Automatic picking auxiliary equipment for melon garden

Abstract

The invention discloses automatic picking auxiliary equipment for a melon garden, and relates to the technical field of agricultural mechanical equipment, and the automatic picking auxiliary equipment comprises a frame which can move; the manipulator is mounted on the frame, and the manipulator is used for grabbing muskmelons; the storage box is arranged on the frame, and the storage box is used for storing picked melons; the conveying frame is located between the mechanical arm and the storage box, and the conveying frame comprises a conveying plate inclining towards one end of the storage box; the reset mechanisms are arranged on the conveying plate at intervals, speed reduction assemblies capable of reducing the speed of the melons are connected to the reset mechanisms, and the reset mechanisms are used for assisting the speed reduction assemblies in resetting; and the two guide mechanisms comprise guide plates capable of stretching out and drawing back in a reciprocating mode, and the two guide plates are oppositely arranged in a high-low staggered mode. Effective buffering of the whole process from picking, conveying to storage is achieved, and the damage rate of muskmelons is remarkably reduced.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment technology, specifically to an automatic harvesting auxiliary device for melon orchards. Background Technology

[0002] As an important economic crop, melons have long relied mainly on manual labor for harvesting. Manual harvesting is labor-intensive and inefficient. Furthermore, melons are highly susceptible to mechanical damage from bumps and falls during harvesting, transportation, and stacking, directly affecting their commercial value and shelf life.

[0003] In recent years, although some automated harvesting equipment has emerged, its technological focus has been mainly on fruit identification and grasping, with insufficient attention paid to the transportation and buffering of harvested fruit. The transfer process of fruit from the picking point to the collection box often suffers from problems such as excessive rolling speed and large drop height, resulting in a high fruit damage rate and hindering the practical application benefits of automated harvesting technology.

[0004] Therefore, there is an urgent need for an auxiliary device that can achieve flexible transportation and damage-free storage of fruits while completing automated harvesting. Summary of the Invention

[0005] In view of this, the present invention provides an automatic harvesting auxiliary device for melon gardens to solve the technical problem that existing automated harvesting equipment is prone to damaging melons during the transfer after harvesting.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An automated harvesting auxiliary device for melon fields includes: A vehicle frame, wherein the vehicle frame is movable; A robotic arm, mounted on the frame, is used to grasp melons; A storage box, which is mounted on the vehicle frame, is used to store the harvested melons; A conveyor frame, located between the robotic arm and the storage box, the conveyor frame including a conveyor plate inclined toward one end of the storage box; Several reset mechanisms are spaced apart on the conveyor plate. Each reset mechanism is connected to a deceleration component that can slow down the rolling melon. The reset mechanism is used to assist the deceleration component in resetting. Two guiding mechanisms are respectively set on both sides of the storage box. The guiding mechanism includes a guide plate that can reciprocate and extend. The two guide plates are arranged opposite each other and at different heights to guide the melons to fall to the bottom of the storage box in relay.

[0007] Furthermore, the guidance mechanism also includes: An electric motor is mounted on a side box on the side of the storage box. A turntable connected to the output end of the motor; A first swing arm is pivotally connected inside the side box. One end of the first swing arm is slidably engaged with the turntable, and the other end of the first swing arm has a toothed portion. A rack, which meshes with the toothed portion, and the rack is connected to the corresponding guide plate; A guide rail, disposed within the side housing, is used to guide the rack to slide horizontally.

[0008] Furthermore, an elastic mesh is provided in the middle of the guide plate, and an upwardly extending limiting frame is provided at one end edge of the guide plate. A short rod off-center is provided on the turntable, and the short rod slides in conjunction with the groove of the first swing rod.

[0009] Furthermore, the deceleration assembly includes an arc-shaped deceleration belt and a protective pad disposed on the deceleration belt, the deceleration belt being connected to the upper end of the corresponding reset mechanism.

[0010] Furthermore, the reset mechanism includes: Mounting housing, which is installed inside the conveyor plate; A movable rod, which slides in a vertical direction with the mounting housing; A connecting plate, which connects the speed bump and the moving rod; A pair of swing assemblies are symmetrically arranged inside the mounting housing, and the upper ends of the swing assemblies abut against both sides of the moving rod. An elastic element is connected between the bottom of the movable rod and the bottom of the mounting housing; A pair of first reset components are symmetrically arranged on the inner wall of the mounting housing, and the first reset components are connected to the lower end of the corresponding swing component. The second reset component is disposed inside the mounting housing, and its upper end abuts against the side of the swing component.

[0011] Furthermore, the elastic element includes a first compression spring that abuts against the second extension of the moving rod between the bottom of the mounting housing.

[0012] Furthermore, the oscillating component includes: The second swing arm is pivotally connected within the mounting housing; A roller is mounted on the upper end of the second rocker arm and abuts against the first extension of the movable rod.

[0013] Furthermore, the first reset component includes: A cylindrical body, which is mounted on the inner wall of the mounting housing; Piston plate, which is slidably disposed within the cylinder; A telescopic rod is perpendicularly connected to the piston plate and extends out of the cylinder. A first tension spring is connected between the telescopic rod and the lower end of the corresponding second swing rod. A second compression spring is sleeved on the telescopic rod and abuts against the piston plate and the cylinder.

[0014] Furthermore, the second reset component includes: A pair of third swing arms, the pair of third swing arms being symmetrically pivotally connected within the mounting housing, the upper ends of the third swing arms abutting against the pressure plate of the moving rod; The second tension spring is connected to the lower end of a pair of third levers.

[0015] Furthermore, the vehicle frame has a built-in battery and controller. The controller, the guiding mechanism, and the robotic arm are all electrically connected to the battery, and the guiding mechanism and the robotic arm are all electrically connected to the controller.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. By combining a robotic arm with a vision system, the automatic identification, grasping and separation of melons are realized. The conveyor frame and guide mechanism with buffer deceleration function significantly reduce the fruit damage rate during the post-harvest transportation and storage process.

[0017] 2. The deceleration component supported by the reset mechanism on the conveyor frame can provide elastic resistance when the melon rolls over it, effectively reducing its rolling speed and avoiding collision damage caused by the melon's accelerated rolling.

[0018] 3. Two alternating, retractable, inclined guide plates with elastic netting are used to catch and guide the melons as they roll to the bottom of the storage box, significantly reducing the drop height and impact force of the melons and achieving gentle storage.

[0019] 4. The reset mechanism adopts a multi-spring and swing arm linkage design, which has a fast reset response and good buffering effect; the speed bump adopts a split splicing design, which is convenient for maintenance and replacement; the whole equipment is flexible to move and is suitable for greenhouse or field operations. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2This is a cross-sectional view of the storage box of the present invention.

[0022] Figure 3 This is a partial cross-sectional view of the guidance mechanism of the present invention.

[0023] Figure 4 This is a schematic diagram of the guide plate of the present invention.

[0024] Figure 5 This is a partial structural diagram of the conveyor frame of the present invention after the front baffle has been removed.

[0025] Figure 6 for Figure 5 A cross-sectional view of the reset mechanism and deceleration assembly.

[0026] Figure 7 for Figure 6 A magnified view of part A.

[0027] Figure 8 for Figure 6 A magnified sectional view of section B.

[0028] Figure 9 for Figure 8 A magnified view of a portion of point C.

[0029] Figure 10 for Figure 8 A magnified view of a portion of point D.

[0030] Figure 11 This is a partial structural diagram of the vehicle frame of the present invention.

[0031] Figure 12 This is a schematic diagram of the structure of the rubber stopper of the present invention.

[0032] Explanation of reference numerals in the attached drawings: 1-Frame; 11-Extension plate; 12-Walking wheel; 13-First mounting slot; 14-Sealing cover; 15-Battery; 151-Charging port; 16-Controller; 17-Connection port; 18-Handrail; 19-Rubber plug; 2-Base; 21-Mechanical arm; 3-Conveyor frame; 31-Conveyor plate; 311-Second mounting slot; 32-Baffle; 33-Reduction assembly; 331-Reduction belt; 3311-Main reduction belt; 331 11-Positioning groove; 3312-Auxiliary belt; 33121-Wrapping part; 331211-Receiving groove; 33122-Positioning protrusion; 332-Protective pad; 4-Storage box; 41-Side box; 42-Storage cavity; 5-Guide mechanism; 51-Motor; 52-Turntable; 521-Short rod; 53-First swing rod; 531-Slide groove; 532-First pivot shaft; 533-Geared part; 54-Guide rail; 55-Rack; 56-Connecting frame; 5 7-Guide plate; 571-Elastic net; 58-Limiting frame; 6-Reset mechanism; 61-Mounting shell; 611-Inner cavity; 612-Cover plate; 62-Moving rod; 621-First extension; 6211-Sloping surface; 622-Second extension; 6221-Groove; 623-Pressure plate; 624-First compression spring; 6241-Spring seat; 63-Connecting plate; 631-Connecting rod; 632-Limiting pad; 633-Support wheel; 64- Second swing arm; 641-Second pivot shaft; 642-Roller; 643-First tension spring; 65-First reset assembly; 651-Base plate; 652-Cylinder; 653-Mounting cover; 654-Piston plate; 655-Telescopic rod; 656-Second compression spring; 66-Second reset assembly; 661-Third swing arm; 6611-Holding head; 662-Second tension spring; 663-Third pivot shaft; 67-First limiting rod; 68-Second limiting rod. Detailed Implementation

[0033] 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.

[0034] refer to Figures 1 to 12 ,like Figure 1As shown, this embodiment provides an automatic harvesting auxiliary device for melon fields, mainly composed of: a frame 1, a robotic arm 21, a storage box 4, a conveyor frame 3, several reset mechanisms 6, and two guide mechanisms 5. The bottom of the frame 1 is equipped with wheels 12, and the right side of the frame 1 is equipped with a handrail 18. The wheels 12 cooperate with the handrail 18 to make the frame 1 move more easily and conveniently in the melon field. The robotic arm 21 is mounted on a base 2, which is mounted on an extension plate 11 on the left end of the frame 1. The front end of the robotic arm 21 is equipped with a vision system (including...). The system includes a camera (including a robotic arm 21) and a camera. Both the robotic arm 21 and the camera are controlled by a controller 16. After the camera captures a melon, it sends a signal to the controller 16. The controller 16 then controls the robotic arm 21, which can move freely in three-dimensional space, to approach and grab the melon. After grabbing, the robotic arm 21 rotates until it twists the melon off the vine. A conveyor frame 3 is located between the robotic arm 21 and the storage box 4. The storage box 4 is mounted on the frame 1. The harvested melons are placed on the conveyor frame 3 by the robotic arm 21 and then rolled into the storage box 4 by the robotic arm 21. The conveyor frame 3 includes a conveyor plate 31 that is inclined towards one end of the storage box 4 so that the melons can move into the storage box 4 without power. Several reset mechanisms 6 are spaced apart on the conveyor plate 31. Each reset mechanism 6 is connected to a deceleration component 33 that can slow down the melon. The reset mechanism 6 is used to assist the deceleration component 33 in resetting. The guide mechanism 5 includes a reciprocating guide plate 57. Two guide plates 57 are arranged in the storage box 4 with the left side higher than the right side and staggered. When the melon moves into the storage box 4, the guide plate 57 at the higher position on the left side extends to catch the melon to the lower right. The melon moves to the right. Then, the guide plate 57 at the lower position on the right side extends to catch the melon from the upper left. After that, the guide plate 57 on the right side retracts and the melon falls into the storage cavity 42 of the storage box 4. Since the guide plate 57 on the right side is in an inclined state with the left side lower than the right side, its left end is closer to the bottom of the storage cavity 42. Therefore, the impact force when the melon falls to the bottom of the storage cavity 42 is small and will not cause the melon to break.

[0035] Preferably, after grasping, the robotic arm 21 rotates several times, such as 8-10 times, with the specific data set according to the actual situation, to twist the melon off the vine.

[0036] like Figure 2 , Figure 3 , Figure 4As shown, the guide mechanism 5 mainly consists of a motor 51, a turntable 52, a first rocker arm 53, a rack 55, and a guide rail 54. Side boxes 41 are provided on both sides of the storage box 4. The motor 51 is mounted on the corresponding side box 41. The turntable 52 is connected to the output end of the motor 51 and is located inside the side box 41. The first rocker arm 53 is pivotally connected to the side box 41 via a first pivot shaft 532. The turntable 52 is located below the first pivot shaft 532. The lower end of the first rocker arm 53 slides in cooperation with the turntable 52. The upper end of the first rocker arm 53 has a toothed portion 533. The rack 55 meshes with the teeth of the toothed portion 533. The rack 55 is connected to the corresponding guide plate 57.

[0037] Preferably, the side box 41 is provided with a guide rail 54 that can slide with the rack 55, and the guide plate 57 is provided with an elastic net 571 in the middle. The elastic net 571 can flexibly support the melon and prevent the melon from falling and breaking. The guide plate 57 is provided with an upwardly extending limiting frame 58 at the upper edge of one end near the storage cavity 42. The limiting frame 58 can ensure that the melon can fall smoothly onto the elastic net 571.

[0038] Preferably, a short rod 521 off-center is provided on the turntable 52. The short rod 521 is slidably engaged with a groove 531 at the lower end of the first swing rod 53. The groove 531 is a long groove. The turntable 52 is rotated by the motor 51, causing the short rod 521 to rotate. With the cooperation of the short rod 521 and the groove 531, the first swing rod 53 swings back and forth around the first pivot shaft 532. The first pivot shaft 532 is located between the groove 531 and the toothed part 533. The toothed part 533 swings back and forth with the first swing rod 53, causing the rack 55 to slide horizontally along the guide rail 54. The guide plate 57 is connected to the rack 55 through the connecting frame 56. Therefore, the rack 55 will drive the guide plate 57 to move horizontally back and forth, realizing the telescopic movement of the guide plate 57.

[0039] like Figure 5 As shown, the conveyor frame 3 also includes two baffles 32 that are arranged opposite to each other on the front and rear sides of the conveyor plate 31. The baffles 32 can ensure that the melons move on the conveyor plate 31 and prevent them from falling.

[0040] Preferably, a position sensor (such as an infrared sensor) is provided at the right end outlet of one of the conveyor plates 31. When the melon rolls out and is detected by the position sensor, the controller 16 drives the left guide mechanism 5 to work, so that the left guide plate 57 extends.

[0041] like Figure 2As shown, both guide plates 57 are tilted towards the middle. As the number of melons picked increases, the height of the melons in the storage cavity 42 will increase. In order to monitor the height of the melons in the storage cavity 42 in real time and control the extension and retraction of the guide plates 57, as well as to reduce the impact of the right guide plate 57 on the melon storage space, a photoelectric sensor is set on the right side wall of the storage box 4 at a position roughly level with the lowest point of the right guide plate 57 when it is fully retracted. The photoelectric sensor adopts a through-beam or reflective infrared photoelectric switch, and its transmitting end and receiving end are located on opposite side walls of the storage cavity, or integrated into the same probe facing the direction of melon accumulation.

[0042] A photoelectric sensor is electrically connected to the controller 16 to detect in real time whether the surface of the melons has reached the preset height. When the height of the melons piled up exceeds the lowest point of the right guide plate 57, the photoelectric sensor sends a high-level signal to the controller 16. After receiving the signal, the controller 16 controls the right motor 51 to start, driving the right guide plate 57 to retract along the guide rail 54 into the side box 41 until it is completely retracted and then stops, thereby releasing storage space, preventing the guide plate from interfering with the subsequent storage of melons, and maximizing the storage space.

[0043] Furthermore, to further increase storage space, an opening can be made on the right side wall of storage box 4 for the limiting frame 58 to enter. This way, when the right-side guide mechanism 5 is not working, it will not enter the storage cavity 42. Based on this, the connecting frame 56 needs to be structurally modified according to the actual situation. Figure 2 and Figure 3 The middle section is in a straight line shape, but can be modified to an L-shape to ensure that the connecting frame 56 will not interfere with the guide rail 54 when it drives the guide plate 57 to move.

[0044] Similarly, as the number of melons continues to increase, the left guide plate 57 will also affect the placement of the melons. Therefore, the left guide plate 57 can also be equipped with the same photoelectric sensor control mechanism to realize the intelligent extension and retraction control of both guide plates 57. If dual-side sensors (corresponding to the left and right guide plates 57) are used, the controller 16 independently controls the corresponding motor 51 according to the sensor signals on both sides to realize the coordinated or independent action of the guide plates 57.

[0045] like Figure 5 , Figure 6As shown, the deceleration assembly 33 mainly consists of an arc-shaped deceleration belt 331 and a protective pad 332 mounted on the deceleration belt 331. The deceleration belt 331 is connected to the upper end of the corresponding reset mechanism 6. The arc-shaped deceleration belt 331 facilitates the rolling of melons. Since melons have a certain weight and the conveyor plate 31 is inclined, the deceleration belt 331 prevents the melons from rolling too fast. The protective pad 332 is made of rubber or multi-layer composite fabric, which protects the surface of the melons and prevents them from being bumped or bruised. The deceleration belt 331 provides reset elasticity through the reset mechanism 6, ensuring that each melon is decelerated.

[0046] Preferably, such as Figure 7 As shown, for easy disassembly and replacement of the speed bump 331, the speed bump 331 in this invention is composed of a main speed bump 3311 and an auxiliary belt 3312, both of which are arc-shaped. When the melon rolls to the right, the left end of the main speed bump 3311 and the right end of the auxiliary belt 3312 are both in close contact with the surface of the conveyor plate 31, allowing the melon to pass smoothly. A positioning groove 33111 is provided in the middle of the right end of the main speed bump 3311, and the left end of the auxiliary belt 3312 has a wrapping part 33121. The receiving groove 331211 inside the wrapping part 33121 can wrap around the right end of the main speed bump 3311 and is secured with screws around the edges, achieving a reliable connection between the main speed bump 3311 and the auxiliary belt 3312. In addition, the middle part of the wrapping part 33121 has a positioning protrusion 33122 protruding to the left. The positioning protrusion 33122 extends into the positioning groove 33111 to match, so that the splice of the main speed belt 3311 and the auxiliary belt 3312 is accurately positioned.

[0047] like Figure 8 As shown, the reset mechanism 6 mainly consists of: a mounting shell 61, a moving rod 62, a connecting plate 63, a pair of swinging components, an elastic element, a pair of first reset components 65, and a second reset component 66. The mounting shell 61 is installed in the second mounting groove 311 of the conveyor plate 31 by screws. The moving rod 62 is slidably engaged with the mounting shell 61. The connecting plate 63 is connected between the bottom of the speed bump 331 and the upper end of the moving rod 62. The pair of swinging components are symmetrically arranged in the inner cavity 611 of the mounting shell 61. The front side of the inner cavity 611 is closed by a cover plate 612 to ensure that the reset mechanism 6 is securely and conveniently installed in the inner cavity 611.

[0048] The upper end of the swing assembly abuts against both sides of the moving rod 62. The elastic element is connected between the bottom of the moving rod 62 and the bottom of the inner cavity 611. A pair of first reset assemblies 65 are symmetrically arranged on the inner wall of the inner cavity 611. The first reset assembly 65 is connected to the lower end of the corresponding swing assembly. The second reset assembly 66 is arranged in the inner cavity 611. The upper end of the second reset assembly 66 abuts against the side of the swing assembly.

[0049] The movable rod 62 has a first extension 621 and a second extension 622 that are integrally connected and extend downwards in sequence. The two sides of the first extension 621 have inclined surfaces 6211, and the bottom surface of the second extension 622 has a groove 6221. Both sides of the second extension 622 are provided with pressure plates 623.

[0050] like Figure 6 As shown, the connecting plate 63 has connecting rods 631 on its sides and top, which connect to the main speed bump 3311. These connecting rods 631 support the main speed bump 3311, increasing its sturdiness. A support wheel 633 is located at the right end of the connecting plate 63, supporting the bottom of the auxiliary belt 3312. Additionally, a limiting pad 632 is located at the bottom of the connecting plate 63. When the limiting pad 632 rests against the mounting housing 61, the moving rod 62 moves down to its limit position. This design prevents the reset mechanism 6 from being excessively compressed, extending its service life.

[0051] Preferably, the elastic element includes a first compression spring 624, which is abutting between the groove 6221 and the spring seat 6241 disposed at the bottom of the mounting shell 61.

[0052] The swing assembly mainly consists of a second swing rod 64 and a roller 642. The second swing rod 64 is pivotally connected to the inner cavity 611 via a second pivot shaft 641. The roller 642 is installed at the upper end of the second swing rod 64 and abuts against the inclined surface 6211 on the corresponding side.

[0053] like Figure 10 As shown, the inner cavity 611 is also provided with a pair of first limiting rods 67 and a pair of second limiting rods 68. The pair of first limiting rods 67 are symmetrically arranged on both sides of the upper end of the second swing rod 64, and the pair of second limiting rods 68 are symmetrically arranged on both sides of the lower end of the second swing rod 64. The first limiting rods 67 are used to limit the extreme position of the upward swing of the second swing rod 64, and the second limiting rods 68 are used to limit the extreme position of the downward swing of the second swing rod 64. The arrangement of the first limiting rods 67 and the second limiting rods 68 helps to prevent the second swing rod 64 from swinging excessively and failing, ensuring the normal operation of the second swing rod 64.

[0054] like Figure 9As shown, the first reset assembly 65 mainly consists of a cylinder 652, a piston plate 654, a telescopic rod 655, and a second compression spring 656. The cylinder 652 is mounted on the inner wall of the inner cavity 611 via a base plate 651. The piston plate 654 is slidably disposed within the cylinder 652. The telescopic rod 655 is perpendicularly connected to the piston plate 654. The piston plate 654 and the telescopic rod 655 can be separate or integrally formed. The end of the telescopic rod 655 away from the piston plate 654 extends out of the cylinder 652 and is connected to the lower end of the corresponding second swing rod 64 by a first tension spring 643. The second compression spring 656 is sleeved on the telescopic rod 655 and abuts against the piston plate 654 and the cylinder 652. A mounting cover 653 is installed on the end of the cylinder 652 away from the base plate 651 to facilitate the disassembly and assembly of the piston plate 654 and the telescopic rod 655. The telescopic rod 655 can extend and retract on the mounting cover 653.

[0055] like Figure 8 and Figure 10 As shown, the second reset assembly 66 mainly consists of a pair of third rocker arms 661 and a second tension spring 662. The pair of third rocker arms 661 are symmetrically pivotally connected in the inner cavity 611 through a pair of third pivot shafts 663. The upper end of the third rocker arm 661 has a holding head 6611, which abuts against the corresponding pressure plate 623. The second tension spring 662 is connected between the lower ends of the pair of third rocker arms 661.

[0056] like Figure 11 and Figure 12 As shown, the frame 1 has a first mounting slot 13, which houses a battery 15 and a controller 16. The controller 16, the guide mechanism 5, and the robotic arm 21 are all electrically connected to the battery 15, and the guide mechanism 5 and the robotic arm 21 are all electrically connected to the controller 16. To ensure the normal operation of the battery 15 and the controller 16, the top of the first mounting slot 13 is sealed with a sealing cap 14. The battery 15 has a charging port 151, and the front end of the first mounting slot 13 has a connection port 17 corresponding to the charging port 151. During charging, the charger plug must pass through the connection port 17 and enter the charging port 151 to begin charging. To prevent water and foreign objects from entering, a reusable rubber plug 19 can be used to seal the connection port 17, improving safety during use.

[0057] Working principle: The frame 1 moves within the melon patch (it can be manually towed or automatically towed). A camera at the end of the robotic arm 21 takes pictures. Once the camera detects a melon, it sends a signal to the controller 16. The controller 16 then controls the robotic arm 21 to grab the melon and quickly rotate and twist it, separating it from the vine. After separation, the robotic arm 21 rotates the melon and places it on the left end of the conveyor plate 31. Because the conveyor plate 31 is tilted, the melon automatically rolls to the right. When it reaches the deceleration assembly 33, the melon's weight pushes the deceleration assembly 33 downwards. This causes the connecting plate 63 to move the moving rod 62 downwards, creating a three-way linkage effect. First, the inclined plane 6211 will press the roller 642, causing the second rocker arm 64 to swing in the direction of the upward deflection of the roller 642. Then, the second rocker arm 64 pulls the telescopic rod 655 to move through the first tension spring 643, and the piston plate 654 moves and presses the second compression spring 656. Second, by pressing the third rocker arm 661 with the pressure plate 623, the lower ends of the pair of third rocker arms 661 are moved away from each other, and the second tension spring 662 is stretched. Third, it will compress the first compression spring 624, causing the first compression spring 624 to produce an elastic effect.

[0058] Therefore, when the melon rolls over the deceleration assembly 33, the deceleration assembly 33, in conjunction with the reset mechanism 6, generates an elastic effect to slow down the melon's movement speed, preventing it from breaking due to excessive speed when entering the storage box 4. Setting multiple sets of deceleration assemblies 33 provides a better deceleration effect. After the melon rolls over the deceleration assembly 33, the elastic effect generated by the second compression spring 656, the second tension spring 662, the first compression spring 624, and the first tension spring 643 helps the deceleration assembly 33 quickly move upwards and reset, awaiting the arrival of the next melon.

[0059] Afterwards, the melon falls from the right end of the conveyor plate 31 onto the elastic net 571 of the guide plate 57 extending from the left. Driven by the motor 51 on the left, the guide plate 57 continues to extend, conveying the melon to the right. Since the elastic net 571 is tilted, the melon will roll onto the elastic net 571 of the guide plate 57 on the right after moving to the right. The motor 51 on the right drives the guide plate 57 on the right to extend to the left, causing the melon to gradually roll off the elastic net 571 on the right to the bottom of the storage box 4, thus achieving safe and damage-free transport of the melon.

[0060] This embodiment also provides a method for harvesting and buffering melons, which is implemented using the aforementioned automatic harvesting auxiliary equipment for melon orchards, and includes the following steps: Step 1: Move the mobile device next to the melon plant, identify the position of the melon through the vision system at the end of the robotic arm 21, and control the robotic arm 21 to grab the melon and separate it from the vine; Step 2: Place the harvested melons on the conveyor plate 31, and let the melons roll down the inclined conveyor plate 31; Step 3: When the melon passes through the deceleration assembly 33, it squeezes the deceleration belt 331 downward, causing the moving rod 62 to move downward. Through the coordinated action of the swing assembly, elastic element, first reset assembly 65 and second reset assembly 66, the melon is elastically buffered and decelerated. Step 4: After the melon leaves the conveyor plate 31, it is received by the first guide plate 57 and rolls along the inclined direction on its elastic net 571 to the second guide plate 57. Step 5: The second guide plate 57 extends and receives the melon, continuing to guide it to roll down to the bottom of the storage box 4; Step 6: During the melon stacking process, the height of the melon stacking is detected in real time by a photoelectric sensor installed in the storage box 4. When the height exceeds the lowest position of the guide plate 57, the guide plate 57 is controlled to retract.

[0061] Furthermore, the reset process of the reset mechanism 6 in step three includes: After the melon rolls away from the deceleration assembly 33, the first compression spring 624 pushes the moving rod 62 upward; At the same time, the second compression spring 656 pushes the piston plate 654 to reset, and the first tension spring 643 pulls the second swing rod 64 back to swing. The second tension spring 662 pulls a pair of third rocker arms 661 inward, pushing the pressure plate 623 upward; The various elastic elements work together to restore the deceleration assembly 33 to its initial height.

[0062] Furthermore, the actions of the two guide plates 57 described in steps four and five are coordinated and controlled by the controller 16, specifically including: When the melon rolls out of the conveyor plate 31, the left guide plate 57 extends; When the melon rolls to the right end of the left guide plate 57, the right guide plate 57 extends out. After the melon rolls off the right guide plate 57, the right guide plate 57 determines whether to retract based on the photoelectric sensor signal.

[0063] The third aspect of this embodiment provides a melon harvesting control method, executed by the controller 16, including: Receive the melon's position information from the vision system and generate the motion trajectory of the robotic arm 21; Control the robotic arm 21 to complete the grasping, twisting, and placing actions; Based on the position sensor signal at the outlet of the conveyor plate 31, the corresponding guide mechanism 5 is triggered to operate. Based on the signal from the photoelectric sensor inside storage box 4, determine whether to control the guide plate 57 to retract.

[0064] The fourth aspect of this embodiment provides a melon harvesting control system, integrated in the controller 16, including: The processing unit is used to execute the melon harvesting control method described above; The communication unit is used to interact with the robotic arm 21, the guidance mechanism 5, and the sensors. Storage unit, used to store control programs and harvesting parameters.

[0065] The fifth aspect of this embodiment provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by the processing unit of the controller 16, it implements the melon harvesting and buffer storage method or the melon harvesting control method.

[0066] This invention employs a deceleration component 33 in conjunction with a reset mechanism 6 to slowly transport melons via a conveyor frame 3. Two guiding mechanisms 5 then alternately extend and retract, guiding the melons sequentially like a relay race, gently lowering their height before they fall into the storage box 4. This significantly reduces impact and achieves stable and safe transport and storage. Therefore, this invention can significantly reduce the large-scale damage to melons after harvesting due to inadequate protection during the transport process. It provides comprehensive buffer protection from harvesting and transport to storage, significantly reducing the damage rate of melons and making a substantial contribution to improving harvesting quality and economic benefits.

[0067] This invention provides an automatic harvesting auxiliary device for melon orchards, which combines automated harvesting with flexible buffering throughout the process, solving the problem of post-harvest fruit damage. Specifically, it has the following advantages: I. Achieved lossless processing throughout the entire process from data capture to storage. The main point is to build a complete, closed-loop buffer protection chain, rather than focusing on just a single link.

[0068] First step: Achieving controlled separation from the harvesting point By combining visual recognition with a robotic arm 21 to twist and break the fruit, the damage to the fruit stalk and fruit is less than that of traditional cutting or pulling, and the separation action is more controllable.

[0069] Second step: Achieving active deceleration from the conveyor end. An elastic reset deceleration belt 331 is set on the inclined conveyor plate 31. When the melon rolls over it, its gravity presses down on the deceleration belt 331. The kinetic energy is converted into elastic potential energy through the reset mechanism 6, which actively consumes its rolling energy and effectively prevents collisions caused by accelerated rolling.

[0070] Compared to simple flexible pads or fixed deceleration bars, the dynamic reset feature of the reset mechanism 6 ensures that each melon receives a stable and consistent buffering effect.

[0071] The third step: Achieving a soft landing from the storage end. By employing staggered, retractable guide plates 57, the way melons fall directly from the conveyor plate 31 to the bottom of the box is changed to a relay guidance with two buffers to reduce the drop. The melons first land on the elastic net 571 of the higher guide plate 57, then roll down to the elastic net 571 of the lower guide plate 57, and finally roll into the bottom of the storage box 4 with a very small vertical drop, greatly mitigating the impact.

[0072] The guide plate 57 can intelligently retract according to the height of the fruit stacking inside the box, maximizing the use of storage space and demonstrating the combination of mechanical design and intelligent control. In addition, the number of guide mechanisms 5 can be adapted to the depth of the storage box 4, so that multiple guide plates 57 can work together in a manner that is arranged from high to low and from left to right.

[0073] Second, it achieves the advantages of collaboration, reliability, and ease of maintenance. The first reset component 65, the second reset component 66, and the elastic element inside the reset mechanism 6 work together to achieve rapid and stable reset of the speed bump 331. This has the following main advantages: 1. The buffering effect is achieved in layers: the conveying end is a dynamic damping buffer, and the storage end is a buffer that reduces potential energy impact. The two-stage buffering targets the damage risk at different stages, and the effects are superimposed.

[0074] 2. Modularity and Maintainability: The speed bump 331 is composed of a main speed bump 3311 and an auxiliary speed bump 3312, which can be partially replaced after wear, reducing maintenance costs. Furthermore, the guide mechanism 5 and the reset mechanism 6 are relatively independent, thus facilitating maintenance.

[0075] In summary, this invention achieves a rolling buffer effect by utilizing a speed bump 331 with elastic reset function, and simultaneously achieves a relay-style soft landing by using guide plates 57 with staggered heights and alternating extension and retraction. This results in damage-free protection of melons throughout the entire process from harvesting to storage, improving the rate of high-quality fruit, reducing the depreciation and economic losses of melons caused by bumps and knocks, and saving labor and costs. While reducing the intensity of manual harvesting, it indirectly improves economic benefits by reducing fruit loss.

[0076] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An automatic harvesting auxiliary device for melon gardens, characterized in that, include: The frame (1) is movable; A robotic arm (21) is mounted on the frame (1) for grasping melons; Storage box (4), which is set on the frame (1) and is used to store the harvested melons; The conveyor (3) is located between the robot (21) and the storage box (4), and the conveyor (3) includes a conveyor plate (31) that is inclined toward one end of the storage box (4). A plurality of reset mechanisms (6) are spaced apart on the conveyor plate (31). A deceleration assembly (33) is connected to the reset mechanism (6) to slow down the rolling melon. The reset mechanism (6) is used to assist the deceleration assembly (33) in resetting. Two guiding mechanisms (5) are respectively set on both sides of the storage box (4). The guiding mechanism (5) includes a guide plate (57) that can reciprocate and extend. The two guide plates (57) are arranged opposite each other and at different heights to guide the melon to fall to the bottom of the storage box (4).

2. The automatic harvesting auxiliary equipment for melon orchards according to claim 1, characterized in that, The guidance mechanism (5) further includes: Motor (51), said motor (51) is mounted on the side box (41) on the side of said storage box (4); Turntable (52), the turntable (52) is connected to the output end of the motor (51); The first swing arm (53) is pivotally connected to the side box (41), one end of the first swing arm (53) is slidably engaged with the turntable (52), and the other end of the first swing arm (53) has a toothed part (533). A rack (55) meshes with the toothed portion (533) and is connected to the corresponding guide plate (57); A guide rail (54) is provided inside the side box (41) to guide the rack (55) to slide horizontally.

3. The automatic harvesting auxiliary equipment for melon orchards according to claim 2, characterized in that, An elastic net (571) is provided in the middle of the guide plate (57), and an upwardly extending limiting frame (58) is provided on one end edge of the guide plate (57). A short rod (521) that is off-center is provided on the turntable (52), and the short rod (521) slides in cooperation with the groove (531) of the first swing rod (53).

4. The automatic harvesting auxiliary equipment for melon orchards according to claim 1, characterized in that, The deceleration assembly (33) includes an arc-shaped deceleration belt (331) and a protective pad (332) disposed on the deceleration belt (331). The deceleration belt (331) is connected to the upper end of the corresponding reset mechanism (6).

5. The automatic harvesting auxiliary equipment for melon orchards according to claim 1, characterized in that, The reset mechanism (6) includes: Mounting housing (61), which is installed inside the conveyor plate (31); A movable rod (62) is slidably engaged with the mounting housing (61) in the vertical direction; A connecting plate (63) is connected between the speed bump (331) and the moving rod (62); A pair of swing assemblies are symmetrically arranged inside the mounting housing (61), and the upper ends of the swing assemblies abut against both sides of the moving rod (62); An elastic element is connected between the bottom of the movable rod (62) and the bottom of the mounting housing (61); A pair of first reset components (65) are symmetrically arranged on the inner wall of the mounting shell (61), and the first reset components (65) are connected to the lower end of the corresponding swing component. The second reset component (66) is disposed inside the mounting housing (61), and the upper end of the second reset component (66) abuts against the side of the swing component.

6. The automatic harvesting auxiliary equipment for melon orchards according to claim 5, characterized in that, The elastic element includes a first compression spring (624) which abuts against the second extension (622) of the moving rod (62) between the bottom of the mounting housing (61).

7. The automatic harvesting auxiliary equipment for melon orchards according to claim 6, characterized in that, The swing component includes: The second swing arm (64) is pivotally connected inside the mounting housing (61); A roller (642) is mounted on the upper end of the second rocker arm (64) and abuts against the first extension (621) of the moving rod (62).

8. The automatic harvesting auxiliary equipment for melon orchards according to claim 7, characterized in that, The first reset component (65) includes: A cylindrical body (652) is mounted on the inner wall of the mounting shell (61); Piston plate (654), the piston plate (654) is slidably disposed inside the cylinder (652); Telescopic rod (655), which is perpendicularly connected to the piston plate (654), extends out of the cylinder (652), and a first tension spring (643) is connected between the telescopic rod (655) and the lower end of the corresponding second swing rod (64). The second compression spring (656) is sleeved on the telescopic rod (655) and abuts against the piston plate (654) and the cylinder (652).

9. The automatic harvesting auxiliary equipment for melon orchards according to claim 5, characterized in that, The second reset component (66) includes: A pair of third swing arms (661) are symmetrically pivotally connected inside the mounting housing (61), and the upper ends of the third swing arms (661) abut against the pressure plate (623) of the moving rod (62); The second tension spring (662) is connected to the lower end of a pair of third rocker arms (661).

10. The automatic harvesting auxiliary equipment for melon orchards according to claim 1, characterized in that, The frame (1) has a built-in battery (15) and controller (16). The controller (16), the guide mechanism (5) and the robot (21) are all electrically connected to the battery (15). The guide mechanism (5) and the robot (21) are all electrically connected to the controller (16).

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