Fruit picking mechanical arm

Abstract

The utility model discloses a fruit picking mechanical arm which comprises a rack, the upper side of the rack is rotationally connected with a balance connecting rod, one end, away from the rack, of the balance connecting rod is rotationally connected with a connecting piece, the left side of the connecting piece is rotationally connected with a small arm, the fruit picking mechanical arm further comprises a picking mechanism, and the picking mechanism comprises a blade; and the collecting mechanism comprises a collecting bag. According to the fruit picking mechanical arm, the fruit is sleeved with the hole of the connecting plate, then the blade shears the stem of the fruit, and damage of the mechanical claw to the surface of the fruit is reduced. According to the fruit picking mechanical arm, through cooperative use of the hydraulic rod and the rotating circular ring, the collecting bag can conveniently collect fruits under the fruits picked by the picking mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a fruit picking mechanical arm. Background Art

[0002] The traditional fruit harvesting method has great limitations and requires workers to use auxiliary picking tools, which results in low fruit harvesting efficiency. Therefore, large orchards gradually adopt robotic arms to pick fruits.

[0003] The existing robotic arm includes a robotic claw. When the robotic claw grabs the fruit, the surface of the fruit is inevitably squeezed inward by the robotic claw, causing damage to the surface of the fruit. This is particularly noticeable for fruits with soft skin. Secondly, the existing robotic arm includes a knife and a conveying tube. The knife cuts the fruit handle, and the fruit falls into the conveying tube and is collected together. However, when the conveying tube is collected together, the fruit collides with the wall of the conveying tube due to its weight, which makes the fruit easily damaged. Thirdly, when the robotic arm rotates, the conveying tubes are entangled together, making it inconvenient for the robotic arm to rotate and adjust.

[0004] Therefore, the utility model provides a fruit picking mechanical arm to solve the above problems. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a fruit picking mechanical arm to solve the above problems.

[0006] To achieve the above purpose, the utility model is implemented by the following technical solutions: a fruit picking mechanical arm, including a frame, a balancing connecting rod is rotatably connected to the upper side of the frame, a connecting piece is rotatably connected to the end of the balancing connecting rod away from the frame, and a small arm is rotatably connected to the left side of the connecting piece, and also includes:

[0007] a picking mechanism, the picking mechanism comprising a blade;

[0008] A collecting mechanism comprises a collecting bag.

[0009] Preferably, a first drive motor is provided on the inner side of the forearm, the front side of the first drive motor is rotatably connected to a rotating shaft, the front end of the rotating shaft is fixedly connected to a first screw rod, the inner side wall of the forearm is rotatably connected to a mechanical claw housing, the inner side of the mechanical claw housing is rotatably connected to a third rotating member, the third rotating member is L-shaped, and the end of the third rotating member close to the rotating shaft is rotatably connected to the first rotating member.

[0010] Preferably, a fixed block is threadedly connected to the outer side of the first screw rod, and the fixed block is rotatably connected to an end of the first rotating member close to the rotating shaft, a second rotating member is rotatably connected to the outer side of the mechanical claw housing, an end of the second rotating member away from the rotating shaft is rotatably connected to a scissors clamp, and the scissors clamp is rotatably connected to an end of the third rotating member away from the fixed block, a connecting plate is fixedly connected to the bottom of the mechanical claw housing, a hole is opened in the middle of the connecting plate, and the blade is fixedly connected to the middle of the scissors clamp.

[0011] Preferably, a lifting rod is fixedly connected to the upper side of the frame, a groove is opened on the side of the lifting rod, a second drive motor is fixedly connected to the inner bottom of the lifting rod, and a second screw rod is rotatably connected to the output end of the second drive motor.

[0012] Preferably, a moving block is threadedly connected to the outer side of the second screw rod, the moving block is slidably connected in the groove of the lifting rod, a lifting ring is fixedly connected to the outer side of the moving block, and a rotating ring is rotatably connected to the outer side of the lifting ring.

[0013] Preferably, a third drive motor is fixedly connected to the outer side of the rotating ring, two hydraulic rods are fixedly connected to the upper side of the rotating ring, a first gear is provided at the output end of the third drive motor, a second gear is fixedly connected to the bottom of the lifting ring, a collecting plate is fixedly connected to the front end of the hydraulic rod, and the collecting bag is fixedly connected to the bottom of the collecting plate.

[0014] Beneficial Effects

[0015] The utility model provides a fruit picking mechanical arm. Compared with the prior art, it has the following beneficial effects:

[0016] (1) A fruit picking robot arm reduces the damage to the fruit surface caused by the robot claws by placing the fruit into a hole of a connecting plate and then shearing the fruit stem with a blade.

[0017] (2) A fruit picking robot arm, which uses a hydraulic rod and a rotating ring to facilitate the collection bag to collect fruits just below the fruit picked by the picking mechanism.

[0018] (3) A fruit picking robot arm drives a moving block up and down by rotating a second screw rod forward and backward, thereby reducing the position difference between a blade and a collecting bag, reducing the damage to the fruit caused by the position difference, and also facilitating the transfer of the fruit from a high place to a low place, making it easier for workers to collect the fruit.

[0019] (3) A fruit picking robot arm, wherein the collecting bag is made of cotton fabric with a certain elasticity, so that the fruit falls into the collecting bag and is less damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1It is the overall side view structure diagram of the utility model;

[0021] Figure 2 This is an overall oblique structural diagram of the utility model;

[0022] Figure 3 It is a diagram of the picking mechanism of the utility model;

[0023] Figure 4 It is a diagram of the picking mechanism of the utility model;

[0024] Figure 5 The utility model Figure 1 Local structure diagram;

[0025] Figure 6 It is a structural diagram of a moving block of the utility model.

[0026] In the figure, 1, frame; 2, balance link; 3, connecting piece; 4, small arm;

[0027] Removal mechanism: 51, first drive motor; 52, rotating shaft; 53, mechanical claw housing; 54, first screw rod; 55, fixed block; 56, first rotating member; 57, second rotating member; 58, scissors clamp; 59, connecting plate; 591, blade; 592, third rotating member;

[0028] Collecting mechanism: 61, lifting rod; 62, second screw rod; 63, second drive motor; 64, rotating ring; 65, lifting ring; 66, hydraulic rod; 67, third drive motor; 68, first gear; 69, second gear; 691, collecting plate; 692, collecting bag; 693, moving block. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] Embodiment 1:

[0031] See also Figure 1-6 A fruit picking mechanical arm comprises a frame 1, a balancing link 2 is rotatably connected to the upper side of the frame 1, a connecting piece 3 is rotatably connected to the end of the balancing link 2 away from the frame 1, and a small arm 4 is rotatably connected to the left side of the connecting piece 3, and further comprises:

[0032] A picking mechanism, the picking mechanism includes a blade 591;

[0033] The collecting mechanism includes a collecting bag 692 .

[0034] A first driving motor 51 is arranged on the inner side of the forearm 4, and the front side of the first driving motor 51 is rotatably connected to a rotating shaft 52, and the front end of the rotating shaft 52 is fixedly connected to a first screw rod 54, and the inner side wall of the forearm 4 is rotatably connected to a mechanical claw housing 53, and the inner side of the mechanical claw housing 53 is rotatably connected to a third rotating member 592, the third rotating member 592 is L-shaped, and the end of the third rotating member 592 close to the rotating shaft 52 is rotatably connected to the first rotating member 56.

[0035] The outer side of the first screw rod 54 is threadedly connected to a fixed block 55, and the fixed block 55 is rotatably connected to one end of the first rotating member 56 close to the rotating shaft 52. The outer side of the mechanical claw housing 53 is rotatably connected to the second rotating member 57, and the end of the second rotating member 57 away from the rotating shaft 52 is rotatably connected to a scissors clamp 58. The scissors clamp 58 is rotatably connected to one end of the third rotating member 592 away from the fixed block 55. A connecting plate 59 is fixedly connected to the bottom of the mechanical claw housing 53, and a hole is opened in the middle of the connecting plate 59. The blade 591 is fixedly connected to the middle of the scissors clamp 58.

[0036] A lifting rod 61 is fixedly connected to the upper side of the frame 1 , a groove is provided on the side of the lifting rod 61 , a second driving motor 63 is fixedly connected to the inner bottom of the lifting rod 61 , and a second screw rod 62 is rotatably connected to the output end of the second driving motor 63 .

[0037] The outer side of the second screw rod 62 is threadedly connected with a moving block 693 , the moving block 693 is slidably connected in the groove of the lifting rod 61 , the outer side of the moving block 693 is fixedly connected with a lifting ring 65 , and the outer side of the lifting ring 65 is rotatably connected with a rotating ring 64 .

[0038] A third driving motor 67 is fixedly connected to the outer side of the rotating ring 64, two hydraulic rods 66 are fixedly connected to the upper side of the rotating ring 64, a first gear 68 is provided at the output end of the third driving motor 67, a second gear 69 is fixedly connected to the bottom of the lifting ring 65, a collecting plate 691 is fixedly connected to the front end of the hydraulic rod 66, and a collecting bag 692 is fixedly connected to the bottom of the collecting plate 691.

[0039] Working principle: When starting to collect fruits, due to the different positions of the fruits, the controller of the operating robot arm is used to control the connection member 3 and the small arm 4 to rotate, and the appropriate position is adjusted. Then the first drive motor 51 is started through the controller, so that the rotating shaft 52 rotates in the positive direction. The rotation of the rotating shaft 52 drives the first screw rod 54 to rotate in the positive direction. The positive rotation of the rotating shaft 52 drives the fixed block 55 to move in the direction away from the rotating shaft 52. The rotating shaft 52 drives the first rotating member 56 to move in the direction away from the rotating shaft 52, so that the movement of the first rotating member 56 causes one end of the third rotating member 592 to move in the direction away from the rotating shaft 52, and at the same time, the other end of the third rotating member 592 moves in the direction away from the connecting plate 59, so that the distance between the third rotating member 592 and the third rotating member 592 becomes larger, and the third rotating member 592 drives the scissors clamp 58 to move to both sides, and the scissors clamp 58 moves to both sides to drive the blade 591 to open on both sides.

[0040] Through manual control, the handle of the fruit is located inside the blade 591, and then the first drive motor 51 is rotated in the opposite direction through the controller, so that the rotating shaft 52 and the first screw rod 54 both rotate in the opposite direction, and the fixed block 55 moves toward the rotating shaft 52, so that one end of the first rotating member 56 moves toward the rotating shaft 52, and the first rotating member 56 drives the third rotating member 592 to approach, so that the end of the third rotating member 592 away from the rotating shaft 52 moves toward the middle, so that the two blades 591 move closer to each other, and the handle of the fruit is sheared. After shearing, the fruit falls into the collecting bag 692. The collecting bag 692 is made of cotton cloth, so that the damage to the fruit is reduced when the fruit falls into the collecting bag 692.

[0041] The second driving motor 63 is started by the controller, so that the second screw rod 62 rotates in the opposite direction, and the moving block 693 moves downward as a whole. The moving block 693 drives the lifting ring 65 to move downward. At the same time, the lifting ring 65 drives the rotating ring 64 to move downward. The downward movement of the rotating ring 64 drives the hydraulic rod 66 to move downward. The lifting ring 65 drives the collecting plate 691 to move downward as a whole. When the collecting plate 691 moves to the lowest point, it is convenient to collect the fruits in the collecting bag 692.

[0042] The third drive motor 67 is started by the controller, so that the third drive motor 67 drives the first gear 68 to rotate, and the first gear 68 is meshed with the second gear 69. Under the influence of the action force and the reaction force, the hydraulic rod 66 rotates around the lifting ring 65, thereby controlling the direction of the collecting bag 692. The position of the collecting bag 692 is controlled by extending and shortening the hydraulic rod 66, so that the collecting bag 692 can receive the picked fruits from multiple angles.

[0043] In this embodiment, the controller includes control switches for various action components on the robotic arm. The control switches equipped on the device itself are all mature components in the prior art, and their structures and control principles are all prior art.

[0044] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fruit picking mechanical arm, comprising a frame (1), wherein the upper side of the frame (1) is rotatably connected to a balancing link (2), an end of the balancing link (2) away from the frame (1) is rotatably connected to a connecting piece (3), and the left side of the connecting piece (3) is rotatably connected to a small arm (4), characterized in that: Also includes: A picking mechanism, the picking mechanism comprising a blade (591), a first drive motor (51) being arranged inside the small arm (4), a rotating shaft (52) being rotatably connected to the front side of the first drive motor (51), a first screw rod (54) being fixedly connected to the front end of the rotating shaft (52), a mechanical claw housing (53) being rotatably connected to the inner side wall of the small arm (4), and a third rotating member (592) being rotatably connected to the inner side of the mechanical claw housing (53); A collecting mechanism, the collecting mechanism comprising a collecting bag (692), a lifting rod (61) being fixedly connected to the upper side of the frame (1), a groove being provided on the side of the lifting rod (61), and a second driving motor (63) being fixedly connected to the inner bottom of the lifting rod (61).

2. A fruit picking robot arm according to claim 1, characterized in that: The third rotating member (592) is L-shaped, and one end of the third rotating member (592) close to the rotating shaft (52) is rotatably connected to the first rotating member (56).

3. A fruit picking robot arm according to claim 2, characterized in that: The first screw rod (54) is threadedly connected to a fixing block (55) on the outside, and the fixing block (55) is rotatably connected to one end of the first rotating member (56) close to the rotating shaft (52). The mechanical claw housing (53) is rotatably connected to a second rotating member (57) on the outside, and one end of the second rotating member (57) away from the rotating shaft (52) is rotatably connected to a scissors clamp (58). The scissors clamp (58) is rotatably connected to one end of the third rotating member (592) away from the fixing block (55). A connecting plate (59) is fixedly connected to the bottom of the mechanical claw housing (53), and a hole is opened in the middle of the connecting plate (59). The blade (591) is fixedly connected to the middle of the scissors clamp (58).

4. A fruit picking mechanical arm according to claim 1, characterized in that: The output end of the second drive motor (63) is rotatably connected to a second screw rod (62).

5. A fruit picking mechanical arm according to claim 4, characterized in that: The outer side of the second screw rod (62) is threadedly connected to a moving block (693), the moving block (693) is slidably connected in a groove of the lifting rod (61), the outer side of the moving block (693) is fixedly connected to a lifting ring (65), and the outer side of the lifting ring (65) is rotatably connected to a rotating ring (64).

6. A fruit picking mechanical arm according to claim 5, characterized in that: A third drive motor (67) is fixedly connected to the outside of the rotating ring (64), two hydraulic rods (66) are fixedly connected to the upper side of the rotating ring (64), a first gear (68) is provided at the output end of the third drive motor (67), a second gear (69) is fixedly connected to the bottom of the lifting ring (65), a collecting plate (691) is fixedly connected to the front end of the hydraulic rod (66), and the collecting bag (692) is fixedly connected to the bottom of the collecting plate (691).

Images