Automatic telescopic picking mechanical arm with fruit receiving function

Abstract

The present application relates to the field of picking mechanical arm, disclose a kind of automatic telescopic picking mechanical arm with fruit receiving function, including mounting bracket, telescopic mechanical arm, telescopic slide, swing drive mechanism and picking tool;Telescopic mechanical arm is rotatably connected with mounting bracket, swing drive mechanism is arranged between mounting bracket and telescopic mechanical arm, and telescopic mechanical arm is driven to swing up and down by swing drive mechanism;Picking tool is arranged at the other end of telescopic mechanical arm, and picking tool is driven to move forward and backward by telescopic mechanical arm;Telescopic slide is distributed around telescopic mechanical arm, one end of telescopic slide extends to below picking tool, and one end of telescopic slide is formed with receiving part, and the other end of telescopic slide is formed with discharge port.The present application has the advantages that: the picked fruits can automatically slide to the desired position by telescopic slide, which can greatly facilitate the actual picking and effectively improve the picking efficiency.

Description

Technical Field

[0001] This invention relates to the field of harvesting robotic arms, specifically to an automatic telescopic harvesting robotic arm with fruit-catching function. Background Technology

[0002] Palm fruits grow on palm trees, typically at high points, sometimes exceeding 10 meters. To facilitate the cutting and harvesting of these high-altitude palm fruits, aerial harvesting equipment has emerged; for example, Chinese invention patent CN202411942008.X, filed on December 27, 2024, discloses such an aerial harvesting device. However, these existing aerial harvesting devices have the following drawbacks in practical use: 1. After the robotic arm drives the cutting mechanism to harvest the fruit, the arm must be used to move the fruit to the desired position before harvesting can continue, as the fruit cannot automatically slide down to the desired location, significantly reducing harvesting efficiency; 2. The extension length of the robotic arm is relatively limited, thus greatly restricting the actual harvesting height. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an automatic telescopic harvesting robotic arm with fruit-catching function, solving the problem that existing technologies cannot automatically allow fruits to slide to the required position, resulting in a significant reduction in harvesting efficiency and a considerable limitation on the actual harvesting height.

[0004] To achieve the above objectives, the present invention provides the following technical solution: An automatic telescopic harvesting robotic arm with fruit-catching function includes a mounting frame, a telescopic robotic arm, a telescopic chute, a swing drive mechanism, and harvesting attachments. One end of the telescopic robotic arm is rotatably connected to the mounting frame. A swing drive mechanism is located between the mounting frame and the telescopic robotic arm, driving the telescopic robotic arm to swing up and down. A harvesting attachment is located at the other end of the telescopic robotic arm, which moves back and forth. Telescopic chutes are distributed around the telescopic robotic arm, with one end extending below the harvesting attachment and forming a receiving part at one end and a discharge port at the other end. The telescopic robotic arm includes at least two tubes nested together from the inside out and at least one telescopic drive cylinder. Except for the outermost tube, each tube is connected to a telescopic drive cylinder, which drives the tube to extend forward or retract backward.

[0005] Furthermore, the telescopic chute is connected to a telescopic robotic arm, and the telescopic robotic arm drives the telescopic chute to extend and retract synchronously.

[0006] Furthermore, the telescopic chute is a telescopic chute with an open top, and the telescopic chute is located below the telescopic robotic arm.

[0007] Furthermore, the mounting frame is rotatably connected to the lower end of the outermost tube, and the swing drive mechanism is located between the mounting frame and the outermost tube; the picking attachment is connected to the protruding end of the innermost tube.

[0008] Furthermore, the telescopic chute includes at least two chute segments that are slidably assembled together from the inside out, and each chute segment is connected to the corresponding pipe body through at least one connector.

[0009] Furthermore, the number of pipes and chute sections is three each.

[0010] Furthermore, the swing drive mechanism includes two first swing drive cylinders disposed on both sides of the telescopic robotic arm, with one end of the first swing drive cylinder rotatably connected to the mounting frame and the other end of the first swing drive cylinder rotatably connected to the telescopic robotic arm.

[0011] Furthermore, the harvesting attachment is rotatably connected to the other end of the telescopic robotic arm, and a second swing drive cylinder is provided between the harvesting attachment and the telescopic robotic arm, and the harvesting attachment is driven to swing up and down by the second swing drive cylinder.

[0012] Furthermore, the harvesting attachment is equipped with a fruit receiving basket, which is positioned directly above the receiving section of the telescopic chute when the fruit needs to be transported using the telescopic chute.

[0013] By adopting the above-described technical solution of the present invention, at least the following beneficial effects are achieved: 1. Telescopic slides are installed around the telescopic robotic arm, so that after the telescopic robotic arm drives the harvesting attachment to harvest the fruit, the harvested fruit can be automatically slid down to the desired position using the telescopic slides, without the need for the robotic arm to move the fruit to the desired position. This can greatly facilitate the actual harvesting and effectively improve the harvesting efficiency.

[0014] 2. A telescopic robotic arm is used to drive the harvesting attachment to move back and forth. Because the telescopic robotic arm is relatively short in the retracted state, it occupies little space and is very convenient for actual transportation. When the telescopic robotic arm is extended, its overall length can be made relatively long. Therefore, compared with existing robotic arms, it helps to increase the actual harvesting height and is more flexible in use.

[0015] 3. The use of telescopic chutes allows the chutes to be retracted when the telescopic robotic arm is in the retracted state for easy transport, and extended when the telescopic robotic arm is in the extended state to ensure that the harvested fruit can slide down automatically along the chutes.

[0016] 4. By connecting the telescopic chute with the telescopic robotic arm, the telescopic robotic arm can be used to drive the telescopic chute to extend and retract synchronously during actual use, without the need to equip the telescopic chute with a separate power component. This simplifies the structure of the entire telescopic chute and reduces costs.

[0017] 5. By designing the telescopic chute as an open-top telescopic chute, and placing the telescopic chute below the telescopic robotic arm, it is ensured that the top of the fruit will not be obstructed as it slides down the telescopic chute. This facilitates the smooth sliding of fruits of various sizes without causing blockages. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of an automatic telescopic harvesting robotic arm with fruit-catching function in the retracted state according to the present invention. Figure 2 This is a cross-sectional view of an automatic telescopic harvesting robotic arm with fruit-catching function in the retracted state according to the present invention. Figure 3 This is one of the three-dimensional structural diagrams of an automatic telescopic harvesting robotic arm with fruit-catching function in the extended state according to the present invention; Figure 4 This is the second three-dimensional structural diagram of an automatic telescopic harvesting robotic arm with fruit-catching function in the extended state (excluding the tube in the middle). Figure 5 This is a structural diagram of the openable fruit-receiving basket of the present invention in the open state.

[0019] Figure label: 100mm automatic telescopic harvesting robotic arm; Mounting bracket 1; Telescopic robotic arm 2, tube body 21, telescopic drive cylinder 22; Telescopic chute 3, receiving part 31, discharge port 32, chute section 33, connecting piece 34; Swing drive mechanism 4, first swing drive cylinder 41; Harvesting attachment 5, cutting mechanism 51; Second swing drive cylinder 6; Fruit basket 7, annular body 71, material receiving opening 711, fixed fruit basket 72, movable fruit basket 73, opening and closing drive cylinder 74. Detailed Implementation

[0020] The technical solutions in 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.

[0021] Please see the appendix Figures 1 to 5 As shown, the present invention provides an automatic telescopic harvesting robotic arm 100 with fruit-catching function. The automatic telescopic harvesting robotic arm 100 includes a mounting frame 1, a telescopic robotic arm 2, a telescopic chute 3, a swing drive mechanism 4, and a harvesting attachment 5, wherein: the mounting frame 1 is used to mount the automatic telescopic harvesting robotic arm 100 onto a walking device (not shown); the telescopic robotic arm 2 is used to drive the harvesting attachment 5 to telescopically move, so that the harvesting attachment 5 can cut and harvest fruits (such as palm fruits) growing on the trunk of fruit trees; the telescopic chute 3 is used for the harvested fruits to automatically slide down; the swing drive mechanism 4 is used to drive the telescopic robotic arm 2 and the telescopic chute 3 to swing up and down; and the harvesting attachment 5 is used to cut and harvest fruits growing on the trunk of fruit trees.

[0022] One end of the telescopic robotic arm 2 is rotatably connected to the mounting frame 1. The swing drive mechanism 4 is disposed between the mounting frame 1 and the telescopic robotic arm 2. The telescopic robotic arm 2 is driven to swing up and down by the swing drive mechanism 4. In specific implementation of the present invention, when it is necessary to use the telescopic robotic arm 2 to drive the picking attachment 5 to cut and pick the fruit, the swing drive mechanism 4 can be used to drive the telescopic robotic arm 2 to swing upward to the required position so that the telescopic robotic arm 2 can drive the picking attachment 5 to move upward to the position of the fruit; when it is not necessary to use the telescopic robotic arm 2 to drive the picking attachment 5 to pick the fruit, the swing drive mechanism 4 can be used to drive the telescopic robotic arm 2 to swing downward to the required position.

[0023] The picking attachment 5 is located at the other end of the telescopic robotic arm 2. The telescopic robotic arm 2 drives the picking attachment 5 to move back and forth. Specifically, when the picking attachment 5 is needed to pick fruit, the telescopic robotic arm 2 drives the picking attachment 5 to move forward to the desired position. When the picking attachment 5 is not needed to pick fruit, the telescopic robotic arm 2 drives the picking attachment 5 to return to its original position. The telescopic chute 3 is distributed around the telescopic robotic arm 2. One end of the telescopic chute 3 extends below the picking attachment 5, and one end of the telescopic chute 3 forms a receiving part 31 to catch the fruit falling down. In specific implementation of the present invention, the receiving part 31 needs to be inclined upward to ensure that the fruit falling into the receiving part 31 can automatically slide down. The other end of the telescopic chute 3 forms a discharge port 32 to output the fruit. In practical use, the automatic telescopic harvesting robotic arm 100 of the present invention can be installed on a walking device to form a complete harvesting equipment. During use, the walking device can be used to transport the entire automatic telescopic harvesting robotic arm 100 to the required position.

[0024] In some embodiments of the present invention, the telescopic chute 3 is connected to the telescopic robotic arm 2, and the telescopic robotic arm 2 drives the telescopic chute 3 to extend and retract synchronously.

[0025] This invention connects the telescopic chute 3 to the telescopic robotic arm 2, allowing the telescopic robotic arm 2 to directly drive the telescopic chute 3 to extend and retract synchronously during use, eliminating the need for a separate power unit for the telescopic chute 3. This simplifies the overall structure of the telescopic chute 3 and reduces costs. Of course, the above is only a preferred embodiment of the invention, but the invention is not limited thereto. In specific implementations, a separate power unit can be provided for the telescopic chute 3, but this would increase structural complexity and cost.

[0026] In some embodiments of the present invention, the telescopic chute 3 is a telescopic chute with an open top, and the telescopic chute is located below the telescopic robotic arm 2. Because fruits vary in size during actual harvesting, the present invention designs the telescopic chute 3 as an open-top telescopic chute, and positions it below the telescopic robotic arm 2. This ensures that the top of the fruit is not obstructed as it slides down the telescopic chute, facilitating the smooth sliding of fruits of various sizes without causing blockages. Of course, the above is only a preferred embodiment of the present invention, but the present invention is not limited to this. In specific implementations, the telescopic chute 3 can also be designed as a closed pipe structure.

[0027] In some embodiments of the present invention, in order to enable the telescopic robotic arm 2 to achieve its telescopic function, please refer to the following: Figure 3 and Figure 4 As shown, the telescopic robotic arm 2 includes at least two tubes 21 nested together from the inside out and at least one telescopic drive cylinder 22. The telescopic drive cylinder 22 can be a hydraulic cylinder or a pneumatic cylinder. Except for the outermost tube 21, each other tube 21 is connected to a telescopic drive cylinder 22, which drives the tube 21 to extend forward or retract backward. In specific implementation, the telescopic drive cylinder 22 needs to be connected between two adjacent tubes 21. The mounting frame 1 is rotatably connected to the lower end of the outermost tube 21. The swing drive mechanism 4 is located between the mounting frame 1 and the outermost tube 21 to ensure that the swing drive mechanism 4 can drive the entire telescopic robotic arm 2 to swing up and down. The picking attachment 5 is connected to the extended end of the innermost tube 21, so that the telescopic robotic arm 2 can drive the picking attachment 5 to move back and forth.

[0028] In some embodiments of the present invention, to ensure that the telescopic chute 3 can extend and retract synchronously with the telescopic robotic arm 2, please refer to the following: Figure 3 and Figure 4 As shown, the telescopic chute 3 includes at least two chute sections 33 that are slidably assembled together from the inside to the outside. Each chute section 33 is connected to the corresponding pipe body 21 via at least one connector 34. In a specific implementation of the present invention, for the outermost pipe body 21 and the outermost chute section 33, the pipe body 21 and the chute section 33 can be connected between their two ends and between their middle portions via connectors 34; while for the other pipe bodies 21 and the other chute sections 33, the protruding ends of the pipe bodies 21 and the protruding ends of the chute sections 33 are connected via connectors 34.

[0029] In one specific embodiment of the present invention, the number of pipes 21 and chute sections are both three. Since each pipe 21, except for the outermost pipe 21, needs to be connected to a telescopic drive cylinder 22 to achieve the telescopic function, the telescopic robotic arm 2 is designed to include three pipes 21 nested together from the inside out. In specific implementation, a telescopic drive cylinder 22 can be connected between the outermost pipe 21 and the protruding end of the middle pipe 21; for the innermost pipe 21, the telescopic drive cylinder 22 is located inside the innermost pipe 21, with one end of the telescopic drive cylinder 22 connected to the inside of the middle pipe 21 and the other end of the telescopic drive cylinder 22 connected to the inside of the innermost pipe 21.

[0030] In some embodiments of the present invention, the swing drive mechanism 4 includes two first swing drive cylinders 41 disposed on both sides of the telescopic robotic arm 2. One end of the first swing drive cylinder 41 is rotatably connected to the mounting frame 1, and the other end of the first swing drive cylinder 41 is rotatably connected to the telescopic robotic arm 2. In specific implementation of the present invention, the other end of the first swing drive cylinder 41 needs to be rotatably connected to the outermost tube 21 of the telescopic robotic arm 2. The first swing drive cylinder 41 can be a hydraulic cylinder or a pneumatic cylinder. By designing the swing drive mechanism 4 to include two first swing drive cylinders 41 located on both sides of the telescopic robotic arm 2, in specific use, the two first swing drive cylinders 41 can cooperate to drive the telescopic robotic arm 2 to swing up and down more smoothly.

[0031] In some embodiments of the present invention, the harvesting attachment 5 is rotatably connected to the other end of the telescopic robotic arm 2, and a second swing drive cylinder 6 is provided between the harvesting attachment 5 and the telescopic robotic arm 2. The second swing drive cylinder 6 can be a hydraulic cylinder or a pneumatic cylinder, and the harvesting attachment 5 is driven to swing up and down by the second swing drive cylinder 6. By providing a second swing drive cylinder 6 between the harvesting attachment 5 and the telescopic robotic arm 2, the present invention enables the harvesting attachment 5 to swing up and down during the actual operation, allowing it to better cut and harvest the fruit on the tree trunk.

[0032] In some embodiments of the present invention, the harvesting attachment 5 is provided with a fruit receiving basket 7. When it is necessary to transport the fruit using the telescopic chute 3, the fruit receiving basket 7 is positioned directly above the receiving part 31 of the telescopic chute 3. In specific operation, the fruit harvested by the harvesting attachment 5 of the present invention can be first received by the fruit receiving basket 7, and then the fruit receiving basket 7 transports the fruit to the telescopic chute 3, allowing the fruit to automatically slide down the telescopic chute 3 to the desired position. In specific implementation, the harvesting attachment 5 is provided with a cutting mechanism 51, and the fruit receiving basket 7 is connected to the cutting mechanism 51, with the fruit receiving basket 7 positioned below the cutting mechanism 51, so that the fruit cut by the cutting mechanism 51 falls into the fruit receiving basket 7. Simultaneously, the cutting mechanism 51 can be fixedly mounted on the harvesting attachment 5, or it can be movably mounted on the harvesting attachment 5 (specifically, the cutting mechanism 51 can move along a circumferential direction).

[0033] In some embodiments of the present invention, when the cutting mechanism 51 is fixedly mounted on the picking attachment 5, the bottom of the fruit receiving basket 7 can be designed to be directly open, allowing the picked fruits to fall directly down through the fruit receiving basket 7 to the telescopic chute 3. When the cutting mechanism 51 can move along a circumferential direction, the fruit receiving basket 7 is an openable fruit receiving basket; as a specific embodiment of the present invention, please refer to... Figure 5As shown, the fruit receiving basket 7 includes an annular body 71, a fixed fruit basket section 72, a movable fruit basket section 73, and an opening / closing drive cylinder 74. The upper end of the fixed fruit basket section 72 is fixedly connected to the annular body 71, and the upper end of the movable fruit basket section 73 is rotatably connected to the annular body 71. The opening / closing drive cylinder 74 is connected between the fixed fruit basket section 72 and the movable fruit basket section 73. A receiving opening 711 is formed on the inner side of the annular body 71. The fixed fruit basket section 72 and the cutting mechanism 51 are connected. The fruit receiving basket 7 is connected to the cutting mechanism 51. In actual use, the opening and closing drive cylinder 74 can first close the movable part 73 of the fruit basket, so that the fruit receiving basket 7 can receive the fruit cut by the cutting mechanism 51 and fall down. After the harvested fruit falls into the fruit receiving basket 7, the fruit receiving basket 7 is placed directly above the receiving part 31 of the telescopic chute 3, and the opening and closing drive cylinder 74 drives the movable part 73 of the fruit basket to open, so that the fruit in the fruit receiving basket 7 can fall down into the telescopic chute 3.

[0034] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic telescopic harvesting robotic arm with fruit-catching function, characterized in that, Includes mounting frame, telescopic robotic arm, telescopic chute, swing drive mechanism and harvesting attachments; One end of the telescopic robotic arm is rotatably connected to the mounting frame. A swing drive mechanism is located between the mounting frame and the telescopic robotic arm, driving the telescopic robotic arm to swing up and down. A harvesting attachment is located at the other end of the telescopic robotic arm, which moves back and forth. Telescopic chutes are distributed around the telescopic robotic arm, with one end extending below the harvesting attachment and forming a receiving part at one end and a discharge port at the other end. The telescopic robotic arm includes at least two tubes nested together from the inside out and at least one telescopic drive cylinder. Except for the outermost tube, each tube is connected to a telescopic drive cylinder, which drives the tube to extend forward or retract backward.

2. The automatic telescopic harvesting robotic arm with fruit-receiving function according to claim 1, characterized in that, The telescopic chute is connected to the telescopic robotic arm, and the telescopic robotic arm drives the telescopic chute to extend and retract synchronously.

3. The automatic telescopic harvesting robotic arm with fruit-receiving function according to claim 1, characterized in that, The telescopic chute is an open-top telescopic chute located below the telescopic robotic arm.

4. The automatic telescopic harvesting robotic arm with fruit-receiving function according to claim 2, characterized in that, The mounting frame is rotatably connected to the lower end of the outermost tube, and the swing drive mechanism is located between the mounting frame and the outermost tube; the picking attachment is connected to the protruding end of the innermost tube.

5. The automatic telescopic harvesting robotic arm with fruit-receiving function according to claim 4, characterized in that, The telescopic chute includes at least two chute sections that are slidably assembled together from the inside out, and each chute section is connected to the corresponding pipe body through at least one connector.

6. The automatic telescopic harvesting robotic arm with fruit-receiving function according to claim 5, characterized in that, The number of pipes and chute sections is three each.

7. The automatic telescopic harvesting robotic arm with fruit-receiving function according to claim 1, characterized in that, The swing drive mechanism includes two first swing drive cylinders located on both sides of the telescopic robotic arm, with one end of the first swing drive cylinder rotatably connected to the mounting frame and the other end of the first swing drive cylinder rotatably connected to the telescopic robotic arm.

8. The automatic telescopic harvesting robotic arm with fruit-receiving function according to claim 1, characterized in that, The harvesting attachment is rotatably connected to the other end of the telescopic robotic arm. A second swing drive cylinder is provided between the harvesting attachment and the telescopic robotic arm, and the harvesting attachment is driven to swing up and down by the second swing drive cylinder.

9. An automatic telescopic harvesting robotic arm with fruit-receiving function according to any one of claims 1-8, characterized in that, The harvesting attachment is equipped with a fruit receiving basket. When it is necessary to use a telescopic chute to transport the fruit, the fruit receiving basket is positioned directly above the receiving part of the telescopic chute.

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