Robot arm for picking fruits

Abstract

The utility model discloses a robot arm for picking fruits, which relates to the technical field of fruit picking and comprises a push rod, one end of the push rod is provided with a moving unit, the top surface of the moving unit is provided with a picking unit, the picking unit comprises a mounting rack, the mounting rack is arranged on the top surface of the moving unit, and the mounting rack is provided with a plurality of clamping grooves. Collecting units are arranged on the two sides of the mounting frame, a second electric telescopic rod is arranged in the mounting frame, a connecting block is fixedly connected to one side of the second electric telescopic rod, a mounting groove is fixedly connected to the telescopic end of the mounting frame, and a guide rod is rotationally connected to the inner side of the mounting groove; one end of the guide rod is rotationally connected with a clamping plate, and a meshing cutter is arranged on the inner side of the clamping plate. According to the fruit picking device, the electric telescopic rod II, the connecting block, the mounting groove, the guide rod, the clamping plate and the meshing cutter are matched with one another, so that fruits are continuously and rapidly picked, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit picking, in particular to a robot arm used for picking fruits. Background Art

[0002] When the fruits are ripe, they need to be picked with professional picking tools. In the fruit production operation, harvesting and picking is the most time-consuming and labor-intensive part of the entire production, and a lot of manpower is required during the fruit harvest.

[0003] At present, publication number CN208338335U discloses a fruit picking robot arm, comprising: a hand-held rod; a bracket, fixed to the hand-held rod; a box body, one end of which is fixed to the bracket; a push rod motor, a shell of which is fixed to the bottom plate of the box body; a scissor frame, which is fixed to the other end of the box body, and the scissor frame is provided with a left support frame and a right support frame; a connecting rod, which passes through the guide holes of the box body and the scissor frame, one end of the connecting rod is fixed to the telescopic rod of the push rod motor, and the other end of the connecting rod is fixed with a sliding pin; the left scissor frame is provided with a left hinge hole near the middle part, a left scissor blade is installed at the head, and a left long groove is opened at the tail; the right scissor frame is provided with a right hinge hole near the middle part, a right scissor blade is installed at the head, and a right long groove is opened at the tail; a switch box, which is equipped with a battery and a power switch, the switch box is installed in the hand-held hollow part of the hand-held rod, and the battery is connected to the push rod motor through an electric wire.

[0004] In order to solve the problem of portable picking, the existing technology adopts the setting of left rubber and right rubber, which can clamp the fruit branches. When the scissors cut the fruit branches, the fruit branches are clamped by the left rubber and the right rubber and will not fall to the ground. However, the efficiency of single collection and picking is poor, which leads to the problem of low work efficiency. Utility Model Content

[0005] The purpose of the utility model is to provide a robot arm for picking fruits to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0007] A robot arm for picking fruits comprises a push rod, one end of which is provided with a moving unit, and the top surface of the moving unit is provided with a picking unit.

[0008] The picking unit includes a mounting frame, which is arranged on the top surface of the moving unit, and collecting units are arranged on both sides of the mounting frame. An electric telescopic rod 2 is arranged inside the mounting frame, and one side of the electric telescopic rod 2 is fixedly connected to a connecting block, and the telescopic end of the mounting frame is fixedly connected to a mounting groove, and the inner side of the mounting groove is rotatably connected to a guide rod, one end of the guide rod is rotatably connected to a clamping plate, an engaging knife is arranged on the inner side of the clamping plate, and one end of the clamping plate is rotatably connected to one side of the connecting block.

[0009] A further improvement of the technical solution of the utility model is that the moving unit comprises a bottom plate, the bottom plate is arranged at one end of the push rod, and a plurality of universal wheels are fixedly connected to the bottom surface of the bottom plate.

[0010] By adopting the above technical solution and the design of universal wheels, it is possible to facilitate workers to move the device while saving manpower.

[0011] A further improvement of the technical solution of the utility model is that: the top of the bottom plate is fixedly connected to a fixed base, both sides of the fixed base are rotatably connected to guide plates, the inner side of the surface of the guide plate is provided with a guide groove, the inner side of the guide groove is fixedly connected to a telescopic component, and the bottom surface of the guide groove is provided with a lifting component.

[0012] By adopting the above technical solution, the guide plate, the guide groove, the telescopic assembly and the lifting assembly cooperate with each other, so as to achieve the effect of making it more stable during the lifting process.

[0013] A further improvement of the technical solution of the utility model is that the telescopic component includes a fixed block, the fixed block is fixedly connected to the inner side of the guide groove, the inner side of the fixed block is fixedly connected to a motor, the output end of the motor is transmission-connected to a threaded rod, and the inner side of the surface of the threaded rod is meshingly connected to a moving tube.

[0014] By adopting the above technical solution, the effect of controlling the lifting and lowering adjustment of the picking unit on the top surface is achieved through the mutual cooperation of the motor, the threaded rod and the moving tube.

[0015] A further improvement of the technical solution of the utility model is that: a sliding plate is fixedly connected to the inner side of the surface of the movable tube, and the sliding plate is slidably connected to the inner side of the guide groove; a fixed sleeve is slidably connected to the inner side of the surface of the movable tube, and the inner surface of the fixed sleeve is fixedly connected to the inner side of the guide groove; one end of the movable tube is fixedly connected to the bottom surface of the mounting frame.

[0016] By adopting the above technical solution, the sliding plate and the fixing sleeve cooperate with each other, so that the extension and retraction are more stable during adjustment.

[0017] A further improvement of the technical solution of the utility model is that the lifting assembly includes a slide groove, the slide groove is opened on the bottom surface of the guide plate, a slider is slidably connected inside the slide groove, an electric telescopic rod 1 is fixedly connected to the bottom surface of the slider, and the bottom surface of the electric telescopic rod 1 is fixedly connected to the top surface of the base plate.

[0018] By adopting the above technical solution, the picking height can be quickly adjusted through the cooperation of the slide groove, the slider and the electric telescopic rod.

[0019] A further improvement of the technical solution of the utility model is that the collection unit includes a fixing bolt, which is threadedly connected to the inside of two sides of the mounting frame, a connecting plate is provided on the inner side of the surface of the fixing bolt, connecting frames are provided on both sides of the connecting plate, and a buffer net is fixedly connected to the bottom side of the connecting frame.

[0020] By adopting the above technical solution, the effect of collecting the picked fruits is achieved through the mutual cooperation of the fixing bolts, the connecting plates and the connecting frame. At the same time, the buffer net has a buffering effect to avoid damage to the fruits when they fall.

[0021] Due to the adoption of the above technical solution, the utility model has achieved the following technical progress compared with the prior art:

[0022] The utility model provides a robot arm for picking fruits. Through the mutual cooperation of an electric telescopic rod, a connecting block, a mounting groove, a guide rod, a clamping plate and an engaging knife, uninterrupted and rapid fruit picking is achieved, and work efficiency is improved. Through the design of a universal wheel, it is convenient for workers to move the device and manpower is saved. Through the mutual cooperation of the guide plate, the guide groove, the telescopic component and the lifting component, the effect of making the device more stable during the lifting process is achieved.

[0023] The utility model provides a robot arm for picking fruits. Through the cooperation of a motor, a threaded rod and a moving tube, the picking unit on the top surface is controlled to perform lifting and lowering adjustment. Through the cooperation of a slide groove, a slider and an electric telescopic rod, the picking height can be quickly adjusted. Through the cooperation of a fixing bolt, a connecting plate and a connecting frame, the picked fruits can be collected. At the same time, the buffer net has a buffering effect to avoid damage to the fruits when they fall. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the utility model;

[0025] Figure 2 It is a structural schematic diagram of the mobile unit of the utility model;

[0026] Figure 3It is a structural schematic diagram of the telescopic assembly of the utility model;

[0027] Figure 4 For this utility model Figure 2 A magnified schematic diagram of the structure of A;

[0028] Figure 5 This is a schematic diagram of the structure of the picking unit of the utility model;

[0029] Figure 6 It is a structural schematic diagram of the collection unit of the utility model.

[0030] In the figure: 1. push rod; 2. moving unit; 21. bottom plate; 22. universal wheel; 23. fixed base; 24. guide plate; 25. guide groove; 26. telescopic assembly; 261. fixed block; 262. motor; 263. threaded rod; 264. moving tube; 265. sliding plate; 266. fixed sleeve; 27. lifting assembly; 271. slide groove; 272. slider; 273. electric telescopic rod; 3. picking unit; 31. mounting frame; 32. collecting unit; 321. fixing bolt; 322. connecting plate; 323. connecting frame; 324. buffer net; 33. electric telescopic rod; 34. connecting block; 35. mounting groove; 36. guide rod; 37. clamping plate; 38. meshing knife. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the embodiments: Example

[0032] like Figure 1-6 As shown, the utility model provides a robot arm for picking fruits, including a push rod 1, a moving unit 2 is arranged at one end of the push rod 1, a picking unit 3 is arranged on the top surface of the moving unit 2, the picking unit 3 includes a mounting frame 31, the mounting frame 31 is arranged on the top surface of the moving unit 2, and collecting units 32 are arranged on both sides of the mounting frame 31, an electric telescopic rod 33 is arranged inside the mounting frame 31, one side of the electric telescopic rod 33 is fixedly connected to a connecting block 34, the telescopic end of the mounting frame 31 is fixedly connected to a mounting groove 35, the inner side of the mounting groove 35 is rotatably connected to a guide rod 36, and the guide rod 36 is rotatably connected to the inner side of the guide rod 36. One end of the rod 36 is rotatably connected to a clamping plate 37, an engaging knife 38 is provided on the inner side of the clamping plate 37, and one end of the clamping plate 37 is rotatably connected to one side of the connecting block 34. The device can be quickly moved by the moving unit 2, and the picking height can be adjusted at the same time. The fruit can be quickly picked by the picking unit 3, and the electric telescopic rod 33 is controlled to shrink, thereby driving the connecting block 34 to move, and driving the guide rod 36 and the clamping plate 37 to move inward. At the same time, the engaging knife 38 can clamp off the fruit stalk, so that the fruit can be quickly clamped. Example

[0033] like Figure 1-6 As shown, on the basis of embodiment 1, the utility model provides a technical solution: preferably, the mobile unit 2 includes a bottom plate 21, the bottom plate 21 is arranged at one end of the push rod 1, a plurality of universal wheels 22 are fixedly connected to the bottom surface of the bottom plate 21, a fixed base 23 is fixedly connected to the top of the bottom plate 21, guide plates 24 are rotatably connected to both sides of the fixed base 23, a guide groove 25 is provided on the inner side of the surface of the guide plate 24, a telescopic component 26 is fixedly connected to the inner side of the guide groove 25, a lifting component 27 is provided on the bottom surface of the guide groove 25, and the lifting component 27 includes a slide groove 271, and the slide groove 271 is provided on the bottom surface of the guide plate 24. The inside of 71 is slidably connected with a slider 272, and the bottom surface of the slider 272 is fixedly connected with an electric telescopic rod 273, and the bottom surface of the electric telescopic rod 273 is fixedly connected to the top surface of the bottom plate 21. The device is moved under the fruit tree through the universal wheel 22, and then the electric telescopic rod 273 is controlled to work, and then the electric telescopic rod 273 drives the slider 272 to slide inside the slide groove 271, and at the same time, the guide plate 24 is lifted and lowered. The picking unit 3 can be driven to pick the fruit by controlling the telescopic component 26. At the same time, the design of the guide groove 25 makes it more stable during the lifting process and the picking position is better. Example

[0034] like Figure 1-6 As shown, on the basis of Example 1, the utility model provides a technical solution: preferably, the telescopic component 26 includes a fixed block 261, the fixed block 261 is fixedly connected to the inner side of the guide groove 25, the inner side of the fixed block 261 is fixedly connected to a motor 262, the output end of the motor 262 is transmission-connected to a threaded rod 263, the inner side of the surface of the threaded rod 263 is meshedly connected to a moving tube 264, the inner side of the surface of the moving tube 264 is fixedly connected to a sliding plate 265, the sliding plate 265 is slidably connected to the inner side of the guide groove 25, the inner side of the surface of the moving tube 264 is slidably connected to a fixed sleeve 266, the inner side of the surface of the fixed sleeve 266 is fixedly connected to the inner side of the guide groove 25, one end of the moving tube 264 is connected to the mounting bracket The bottom surface of the mounting frame 31 is fixedly connected, and the collecting unit 32 includes a fixing bolt 321, and the fixing bolt 321 is threadedly connected to the inside of both sides of the mounting frame 31. A connecting plate 322 is arranged on the inner side of the surface of the fixing bolt 321, and a connecting frame 323 is arranged on both sides of the connecting plate 322. The bottom side of the connecting frame 323 is fixedly connected with a buffer net 324, and the threaded rod 263 is driven to rotate by controlling the motor 262, thereby driving the moving tube 264 to retract, and then the picking unit 3 on the top surface can be driven to quickly pick the fruit. At the same time, the picked fruit falls to the inside of the buffer net 324 by gravity for collection. At the same time, the buffer net 324 has a buffering effect, which can protect the fruit from damage when falling.

[0035] The following is a detailed description of the working principle of the robot arm used for picking fruits.

[0036] like Figure 1-6 As shown, the device is moved to the bottom surface of the fruit tree by the universal wheel 22, and then the electric telescopic rod 273 is controlled to work, and then the electric telescopic rod 273 drives the slider 272 to slide inside the slide groove 271, and at the same time, the guide plate 24 is lifted and lowered. The threaded rod 263 is driven to rotate by the control motor 262, and then the moving tube 264 is driven to extend and retract, and then the collecting unit 32 on the top surface can be driven to move, and the electric telescopic rod 233 is controlled to shrink, and then the connecting block 34 is driven to move, and the guide rod 36 and the clamping plate 37 are driven to move inward, and the meshing knife 38 can clamp the fruit stalk of the fruit, so that the fruit can be quickly picked, and the picked fruit falls to the inside of the buffer net 324 by gravity for collection. At the same time, the buffer net 324 has a buffering effect, which can protect the fruit from damage when falling.

[0037] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not deviate from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A robot arm for picking fruits, comprising a push rod (1), characterized in that: A moving unit (2) is provided at one end of the push rod (1), and a picking unit (3) is provided on the top surface of the moving unit (2); The picking unit (3) comprises a mounting frame (31), wherein the mounting frame (31) is arranged on the top surface of the moving unit (2), and collecting units (32) are arranged on both sides of the mounting frame (31). An electric telescopic rod (33) is arranged inside the mounting frame (31), and one side of the electric telescopic rod (33) is fixedly connected to a connecting block (34). The telescopic end of the mounting frame (31) is fixedly connected to a mounting groove (35), and the inner side of the mounting groove (35) is rotatably connected to a guide rod (36), and one end of the guide rod (36) is rotatably connected to a clamping plate (37), and an engaging knife (38) is arranged on the inner side of the clamping plate (37), and one end of the clamping plate (37) is rotatably connected to one side of the connecting block (34).

2. A robot arm for picking fruits according to claim 1, characterized in that: The mobile unit (2) comprises a bottom plate (21), the bottom plate (21) being arranged at one end of the push rod (1), and a plurality of universal wheels (22) being fixedly connected to the bottom surface of the bottom plate (21).

3. A robot arm for picking fruits according to claim 2, characterized in that: The top of the bottom plate (21) is fixedly connected to a fixed base (23), both sides of the fixed base (23) are rotatably connected to guide plates (24), the inner side of the surface of the guide plate (24) is provided with a guide groove (25), the inner side of the guide groove (25) is fixedly connected to a telescopic assembly (26), and the bottom surface of the guide groove (25) is provided with a lifting assembly (27).

4. A robot arm for picking fruits according to claim 3, characterized in that: The telescopic assembly (26) comprises a fixed block (261), the fixed block (261) being fixedly connected to the inner side of the guide groove (25), a motor (262) being fixedly connected to the inner side of the fixed block (261), a threaded rod (263) being transmission-connected to the output end of the motor (262), and a moving tube (264) being meshingly connected to the inner side of the surface of the threaded rod (263).

5. A robot arm for picking fruits according to claim 4, characterized in that: A sliding plate (265) is fixedly connected to the inner side of the surface of the moving tube (264), and the sliding plate (265) is slidably connected to the inner side of the guide groove (25). A fixing sleeve (266) is slidably connected to the inner side of the surface of the moving tube (264), and the inner side of the surface of the fixing sleeve (266) is fixedly connected to the inner side of the guide groove (25). One end of the moving tube (264) is fixedly connected to the bottom surface of the mounting frame (31).

6. A robot arm for picking fruits according to claim 3, characterized in that: The lifting assembly (27) comprises a slide groove (271), wherein the slide groove (271) is provided on the bottom surface of the guide plate (24), a slider (272) is slidably connected inside the slide groove (271), an electric telescopic rod (273) is fixedly connected to the bottom surface of the slider (272), and the bottom surface of the electric telescopic rod (273) is fixedly connected to the top surface of the bottom plate (21).

7. A robot arm for picking fruits according to claim 1, characterized in that: The collecting unit (32) comprises a fixing bolt (321), wherein the fixing bolt (321) is threadedly connected to the inside of two sides of the mounting frame (31), a connecting plate (322) is provided on the inner side of the surface of the fixing bolt (321), connecting frames (323) are provided on both sides of the connecting plate (322), and a buffer net (324) is fixedly connected to the bottom side of the connecting frame (323).

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