Gleditsia sinensis picking device

Abstract

The utility model relates to the technical field of picking, in particular to a Chinese honey locust picking device. After the position of a gleditsia sinensis is accurately recognized through a camera, a first motor drives a gear in a reduction gear box to rotate, the reduction gear box moves in the rack direction in a gear and rack meshing transmission mode, and then a push rod is pushed to move towards the gleditsia sinensis; the second motor enables the second gear to rotate through the third gear, then the first lead screw rotates, the nut moves along the first lead screw, the angle of the connecting rod is changed, and therefore the opening and closing actions of the gripper are achieved. The Chinese honey locust picking device can fully automatically pick Chinese honey locust, and is high in Chinese honey locust positioning precision and high in Chinese honey locust positioning efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of picking. Background Art

[0002] In the existing field of automated agricultural harvesting, there are already a variety of harvesting equipment and methods. Traditional manual harvesting: This is currently the most commonly used and most direct way of harvesting, but it has obvious disadvantages, such as low efficiency, high labor intensity, high cost, and is easily affected by natural factors such as weather and season. Semi-automatic harvesting machinery: With the development of agricultural mechanization, some semi-automatic harvesting machinery has gradually entered the market. However, these machines have insufficient positioning accuracy for soapberries, still require a lot of manpower to operate, and have poor adaptability to crops of different shapes, sizes and maturity. Utility Model Content

[0003] In order to solve the technical problem of insufficient positioning accuracy of soapberry by semi-automatic picking machinery in the prior art, the utility model provides a soapberry picking device.

[0004] The technical solution adopted by the utility model to achieve the above-mentioned purpose is:

[0005] A honey locust picking device, wherein a rack 13 is installed on a frame 8, a housing of a reduction gear box 7 is slidably installed on the rack 13, an input shaft of the reduction gear box 7 is connected to a first motor 6, the first motor 6 is installed on the housing of the reduction gear box 7, a gear in the reduction gear box 7 is meshed with the rack 13, a push rod 27 is installed on the housing of the reduction gear box 7, a support frame 32 is installed at the end of the push rod 27, a camera 16 is installed on the top of the support frame 32, a gripper support frame 18 is installed on the support frame 32, a first screw rod 29 is installed on the gripper support frame 18, a second gear 30 is installed on the first screw rod 29, a second motor 33 is installed on the gripper support frame 18, the second motor 33 is connected to a third gear, the third gear is meshed with the second gear 30, a first nut 24 is installed on the first screw rod 29, a connecting rod 23 is rotatably installed on the first nut 24, grippers 22 are rotatably installed on both sides of the first screw rod 29 on the gripper support frame 18, and ends of the connecting rod 23 are rotatably installed on the grippers 22.

[0006] A flexible protective cover 20 is installed at the end of the gripper 22 , and a blade 21 is installed at the end of the gripper 22 located above the flexible protective cover 20 .

[0007] The rotating shaft 15 is longitudinally installed on the support frame 32, the fourth gear is installed on the rotating shaft 15, the gripper support frame 18 is fixedly installed on the rotating shaft 15, the third motor 17 is installed on the support frame 32, the third motor 17 is connected to the input shaft of the gear box, the output shaft of the gear box is connected to the fifth gear, and the fifth gear is meshed with the fourth gear.

[0008] A second screw rod 9 is longitudinally installed on the base 26, the frame 8 is installed on the nut of the second screw rod 9, the sixth gear 4 is installed on the second screw rod 9, a plate 2 is installed on the top of the second screw rod 9, a fourth motor 1 is installed on the plate 2, the fourth motor 1 is connected to the seventh gear 3, and the seventh gear 3 is installed in cooperation with the sixth gear 4 through a chain 5.

[0009] The bottom of the base 26 is fixedly mounted with a large gear 11 , which is rotatably mounted on the chassis 12 , on which the fifth motor 31 and the worm 28 are mounted, the worm 28 is connected to the fifth motor 31 , and the worm 28 is meshed with the large gear 11 .

[0010] Limiting blocks 14 are installed on both sides of the rack 13 on the frame 8 , and the push rod 27 is located between the two limiting blocks 14 .

[0011] The support rod 10 is installed on the base 26 , and the upper end of the support rod 10 is installed on the flat plate 2 .

[0012] The chassis 12 is installed on a mobile vehicle.

[0013] The rotating shaft 15 is mounted on the gripper support frame 18 via a locking ring 19 .

[0014] The advantages of the utility model compared with the prior art are:

[0015] After the camera accurately identifies the position of the soap pod, the first motor drives the gear in the reduction gear box to rotate, and the reduction gear box moves along the rack direction in the gear rack meshing transmission mode, thereby pushing the push rod to move in the direction of the soap pod, and after the push rod drives the gripper to move into place, the second motor rotates the second gear through the third gear, thereby rotating the first screw rod, and the nut moves along the first screw rod, so that the angle of the connecting rod changes, thereby realizing the opening and closing action of the gripper. Through this application, the soap pod can be picked fully automatically, and the positioning accuracy of the soap pod is high and the efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The utility model is a top view of a honey locust picking device.

[0017] Figure 2 It is a left view of a honey locust picking device of the utility model.

[0018] Figure 3 It is a front view of a honey locust picking device of the utility model.

[0019] In the figure: 1. the fourth motor; 2. the plate; 3. the seventh gear; 5. the sixth gear; 5. the chain; 6. the first motor; 7. the reduction gear box; 8. the frame; 9. the second screw rod; 10. the support rod; 11. the large gear; 12. the chassis; 13. the rack; 14. the limit block; 15. the shaft; 16. the camera; 17. the third motor; 18. the gripper support frame; 19. the locking ring; 20. the flexible protective cover; 21. the blade; 22. the gripper; 23. the connecting rod; 24. the first nut; 25. the pin; 26. the base; 27. the push rod; 28. the worm; 29. ​​the first screw rod; 30. the second gear; 31. the fifth motor; 32. the support frame; 33. the second motor. DETAILED DESCRIPTION

[0020] The utility model provides a honey locust picking device, such as Figure 1-3 As shown, the chassis 12 is installed on a mobile trolley, and the honey locust picking device can be driven to move by the mobile trolley. The fifth motor 31, the worm 28 and the large gear 11 are installed on the chassis 12. The worm 28 is connected to the fifth motor 31. The large gear 11 is rotatably installed on the chassis 12. The large gear 11 is meshed with the worm 28. The base 26 is fixedly installed on the large gear 11. The fifth motor 31 drives the worm 28 to rotate, and then the large gear 11 is rotated through the worm 28, thereby realizing the rotation of the base 26 and achieving the purpose of adjusting the gripper angle.

[0021] Four second screw rods 9 are longitudinally mounted on the base 26 to improve the stability of the device, the frame 8 is mounted on the screw nut of the second screw rod 9, the sixth gear 4 is mounted on the second screw rod 9, the top of the second screw rod 9 is mounted on the plate 2, the fourth motor 1 is mounted on the plate 2, the fourth motor 1 is connected to the seventh gear 3, the seventh gear 3 is mounted with the sixth gear 4 through the chain 5, the seventh gear 3 is driven by the fourth motor 1 to rotate, and the chain 5 is driven to rotate the four second screw rods 9 at the same time, so as to realize the longitudinal movement of the frame 8 to adjust the height of the gripper. The support rod 10 is mounted on the base 26, and the upper end of the support rod 10 is mounted on the plate 2 to improve the stability of the device.

[0022] The rack 13 is installed on the frame 8, and the housing of the reduction gearbox 7 is slidably installed on the rack 13. The input shaft of the reduction gearbox 7 is connected to the first motor 6, and the first motor 6 is installed on the housing of the reduction gearbox 7. The gear in the reduction gearbox 7 is meshed with the rack 13. The first motor 6 drives the gear in the reduction gearbox 7 to rotate, and the gear and the rack 13 are meshed to realize the movement of the reduction gearbox 7 along the direction of the rack 13, thereby realizing the adjustment of the horizontal position of the gripper. The push rod 27 is installed on the housing of the reduction gearbox 7, and the limit blocks 14 are installed on both sides of the rack 13 on the frame 8. The push rod 27 is located between the two limit blocks 14, and the limit blocks 14 are used to increase the stability of the movement of the push rod 27.

[0023] A support frame 32 is installed at the end of the push rod 27, and a camera 16 is installed on the top of the support frame 32, so that the accurate position of the soap locust can be identified through the camera 16.

[0024] The rotating shaft 15 is longitudinally mounted on the support frame 32 through a locking ring 19, the fourth gear is mounted on the rotating shaft 15, the gripper support frame 18 is fixedly mounted on the rotating shaft 15, the third motor 17 is mounted on the support frame 32, the third motor 17 is connected to the input shaft of the gearbox, the output shaft of the gearbox is connected to the fifth gear, the fifth gear is meshed with the fourth gear, the fourth gear, the gearbox and the fifth gear are not shown in the figure, and the transmission structure of the gear driven by the motor is a conventional technical means in this field. The rotating shaft 15 is driven to rotate by the third motor 17, thereby realizing the angle adjustment of the gripper 22 to achieve a better picking effect.

[0025] A first screw rod 29 is mounted on the grip support frame 18, a second gear 30 is mounted on the first screw rod 29, a second motor 33 is mounted on the grip support frame 18, the second motor 33 is connected to a third gear, the third gear is meshed with the second gear 30, the third gear is not shown in the figure, and gear transmission is a conventional technical means in this field. Figure 1 As shown, the first screw rod 29 is installed with the first nut 24, the connecting rod 23 is rotatably installed on the first nut 24, the gripper 22 is rotatably installed on both sides of the first screw rod 29 on the gripper support frame 18, and the end of the connecting rod 23 is rotatably installed on the gripper 22 through the pin shaft 25.

[0026] A flexible protective cover 20 is installed at the end of the gripper 22, and a blade 21 is installed above the end of the gripper 22. When picking, when the two grippers 22 are closed, the blade 21 cuts off the rhizomes of the soapberry while the gripper 22 grasps the soapberry through the flexible protective cover 20, which can adapt to soapberries of different maturity and avoid scratching the soapberry.

[0027] Working principle: the camera 16 identifies the exact position of the soap locust, and after the mobile trolley moves to the corresponding position, the frame 8 is moved longitudinally by the fourth motor 1 through the gear chain transmission to adjust the height of the gripper 22. After the gripper 22 reaches the specified height, the first motor 6 drives the reduction gearbox 7 to operate, and then the gearbox 7 is moved through the gear rack transmission, and then the push rod 27 is driven to move to adjust the horizontal position of the gripper 22; then the third motor 17 drives the rotating shaft 15 to rotate through the gear transmission, so that the gripper support frame 18 rotates to adjust the angle of the gripper 22; finally, the second motor 33 drives the first screw rod 29 to rotate through the gear transmission, so that the first nut 24 moves, and then the two grippers 22 are closed by the angle change of the connecting rod 23. In the process of closing the two grippers 22, the blade 21 is located at the position of the soap locust rhizome, and the flexible protective cover 20 is located at the position of the soap locust flesh. When the blade 21 cuts off the soap locust rhizome, the flexible protective cover 20 grabs the soap locust.

[0028] The present invention is described by way of embodiments, and those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the guidance of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the protection scope of the present invention.

Claims

1. A honey locust picking device, characterized in that: A rack (13) is installed on the frame (8), a housing of a reduction gear box (7) is slidably installed on the rack (13), an input shaft of the reduction gear box (7) is connected to a first motor (6), the first motor (6) is installed on the housing of the reduction gear box (7), a gear in the reduction gear box (7) is meshed with the rack (13), a push rod (27) is installed on the housing of the reduction gear box (7), a support frame (32) is installed at the end of the push rod (27), a camera (16) is installed on the top of the support frame (32), a gripper support frame (18) is installed on the support frame (32), and the gripper support frame (18) is installed on the gripper support frame. A first screw rod (29) is installed on the support frame (18), a second gear (30) is installed on the first screw rod (29), a second motor (33) is installed on the gripper support frame (18), the second motor (33) is connected to the third gear, the third gear is meshed with the second gear (30), a first nut (24) is installed on the first screw rod (29), a connecting rod (23) is rotatably installed on the first nut (24), a gripper (22) is rotatably installed on both sides of the first screw rod (29) on the gripper support frame (18), and an end of the connecting rod (23) is rotatably installed on the gripper (22).

2. A honey locust picking device according to claim 1, characterized in that: A flexible protective cover (20) is installed at the end of the gripper (22), and a blade (21) is installed at the end of the gripper (22) located above the flexible protective cover (20).

3. A honey locust picking device according to claim 1, characterized in that: A rotating shaft (15) is longitudinally mounted on the support frame (32), a fourth gear is mounted on the rotating shaft (15), a gripper support frame (18) is fixedly mounted on the rotating shaft (15), a third motor (17) is mounted on the support frame (32), the third motor (17) is connected to an input shaft of a gear box, an output shaft of the gear box is connected to a fifth gear, and the fifth gear is meshed with the fourth gear.

4. A honey locust picking device according to claim 1, characterized in that: A second screw rod (9) is longitudinally mounted on the base (26), the frame (8) is mounted on the nut of the second screw rod (9), a sixth gear (4) is mounted on the second screw rod (9), a plate (2) is mounted on the top of the second screw rod (9), a fourth motor (1) is mounted on the plate (2), the fourth motor (1) is connected to the seventh gear (3), and the seventh gear (3) is mounted in coordination with the sixth gear (4) via a chain (5).

5. A honey locust picking device according to claim 4, characterized in that: A large gear (11) is fixedly mounted on the bottom of the base (26), and the large gear (11) is rotatably mounted on the chassis (12). A fifth motor (31) and a worm (28) are mounted on the chassis (12), and the worm (28) is connected to the fifth motor (31), and the worm (28) is meshed with the large gear (11).

6. The honey locust picking device according to claim 1, characterized in that: Limit blocks (14) are installed on both sides of the rack (13) on the frame (8), and the push rod (27) is located between the two limit blocks (14).

7. The honey locust picking device according to claim 4, characterized in that: A support rod (10) is installed on the base (26), and the upper end of the support rod (10) is installed on the flat plate (2).

8. The honey locust picking device according to claim 5, characterized in that: The chassis (12) is installed on a mobile vehicle.

9. The honey locust picking device according to claim 3, characterized in that: The rotating shaft (15) is mounted on the gripper support frame (18) via a locking ring (19).

Images