Fruit picking robot

Abstract

The invention discloses a fruit picking robot in the technical field of pear picking. The fruit picking robot comprises a picking vehicle, and the picking vehicle is fixedly connected with a telescopic plate through a telescopic rod capable of adjusting the height; a picking part capable of picking pears is arranged on the telescopic plate; a packaging part capable of packaging the picked pears is arranged below the picking part; a driving plate capable of packaging pears immediately by the packaging part after the pears are picked by the picking part is arranged on the telescopic plate, a servo cylinder is fixedly connected to the driving plate, and the servo cylinder is fixedly connected to the telescopic plate; the two clamping plates are driven by the sliding grooves in the driving plate to move relatively to clamp fruit stems, then the driving plate continues to move until the blades cut off the fruit stems, at the moment, the fruit stems are clamped by the two clamping plates, pears are prevented from falling off, and the effect of automatically picking the pears is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pear picking, in particular to a fruit picking robot. BACKGROUND

[0002] The traditional pear picking and packaging method is to directly place the picked pears in ordinary containers such as bamboo baskets, plastic boxes, etc., and then to concentrate on packaging. This method has many drawbacks. During picking, the pears are easily collided and rubbed with the inner wall of the container and between the pears, resulting in damage to the skin, forming scratches, indentations, and even breakage. Meanwhile, the damaged parts are more susceptible to microbial infection, accelerating decay and deterioration. After picking, the packaging process is complicated, consuming a large amount of manpower and time cost, and is difficult to meet the production needs of modern large-scale pear picking and packaging.

[0003] Therefore, the present application designs a fruit picking robot to solve the above problems. SUMMARY

[0004] The present application aims to provide a fruit picking robot to solve the problems raised in the background.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a fruit picking robot, comprising a picking vehicle, wherein a telescopic plate is fixedly connected to the picking vehicle through a telescopic rod capable of adjusting height; A picking part capable of picking pears is arranged on the telescopic plate. A packaging part capable of packaging the picked pears is arranged below the picking part. A driving plate capable of packaging the pears immediately after the picking part finishes picking is arranged on the telescopic plate. A servo cylinder is fixedly connected to the driving plate and fixedly connected to the telescopic plate.

[0006] As a further scheme of the present application, the picking part comprises a group of clamping plates capable of clamping the fruit stem of the pear. A silica gel pad is fixedly connected to the opposite side of each clamping plate. The clamping plates are horizontally slidably connected to the telescopic plate. A blade for shearing the fruit stem is fixedly connected to the clamping plate. The clamping plates are slidably connected to the sliding groove of the driving plate through a sliding rod.

[0007] As a further scheme of the present application, the packaging part comprises a packaging box, which is fixedly connected to the telescopic plate. A group of fixed rods is fixedly connected to the packaging box. A packaging bag is placed on the fixed rod. An electric heating block for melting the packaging bag is fixedly connected to the end of the fixed rod away from the packaging bag. Both sides of the packing box interior are slidably connected with push rods, one end of each of the push rods away from the packing box is fixedly connected with a first baffle, one end of the push rod away from the first baffle is fixedly connected with a second baffle, a push rod is slidably connected between the first baffle and the second baffle, and the upper end of the push rod is fixedly connected on the driving plate. One end of the two push rods in the packing box is fixedly connected with a driving rod, the upper end of the driving rod is fixedly connected with a first heating plate, the front surface of the first heating plate is provided with a second heating plate, the first heating plate and the second heating plate are electrically connected, and the second heating plate is fixedly connected with the packing box.

[0008] As a further scheme of the present application, the packing part further comprises a bag feeding assembly capable of sequentially pulling out the packing bags, the bag feeding assembly comprises a feeding plate with a glue block, both ends of the feeding plate are fixedly connected with connecting plates, the side edges of each connecting plate are slidably connected with transmission tooth rods, the transmission tooth rods and the connecting plates are elastically connected with first springs, the transmission tooth rods are engaged with speed change wheels, the speed change wheels are engaged with driving wheels, the driving wheels are provided with torsional springs, the driving rod is provided with teeth, and the driving wheel is engaged with the teeth on the driving rod.

[0009] As a further scheme of the present application, the picking vehicle comprises a placing plate capable of being telescopically arranged in the vehicle body, and the placing plate is provided with a storage box for storing pears.

[0010] As a further scheme of the present application, the diameter of the electric heating block is smaller than the diameter of the fixing rod, and the end of the electric heating block away from the fixing rod is provided with an anti-falling ring capable of preventing the packing bag from falling off.

[0011] As a further scheme of the present application, one side of the packing bag and the fixing rod is provided with a semicircular groove, and the semicircular groove can accelerate the melting speed of the packing bag during work.

[0012] As a further scheme of the present application, the transmission tooth rods and the driving rod are provided with local teeth.

[0013] Compared with the prior art, the present application has the following beneficial effects: BRIEF DESCRIPTION OF DRAWINGS Figure 1 It is a schematic diagram of the overall structure of the present application; Figure 2 It is a schematic diagram of the connection structure of the picking part and the packing part of the present application; Figure 3 It is a schematic diagram of the picking part structure of the present application; Figure 4 It is a schematic diagram of the packing part structure of the present application; Figure 5 It is a schematic diagram of the position structure of the push rod, the first baffle and the second baffle of the present application; Figure 6 Structure diagram of the fixed rod on which the packaging bag of the present application is located; Figure 7 Structure diagram of the initial state of the packaging bag of the present application; Figure 8 Structure diagram of the contact state of the connecting plate and the packaging belt of the present application; Figure 9 Structure diagram of the structure in which the connecting plate pulls open the packaging belt of the present application; Figure 10 Structure diagram of the structure in which the connecting plate continues to pull open the packaging bag opening following the driving rod of the present application; Figure 11 Structure diagram of the structure in which the first heating plate and the second heating plate seal the packaging bag of the present application.

[0014] In the drawings: picking car 1, telescopic rod 2, telescopic plate 3, driving plate 4, servo cylinder 5, clamping plate 6, blade 7, sliding groove 8, packaging box 9, fixed rod 10, packaging bag 11, pushing rod 12, first baffle 13, second baffle 14, pushing rod 15, driving rod 16, first heating plate 17, second heating plate 18, feeding plate 19, connecting plate 20, transmission gear rod 21, first spring 24, speed-changing wheel 22, driving wheel 23, placing plate 25, storage box 26, electric heating block 27. DETAILED DESCRIPTION

[0015] Please refer to Figures 1-11 The present application provides a technical solution: a fruit picking robot, comprising a picking car 1, wherein the telescopic rod 2 capable of adjusting the height is fixedly connected to the telescopic plate 3 on the picking car 1. A picking part capable of picking pears is arranged on the telescopic plate 3; a packaging part capable of packaging the picked pears is arranged below the picking part; a driving plate 4 capable of packaging the pears immediately after the picking part finishes picking the pears is arranged on the telescopic plate 3, the servo cylinder 5 is fixedly connected to the driving plate 4, and the servo cylinder 5 is fixedly connected to the telescopic plate 3.

[0016] As a further scheme of the present application, the picking part comprises a group of clamping plates 6 capable of clamping the fruit stem of the pear, the opposite sides of the two clamping plates 6 are fixedly connected with silica gel pads, the clamping plates 6 are slidingly connected to the telescopic plate 3 in the horizontal direction, and the clamping plates 6 are fixedly connected with blades 7 for shearing the fruit stem. The clamping plates 6 are slidingly connected to the sliding grooves 8 opened on the driving plate 4 through sliding rods.

[0017] In the further use process of the present application: as Figure 1As shown, the telescopic plate 3 is started, the telescopic plate 3 moves the clamping plate 6 and the blade 7 to the fruit stem of the pear, then the servo cylinder 5 is started, the output shaft of the servo cylinder 5 pushes the driving plate 4 to move left, the sliding groove 8 on the driving plate 4 drives the relative movement of the two clamping plates 6, the fruit stem is clamped, then the driving plate 4 continues to move, the blade 7 cuts off the fruit stem, at this time, the fruit stem is clamped by the two clamping plates 6, so that the pear is prevented from falling, and the effect of automatic picking of the pear is realized.

[0018] As a further scheme of the present application, the packaging part comprises a packaging box 9, and the packaging box 9 is fixedly connected with the telescopic plate 3. A group of fixed rods 10 are fixedly connected in the packaging box 9, a packaging bag 11 is placed on the fixed rod 10, and an electric heating block 27 for fusing the packaging bag 11 is fixedly connected to one end of the fixed rod 10 away from the packaging bag 11. Push rods 12 are slidably connected to both sides in the packaging box 9, a first baffle 13 is fixedly connected to one end of each push rod 12 away from the packaging box 9, a second baffle 14 is fixedly connected to one end of the push rod 12 away from the first baffle 13, a push rod 15 is slidably connected between the first baffle 13 and the second baffle 14, and the upper end of the push rod 15 is fixedly connected to the driving plate 4. The two ends of the push rods 12 in the packaging box 9 are fixedly connected with a driving rod 16, the upper end of the driving rod 16 is fixedly connected with a first heating plate 17, the front surface of the first heating plate 17 is provided with a second heating plate 18, the first heating plate 17 and the second heating plate 18 are electrically connected, and the second heating plate 18 is fixedly connected with the packaging box 9.

[0019] As a further scheme of the present application, the packaging part further comprises a bag feeding assembly capable of sequentially pulling out the packaging bags 11, the bag feeding assembly comprises a feeding plate 19 provided with a rubber block, the two ends of the feeding plate 19 are fixedly connected with connecting plates 20, the side edges of each connecting plate 20 are slidably connected with transmission tooth rods 21, the transmission tooth rods 21 and the connecting plates 20 are elastically connected with first springs 24, the transmission tooth rods 21 are engaged with speed change wheels 22, the speed change wheels 22 are engaged with driving wheels 23, the driving wheels 23 are provided with torsional springs, the driving rod 16 is provided with teeth, and the driving wheels 23 are engaged with the teeth on the driving rod 16.

[0020] In the further use process, after the driving plate 4 drives the clamping plate 6 and the blade 7 to cut the fruit stem of the pear from the tree, the fruit stem is clamped by the clamping plate 6. As Figure 2 With Figure 4As shown, the drive plate 4 drives two push rods 15 to push the first baffle 13 to the left. Since the first baffle 13 is fixed to the push rod 12, the push rod 15 drives the push rod 12 to the left through the first baffle 13. The push rod 12 drives the drive rod 16 to the left, so that the first heating plate 17 and the second heating plate 18 are separated. like Figure 5 As shown, during the leftward movement of the drive rod 16, the drive wheel 23 rotates counterclockwise, which in turn drives the gear shift wheel 22 to rotate clockwise. The gear shift wheel 22 then drives the transmission rack 21 to move to the right. The upper end of the transmission rack 21 compresses the first spring 24, causing the connecting plate 20 to move to the right, which in turn causes the feeding plate 19 to move to the right, thus adhering the adhesive pad on the feeding plate 19 to the outer surface of the packaging bag 11. Figure 8 As shown; Then, as the connecting plate 20 continues to move to the left, the teeth on the connecting plate 20 disengage from the drive wheel 23; without the action of gears, the torsion spring built into the drive wheel 23 causes the drive wheel 23 to rotate back to its initial position. During the rotation of the drive wheel 23, it drives the transmission wheel 22 to rotate back to its initial position. The transmission wheel 22 drives the transmission rack 21 to move to the left. The leftward movement of the transmission rack 21 drives the connecting plate 20 to move to the left. The connecting plate 20 drives the feeding plate 19 to move to the left. Since one side of the packaging bag 11 is adhered to the feeding plate 19, the packaging bag 11 can follow the feeding plate 19 to move to the left during the leftward movement of the feeding plate 19. When the packaging bag 11 moves to the left from the fixing rod 10 to the heating block 27, as Figure 6 As shown, because the hole on the back of the packaging bag 11 is adapted to the fixing rod 10, and the heating block 27 is provided with an anti-detachment ring to prevent the packaging bag 11 from falling off the fixing rod 10, during the leftward movement of the packaging bag 11, the back of the packaging bag 11 is blocked by the heating block 27, and the feeding plate 19 can only pull one side of the packaging bag 11 to the outside, such as... Figure 9 As shown, the packaging bag 11 is torn open; at this time, the teeth of the transmission rack 21 disengage from the gear shift wheel 22, and the untoothed part of the transmission rack 21 contacts the gear shift wheel 22. Then, push rod 15 continues to move to the left following drive plate 4. Push rod 12 drives drive rod 16 to move to the left, and drive rod 16 drives feed plate 19, connecting plate 20 and transmission gear 21 to move to the left until drive plate 4 drives the two clamping plates 6 to fully fit together through slide groove 8, clamping the fruit stem. Figure 3 As shown; At this point, the opening of the bag with strap 11 is stretched to its maximum, such as Figure 10 As shown, the packaging bag 11 is located directly below the pear; Finally servo cylinder 5 drive plate 4 to the right movement, drive plate 4 on the slide 8 drive two clamping plate 6 away from each other, so that the pear clamping in the two clamping plate 6 loose; At the same time drive plate 4 drive push rod 15 to the right movement, push rod 15 on the push rod 12 to the left slide, until the push rod 15 to the second baffle 14, push rod 15 through the second baffle 14 drive push rod 12 to the right movement, push rod 12 drive drive rod 16, first heating plate 17, connecting plate 20, transmission gear bar 21 restore position, first heating plate 17 and second heating plate 18 contact, circuit, will be bag 11 bag opening for compression sealing; Then through the external power supply start electric heating block 27, the plastic on the packaging bag 11 melt, through the external mechanical hand will be placed in the packaging bag 11 pear to the storage box 26.

[0021] Through 19, the use of electric heating block 27 and fixed rod 10, can be fixed rod 10 on the packaging bag 11 pull open, then through the first heating plate 17 and the second heating plate 18, the use of hot pressing plastic package 11, so that the pear fall into the packaging bag 11 packaging, ensure that the pear in the picking process, no protection, resulting in skin damage, form scratch, indentation damage, avoid microbial infection, accelerate the decay of metamorphic conditions occur, at the same time, after picking the packaging of pear does not need to be packaged, simplify the work flow, save manpower and time cost, suitable for large scale pear picking packaging production needs.

[0022] The raw material of the packaging bag 11 is kraft paper and plastic film hot-pressed on the kraft paper, and the raw material at the upper end of the packaging bag 11 is plastic.

[0023] The adhesive block on the feeding plate 19 is a solid reusable adhesive block, such as a silicone-based adhesive block.

[0024] As a further scheme of the present application, the picking vehicle 1 comprises a placing plate 25 capable of telescoping in the vehicle body 1, and a storage box 26 for storing pears is placed on the placing plate 25.

[0025] As a further scheme of the present application, the diameter of the electric heating block 27 is smaller than the diameter of the fixed rod 10, and a anti-falling ring is arranged at the end of the electric heating block 27 away from the fixed rod 10 to prevent the packaging bag 11 from falling off.

[0026] As a further scheme of the present application, a semicircular groove is arranged on the side of the packaging bag 11 inserted into the fixed rod 10, which can accelerate the melting speed of the packaging bag 11 during work.

[0027] As a further scheme of the present application, the transmission gear bar 21 and the drive rod 16 are both provided with local teeth.

[0028] Working principle: asFigure 1 As shown, the telescopic plate 3 is started, the telescopic plate 3 moves the clamping plate 6 and the blade 7 to the fruit stem of the pear, then the servo cylinder 5 is started, the output shaft of the servo cylinder 5 pushes the driving plate 4 to move left, the sliding groove 8 on the driving plate 4 drives the relative movement of the two clamping plates 6, the fruit stem is clamped, then the driving plate 4 continues to move, the blade 7 cuts off the fruit stem, at this time, the fruit stem is clamped by the two clamping plates 6, so that the pear is prevented from falling, and the effect of automatic picking of the pear is realized; After the driving plate 4 drives the clamping plate 6 and the blade 7 to cut off the fruit stem of the pear from the tree, the fruit stem is clamped by the clamping plate 6 during the process; As Figure 2 With Figure 4 As shown, the driving plate 4 drives the two push rods 15 to push the first baffle 13 to move left, since the first baffle 13 is fixed with the push rod 12, the push rod 15 drives the push rod 12 to move left through the first baffle 13, the push rod 12 drives the driving rod 16 to move left, so that the first heating plate 17 is separated from the second heating plate 18; As Figure 5 As shown, during the left movement of the driving rod 16, the driving rod 16 drives the driving wheel 23 to rotate counterclockwise, the driving wheel 23 drives the speed change wheel 22 to rotate clockwise, the speed change wheel 22 drives the transmission tooth rod 21 to move right, the upper end of the transmission tooth rod 21 drives the connecting plate 20 to move right through the extrusion of the first spring 24, so that the feeding plate 19 moves right, and the adhesive block on the feeding plate 19 is adhered to the outer side of the packaging bag 11, as shown in Figure 8 ; Then, during the continuous left movement of the connecting plate 20, the teeth on the connecting plate 20 are disengaged from the meshing with the driving wheel 23; without the action of the gear, the torsional spring built in the driving wheel 23 makes the driving wheel 23 rotate back to the initial position, the driving wheel 23 drives the speed change wheel 22 to rotate back to the initial position during the rotation, the speed change wheel 22 drives the transmission tooth rod 21 to move left, the transmission tooth rod 21 drives the connecting plate 20 to move left, and the connecting plate 20 drives the feeding plate 19 to move left; since one side of the packaging bag 11 is adhered to the feeding plate 19, the packaging bag 11 can move left with the feeding plate 19 during the left movement of the feeding plate 19; When the packaging bag 11 moves left to the electric heating block 27 from the fixed rod 10, as shown in Figure 6 Since the hole opened on the back of the packaging bag 11 is matched with the fixed rod 10, the electric heating block 27 is provided with an anti-falling ring to prevent the packaging bag 11 from falling off the fixed rod 10, therefore, during the left movement of the packaging bag 11, the back of the packaging bag 11 is blocked by the electric heating block 27, and the feeding plate 19 can only pull one side of the packaging bag 11 to the outside, as shown in Figure 9As shown, the packaging bag 11 is torn open; at this time, the teeth of the transmission tooth bar 21 are disengaged from the meshing of the gear wheel 22, and the rear end of the transmission tooth bar 21 is not in contact with the gear wheel 22; Then the push rod 15 continues to follow the driving plate 4 to move left, the push rod 12 drives the driving rod 16 to move left, the driving rod 16 drives the feeding plate 19, the connecting plate 20 and the transmission tooth bar 21 to move left, until the driving plate 4 drives the two clamping plates 6 to completely adhere through the sliding groove 8, and the fruit stem is clamped, as shown in Figure 3 As shown; At this time, the bag opening of the packaging belt 11 is stretched to the maximum, as shown in Figure 10 The packaging bag 11 is located directly below the pear; Finally, the servo cylinder 5 drives the driving plate 4 to move right, the sliding groove 8 on the driving plate 4 drives the two clamping plates 6 to move away from each other, so that the pear clamped between the two clamping plates 6 is loosened; at the same time, the driving plate 4 drives the push rod 15 to move right, the push rod 15 slides left on the push rod 12 until the push rod 15 moves to the second baffle 14, the push rod 15 drives the push rod 12 to move right through the second baffle 14, the push rod 12 drives the driving rod 16, the first heating plate 17, the connecting plate 20 and the transmission tooth bar 21 to return to the original position, the first heating plate 17 contacts the second heating plate 18, the circuit is connected, the bag opening of the packaging bag 11 is pressed and sealed; then the electric heating block 27 is started through the external power supply, the plastic on the packaging bag 11 is melted, and the pear in the packaging bag 11 is placed into the storage box 26 through the external mechanical hand.

Claims

1. A fruit-picking robot, comprising a picking vehicle (1), characterized in that: The harvesting vehicle (1) is fixedly connected to a telescopic plate (3) via a telescopic rod (2) that can adjust the height. The telescopic plate (3) is provided with a picking part that can pick pears; below the picking part is a packaging part that can package the picked pears; the telescopic plate (3) is provided with a drive plate (4) that can immediately package the pears after the picking part has finished picking them; a servo cylinder (5) is fixedly connected to the drive plate (4) and the servo cylinder (5) is fixedly connected to the telescopic plate (3).

2. The fruit-picking robot according to claim 1, characterized in that: The picking section includes a set of clamping plates (6) that can clamp the pear stem. Silicone pads are fixedly connected to opposite sides of the two clamping plates (6). The clamping plates (6) are horizontally slidably connected to the telescopic plate (3). A blade (7) for cutting the stem is fixedly connected to the clamping plates (6). The clamping plate (6) is slidably connected to the slide groove (8) opened on the drive plate (4) by a slide rod.

3. A fruit-picking robot according to claim 2, characterized in that: The packaging section includes a packaging box (9), which is fixedly connected to the telescopic plate (3); A set of fixing rods (10) are fixedly connected inside the packaging box (9). A packaging bag (11) is placed on the fixing rods (10). An electric heating block (27) for melting the packaging bag (11) is fixedly connected to the end of the fixing rods (10) away from the packaging bag (11). Push rods (12) are slidably connected to both sides inside the packaging box (9). Each push rod (12) is fixedly connected to a first baffle (13) at one end away from the packaging box (9). A second baffle (14) is fixedly connected to the other end of the push rod (12) away from the first baffle (13). A push rod (15) is slidably connected between the first baffle (13) and the second baffle (14). The upper end of the push rod (15) is fixedly connected to the drive plate (4). The two push rods (12) are fixedly connected to a drive rod (16) at one end inside the packaging box (9). The upper end of the drive rod (16) is fixedly connected to a first heating plate (17). A second heating plate (18) is provided on the front of the first heating plate (17). The first heating plate (17) and the second heating plate (18) are electrically connected. The second heating plate (18) is fixedly connected to the packaging box (9).

4. A fruit-picking robot according to claim 3, characterized in that: The packaging section also includes a bag feeding assembly capable of pulling the packaging bags (11) outward in sequence. The bag feeding assembly includes a feeding plate (19) with a rubber block. Both ends of the feeding plate (19) are fixedly connected to connecting plates (20). A transmission rack (21) is slidably connected to the side of each connecting plate (20). A first spring (24) is elastically connected between the transmission rack (21) and the connecting plate (20). The transmission rack (21) meshes with a speed change wheel (22). The speed change wheel (22) meshes with a drive wheel (23). The drive wheel (23) has a built-in torsion spring. The drive rod (16) is provided with teeth. The drive wheel (23) meshes with the teeth on the drive rod (16).

5. A fruit-picking robot according to claim 4, characterized in that: The picking vehicle (1) includes a retractable placement plate (25) on the vehicle body (1), on which a storage box (26) for storing pears is placed.

6. A fruit-picking robot according to claim 5, characterized in that: The diameter of the heating block (27) is smaller than the diameter of the fixing rod (10), and the end of the heating block (27) away from the fixing rod (10) is provided with an anti-detachment ring to prevent the packaging bag (11) from falling off.

7. A fruit-picking robot according to claim 6, characterized in that: A semi-circular groove is provided on the side of the packaging bag (11) that is inserted into the fixing rod (10).

8. A fruit-picking robot according to claim 7, characterized in that: Both the transmission rack (21) and the drive rod (16) are provided with partial teeth.

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