Automatic fruit and vegetable picking device
By designing a rapid fruit stem cutting mechanism and utilizing the cooperation of a pressure detection plate and a cutting block, the automatic fruit and vegetable harvesting device achieves efficient fruit harvesting, solving the problem of low efficiency in existing technologies.
Patent Information
- Application Number
- CN202511544823.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-28
- Publication Date
- 2025-12-16
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing equipment is inefficient in fruit and vegetable harvesting and makes it difficult to achieve rapid batch collection, especially for fruits on fruit trees or vines.
The design incorporates a rapid fruit stem cutting mechanism. A pressure detection plate detects fruit contact and sends a signal to control the cutting block to cut the fruit stem. Combined with a transport mechanism, this enables rapid fruit harvesting.
It improved fruit harvesting efficiency, enabled rapid batch harvesting within a localized area, and reduced harvesting time.
Smart Images
Figure CN121128449A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of automatic picking technology, in particular to a fruit and vegetable automatic picking device. BACKGROUND
[0002] Fruit and vegetable refers to vegetables and fruits. Fruit and vegetable is rich in vitamins, inorganic salts and dietary fiber necessary for human body, and contains little protein and fat. Because fruit and vegetable contains various organic acids, aromatic substances and red, green, yellow, blue and purple pigment components, people can cook various dishes with different flavors and styles, which is of great significance to increasing appetite and promoting digestion. Fruit and vegetable is an important part of people's daily diet, and is also widely planted in the world. Fruit and vegetable has various species, and part of fruits such as apple, pear, mango and strawberry are fruit trees or vines. The existing device is not convenient for picking, and the existing device basically relies on cooperation of mechanical hand and camera to realize single and accurate collection, which is slow in overall efficiency, cannot realize rapid batch collection, spends more time and greatly reduces the efficiency of fruit picking. SUMMARY
[0003] The present application aims to provide a fruit and vegetable automatic picking device to solve the problems in the background art.
[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a fruit stem rapid cutting mechanism fixedly connected with a mechanical hand is arranged; The fruit stalk quick cutting mechanism comprises a first connecting plate fixedly connected with the movable end of the mechanical arm, a fixed plate fixedly arranged on the first connecting plate, a screw rod rotatably arranged on the fixed plate, a limiting rod fixedly arranged on the fixed plate, a first motor fixedly arranged on the fixed plate, a motor shaft of the first motor fixedly connected with the screw rod, a pair of moving rods slidably arranged on the limiting rod, the moving rods in screw transmission with the screw rod, a first slide rail arranged on each moving rod, a cutting block slidably arranged in each first slide rail, each cutting block sliding in the first slide rail through an electric sliding block, a pressure detection plate rotatably arranged in each moving rod at equal intervals, each pressure detection plate fixedly connected with a fixed shaft on the moving rod through a corresponding torsion spring, a trigger protruding column fixedly arranged on each pressure detection plate, a trigger groove arranged on the moving rod at equal intervals, a signal transmitter arranged on the moving rod, the trigger protruding column being slidable into the corresponding trigger groove, a sliding block slidably arranged in the cutting block, a blade fixedly arranged on the moving rod opposite to the moving rod and on the sliding block, a blade groove plate fixedly arranged on one side of the blade on the sliding block, an extension trigger plate fixedly arranged on the other side of the blade on the sliding block, a fixed end of the extension trigger plate fixedly connected with the sliding block, a distance sensor fixedly arranged on the fixed end of the extension trigger plate, a corresponding electromagnet fixedly arranged on the side of each cutting block away from the moving rod opposite to the moving rod, and a spring fixedly arranged between the electromagnet and the sliding block at equal intervals, and a spring arranged in the extension trigger plate.
[0005] Preferably, a transportation mechanism is arranged below the fruit stalk quick cutting mechanism, the transportation mechanism comprising a second connecting plate fixedly connected with the moving rod, a corresponding fixed sleeve fixedly connected with one end of the second connecting plate away from the moving rod, a corresponding auxiliary transmission cylinder fixedly arranged on the fixed sleeve, the auxiliary transmission cylinder fixedly connected with a main transmission cylinder at one end away from the fixed sleeve, and the main transmission cylinder fixedly connected with a fixed sleeve at one end away from the auxiliary transmission cylinder.
[0006] Preferably, the fruit stalk quick cutting mechanism further comprises a second slide rail arranged on the fixed plate, a belt wheel plate slidably arranged in the second slide rail, the belt wheel plate sliding in the second slide rail through a corresponding electric sliding block, a pair of belt wheels rotatably arranged on the belt wheel plate, the belt wheels in synchronous transmission through a transmission belt, a second motor fixedly arranged on the belt wheel plate, a motor shaft of the second motor fixedly connected with one of the belt wheels, the other belt wheel fixedly connected with a circular plate, and a first camera fixedly arranged on the circular plate.
[0007] Preferably, the fixing sleeve is fixedly connected with the third connecting plate, the third connecting plate is fixedly arranged on a fruit basket, the fruit basket is fixedly connected with a vehicle body, a buffer pad is further fixedly arranged on the vehicle body and in the fruit basket, the mechanical hand is arranged on a control terminal, the control terminal is fixedly arranged on the vehicle body, a second camera is fixedly arranged on the mechanical hand, wheels are equidistantly arranged and rotatably arranged on the vehicle body, and a control panel is further arranged on the vehicle body and connected with the control terminal through wires.
[0008] Compared with the prior art, the present application has the following beneficial effects: the present application sets up a fruit stem rapid cutting mechanism, detects whether it is in contact with the fruit on the branch and vine through the pressure detection plate, and pushes the pressure detection plate through the fruit below, thereby emitting a signal to make the electric sliding block slide above the fruit, so as to cut the fruit stem rapidly, and the fruit stem rapid cutting mechanism is lowered, thereby batch rapid picking in a local range can be carried out, and the overall picking efficiency is greatly improved. BRIEF DESCRIPTION OF DRAWINGS
[0009] Figure 1 It is a first overall structure schematic view of the embodiment of the present application. Figure 2 It is a second overall structure schematic view of the embodiment of the present application. Figure 3 It is a first local structure schematic view of the embodiment of the present application. Figure 4 It is a second local structure schematic view of the embodiment of the present application. Figure 5 It is a third local structure schematic view of the embodiment of the present application. Figure 6 It is a fourth local structure schematic view of the embodiment of the present application. Figure 7 It is the embodiment of the present application Figure 4 It is an enlarged schematic view of A in the embodiment of the present application. Figure 8 It is the embodiment of the present application Figure 5 It is an enlarged schematic view of B in the embodiment of the present application. Figure 9 It is the embodiment of the present application Figure 5 It is an enlarged schematic view of C in the embodiment of the present application. Figure 10 It is the embodiment of the present application Figure 5 It is an enlarged schematic view of D in the embodiment of the present application. Figure 11 It is the embodiment of the present application Figure 6 It is an enlarged schematic view of E in the embodiment of the present application. In the diagram: 11. Vehicle body; 12. Control terminal; 13. Control panel; 14. Wheel; 15. Robotic arm; 16. Fruit basket; 17. Buffer pad; 18. No. 3 connecting plate; 19. Fixing sleeve; 20. Main transmission cylinder; 21. Secondary transmission cylinder; 22. Fixing sleeve; 23. No. 2 connecting plate; 24. Moving rod; 25. No. 1 slide rail; 26. Cutting block; 27. Pressure detection plate; 28. Limiting rod; 29. Screw; 30. Fixing plate; 31. No. 2 slide rail 31. Rail; 32. Connecting plate No. 1; 33. Motor No. 1; 34. Electromagnet; 35. Slider; 36. Knife groove plate; 37. Blade; 38. Telescopic trigger plate; 39. Distance sensor; 40. Spring; 41. Pulley plate; 42. Pulley; 43. Transmission belt; 44. Circular plate; 45. Camera No. 1; 46. Motor No. 2; 47. Trigger protrusion; 48. Trigger groove; 49. Camera No. 2; 61. Transport mechanism; 62. Fruit stem rapid cutting mechanism. Detailed Implementation
[0010] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0011] Combined with appendix Figures 1-11 The automatic fruit and vegetable harvesting device includes a fruit stem rapid cutting mechanism 62 that is fixedly connected to the robotic arm 15. The rapid stem cutting mechanism 62 includes a first connecting plate 32 fixedly connected to the movable end of the robotic arm 15. A fixing plate 30 is fixedly mounted on the first connecting plate 32. A screw 29 is rotatably mounted on the fixing plate 30. A limiting rod 28 is also fixedly mounted on the fixing plate 30. A first motor 33 is also fixedly mounted on the fixing plate 30. The motor shaft of the first motor 33 is fixedly connected to the screw 29. A pair of moving rods 24 are slidably mounted on the limiting rod 28. The moving rods 24 are helically driven with the screw 29. Each moving rod 24 is provided with a first slide rail 2. 5. Each of the first slide rails 25 has a slidable cutting block 26, and each cutting block 26 slides within the first slide rail 25 via an electric slider. Each moving rod 24 has pressure detection plates 27 rotatably arranged at equal intervals. Each pressure detection plate 27 is fixedly connected to a fixed shaft on the moving rod 24 via a corresponding torsion spring. Each pressure detection plate 27 has a fixed trigger protrusion 47. The moving rod 24 also has trigger grooves 48 arranged at equal intervals. The moving rod 24 has a signal transmitter, and the trigger protrusions 47 can slide into the corresponding... When the trigger protrusion 47 contacts the trigger groove 48, it will trigger the signal transmitter, thus facilitating the sliding of the cutting block 26 to the trigger position. A slider 35 is slidably mounted inside the cutting block 26. A blade 37 is fixedly mounted on the slider 35 opposite to the moving rod 24. A blade groove plate 36 is fixedly mounted on one side of the blade 37 on the slider 35. A telescopic trigger plate 38 is also fixedly mounted on the other side of the blade 37 on the slider 35. The fixed end of the telescopic trigger plate 38 is fixedly connected to the slider 35. A distance sensor 39 is also fixedly installed on the fixed end. The distance sensor 39 is used to detect the displacement of the telescopic trigger plate 38. The two cutting blocks 26 are completely upside down. The blade 37 is used to insert into the blade groove plate 36 in the other cutting block 26. Each cutting block 26 is fixedly provided with a corresponding electromagnet 34 on the side opposite to the moving rod 24. Springs 40 are arranged and fixed at equal intervals between the electromagnets 34 and the slider 35. The telescopic trigger plate 38 is provided with a spring. The slider 35 is made of a material that can be acted upon by magnetic force.
[0012] Advantageously, a transport mechanism 61 is provided below the fruit stem rapid cutting mechanism 62. The transport mechanism 61 includes a second connecting plate 23 fixedly connected to the moving rod 24. The end of the second connecting plate 23 away from the moving rod 24 is fixedly connected to a corresponding fixed sleeve 22. A corresponding auxiliary transmission cylinder 21 is fixedly provided on the fixed sleeve 22. The end of the auxiliary transmission cylinder 21 away from the fixed sleeve 22 is fixedly connected to the main transmission cylinder 20. The end of the main transmission cylinder 20 away from the auxiliary transmission cylinder 21 is fixedly connected to the fixed sleeve 19.
[0013] Advantageously, the fruit stem rapid cutting mechanism 62 also includes a second slide rail 31 provided on the fixed plate 30. A pulley plate 41 is slidably provided in the second slide rail 31. The pulley plate 41 is slidably disposed in the second slide rail 31 by a corresponding electric slider. A pair of pulleys 42 are rotatably provided on the pulley plate 41. The pulleys 42 are synchronously driven by a transmission belt 43. A second motor 46 is fixedly provided on the pulley plate 41. The motor shaft of the second motor 46 is fixedly connected to one of the pulleys 42. The other pulley 42 is fixedly connected to a circular plate 44. A first camera 45 is fixedly provided on the circular plate 44. The first camera 45 is used for real-time monitoring and data feedback. The position of the cutting block 26 is further controlled and adjusted by the control unit.
[0014] Advantageously, the fixing sleeve 19 is fixedly connected to the third connecting plate 18, the third connecting plate 18 is fixedly mounted on the fruit basket 16, the fruit basket 16 is fixedly connected to the vehicle body 11, and a buffer pad 17 is also fixedly mounted on the vehicle body 11 inside the fruit basket 16. The buffer pad 17 is filled with a certain amount of gas, but is not completely filled. The buffer pad 17 is used to catch the fruit falling from the main transmission cylinder 20, and the fruit will not be damaged when it falls on the buffer pad 17. The robotic arm 15 is mounted on the control terminal 12, and the control terminal 12 is fixedly mounted on the main transmission cylinder 20. On the vehicle body 11, the control terminal 12 is used to control the robotic arm 15, motor, electric slider, electromagnet, and receive signals. The robotic arm 15 is fixedly equipped with a second camera 49, which is used to determine the approximate position of the fruit. Wheels 14 are equidistantly arranged and rotate on the vehicle body 11. The vehicle body 11 is also equipped with a control panel 13, which is connected to the control terminal 12 via wires for convenient control. The structure and control system of the vehicle body and robotic arm of this device are the same as those of existing intelligent harvesting equipment, so they will not be described in detail.
[0015] How to use this invention: In the initial state: The buffer pad 17 is filled with a certain amount of gas, but it is not fully filled. The spring 40 is in normal condition. The electromagnet 34 is not energized. The telescopic trigger plate 38 is fully extended. The torsion spring between the pressure detection plate 27 and the fixed shaft on the moving rod 24 is in normal condition. The trigger protrusion 47 is not inserted into the trigger groove 48. The moving rod 24 is at both ends of the limiting rod 28.
[0016] When a user wants to use this device, they need to operate the device to a suitable harvesting position via the control panel 13, specify the harvesting route and height, and then the device will start. After starting, the robotic arm 15 will rotate towards the harvesting side, so that the fruit stalk rapid cutting mechanism 62 is aligned with the harvesting side (the direction is set in advance via the control panel 13). Then, the control terminal 12 will identify the position of the fruit through the image transmitted by the second camera 49, and feed the feedback to the robotic arm 15, manipulating the robotic arm 15 to move above the cluster of fruit to be harvested. The moving rod 24 moves to both sides of the main branch from which the fruit grows (i.e., the main branch is between the two moving rods 24). Then, the first... Motor 33 starts under the control of the control terminal 12. After starting, the motor shaft of motor 33 drives screw 29 to rotate. After screw 29 rotates, it drives moving rods 24 to converge. Camera 45 observes the position of moving rods 24 in real time. When the two moving rods 24 are close to the main branch from which the fruit grows, the control terminal 12 stops starting motor 33 through the image transmitted by camera 45. As the moving rods 24 move, the main transmission cylinder 20 also moves to the bottom of the cluster of fruit. At this time, the cluster of fruit is between the moving rods 24 and the main transmission cylinder 20. Then, the fruit stalk rapid cutting mechanism 62 is connected to the robotic arm 1. Driven by the 5th, the entire structure begins to descend horizontally. The robotic arm 15 will keep the moving rod 24 parallel to the ground. As the robotic arm 15 slowly lowers the fruit stem cutting mechanism 62, the pressure detection plate 27 on the moving rod 24 will contact the fruit. As the moving rod 24 continues to descend, the pressure detection plate 27 will be squeezed and rotated by the fruit until the side of the pressure detection plate 27 with the trigger protrusion 47 contacts the bottom surface of the moving rod 24. The trigger protrusion 47 is in complete contact with the trigger groove 48. At this point, the signal transmitter at the corresponding position inside the moving rod 24 will send a signal to the control terminal 12. After receiving the signal from the signal transmitter at the corresponding position, the control terminal 12 will... The electric slider that controls the movement of the cutting block 26 will move the cutting block 26 to the corresponding position. Then, the control terminal 12 will activate the second motor 46 and the electric slider fixedly connected to the pulley plate 41, thereby moving the first camera 45 to the left and right ends to observe the position of the fruit stem between the moving rods 24. Under the action of the first camera 45, the control terminal 12 will activate the electric slider that controls the movement of the cutting block 26 to ensure that the cutting block 26 can cover the fruit stem area. Then, the control terminal 12 will activate the electromagnet 34. After the electromagnet 34 is energized, the slider 35 will be repelled by the electromagnet 34 and move towards the fruit stem.The spring 40 is stretched and deformed, and the blade 37 extends out of the cutting block 26. Under normal circumstances, the two blades 37 will insert into the corresponding blade groove plate 36 to cut off the fruit stem. However, in some cases, the fruit stem is blocked by the main branch on one side. In this case, the telescopic trigger plate 38 will first contact the fruit stem, pushing the fruit stem against the main branch. As the slider 35 continues to move, the spring in the telescopic trigger plate 38 will be squeezed by the telescopic end of the telescopic trigger plate 38. The contraction of the telescopic end of the telescopic trigger plate 38 is detected by the distance sensor 39. After the distance sensor 39 detects the movement of the telescopic end of the telescopic trigger plate 38, it will... A signal is transmitted to the control terminal 12. Upon receiving the signal from the distance sensor 39, the control terminal 12 will stop the electromagnet 34 from starting. When the telescopic trigger plate 38 retracts, the blade 37 will gently press against the main branch, thus preventing damage to the main branch. Simultaneously, when the blade 37 presses against the main branch, it completes the cutting of the fruit stalk. After the electromagnet 34 stops, the slider 35, the blade groove plate 36, the blade 37, and the telescopic trigger plate 38 will reset under the action of the spring 40. The fruit with the cut stalk will fall into the corresponding fixed sleeve 22. After the fruit falls... The corresponding pressure detection plate 27 will reset under the action of the torsion spring, and the trigger protrusion 47 will disengage from the trigger groove 48, thus entering the secondary transmission cylinder 21 and the main transmission cylinder 20, falling onto the buffer pad 17 and into the fruit basket 16. The buffer pad 17 cushions the fruit, preventing damage. Because the center of the buffer pad 17 is higher than the outer ring, and the outer ring is higher than the bottom of the fruit basket 16, the buffer pad 17 is not completely filled with gas. In the initial stage of fruit collection, due to the high falling height of the fruit, it will be firmly caught by the buffer pad 17. When a second fruit falls... The previous falling fruit will bounce off the buffer pad 17 and roll out of it, landing in the fruit basket 16. This method provides protection. As more and more fruit is collected and piled to a certain height at the bottom of the fruit basket 16, the falling fruit slows down. At this point, the buffer pad 17 only serves as a cushion, thus protecting the fruit. With the cooperation of the robotic arm 15 and the trigger groove 48, the moving rod 24 continues to descend along the main branch, thereby sequentially harvesting the cluster of fruit. This process is repeated to complete the batch harvesting of fruit from the tree and vines, greatly improving harvesting efficiency.
[0017] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. An automatic fruit and vegetable harvesting device, comprising a rapid stem cutting mechanism (62) fixedly connected to a robotic arm (15), characterized in that: The rapid stem cutting mechanism (62) includes a first connecting plate (32) fixedly connected to the movable end of the robotic arm (15). A fixing plate (30) is fixedly mounted on the first connecting plate (32). A screw (29) is rotatably mounted on the fixing plate (30). A limiting rod (28) is also fixedly mounted on the fixing plate (30). A first motor (33) is also fixedly mounted on the fixing plate (30). The motor shaft of the first motor (33) is fixedly connected to the screw (29). A pair of moving rods (24) are slidably mounted on the limiting rod (28). The moving rod (24) and the screw (29) are driven by a screw. Each moving rod (24) is provided with a first slide rail (25). Each first slide rail (25) is provided with a cutting block (26) sliding inside. Each cutting block (26) slides inside the first slide rail (25) via an electric slider. Each moving rod (24) is provided with pressure detection plates (27) rotatably arranged at equal intervals. Each pressure detection plate (27) is fixedly connected to the fixed shaft on the moving rod (24) by a corresponding torsion spring. The force detection plate (27) is fixedly provided with trigger protrusions (47), and the moving rod (24) is also provided with trigger grooves (48) arranged at equal intervals. The moving rod (24) is provided with a signal transmitter. The trigger protrusions (47) can slide into the corresponding trigger grooves (48). The cutting block (26) is provided with a slider (35). The moving rod (24) is fixedly provided with a blade (37) on the opposite side of the slider (35). The slider (35) is fixedly provided with a blade groove plate (36) on one side of the blade (37). A telescopic trigger plate (38) is also fixedly mounted on the other side of the blade (37). The fixed end of the telescopic trigger plate (38) is fixedly connected to the slider (35). A distance sensor (39) is also fixedly mounted on the fixed end of the telescopic trigger plate (38). A corresponding electromagnet (34) is fixedly mounted on the side of each cutting block (26) away from the moving rod (24). Springs (40) are arranged and fixedly mounted at equal intervals between the electromagnets (34) and the slider (35). A spring is provided inside the telescopic trigger plate (38).
2. The automatic fruit and vegetable harvesting device according to claim 1, characterized in that: Below the fruit stem rapid cutting mechanism (62) is a transport mechanism (61). The transport mechanism (61) includes a second connecting plate (23) fixedly connected to the moving rod (24). The end of the second connecting plate (23) away from the moving rod (24) is fixedly connected to a corresponding fixed sleeve (22). A corresponding auxiliary transmission cylinder (21) is fixedly provided on the fixed sleeve (22). The end of the auxiliary transmission cylinder (21) away from the fixed sleeve (22) is fixedly connected to the main transmission cylinder (20). The end of the main transmission cylinder (20) away from the auxiliary transmission cylinder (21) is fixedly connected to the fixed sleeve (19).
3. The automatic fruit and vegetable harvesting device according to claim 2, characterized in that: The fruit stem quick cutting mechanism (62) also includes a second slide rail (31) provided on the fixed plate (30), and a pulley plate (41) is slidably provided in the second slide rail (31).
4. The automatic fruit and vegetable harvesting device according to claim 3, characterized in that: The pulley plate (41) is slidably disposed in the second slide rail (31) by a corresponding electric slider. A pair of pulleys (42) are rotatably disposed on the pulley plate (41), and the pulleys (42) are driven by a transmission belt (43) synchronously.
5. The automatic fruit and vegetable harvesting device according to claim 4, characterized in that: A second motor (46) is fixedly mounted on the pulley plate (41). The motor shaft of the second motor (46) is fixedly connected to one of the pulleys (42). The other pulley (42) is fixedly connected to the circular plate (44). A first camera (45) is fixedly mounted on the circular plate (44).
6. The automatic fruit and vegetable harvesting device according to claim 2, characterized in that: The fixing sleeve (19) is fixedly connected to the third connecting plate (18), the third connecting plate (18) is fixedly installed on the fruit basket (16), the fruit basket (16) is fixedly connected to the vehicle body (11), and a buffer pad (17) is also fixedly installed on the vehicle body (11) inside the fruit basket (16).
7. The automatic fruit and vegetable harvesting device according to claim 1, characterized in that: The robotic arm (15) is mounted on the control terminal (12), which is fixedly mounted on the vehicle body (11). A second camera (49) is fixedly mounted on the robotic arm (15).
8. The automatic fruit and vegetable harvesting device according to claim 7, characterized in that: The vehicle body (11) is provided with equidistantly arranged rotating wheels (14), and the vehicle body (11) is also provided with a control panel (13), which is connected to the control terminal (12) via wires.