider (211) is fixedly connected with the housing (202). After the clamping assembly (21) is no longer pushed by the pushing assembly (22), the elastic assembly (209) makes the clamping assembly (21) reset through its own elastic force.

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