Adjustable clamping force fruit and vegetable flexible picking device

Abstract

The present application relates to fruit and vegetable picking technical field, specifically disclose a kind of adjustable clamping force fruit and vegetable flexible picking device, comprising: moving wheel seat;Water tank, the water tank is arranged at the top of moving wheel seat;Rotating mechanism;The present application is set up telescopic rack plate, rotating shaft, profiled rack and worm wheel, so that jacking cylinder can be stretched to telescopic rack plate after working, at this time, through the meshing connection of telescopic rack plate and sector gear, picking clamping plate can be controlled to open and close operation, and when picking, telescopic rack plate moves, at this time, through the meshing connection of profiled rack and worm wheel, worm wheel can be driven to rotate, and worm wheel is also meshed with worm, so that worm can be horizontally rotated, to control the rotation of spray head on limiting nozzle, corresponding through spray head and limiting nozzle upper hole groove when rotating, realize the spray operation of cleaning water.

Description

Technical Field

[0001] This invention belongs to the field of fruit and vegetable harvesting technology, specifically relating to a flexible fruit and vegetable harvesting device with adjustable clamping force. Background Technology

[0002] Fruit and vegetable harvesting devices refer to any mechanical equipment or mechanism used to replace or assist manual harvesting of fruits and vegetables. This includes both simple handheld tools and highly intelligent robotic systems. Multi-degree-of-freedom robotic arms deliver end effectors (such as grippers, suction cups, and shearing blades) to the target location, completing the harvesting process through "grabbing-separation-placement." The harvesting mechanism is designed to achieve low damage and a high success rate.

[0003] Currently, most fruit and vegetable (tangerine, loquat, strawberry, blueberry, etc.) harvesting devices use a fixed-force design or only have limited coarse adjustment modes for their clamping mechanisms. This makes it difficult to adaptively adjust the clamping force according to the physical characteristics of different fruits and vegetables (such as tomatoes and cherries with large diameter differences, and crisp berries and tough melons). This can easily lead to problems such as small fruits being damaged by clamping and large fruits falling off due to unstable clamping, directly affecting post-harvest quality and the applicability of the machine. In addition, existing devices have limited functions and cannot simultaneously clean surface dust during the harvesting process. Surface cleaning can reduce microbial contamination (such as E. coli) carried by field dust, but due to the limitations of the device's structural design, the key cleaning operation usually requires secondary manual processing. This not only increases labor intensity and working time, but may also exacerbate losses due to untimely processing, thus restricting the level of intelligence and efficiency of harvesting devices. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible fruit and vegetable harvesting device with adjustable clamping force, so as to solve the problems mentioned in the background art that the clamping force of existing fruit and vegetable harvesting devices is inconvenient to adjust and that dust on the surface of fruits and vegetables cannot be cleaned at the same time during harvesting.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A flexible fruit and vegetable harvesting device with adjustable clamping force, comprising:

[0007] Movable wheel base;

[0008] A water tank, which is mounted on top of the movable wheel base;

[0009] A rotating mechanism, which is mounted on the top of the movable wheel seat;

[0010] An adjustment mechanism is installed at the top of the rotating mechanism and is used for lifting and adjusting the harvesting device.

[0011] A harvesting mechanism is installed outside the adjusting mechanism. The harvesting mechanism includes a second mounting base, inside which a lifting cylinder is provided, and at the bottom of the second mounting base a collecting net is installed.

[0012] A clamping mechanism is installed outside the second mounting base. The clamping mechanism includes a telescopic rack plate, which is fixedly connected to the outside of the output end of the lifting cylinder. A sector gear meshes with the outside of the telescopic rack plate. A rotating shaft is provided outside the sector gear. The sector gear is installed outside the second mounting base through the rotating shaft. A picking clamping plate is fixedly connected to the outside of the sector gear.

[0013] A spraying mechanism is disposed outside the second mounting base. The spraying mechanism includes a shaped rack, which is disposed at the top of a telescopic rack plate. A worm gear meshes with the outside of the shaped rack, and a worm is meshed with the top of the worm gear. A spray head is fixedly connected to one side of the worm. A limit nozzle is rotatably connected to the outside of the spray head, and a connecting limit seat is installed on the outside of the limit nozzle.

[0014] Preferably, the collecting net is used for collecting fruits and vegetables after harvesting, and the lifting cylinder is fixedly connected to the inner wall of the second mounting base by bolts.

[0015] Preferably, two sets of sector gears and picking clamping plates are symmetrically arranged, and both sector gears are meshed with telescopic rack plates. The sector gears are rotatably connected to the outside of the second mounting base via a rotating shaft.

[0016] Preferably, the irregularly shaped rack is an inclined irregularly shaped rack for partial meshing with the worm gear. The worm gear is mounted on the inner side wall of the second mounting base and is rotatably connected to the inner side of the second mounting base. Spray holes are opened on the outside of both the spray head and the limiting nozzle. The spray head and the limiting nozzle are rotatably connected in a sealed manner. The connecting limiting seat is fixedly connected to the outside of one side of the second mounting base.

[0017] Preferably, the rotating mechanism includes a first mounting base, a first motor is mounted on the outside of the first mounting base, a rotating tooth is fixedly connected to the output end of the first motor, a meshing tooth seat is engaged on the outside of the rotating tooth, and an insertion seat is inserted inside the meshing tooth seat.

[0018] Preferably, an adjustment mechanism is installed at the top of the insertion seat, the meshing tooth seat is rotatably connected to the top of the first mounting seat, and the insertion seat is inserted into the inside of the meshing tooth seat through a slot that mates with the meshing tooth seat.

[0019] Preferably, the adjustment mechanism includes a fixed base, a second motor is mounted on the outside of the fixed base, a support arm is connected to the output end of the second motor, an adjustment arm is rotatably connected to the top of the fixed base, and a movable seat is provided at the top of the adjustment arm.

[0020] Preferably, a motor is also provided on one side of the adjusting arm, the moving seat is used to move the picking mechanism forward and backward, and the support arm is used to adjust and support the adjusting arm.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] (1) This invention, through the provision of a telescopic rack plate, a rotating shaft, a special-shaped rack, and a worm gear, enables the lifting cylinder to extend the telescopic rack plate after operation. At this time, the opening and closing operation of the picking clamping plate can be controlled through the meshing connection between the telescopic rack plate and the sector gear, thereby realizing the picking of fruits and vegetables. The picking clamping force can be adjusted by the extension force of the lifting cylinder. During picking, the telescopic rack plate moves, and at this time, the worm gear can be driven to rotate through the meshing connection between the special-shaped rack and the worm gear. The wheel meshes with the worm gear, allowing the worm gear to rotate horizontally. This controls the rotation of the spray head on the limiting nozzle. During rotation, the spray head aligns with the slots on the limiting nozzle to spray cleaning water. This allows the harvesting device to spray cleaning water while harvesting. When the telescopic rack plate retracts, the spray slots are blocked, stopping the spraying and reducing resource waste. Furthermore, the device can be used without spraying cleaning water when fruits and vegetables need to be transported over long distances, but spraying cleaning water is required when timely preservation of fruits and vegetables after harvesting is needed.

[0023] (2) The present invention, through the first mounting base, the first motor, the fixed base and the second motor, enables the first motor to drive the rotating teeth to rotate after it is working. Through the meshing connection between the rotating teeth and the meshing tooth seat, the meshing tooth seat can be rotated. Furthermore, through the insertion limit of the insertion seat on the meshing tooth seat, the adjustment mechanism can be easily disassembled and assembled. When it is necessary to adjust the picking angle and position of the picking mechanism, the angle of the picking mechanism can be adjusted and controlled through the hinge movement between the adjusting arm and the support arm. In addition, the setting of the moving seat can adjust the displacement of the picking mechanism, thereby improving the functionality of the picking device. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 For the present invention Figure 1 Overall structural diagram of the central rotating mechanism;

[0026] Figure 3 For the present invention Figure 1 A schematic diagram of the overall structure of the central adjustment mechanism;

[0027] Figure 4 For the present invention Figure 1 A schematic diagram of the overall structure of the harvesting mechanism;

[0028] Figure 5 For the present invention Figure 4 A schematic diagram of the overall structure of the clamping mechanism;

[0029] Figure 6 For the present invention Figure 4 A schematic diagram of the overall structure of the spraying mechanism.

[0030] In the diagram: 1. Moving wheel seat; 2. Water tank; 3. Rotating mechanism; 301. First mounting base; 302. First motor; 303. Rotating gear; 304. Meshing gear seat; 305. Insertion seat; 4. Adjusting mechanism; 401. Fixed seat; 402. Second motor; 403. Support arm; 404. Adjusting arm; 405. Moving seat; 5. Harvesting mechanism; 501. Second mounting base; 502. Lifting cylinder; 503. Collection net; 6. Clamping mechanism; 601. Telescopic rack plate; 602. Rotating shaft; 603. Sector gear; 604. Harvesting clamping plate; 7. Spraying mechanism; 701. Irregular rack; 702. Worm gear; 703. Worm; 704. Spray head; 705. Limiting nozzle; 706. Connecting limiting seat. Detailed Implementation

[0031] 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.

[0032] Example 1:

[0033] Please see Figures 1-6 As shown, a flexible fruit and vegetable harvesting device with adjustable clamping force includes:

[0034] Movable wheel seat 1;

[0035] Water tank 2, which is located at the top of the movable wheel seat 1;

[0036] Rotating mechanism 3, which is mounted on the top of the movable wheel seat 1;

[0037] Adjustment mechanism 4 is installed at the top of rotation mechanism 3 and is used for lifting and adjusting the harvesting device.

[0038] Harvesting mechanism 5 is installed outside the adjusting mechanism 4. The harvesting mechanism 5 includes a second mounting base 501. A lifting cylinder 502 is provided inside the second mounting base 501. A collecting net 503 is installed at the bottom of the second mounting base 501.

[0039] A clamping mechanism 6 is installed outside the second mounting base 501. The clamping mechanism 6 includes a telescopic rack plate 601, which is fixedly connected to the outside of the output end of the lifting cylinder 502. A sector gear 603 meshes with the outside of the telescopic rack plate 601. A rotating shaft 602 is provided outside the sector gear 603. The sector gear 603 is installed outside the second mounting base 501 through the rotating shaft 602. A picking clamping plate 604 is fixedly connected to the outside of the sector gear 603.

[0040] A spraying mechanism 7 is disposed outside the second mounting base 501. The spraying mechanism 7 includes a shaped rack 701, which is disposed at the top of a telescopic rack plate 601. A worm gear 702 meshes with the outside of the shaped rack 701, and a worm 703 meshes with the top of the worm gear 702. A spray head 704 is fixedly connected to one side of the worm 703, and a limit nozzle 705 is rotatably connected to the outside of the spray head 704. A connecting limit seat 706 is installed on the outside of the nozzle 705. The collecting net 503 is used to collect fruits and vegetables after harvesting. The lifting cylinder 502 is fixedly connected to the inner side wall of the second mounting base 501 by bolts. Two sets of sector gears 603 and harvesting clamping plates 604 are symmetrically arranged. Both sector gears 603 are meshed with the telescopic rack plate 601. The sector gears 603 are rotatably connected to the outside of the second mounting base 501 through the rotating shaft 602.

[0041] Specifically, one side of the connecting limiting seat 706 is fixedly connected to the outside of the second mounting seat 501, so that the limiting nozzle 705 can be fixed on the second mounting seat 501. When the spray head 704 rotates, it can abut against the corresponding hole groove on the limiting nozzle 705 to limit the spraying of cleaning water. The spray head 704 and the limiting nozzle 705 are sealed together to prevent water leakage.

[0042] As can be seen from the above, when the lifting cylinder 502 starts working, the extension action of its piston rod will directly act on the telescopic rack plate 601, pushing the telescopic rack plate 601 to move horizontally along the guide rail. Since the tooth surface of the telescopic rack plate 601 maintains precise meshing with the sector gear 603, this linear motion is converted into the rotational motion of the sector gear 603 through gear meshing, which in turn drives the picking clamping plate 604 connected to it on the same axis to complete the opening and closing action. When the rack pushes forward, the clamping plate opens and when it retracts, it closes. By precisely controlling the air supply pressure (i.e., the extension force) of the lifting cylinder 502, the closing pressure of the clamping plate can be adjusted in real time, thereby adapting to the picking needs of fruits and vegetables with different hardness (such as tangerines, loquats, strawberries, and blueberries), ensuring that the clamping is stable and not easy to fall off, and avoiding damage to the fruit flesh due to excessive pressure.

[0043] Meanwhile, during the movement of the telescopic rack plate 601, the specially made irregularly shaped rack 701 on its surface will intermittently mesh with the fixedly installed worm gear 702. When the rack moves, the teeth of the irregularly shaped rack 701 push the worm gear 702 to rotate around its own axis. The worm gear 702, through meshing with the worm 703, converts the rotational motion into the horizontal rotation of the worm 703. The worm 703 drives the spray head 704 on the limiting nozzle 705 to rotate.

[0044] The key to this design lies in the multiple directional slots pre-set on the limiting nozzle 705. When the spray head 704 rotates to a specific position, its outlet will precisely align with a slot of the limiting nozzle 705, thereby achieving directional spraying of cleaning water along the target direction (the surface of fruits and vegetables / the periphery of the picking area). For example, cleaning water can be sprayed onto the surface of the fruit simultaneously during picking, or the knife / clamping parts can be rinsed and cleaned after picking. When the telescopic rack plate 601 completes its action and retracts to the initial position, the irregular rack 701 disengages from the worm gear 702, and the spray head 704 returns to the closed position (blocking all slots of the limiting nozzle 705), immediately stopping the spraying of cleaning water. This effectively avoids resource waste during non-working conditions and prevents liquid dripping from polluting the environment or affecting the normal operation of the picking device.

[0045] refer to Figure 2 and Figure 6 As shown, the irregularly shaped rack 701 is an inclined irregularly shaped rack used for partial meshing with the worm gear 702. The worm gear 702 is mounted on the inner side wall of the second mounting base 501 and is rotatably connected to the inner side of the second mounting base 501. Spray holes are opened on the outside of both the spray head 704 and the limiting nozzle 705. The spray head 704 and the limiting nozzle 705 are rotatably connected in a sealed manner. The connecting limiting seat 706 is fixedly connected to the outside of one side of the second mounting base 501.

[0046] Specifically, the clamping force is adjusted by the lifting force of the lifting cylinder 502. The harvested fruits and vegetables are clamped by the picking clamping plate 604 and fall into the collection net 503 for collection. The second mounting base 501 is provided with a mounting groove on the outside. The mounting groove is used to install the worm gear 702, so that the worm gear 702 can rotate inside the second mounting base 501.

[0047] Example 2:

[0048] refer to Figures 1-6 As shown, the rotating mechanism 3 includes a first mounting base 301, on the outside of which a first motor 302 is mounted. A rotating gear 303 is fixedly connected to the output end of the first motor 302. A meshing gear seat 304 meshes with the outside of the rotating gear 303. An insertion seat 305 is inserted inside the meshing gear seat 304. An adjusting mechanism 4 is mounted on the top of the insertion seat 305. The meshing gear seat 304 is rotatably connected to the top of the first mounting base 301. The insertion seat 305 is formed by a mechanism that engages with the meshing gear seat 304. The slot is inserted into the inside of the meshing tooth seat 304. The adjustment mechanism 4 includes a fixed seat 401. A second motor 402 is installed on the outside of the fixed seat 401. The output end of the second motor 402 is connected to a support arm 403. An adjustment arm 404 is rotatably connected to the top of the fixed seat 401. A movable seat 405 is provided at the top of the adjustment arm 404. A motor is also provided on one side of the adjustment arm 404. The movable seat 405 is used to move the picking mechanism 5 forward and backward. The support arm 403 is used to adjust and support the adjustment arm 404.

[0049] Specifically, a rectangular groove is provided on the outer wall of the meshing tooth seat 304, so that the insertion seat 305 can be inserted into the meshing tooth seat 304 through the groove. This allows the adjustment mechanism 4 installed on the insertion seat 305 to be easily disassembled. The meshing connection between the rotating tooth 303 and the meshing tooth seat 304 can drive the meshing tooth seat 304 to rotate in a circle. After the motor on the moving seat 405 is working, it can adjust the distance of the picking mechanism 5 installed on the moving seat 405, thereby realizing multi-directional operation during picking.

[0050] As can be seen from the above, when the first motor 302 starts working, its power output shaft drives the rotating gear 303, which is fixedly connected to it, to rotate. Through the precise meshing transmission between the rotating gear 303 and the meshing gear seat 304, the rotational motion is converted into the synchronous rotation of the meshing gear seat 304, thereby realizing the adjustment function of the basic direction. To facilitate maintenance and modular replacement, a plug-in seat 305 is specially designed on the meshing gear seat 304. The adjustment mechanism 4 is quickly plugged in and fixed through this plug-in seat 305, which not only ensures a stable and reliable connection, but also supports convenient disassembly and assembly. When precise adjustment of the operating angle and spatial position of the harvesting mechanism 5 is required, the tilt angle and pitch posture of the harvesting mechanism 5 can be flexibly changed through the hinge movement between the adjusting arm 404 and the support arm 403. At the same time, the setting of the moving seat 405 (a displacement slider with a guide rail) allows the harvesting mechanism 5 to make precise forward / backward / left / right displacement adjustments. Through the synergistic effect of the multi-dimensional adjustment mechanism, the adaptability of the harvesting device to complex working environments is significantly improved, making the harvesting operation more precise and efficient, and comprehensively enhancing the functionality and practicality of the equipment.

[0051] All standard parts used in this invention can be purchased commercially, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods for each part all employ conventional methods such as bolts, rivets, and welding, which are mature technologies in the prior art. The machinery, parts, and equipment all use conventional models in the prior art, and the circuit connections also use conventional connection methods in the prior art, which will not be detailed here. Any content not described in detail in this specification belongs to the prior art known to those skilled in the art.

[0052] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible fruit and vegetable harvesting device with adjustable clamping force, characterized in that, include: Movable wheel seat (1); Water tank (2), the water tank (2) is set on the top of the movable wheel seat (1); A rotating mechanism (3) is mounted on the top of the movable wheel seat (1); Adjustment mechanism (4), which is installed at the top of rotation mechanism (3), is used for lifting and adjusting control of the picking device; Harvesting mechanism (5), the harvesting mechanism (5) is installed outside the adjusting mechanism (4), the harvesting mechanism (5) includes a second mounting base (501), the second mounting base (501) is provided with a lifting cylinder (502) inside, and a collecting net (503) is installed at the bottom end of the second mounting base (501). A clamping mechanism (6) is installed outside the second mounting base (501). The clamping mechanism (6) includes a telescopic rack plate (601), which is fixedly connected to the outside of the output end of the lifting cylinder (502). A sector gear (603) meshes with the outside of the telescopic rack plate (601). A rotating shaft (602) is provided outside the sector gear (603). The sector gear (603) is installed outside the second mounting base (501) through the rotating shaft (602). A picking clamping plate (604) is fixedly connected to the outside of the sector gear (603). The spraying mechanism (7) is located outside the second mounting base (501). The spraying mechanism (7) includes a shaped rack (701) which is located at the top of the telescopic rack plate (601). A worm gear (702) is engaged with the outside of the shaped rack (701). A worm (703) is engaged with the top of the worm gear (702). A spray head (704) is fixedly connected to one side of the worm (703). A limit nozzle (705) is rotatably connected to the outside of the spray head (704). A connecting limit seat (706) is installed on the outside of the limit nozzle (705).

2. The fruit and vegetable flexible harvesting device with adjustable clamping force according to claim 1, characterized in that: The collection net (503) is used to collect fruits and vegetables after harvesting, and the lifting cylinder (502) is fixedly connected to the inner wall of the second mounting base (501) by bolts.

3. The fruit and vegetable flexible harvesting device with adjustable clamping force according to claim 1, characterized in that: The sector gear (603) and the picking clamping plate (604) are symmetrically arranged in two sets. Both of the sector gears (603) are meshed with the telescopic rack plate (601). The sector gears (603) are rotatably connected to the outside of the second mounting base (501) through the rotating shaft (602).

4. The fruit and vegetable flexible harvesting device with adjustable clamping force according to claim 1, characterized in that: The irregularly shaped rack (701) is an inclined irregularly shaped rack used for partial meshing with the worm gear (702). The worm gear (702) is installed on the inner wall of the second mounting base (501) and is rotatably connected to the inner side of the second mounting base (501). Spray holes are opened on the outside of both the spray head (704) and the limiting nozzle (705). The spray head (704) and the limiting nozzle (705) are rotatably connected in a sealed manner. The connecting limiting seat (706) is fixedly connected to the outside of one side of the second mounting base (501).

5. The fruit and vegetable flexible harvesting device with adjustable clamping force according to claim 1, characterized in that: The rotating mechanism (3) includes a first mounting base (301), a first motor (302) is mounted on the outside of the first mounting base (301), a rotating tooth (303) is fixedly connected to the output end of the first motor (302), a meshing tooth seat (304) is engaged on the outside of the rotating tooth (303), and an insertion seat (305) is inserted inside the meshing tooth seat (304).

6. The fruit and vegetable flexible harvesting device with adjustable clamping force according to claim 5, characterized in that: An adjustment mechanism (4) is installed at the top of the insertion seat (305). The meshing tooth seat (304) is rotatably connected to the top of the first mounting seat (301). The insertion seat (305) is inserted into the meshing tooth seat (304) through a slot that mates with the meshing tooth seat (304).

7. The fruit and vegetable flexible harvesting device with adjustable clamping force according to claim 1, characterized in that: The adjustment mechanism (4) includes a fixed base (401), a second motor (402) is installed on the outside of the fixed base (401), a support arm (403) is connected to the output end of the second motor (402), an adjustment arm (404) is rotatably connected to the top of the fixed base (401), and a movable seat (405) is provided at the top of the adjustment arm (404).

8. The fruit and vegetable flexible harvesting device with adjustable clamping force according to claim 7, characterized in that: A motor is also provided on one side of the adjusting arm (404), the moving seat (405) is used to move the picking mechanism (5) forward and backward, and the support arm (403) is used to adjust and support the adjusting arm (404).

Images