Durian picking machine based on hydrogen-powered unmanned aerial vehicle

Abstract

The durian picking machine based on the hydrogen-powered unmanned aerial vehicle comprises a hydrogen-powered unmanned aerial vehicle body, and a vehicle body fixing mechanism is arranged below a vehicle body of the hydrogen-powered unmanned aerial vehicle body; the portions, located on the two sides of the machine body fixing mechanism, of the machine body are provided with a shearing and clamping double-linkage mechanism for shearing and clamping the fruit stems and a clamping auxiliary mechanism for assisting the shearing and clamping double-linkage mechanism to conduct secondary clamping on the durian fruit stems through mechanical arms correspondingly. The shearing and clamping duplex mechanism comprises a tool apron, a shear type tool set hinged to the bottom end of the tool apron, a clamping assembly arranged on one side of the shear type tool set and matched with the shear type tool set to clamp a fruit stem when the fruit stem is sheared, and a driving mechanism capable of driving the shear type tool set and the clamping assembly to operate synchronously at the same time. According to the durian picking machine based on the hydrogen-powered unmanned aerial vehicle, fruit stems of durian can be sheared through the shearing and clamping duplex mechanism, so that the fruit stems of the durian can be held tightly to catch the sheared durian in the process that the durian is separated from a trunk, and the situation that the sheared durian falls on the ground from a tree, and pulp is damaged is prevented.

Description

Technical Field

[0001] This invention relates to the field of fruit picking equipment, specifically to a durian picking machine based on a hydrogen-powered drone. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are devices operated using radio remote control equipment and onboard program control devices, or autonomously operated completely or intermittently by an onboard computer. These include unmanned aerial vehicles, unmanned vehicles, and robotic dogs. UAVs are now used in aerial photography, agriculture, plant protection, power line inspection, film and television production, and many other fields.

[0003] In recent years, with the rapid development of the durian market, traditional manual durian harvesting methods have become increasingly difficult to meet market demand. A search revealed Chinese patent application number "CN202321452390.7," which discloses a durian harvesting machine based on a hydrogen-powered drone. The machine includes a mounting platform with a tracked walking mechanism at its lower end. A mounting plate is rotatably connected to the upper end of the platform. A rotary motor is mounted at the lower end of the platform, with its output shaft passing through the platform and connected to the mounting plate. A telescopic robotic arm is mounted on the upper end of the mounting plate, with a gripper cylinder at its end. A fixed platform is fixedly mounted on the upper end of the gripper cylinder, and a first electric telescopic rod is mounted on the fixed platform facing the gripper cylinder. A micro motor is mounted at the end of the first electric telescopic rod, and a rotating blade is mounted on the output end of the micro motor. A collection mechanism is mounted on the upper end of the mounting platform.

[0004] However, existing technologies have the following problems during use: Existing technology uses grippers to hold durians and a cutting mechanism to cut them off the branches. However, since the gripper cylinder directly holds the durian, if the gripping force is too great, it can easily injure the durian. If the gripping force is too small, the durian will fall from the gripping cylinder to the ground and cause injury.

[0005] Therefore, the present invention urgently needs to solve the problem of providing a durian harvesting machine based on a hydrogen-powered drone that can both cut the durian stem to separate the durian from the tree trunk and hold the durian stem tightly to catch the cut durian, so as to prevent the cut durian from falling from the tree to the ground and damaging the fruit. Summary of the Invention

[0006] To address the aforementioned technical problems, the purpose of this invention is to overcome the issues in existing technologies where durians are gripped by claws and cut from branches using a shearing mechanism. However, because the claw cylinder directly grips the durian, excessive gripping force can easily injure it, while insufficient gripping force can cause the durian to fall to the ground and cause injury. This invention provides a durian harvesting machine based on a hydrogen-powered drone that uses a dual-mechanism shearing and gripping system to both cut the durian stem to separate it from the tree trunk and simultaneously hold the stem to catch the cut durian, preventing it from falling to the ground and injuring the fruit.

[0007] To achieve the above objectives, the present invention provides a durian harvesting machine based on a hydrogen-powered drone, comprising: a hydrogen-powered drone body, wherein a body fixing mechanism is provided below the body of the hydrogen-powered drone body so that the hydrogen-powered drone body can perch on a tree trunk, and the body on both sides of the body fixing mechanism is respectively provided with a cutting and clamping double mechanism for cutting and clamping the fruit stem and a clamping auxiliary mechanism for assisting the cutting and clamping double mechanism to clamp the durian fruit stem a second time. The shearing and clamping dual mechanism includes: a blade holder, a scissor blade assembly hinged to the bottom of the blade holder, a clamping component mounted on the blade holder next to the scissor blade assembly and used in conjunction with the scissor blade assembly to clamp the fruit stem during the shearing process, and a drive mechanism capable of simultaneously driving the scissor blade assembly and the clamping component to operate synchronously.

[0008] Preferably, the scissor blade assembly includes: a first blade and a second blade, and the clamping assembly includes: a first clamping seat, a second clamping seat, and a clamping member; wherein, The free end of the robotic arm is vertically equipped with a blade holder. The bottom end of the blade holder is hinged with a first blade and a second blade, which are X-shaped and used to cut the fruit stem. On the bottom end of the blade holder, next to the first blade and the second blade, there are symmetrically arranged first clamps and second clamps, which are X-shaped and used to clamp and fix the fruit stem during the cutting process. The interior of each clamp is telescopically equipped with a row of clamping members that can extend out from their respective openings and are used in conjunction through a connecting mechanism.

[0009] Preferably, the drive mechanism includes: a second lead screw, a second slide, a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod; wherein, The robotic arm has a mounting base fixedly installed at its end, and a tool holder is fixedly installed at the bottom of the mounting base in parallel by multiple fixing rods. A second lead screw is vertically and rotatably installed between the mounting base and the tool holder, located between the fixing rods. A second slide block, movable along its axis, is fixedly installed on the upper thread. The second slide block has vertically penetrating holes through which all the fixing rods pass. Two sets of linkage components, connecting to the scissor-type blade assembly and the clamping assembly, are symmetrically arranged on both sides of the first connecting rod. Each set of linkage components includes: a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod. One end of the first and third links of each linkage is hinged above the second slide block, and the other ends of the first and third links are respectively hinged to the second and fourth links, which are X-shaped and hinged together in the middle. The free end of the fourth link is fixed to the first blade or the first clamp, and the free end of the second link is fixed to the second blade or the second clamp.

[0010] Preferably, the connecting mechanism includes: a connecting plate, a hinge pin, and a second spring; wherein, The first or second clamp is internally equipped with a support member consisting of several connecting plates hinged together end to end by hinge pins to support a row of clamping members. The tops of the row of clamping members extend from the openings of the first or second clamp. Each connecting plate has multiple second springs fixedly and vertically at its bottom end, and the bottom end of each second spring is fixed to the bottom end of the first or second clamp. The side walls of the first or second clamp at both ends of the support member are partially recessed to form two guide grooves. The two hinge pins at both ends of the support member are horizontally slidably disposed in the two guide grooves.

[0011] Preferably, the connecting mechanism includes: a positioning rod and a No. 3 spring; wherein, The bottom of the first or second clamp is vertically fixed with a row of positioning rods that cooperate with the row of clamping members. The bottom of each row of clamping members is partially recessed to form a sliding cavity that is slidably connected to the row of positioning rods. Each row of clamping members is slidably sleeved on the row of positioning rods through their respective sliding cavities. Each positioning rod is fitted with a third spring. The two ends of each third spring are respectively fixed to the bottom of the first or second clamp and the bottom of the clamping member.

[0012] Preferably, the clamping auxiliary mechanism includes: a clamp base, a force-applying plate, a barb fixing plate, and barbs; wherein, Another robotic arm is equipped with a gripper base at its bottom end. A force-applying plate that can rotate toward the gripper base is movably disposed on one side of the gripper base. Two sliding plates are spaced apart and movably disposed on the gripper base facing the force-applying plate, and two barb fixing plates are respectively hinged between the two plates. The adjacent ends of the two barb fixing plates are also hinged together. Multiple rows of barbs are evenly fixed on each barb fixing plate facing the force-applying plate. At least one barb fixing plate is fixed with at least one guide rod that can vertically pass through the interior of the gripper base near the bottom end of the two adjacent barb fixing plates. A first spring is sleeved on the guide rod, and the two ends of the first spring are respectively fixed to the end of the guide rod and the outer wall of the gripper base.

[0013] Preferably, the body fixing mechanism includes: a gripper stepper motor, a base, a connecting rod assembly, a gripper screw, a threaded fixing block, and grippers; wherein, The base is horizontally fixed directly below the hydrogen-powered drone body. A gripper stepper motor is vertically fixed at the upper end of the base. A square transmission head is fixedly fixed at the output end of the gripper stepper motor. A guide groove is opened at the top of the gripper screw to cooperate with the square transmission head. The gripper screw is movably assembled with the square transmission head through the guide groove. A threaded fixing block that is threadedly connected to the gripper screw is horizontally fixed at the bottom of the base through two parallel fixing plates. An intermediate connecting piece that is rotatably connected to the bottom of the gripper screw is horizontally fixed at the bottom of the gripper screw through a tapered roller bearing. Multiple sets of grippers are symmetrically hinged on both sides of the intermediate connecting piece through connecting rod groups.

[0014] Preferably, the linkage assembly includes: gripper linkage a, gripper linkage b, and gripper linkage c, wherein, The top two ends of each of the triangular grippers are hinged to the fixed plate by gripper link a and gripper link b, respectively. Gripper links c are provided at intervals and at an angle on both sides of the intermediate connector, and the other end of each gripper link c is hinged to the middle of its corresponding gripper link b.

[0015] According to the above technical solution, the beneficial effects of the durian harvesting machine based on a hydrogen-powered drone provided by the present invention during use are as follows: (1) The hydrogen-powered drone body is flown to the connection between the durian and the durian tree, and the hydrogen-powered drone body is temporarily placed on the trunk of the durian to be picked by the body fixing mechanism to fix the hydrogen-powered drone body. Then, the mechanical arms on both sides are used to adjust the cutting clamping double mechanism so that the fruit stem of the durian to be picked is located between the clamping component and the clamping jaws of the cutting clamping double mechanism, and the clamping component is located at the connection between the fruit stem and the trunk, while the clamping component is located on one side of the clamping component and close to the connection between the durian fruit stem. Then, the drive structure is activated to drive the clamping component to cut the fruit stem so that the durian is separated from the trunk. At the same time, the clamping jaws of the clamping component become smaller and the fruit stem is held tightly to cooperate with the clamping component. So that during the cutting process, the clamping component holds the fruit stem tightly to prevent the durian after cutting from falling from the tree to the ground and damaging the fruit flesh.

[0016] (2) To improve the gripping effect of the clamping assembly on the fruit stem, the position of the clamping auxiliary mechanism can be adjusted by the robotic arm so that the clamping auxiliary mechanism is located in the shearing clamping double mechanism, and the clamping assembly of the shearing clamping double mechanism is located between the scissor blade group and the clamping auxiliary mechanism. During shearing, in order from top to bottom, the scissor blade group is located at the top of the fruit stem, the clamping assembly is located in the middle, and the clamping auxiliary mechanism is located at the bottom. After the scissor blade group cuts the durian fruit stem, the clamping assembly and the clamping auxiliary mechanism are used to grip the durian fruit stem. Then the fuselage fixing mechanism is released so that the hydrogen-powered UAV can fly to the ground and transport the harvested durian to the ground or a designated location. Therefore, by further gripping the fruit stem through the clamping auxiliary mechanism, the cut durian can be further prevented from falling from the tree to the ground and damaging the flesh.

[0017] (3) The durian harvester based on hydrogen-powered drone provided by the present invention can be applied to the harvesting or branch cutting of other fruits such as bananas and jackfruit with thicker stems.

[0018] In summary, the present invention, through a double-linked shearing and clamping mechanism, can both cut the durian stem to separate the durian from the tree trunk and hold the cut durian stem tightly to catch the cut durian, thus preventing the cut durian from falling from the tree to the ground and damaging the fruit.

[0019] Other features and advantages of the present invention will be described in detail in the following detailed description section; and all parts not covered in the present invention are the same as or can be implemented using the prior art. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of a durian harvesting machine based on a hydrogen-powered drone provided in a preferred embodiment of the present invention; Figure 2 This is a front view of the structure of a durian harvesting machine based on a hydrogen-powered drone provided in a preferred embodiment of the present invention; Figure 3-6 This is a schematic diagram of the shearing and clamping double-link mechanism of a durian harvesting machine based on a hydrogen-powered drone, provided in a preferred embodiment of the present invention. Figure 7-8 This is a schematic diagram of the clamping assembly of a durian harvesting machine based on a hydrogen-powered drone provided in a preferred embodiment of the present invention; Figure 9 This is a schematic diagram showing the changes of the clamping component of the durian harvesting machine based on a hydrogen-powered drone during operation, provided in a preferred embodiment of the present invention. Figure 10 This is a schematic diagram of the clamping auxiliary mechanism of a durian harvesting machine based on a hydrogen-powered drone provided in a preferred embodiment of the present invention; Figure 11 This is a schematic diagram showing the changes in the clamping auxiliary mechanism of a durian harvesting machine based on a hydrogen-powered drone during operation, provided in a preferred embodiment of the present invention. Figure 12-13 This is a schematic diagram of the fuselage fixing mechanism of a durian harvesting machine based on a hydrogen-powered drone, provided in a preferred embodiment of the present invention. Figure 14 This is a schematic diagram of the assembly of the gripper screw of the fuselage fixing mechanism of a durian harvester based on a hydrogen-powered drone, provided in a preferred embodiment of the present invention. Figure 15 This is a schematic diagram of a durian harvesting machine based on a hydrogen-powered drone during the durian harvesting process, provided in a preferred embodiment of the present invention.

[0021] Explanation of reference numerals in the attached figures 1. Hydrogen-powered UAV body; 2. Fuselage fixing mechanism; 201. Gripper stepper motor; 202. Base; 203. Gripper link a; 204. Gripper link b; 205. Center connector; 206. Fixing plate; 207. Threaded fixing block; 208. Gripper screw; 209. Clamp; 210. Gripper link c; 211. Tapered roller bearing; 212. Square transmission head; 213. Guide groove; 3. Robotic arm; 4. Double shearing and clamping mechanism; 401. Blade holder; 402. Scissor blade assembly; 4021. Blade No. 1; 4022. Blade No. 2; 403. Clamping assembly; 4 031. No. 1 clamping seat; 4032. No. 2 clamping seat; 4033. Clamping component; 404. Drive mechanism; 4041. No. 2 lead screw; 4042. No. 2 slide; 4043. No. 1 connecting rod; 4044. No. 2 connecting rod; 4045. No. 3 connecting rod; 4046. No. 4 connecting rod; 5. Clamping auxiliary mechanism; 501. Clamping base; 502. Force plate; 503. Barb fixing plate; 504. Barb; 6. Sliding plate; 7. Guide rod; 8. No. 1 spring; 10. Connecting plate; 11. Hinge pin; 12. No. 2 spring; 13. Guide groove; 14. Positioning rod; 15. No. 3 spring. Detailed Implementation

[0022] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0023] Example 1 like Figure 1-15 As shown, the present invention provides a durian harvesting machine based on a hydrogen-powered drone, comprising: a hydrogen-powered drone body 1, a body fixing mechanism 2 for the hydrogen-powered drone body 1 to perch on a tree trunk, and a cutting and clamping double mechanism 4 for cutting and clamping the fruit stem and a clamping auxiliary mechanism 5 for assisting the cutting and clamping double mechanism 4 to clamp the durian fruit stem a second time via a mechanical arm 3 on both sides of the body. The shearing and clamping dual-link mechanism 4 includes: a blade holder 401, a scissor blade assembly 402 hinged to the bottom of the blade holder 401, a clamping component 403 disposed on the blade holder 401 next to the scissor blade assembly 402 and used in conjunction with the scissor blade assembly 402 to clamp the fruit stem during the shearing process, and a drive mechanism 404 capable of simultaneously driving the scissor blade assembly 402 and the clamping component 403 to operate synchronously.

[0024] In the above scheme, the hydrogen-powered drone uses a hydrogen fuel cell as its core power source. The hydrogen it carries is used as fuel and reacts with naturally inhaled oxygen in the presence of a platinum catalyst to generate electricity to drive the drone's flight. This truly achieves zero carbon emissions and also has advantages such as ultra-long endurance, resistance to low temperatures, high energy conversion efficiency, and emphasis on safety.

[0025] When using, such as Figure 15 As shown, the hydrogen-powered drone body 1 is flown to the junction of the durian and the durian tree, and is temporarily anchored to the trunk of the durian to be harvested by the fuselage fixing mechanism 2 to secure the drone body 1. Then, the mechanical arms 3 on both sides are used to adjust the shearing clamping double mechanism 4 so that the stem of the durian to be harvested is located between the clamping component 403 of the shearing clamping double mechanism 4 and the clamping jaws of the scissor blade assembly 402, and the scissor blade assembly 402 is located at the junction of the stem and the trunk. At the junction, the clamping component 403 is located on one side of the scissor set 402 and close to the connection point of the durian stem. Then, the drive structure 402 is activated to drive the scissor set 402 to cut the stem so that the durian is separated from the tree trunk. At the same time, the clamping opening of the clamping component 403 becomes smaller and clamps the stem tightly to cooperate with the scissor set 402. So that during the cutting process, the scissor set 402, through the cooperation of the clamping component 403, clamps the stem tightly to prevent the cut durian from falling from the tree to the ground and damaging the flesh.

[0026] Furthermore, to improve the gripping effect of the clamping component 403 on the fruit stem, the position of the clamping auxiliary mechanism 5 can be adjusted by the robotic arm 3 so that the clamping auxiliary mechanism 5 is located in the shearing and clamping double mechanism 4. This allows the clamping component 403 of the shearing and clamping double mechanism 4 to be positioned between the scissor blade assembly 402 and the clamping auxiliary mechanism 5. During shearing, in a top-to-bottom order, the scissor blade assembly 402 is at the top of the fruit stem, the clamping component 403 is in the middle, and the clamping auxiliary mechanism 5 is at the bottom. After the scissor blade assembly 402 cuts the durian stem, the clamping component 403 and the clamping auxiliary mechanism 5 grip the durian stem. Then, the body fixing mechanism 2 is released, allowing the hydrogen-powered drone body 2 to fly to the ground and transport the harvested durian to the ground or a designated location. Therefore, the clamping auxiliary mechanism 5 further grips the fruit stem, further preventing the cut durian from falling from the tree and damaging the flesh.

[0027] Furthermore, both the hydrogen-powered drone body 1 and the robotic arm are existing, well-known technologies; therefore, their structures and operating principles will not be elaborated upon here. Of course, the shearing and clamping mechanism 4 and the clamping auxiliary mechanism 5 can be respectively fixed to the mounting platform disclosed in the background art via the robotic arm 3. (The existing patent application number in the background art is "CN202321452390.7", which discloses a durian harvesting machine based on a hydrogen-powered drone, including a mounting platform with a tracked walking mechanism mounted on its lower end).

[0028] Durian harvesting machines based on hydrogen-powered drones can be applied to other fields such as harvesting or pruning branches of fruits with thicker stems, such as bananas and jackfruits.

[0029] In summary, the double-link cutting and clamping mechanism 4 of the present invention can both cut the durian stem to separate the durian from the tree trunk and hold the durian stem tightly to catch the cut durian, so as to prevent the cut durian from falling from the tree to the ground and damaging the fruit.

[0030] In a preferred embodiment of the present invention, the scissor assembly 402 includes: a first blade 4021 and a second blade 4022, and the clamping assembly 403 includes: a first clamping seat 4031, a second clamping seat 4032, and a clamping member 4033; wherein... The free end of the robotic arm 3 is vertically provided with a blade holder 401. The bottom end of the blade holder 401 is hinged with a first blade 4021 and a second blade 4022, which are X-shaped and used to cut the fruit stem. On the bottom end of the blade holder 401, which is located next to the first blade 4021 and the second blade 4022, there are symmetrically provided with a first clamping seat 4031 and a second clamping seat 4032, which are X-shaped and used to clamp and fix the fruit stem during the cutting process. The interior of the two clamping seats is provided with a row of clamping members 4033 that can extend out from their respective openings and are used in conjunction through a connecting mechanism.

[0031] In the above scheme, such as Figure 7 and 9As shown, blade 4021 and blade 4022 can form corresponding positioning arc-shaped structures, and clamping bases 4031 and 4032 can also form corresponding positioning arc-shaped structures. These structures clamp and fix the fruit stem during the cutting process. Both clamping bases 4031 and 4032 have a row of retractable clamping members 4033 at their arc-shaped openings. Therefore, when blades 4021 and 4022 of the scissor assembly 402 are moving relative to each other to perform a cutting action on the durian stem, as clamping bases 4031 and 4032 approach each other, the two rows of clamping members 4033 at their arc-shaped openings... The clamps 33 move closer together and clamp the fruit stem. Since the two rows of clamps 4033 are retractable, as the cutting operation progresses, the arc openings of clamp 4031 and clamp 4032 become smaller and smaller, and the distance between the two rows of clamps 4033 also becomes smaller. In order to prevent the two rows of clamps 403 from cutting the fruit stem, under the action of the connecting mechanism, when any clamp 4033 comes into contact with the fruit stem, the clamp 4033 can be appropriately retracted to a certain distance inside clamp 4031 or clamp 403 through the connecting mechanism, so as to prevent the arc openings of clamp 4031 and clamp 4032 from becoming smaller and smaller and cutting the fruit stem.

[0032] In summary, the shearing and clamping linkage mechanism 4 can effectively prevent the fruit stem from slipping or coming off during the harvesting of durians. Furthermore, the clamping component 403 can work in conjunction with the scissor blade assembly 402 to avoid the problem of the fruit stem being cut off, ensuring a stable and reliable shearing process and achieving a good positioning and fixing effect on the fruit stem.

[0033] In a preferred embodiment of the present invention, the driving mechanism 404 includes: a second lead screw 4041, a second slide 4042, a first connecting rod 4043, a second connecting rod 4044, a third connecting rod 4045, and a fourth connecting rod 4046; wherein, The end of the robotic arm 3 is fixedly equipped with a mounting base, and the bottom end of the mounting base is fixedly equipped with a blade holder 401 through multiple fixed rods. A second lead screw 4041 is vertically and rotatably arranged between the mounting base and the blade holder 401, located between the multiple fixed rods. A second slide block 4042, movable along its axis, is threadedly fixed to the 4011. The second slide block 4042 has vertically penetrating through holes for all the fixed rods to pass through. Two sets of linkage components, connected to the scissor-type blade assembly 402 and the clamping assembly 403, are symmetrically arranged on both sides of the first connecting rod 4043. Each set of linkage components includes: a first connecting rod 4043, a second connecting rod 4044, a third connecting rod 4045, and a fourth connecting rod 4046. One end of each linkage 4043 and 4045 is hinged above the slide 4042. The other ends of the linkages 4043 and 4045 are respectively hinged to the X-shaped linkages 4044 and 4046, which are hinged together in the middle. The free end of the linkage 4046 is fixed to the blade 4021 or the clamp 4031, and the free end of the linkage 4044 is fixed to the blade 4022 or the clamp 4032.

[0034] In the above scheme, such as Figure 3-6 As shown, the first blade 4021 and the first clamping seat 4031 are assembled in the same way, and the second blade 4022 and the second clamping seat 4031 are assembled in the same way. The first blade 4021 and the second blade 4022 are hinged together and arranged in an alternating pattern. The handles of the first blade 4021 and the second blade 4022 are respectively fixed to the fourth connecting rod 4046 and the second connecting rod 4044. The first clamping seat 4031 and the second clamping seat 4032 are hinged together and arranged symmetrically. The clamping tool assembly 402 and the clamping component 403 are spaced apart and parallel to each other.

[0035] In addition, a servo motor for driving the second lead screw 4041 to rotate is fixedly installed at the top of the mounting base. The servo motor is coaxially connected to the top of the second lead screw 4041 through a coupling.

[0036] In use, by driving the second screw cylinder 4041 to rotate, the second slide block 4042 moves upward along its axis. During this upward movement, the arc rims of the first blade 4021 and the second blade 4022 decrease to cut the fruit stem. Simultaneously, the arc rims of the first clamp 4031 and the second clamp 4032 also decrease to hold the cut stem. Therefore, as the second screw 4041 drives the second slide block 4042 upward, the two sets of linkages synchronously drive the scissor blade assembly 402 and the clamping assembly 403 to cut the durian stem and clamp and fix it, respectively. This effectively prevents the stem from slipping or coming off during the cutting process. Furthermore, the clamping assembly 403 works in conjunction with the scissor blade assembly 402 to avoid cutting the stem, ensuring a stable and reliable cutting process and achieving good positioning and fixing of the stem.

[0037] In addition, a camera is fixedly installed on the blade holder 401 to observe the operation of the shearing and clamping linkage mechanism 4. The camera is connected to the host computer or radio remote control equipment via a wireless module, and the entire device is operated by the host computer or radio remote control equipment.

[0038] In a preferred embodiment of the present invention, the connecting mechanism includes: a connecting plate 10, a hinge pin 11, and a second spring 12; wherein, The first clamp 4031 or the second clamp 4032 is internally provided with a support member consisting of several connecting plates 10 connected end to end by hinge pins 11 to support a row of clamping members 4033. The top of the row of clamping members 4033 extends from the opening of the first clamp 4031 or the second clamp 4032. Each connecting plate 10 has multiple second springs 12 fixedly and vertically at its bottom end. The bottom end of each second spring 12 is fixed to the bottom end of the first clamp 4031 or the second clamp 4032. The side walls of the first clamp 4031 or the second clamp 4032 at both ends of the support member are partially recessed to form two guide grooves 13. The two hinge pins 11 at both ends of the support member are horizontally slidably disposed in the two guide grooves 13.

[0039] In the above scheme, such as Figure 7 and 9 As shown, the width of the opening of the first clamp 4031 and the second clamp 4032 is equal to the thickness of the clamping member 4033, and the length of the window is equal to the sum of the widths of a row of clamping members 4033, so that the clamping member 4033 can extend and retract in a straight line.

[0040] As the first clamp 4031 and the second clamp 4032 approach each other, bringing the two rows of clamping members 4033 at their arc openings closer together, the clamping members 4033 that come into contact with the fruit stem abut against the stem, while the clamping members 4033 on the corresponding sides that do not contact the stem abut against each other. This allows the two rows of clamping members 4033 to surround the fruit stem during clamping. As the arc openings of the first clamp 4031 and the second clamp 4032 become smaller, the bottom of each clamping member 4033 retracts into the first clamp 4031 and the second clamp 4032 and presses down on each support member. Meanwhile, the second spring 12 at the bottom of the support member is compressed. This prevents the clamping assembly 403 from over-clamping the fruit stem and breaking it during the cutting process of the two blades of the scissor blade assembly 402.

[0041] In a preferred embodiment of the present invention, the clamping auxiliary mechanism 5 includes: a clamp base 501, a force-applying plate 502, a barb fixing plate 503, and barbs 504; wherein, Another robotic arm 3 is equipped with a clamp base 501 at its bottom end. A force-applying plate 502 that can rotate toward the clamp base 501 is movably arranged on one side of the clamp base 501. Two sliding plates 6 are spaced apart and movably arranged on the clamp base 501 facing the force-applying plate 502. Two barb fixing plates 503 are respectively hinged between the two plates. The adjacent ends of the two barb fixing plates 503 are also hinged together. Multiple rows of barbs 504 are evenly fixed on each barb fixing plate 503 facing the force-applying plate 502. At least one barb fixing plate 503 is fixed with at least one guide rod 7 that can vertically pass through the interior of the clamp base 501 near the adjacent bottom ends of the two barb fixing plates 503. A first spring 8 is sleeved on the guide rod 7. The two ends of the first spring 8 are respectively fixed to the end of the guide rod 7 and the outer wall of the clamp base 501.

[0042] In the above scheme, such as Figure 10-12 As shown, two guide rails are horizontally and fixedly arranged at intervals on the bottom end of the clamp base 501. The bottom end of each sliding plate 6 is recessed at intervals and partially recessed to form two guide grooves that are slidably connected to the two guide rails. Furthermore, a servo motor for driving the force application plate 502 to rotate is provided on the clamp base 501.

[0043] In use, the sliding plate 6 moves horizontally on the slide rail to facilitate the opening and closing of the barb fixing plate 503. The durian stem enters the clamp in a direction perpendicular to the slide rail and parallel to the force plate 502. The force plate 502 applies downward pressure, causing the barbs 504 to pierce the stem, achieving reliable clamping and fixation. When the durian is transported to the ground, the force plate 502 opens, and the first spring 8 pushes open the barb fixing plate 503, causing the stem to automatically detach.

[0044] Specifically, such as Figure 10-11As shown, the force plate 502 is opened by a servo motor so that the fruit stem is located inside the force plate 502 and the clamp base 501. The force plate 502 is driven to move closer to the clamp base 501 to apply pressure to the barb fixing plate 503, so that the fruit stem abuts against the two barb fixing plates 503. Under the action of the force plate 502, the durian fruit stem and the two barb fixing plates 503 and the clamp base 501 move, so that the middle part of the two barb fixing plates 503 bends towards the clamp base 501. During the bending process (the process of changing from state one to state two), multiple barbs 504 on the two barb fixing plates 501 pierce into different positions inside the durian fruit stem to clamp and fix the durian fruit stem between the force plate 502 and the barb fixing plate 503. At the same time, it drives the two sliding plates 6 to move closer to each other. The first spring 8 on the guide rod 7 is compressed to put it in a compressed state, so that the barbs 504 on the two barbed fixing plates 503 penetrate into different positions inside the fruit stem. This achieves reliable clamping and fixing of the cut durian fruit stem. When the durian is transported to the ground, the force plate 502 is driven to open, and the first spring 8 pushes open the barbed fixing plates 503, causing the fruit stem to automatically detach. Of course, the barbed fixing plates 503 can also be manually pushed open.

[0045] In a preferred embodiment of the present invention, the body fixing mechanism 2 includes: a gripper stepper motor 201, a base 202, a connecting rod assembly, a gripper screw 208, a threaded fixing block 207, and a gripper 209; wherein, The base 201 is horizontally fixed directly below the hydrogen-powered UAV body 1. A gripper stepper motor 201 is vertically fixed at the upper end of the base 201. A square transmission head 212 is fixedly fixed at the output end of the gripper stepper motor 201. A guide groove 213 is opened at the top of the gripper screw 208 to cooperate with the square transmission head 212. The gripper screw 208 is movably assembled with the square transmission head 212 through the guide groove 213. A threaded fixing block 207 that is threadedly connected to the gripper screw 208 is horizontally fixed at the bottom of the base 201 through two parallel fixing plates 206. An intermediate connecting piece 205 that is rotatably connected to the gripper screw 208 is horizontally fixed at the bottom end of the gripper screw 208 through a tapered roller bearing 211. Multiple sets of grippers 209 are symmetrically hinged on both sides of the intermediate connecting piece 205 through a connecting rod assembly.

[0046] In a preferred embodiment of the present invention, the linkage assembly includes: a gripper linkage a203, a gripper linkage b204, and a gripper linkage c210, wherein, Each of the triangular grippers 208 has its top two ends hinged to the fixed plate 206 via gripper connecting rods a203 and b204, respectively. Gripper connecting rods c210 are spaced apart and obliquely hinged on both sides of the intermediate connector 205, with the other end of each gripper connecting rod c210 hinged to the middle of its corresponding gripper connecting rod b204. In the above scheme, such as Figure 12-14 As shown, the body fixing mechanism 2 consists of a base 202, a connecting rod assembly, a fixing block assembly, and four sets of gripper assemblies. The connecting rod assembly includes gripper connecting rod a203, gripper connecting rod b204, and gripper connecting rod c210; the fixing block assembly includes a fixing plate 206 and a threaded fixing block 207. The base 202 is the core support structure of the entire fixing mechanism. The gripping stepper motor 201 is fixed to the upper end of the base 201. The output shaft of the gripping stepper motor 201 is fixed to the square transmission head 212, driving the square transmission head 212 to rotate, which in turn drives the gripper screw 208 to rotate. Because the threaded fixing block 207 is fixed, the gripper screw 208 extends upwards. At this time, the square transmission head 212 inserts into the gripper screw 208 along with the guide groove 213, without affecting the further rotation of the gripper stepper motor 201. The gripper screw 208 is connected to the central connector 205 via the tapered roller bearing 211. The central connector 205 then pulls the gripper connecting rod c210 inward to retract, further pulling the gripper connecting rod a 203 and the gripper connecting rod b204, thereby causing the gripper 209 to close.

[0047] The machine body fixing mechanism 2 is supported by the base 202, with a compact and stable structure. It achieves efficient and low-loss power transmission through a rigid transmission chain of "stepper motor - square transmission head - gripper screw" and tapered roller bearing 211. The screw has self-locking properties and can maintain clamping force in the event of power failure or machine stoppage, ensuring that the gripper 209 is stably fixed on the branch. The anti-slip texture on the surface of the gripper 209 further enhances the friction between it and the branch, preventing slippage and fall. At the same time, the opening and closing range and clamping force of the gripper 209 can be adjusted by controlling the motor speed and angle to adapt to branches of different thicknesses. The modular structure design facilitates maintenance.

[0048] Of course, the fuselage fixing mechanism 2 can also be replaced by a gripper cylinder (pneumatic gripper).

[0049] Additionally, a camera can be installed at the front of the hydrogen-powered drone body 1. After detecting the fruit, it hovers directly above the branch with the fruit, adjusts its angle, and uses the gripper 205 at the bottom of the body to grab the branch, thus securing itself to the branch. This counteracts the momentary gravitational acceleration of the durian stem and prevents the drone from going out of control.

[0050] Example 2 The difference between Example 2 and Example 1 is that: like Figure 8 As shown, in a preferred embodiment of the present invention, the connecting mechanism includes: a positioning rod 14 and a No. 3 spring 15; wherein, The bottom of the first clamp 4031 or the second clamp 4032 is vertically fixed with a row of positioning rods 14 that cooperate with a row of clamping members 4033. The bottom of each row of clamping members 4033 is partially recessed to form a sliding cavity that is slidably connected to the row of positioning rods 14. Each row of clamping members 4033 is slidably sleeved on the row of positioning rods 14 through its respective sliding cavity. Each positioning rod 14 is sleeved with a third spring 15. The two ends of each third spring 15 are respectively fixed to the bottom of the first clamp 4031 or the second clamp 4032 and the bottom of the clamping member 4033.

[0051] In the above scheme, as the first clamp 4031 and the second clamp 4032 move closer to each other so that the two rows of clamping members 4033 at their arc openings move closer to each other, when the two rows of clamping members 4033 approach the fruit stem so that the clamping members 4033 that come into contact with the fruit stem abut against the fruit stem, while the corresponding clamping members 4033 on the sides that do not come into contact with the fruit stem abut against each other, the two rows of clamping members 4033 surround the fruit stem during the clamping process. As the arc openings of the first clamp 4031 and the second clamp 4032 become smaller, the bottom end of each clamping member 4033 will retract into the first clamp 4031 and the second clamp 4032 and press down on its corresponding third spring 15, so that the third spring 15 is in a compressed state. This is to avoid the clamping assembly 403 from over-clamping the fruit stem and breaking the fruit stem during the cutting process of the two blades of the scissor set 402.

[0052] In this embodiment, all other structures of Embodiment 2 are the same as those of Embodiment 1.

[0053] In summary, the durian harvester based on a hydrogen-powered drone provided by this invention overcomes the problems of existing technologies where durians are held by grippers and cut from branches by a shearing mechanism. However, because the gripper cylinder directly holds the durian, if the gripping force is too great, the durian can be easily damaged. If the gripping force is too small, the durian will fall from the gripping cylinder to the ground and cause injury.

[0054] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0055] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0056] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A durian harvesting machine based on a hydrogen-powered drone, comprising: The hydrogen-powered drone body (1) is characterized in that a body fixing mechanism (2) is provided under the body of the hydrogen-powered drone body (1) so that the hydrogen-powered drone body (1) can perch on the tree trunk, and the body on both sides of the body fixing mechanism (2) is respectively provided with a cutting and clamping double mechanism (4) for cutting and clamping the fruit stem and a clamping auxiliary mechanism (5) for assisting the cutting and clamping double mechanism (4) to clamp the durian fruit stem a second time. The shearing and clamping double mechanism (4) includes: a blade holder (401), a scissor blade assembly (402) hinged to the bottom of the blade holder (401), a clamping component (403) disposed on the blade holder (401) next to the scissor blade assembly (402) and used in conjunction with the scissor blade assembly (402) to clamp the fruit stem during the shearing process, and a drive mechanism (404) capable of simultaneously driving the scissor blade assembly (402) and the clamping component (403) to operate synchronously.

2. The durian harvesting machine based on a hydrogen-powered drone according to claim 1, characterized in that, The scissor blade assembly (402) includes: a first blade (4021) and a second blade (4022); the clamping assembly (403) includes: a first clamping seat (4031), a second clamping seat (4032), and a clamping member (4033); wherein, The free end of the robotic arm (3) is vertically provided with a blade holder (401). The bottom end of the blade holder (401) is hinged with a first blade (4021) and a second blade (4022) in an X-shape for cutting the fruit stem. The bottom end of the blade holder (401) is symmetrically provided with a first clamping seat (4031) and a second clamping seat (4032) in an X-shape for clamping and fixing the fruit stem during the cutting process, respectively, located next to the first blade (4021) and the second blade (4022). The interior of the two clamping seats is provided with a row of clamping parts (4033) that can extend out from their respective openings and are used in conjunction, respectively, through a connecting mechanism.

3. The durian harvesting machine based on a hydrogen-powered drone according to claim 2, characterized in that, The drive mechanism (404) includes: a second lead screw (4041), a second slide (4042), a first connecting rod (4043), a second connecting rod (4044), a third connecting rod (4045), and a fourth connecting rod (4046); wherein, The end of the robotic arm (3) is fixedly provided with a mounting base, and the bottom end of the mounting base is fixedly provided with a knife holder (401) through multiple fixed rods. A second lead screw (4041) is vertically and rotatably provided between the mounting base and the knife holder (401) located between the multiple fixed rods. A second slide (4042) that can move along its axis is threadedly provided on the (4011). The second slide (4042) is vertically provided with through holes for all the fixed rods to pass through. Two sets of linkage components connected to the scissor blade assembly (402) and the clamping assembly (403) are symmetrically provided on both sides of the first connecting rod (4043). Each set of linkage components includes: a first connecting rod (4043), a second connecting rod (4044), a third connecting rod (4045), and a fourth connecting rod (4046). One end of each linkage component, connecting rod 1 (4043) and connecting rod 3 (4045), is hinged above sliding block 2 (4042). The other ends of connecting rod 1 (4043) and connecting rod 3 (4045) are respectively hinged to connecting rod 2 (4044) and connecting rod 4 (4046) which are X-shaped and hinged together in the middle. The free end of connecting rod 4 (4046) is fixed to blade 1 (4021) or clamp 1 (4031), and the free end of connecting rod 2 (4044) is fixed to blade 2 (4022) or clamp 2 (4032).

4. The durian harvesting machine based on a hydrogen-powered drone according to claim 3, characterized in that, The connecting mechanism includes: a connecting plate (10), a hinge pin (11), and a second spring (12); wherein, The first clamp (4031) or the second clamp (4032) is internally equipped with a support member consisting of several connecting plates (10) hinged together end to end by hinge pins (11) to support a row of clamping members (4033). The tops of the row of clamping members (4033) extend from the openings of the first clamp (4031) or the second clamp (4032), and the bottom ends of each connecting plate (10) are spaced apart and vertically fixed. Multiple second springs (12) are provided, and the bottom end of each second spring (12) is fixed to the bottom end of the first clamp (4031) or the second clamp (4032). The side walls of the first clamp (4031) or the second clamp (4032) located at both ends of the support are partially recessed to form two guide grooves (13). The two hinge pins (11) at both ends of the support are horizontally slidably arranged in the two guide grooves (13).

5. The durian harvesting machine based on a hydrogen-powered drone according to claim 3, characterized in that, The connecting mechanism includes: a positioning rod (14) and a No. 3 spring (15); wherein, The bottom of the first clamp (4031) or the second clamp (4032) is vertically fixed with a row of positioning rods (14) that cooperate with a row of clamping members (4033). The bottom of each row of clamping members (4033) is partially recessed to form a sliding cavity that is slidably connected to the row of positioning rods (14). Each row of clamping members (4033) is slidably sleeved on the row of positioning rods (14) through its respective sliding cavity. Each positioning rod (14) is sleeved with a third spring (15). The two ends of each third spring (15) are respectively fixed on the bottom of the first clamp (4031) or the second clamp (4032) and the bottom of the clamping member (4033).

6. The durian harvesting machine based on a hydrogen-powered drone according to claim 1, characterized in that, The clamping auxiliary mechanism (5) includes: a clamp base (501), a force-applying plate (502), a barb fixing plate (503), and barbs (504); wherein, Another robotic arm (3) is fitted with a clamp base (501) at its bottom end. A force plate (502) that can rotate toward the clamp base (501) is movably arranged on one side of the clamp base (501). Two sliding plates (6) are spaced apart and movably arranged on the clamp base (501) facing the force plate (502), and two barbed fixing plates (503) are respectively hinged between them. The adjacent ends of the two barbed fixing plates (503) are also hinged together, facing the force plate (502). 2) Each barb fixing plate (503) is uniformly fixed with multiple rows of barbs (504). At least one of the barb fixing plates (503) is fixed with at least one guide rod (7) that can pass vertically through the inside of the clamp base (501) near the bottom of the two adjacent barb fixing plates (503). A first spring (8) is sleeved on the guide rod (7). The two ends of the first spring (8) are fixed to the end of the guide rod (7) and the outer wall of the clamp base (501) respectively.

7. The durian harvesting machine based on a hydrogen-powered drone according to claim 1, characterized in that, The fuselage fixing mechanism (2) includes: a gripper stepper motor (201), a base (202), a connecting rod assembly, a gripper screw (208), a threaded fixing block (207), and a gripper (209); wherein, The base (201) is horizontally fixed directly below the hydrogen-powered UAV body (1). A gripper stepper motor (201) is vertically fixed at the upper end of the base (201). A square transmission head (212) is fixedly installed at the output end of the gripper stepper motor (201). A guide groove (213) is opened at the top end of the gripper screw (208) to cooperate with the square transmission head (212). The gripper screw (208) communicates with the square transmission head (212) through the guide groove (213). 212) The base (201) is movably assembled together. A threaded fixing block (207) is horizontally fixed below the base (201) by two parallel fixing plates (206) and is threadedly connected to the claw screw (208). The bottom end of the claw screw (208) is horizontally fixed by a tapered roller bearing (211) and is rotatably connected to an intermediate connecting piece (205). Multiple sets of claws (209) are symmetrically hinged on both sides of the intermediate connecting piece (205) by a connecting rod group.

8. The durian harvesting machine based on a hydrogen-powered drone according to claim 7, characterized in that, The linkage assembly includes: gripper linkage a (203), gripper linkage b (204), and gripper linkage c (210), wherein, The top two ends of each of the triangular jaws (208) are hinged to the fixed plate (206) by jaw link a (203) and jaw link b (204), respectively. The two sides of the intermediate connector (205) are respectively provided with jaw link c (210) at intervals and at an angle, and the other end of each jaw link c (210) is hinged to the middle of its corresponding jaw link b (204).

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