Fruit and vegetable harvesting all-in-one machine

Abstract

The utility model discloses a fruit and vegetable harvesting all-in-one machine which comprises a moving mechanism, a collecting mechanism and a picking mechanism. The collecting mechanism comprises a collecting and conveying assembly arranged on the moving trolley, and the collecting and conveying assembly is provided with a collecting and feeding end and a collecting and discharging end. The picking mechanism comprises a picking lifting assembly and a picking assembly, the picking lifting assembly is used for driving the picking assembly to ascend and descend above the collecting feeding end, and the picking assembly comprises a clamping module and a cutting module. The picking assembly is driven by the picking lifting assembly to ascend and descend, so that the picking assembly can collect fruits and vegetables at different height positions, the collected fruits and vegetables are placed at the collecting feeding end of the collecting and conveying assembly, the fruits and vegetables are collected in a unified mode through the collecting discharging end of the collecting and conveying assembly, and the picking and collecting procedures are automatically and continuously achieved; and the workload and physical exhaustion of farmers are effectively reduced.

Description

Technical Field

[0001] The utility model relates to the field of agricultural picking, in particular to an integrated fruit and vegetable harvesting machine. Background Art

[0002] Fruits and vegetables are an important part of people's daily diet. However, the process of picking fruits and vegetables is often time-consuming and laborious for farmers. Existing fruit and vegetable picking mechanisms are often simple in structure and can only pick specific fruits and vegetables. They also have limited usage scenarios. For fruits and vegetables at high places, additional auxiliary tools are required, and the fruits and vegetables cannot be effectively collected after picking. Utility Model Content

[0003] The utility model aims to provide an integrated fruit and vegetable harvester to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] The technical solutions adopted to solve the above technical problems are:

[0005] The utility model provides a fruit and vegetable harvesting integrated machine, comprising:

[0006] Mobile mechanisms, including mobile vehicles;

[0007] The collecting mechanism comprises a collecting and conveying assembly arranged on the mobile vehicle, wherein the collecting and conveying assembly is provided with a collecting feed end and a collecting and discharging end;

[0008] The picking mechanism comprises a picking lifting assembly and a picking assembly arranged on the mobile vehicle, wherein the picking lifting assembly is used to drive the picking assembly to rise and fall above the collecting and feeding end, and the picking assembly comprises a clamping module and a cutting module.

[0009] The beneficial effects of the utility model are:

[0010] When in use, the mobile vehicle is moved to the target position, and the picking component is driven to rise and fall by the picking lifting component, so that the picking component can collect fruits and vegetables at different heights, and the collected fruits and vegetables are placed on the collecting feed end of the collecting and conveying component, and the fruits and vegetables are uniformly collected through the collecting and discharging end of the collecting and conveying component to complete the fruit and vegetable harvesting work, and the picking and collecting processes are automatically and continuously realized. It is easy to use and meets different usage scenarios. Workers only need to collect fruits and vegetables from the collecting and discharging end of the collecting and conveying component, which effectively reduces the workload and physical exertion of farmers.

[0011] As a further improvement of the above technical solution, the fruit and vegetable harvester also includes a rotating mechanism, which includes a rotating seat arranged on the mobile vehicle and a rotating driving member that drives the rotating seat to rotate, and the collecting mechanism and the picking mechanism are both arranged on the rotating seat.

[0012] In this solution, the rotating seat is driven to rotate by a rotating driving member, so as to drive the collecting mechanism and the picking mechanism installed on the rotating seat to rotate synchronously. The picking components can be adjusted according to different picking directions, making the whole machine more flexible and changeable.

[0013] As a further improvement of the above technical solution, the collecting and conveying assembly includes a collecting housing and a conveying path horizontally arranged on the collecting housing, and the collecting and discharging end is provided with hooks arranged on both sides of the collecting housing.

[0014] This solution uses a hook to hang the collection bag. When in use, the collection bag can be put on the collection and discharge end, and the fruits and vegetables are collected in the collection bag through the collection and discharge end. After the fruit and vegetable harvesting work is completed, the farmer only needs to take off the collection bag to complete the fruit and vegetable harvesting work.

[0015] As a further improvement of the above technical solution, the picking and lifting assembly includes a multi-axis manipulator, and the manipulator is provided with a fixed end fixedly connected to the collecting housing and an execution end connected to the picking assembly.

[0016] This solution uses a robot to drive the picking components to rise and fall to adapt to the picking of fruits and vegetables at different heights.

[0017] As a further improvement of the above technical solution, the collecting mechanism also includes a collecting lifting component installed on the rotating seat, and the collecting lifting component is used to drive the collecting conveying component and the picking mechanism to rise and fall.

[0018] This solution also provides a collecting lifting component to drive the collecting conveying component and the picking mechanism to rise and fall synchronously, so that the height of the collecting discharge end can be adjusted to meet the needs of collecting bags of different lengths, and secondly, the secondary lifting adjustment of the picking mechanism can be achieved.

[0019] As a further improvement of the above technical solution, the cutting module is located above the clamping module, and the picking component also includes a spacing adjustment module, which is used to adjust the spacing between the cutting module and the clamping module along the up and down directions.

[0020] The clamping module in this solution is used to clamp fruits and vegetables, and the cutting module is used to cut the fruit and vegetable handles. The distance between the cutting module and the clamping module in the vertical direction can be adjusted by the distance adjustment module according to different fruits and vegetables.

[0021] As a further improvement of the above technical solution, the spacing adjustment module includes a fixed frame, a movable seat, and an adjustment drive structure. The clamping module is fixedly installed on the fixed frame, the cutting module is fixedly installed on the movable seat, the movable seat is slidably installed on the fixed frame, and the adjustment drive structure is used to drive the movable seat to move up and down.

[0022] In this solution, the moving seat is driven to move up and down by adjusting the driving structure, so as to drive the cutting module to move up and down relative to the clamping module.

[0023] As a further improvement of the above technical solution, the clamping module includes a clamping frame, a clamping claw installed on the clamping frame, and a clamping drive structure, the clamping claw is provided with two, the two clamping claws are provided with clamping ends, and the clamping drive structure is used to drive the two clamping ends to move closer to and away from each other;

[0024] In this solution, two clamping claws are used to clamp fruits and vegetables, and the two clamping ends are driven to move closer to and away from each other through the clamping drive structure.

[0025] The cutting module comprises a cutting frame, a cutting claw installed on the cutting frame and a cutting drive structure. Two cutting claws are provided. The two cutting claws are provided with cutting heads. The cutting drive structure drives the two cutting heads to move closer to and away from each other.

[0026] In this solution, the cutting drive structure drives the two cutting heads to move closer to and away from each other to achieve cutting of the fruit and vegetable stems.

[0027] As a further improvement of the above technical solution, the picking mechanism also includes a visual recognition module, and the visual recognition module is used to photograph and identify the picked fruits and vegetables.

[0028] This solution also provides a visual recognition module to identify the picking target in order to adjust the positions of the cutting module and the clamping module.

[0029] As a further improvement of the above technical solution, the integrated fruit and vegetable harvester further includes a power supply mechanism, and the power supply mechanism includes a solar charging panel and a battery box installed on the mobile vehicle.

[0030] This solution uses solar charging panels to convert solar energy into electrical energy and stores it in a battery box. The battery box provides power to the entire machine without the need for fuel, which can effectively save resources, further extend working hours, and effectively save usage costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The utility model is further described below in conjunction with the accompanying drawings and embodiments;

[0032] Figure 1This is a structural schematic diagram of an embodiment of the integrated fruit and vegetable harvester provided by the utility model;

[0033] Figure 2 This is a structural schematic diagram of an embodiment of a picking assembly provided by the utility model;

[0034] Figure 3 The utility model is provided with a fruit and vegetable harvesting machine, and a front view of an embodiment thereof. DETAILED DESCRIPTION

[0035] This section will describe in detail the specific embodiments of the utility model. The preferred embodiments of the utility model are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the utility model, but it cannot be understood as a limitation on the protection scope of the utility model.

[0036] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] In the description of the present utility model, if there are words such as "several", it means one or more, "more" means more than two, greater than, less than, exceed, etc. are understood to exclude the number, and above, below, within, etc. are understood to include the number.

[0038] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0039] Reference Figure 1 to Figure 3 The utility model of the integrated fruit and vegetable harvester is implemented as follows:

[0040] like Figure 1 and Figure 3 As described above, the integrated fruit and vegetable harvester of the utility model comprises a moving mechanism, a collecting mechanism, and a picking mechanism.

[0041] The mobile mechanism of this embodiment includes a mobile vehicle 100, which includes a frame 110, a steering wheel 120 and a mobile wheel 130 installed on the frame 110, wherein the frame 110 is provided with a power group and a steering group, the power group is connected to the mobile wheel 130 by transmission, the steering group is connected to the steering wheel 120 by transmission, the power group provides the mobile vehicle 100 with moving objects, and the steering group can drive the steering wheel 120 to turn, so as to realize the turning of the mobile vehicle 100. The driving and steering of the mobile vehicle 100 are both existing conventional technologies, which will not be described in detail here.

[0042] The collecting mechanism is installed on the mobile vehicle 100, and the collecting mechanism includes a collecting conveying component 200, wherein the collecting conveying component 200 is used to realize the conveyance of fruits and vegetables. The collecting conveying component 200 is provided with a collecting feed end 210 and a collecting discharge end 220. After the fruits and vegetables are put into the collecting feed end 210, they are conveyed by the collecting conveying component 200, so that the fruits and vegetables are output from the collecting discharge end 220.

[0043] like Figure 1 As shown, the collecting and conveying assembly 200 of this embodiment includes a collecting housing 230 and a conveying path 240 horizontally arranged on the collecting housing 230, wherein the conveying path 240 of this embodiment is composed of a synchronous pulley and a driving motor, and the collecting housing 230 at the collecting and discharging end 220 is provided with a drop hole for collecting fruits and vegetables, and the synchronous pulley is driven by the driving motor to transport the picked fruits and vegetables to the drop hole.

[0044] In addition, hooks 231 are provided on both sides of the collecting casing 230 located at the collecting and discharging end 220, and the collecting bag is hung by the hooks 231. When in use, the collecting bag can be put on the collecting and discharging end 220, and the fruits and vegetables are collected in the collecting bag through the collecting and discharging end 220. After completing the fruit and vegetable harvesting work, the farmer only needs to take off the collecting bag to complete the fruit and vegetable harvesting work.

[0045] Furthermore, the collecting housing 230 of the present embodiment is also provided with a display screen 232, which can display the quantity of fruits and vegetables and the power level of the mechanism, etc. Handles 233 are provided on the top and sides of the collecting housing 230 for farmers to operate by hand in special circumstances.

[0046] In other embodiments, the conveying path 240 may adopt other conveying methods.

[0047] The picking mechanism includes a picking lifting component 300 and a picking component 400. The picking lifting component 300 is used to drive the picking component 400 to rise and fall above the collecting feed end 210, so that the picking component 400 can collect fruits and vegetables at different heights. The picking lifting component 300 of this embodiment includes a manipulator 310. The manipulator 310 is a multi-axis type. The manipulator 310 is provided with a fixed end 311 and an execution end 312, wherein the fixed end 311 of the manipulator 310 can be installed on the frame 110, and the fixed end 311 of the manipulator 310 of this embodiment is fixed on the top of the collecting casing 230, and the picking component 400 is installed on the execution end 312 of the manipulator 310.

[0048] Specifically, the robot 310 of this embodiment includes a plurality of robot arms connected in sequence, and a motor is installed at the end of the robot arm, which drives two adjacent robot arms to rotate relative to each other. When in use, the motor adjusts the robot arm to a suitable angle according to actual conditions to facilitate picking of fruits and vegetables.

[0049] In other embodiments, the picking lifting assembly 300 may adopt other lifting drive structures.

[0050] The picking assembly 400 includes a clamping module 410 and a cutting module 420, wherein the clamping module 410 is used to clamp fruits and vegetables, and the cutting module 420 cuts the fruit and vegetable stems. For fruits and vegetables that do not require cutting stems, the fruits and vegetables can be picked directly through the clamping module 410.

[0051] Furthermore, the picking component 400 also includes a spacing adjustment module 430, which is used to adjust the spacing between the cutting module 420 and the clamping module 410 along the up-down direction. The spacing between the cutting module 420 and the clamping module 410 can be adjusted in the up-down direction according to different fruits and vegetables through the spacing adjustment module 430. It can be understood that the spacing between the cutting position of the cutting module 420 and the clamping position of the clamping module 410 is adjusted.

[0052] The spacing adjustment module 430 of this embodiment includes a fixed frame 431, a movable seat 432 and an adjustment drive structure 433. The fixed frame 431 is installed on the execution end 312 of the manipulator 310, and the clamping module 410 is fixedly installed on one side of the fixed frame 431, and the movable seat 432 is installed on the fixed frame 431 for sliding up and down. The adjustment drive structure 433 is used to drive the movable seat 432 to move up and down. The adjustment drive structure 433 of this embodiment adopts a screw motor drive structure. In other embodiments, the adjustment drive structure 433 may adopt other linear drive structures.

[0053] In this embodiment, the driving structure 433 is adjusted to drive the moving seat 432 to move up and down, so as to drive the cutting module 420 to move up and down relative to the clamping module 410.

[0054] The clamping module 410 includes a clamping frame 411, two clamping claws 412 and a clamping drive structure 413, wherein the clamping frame 411 is connected to the fixed frame 431, and the two clamping claws 412 and the clamping drive structure 413 are installed on the clamping frame 411, the two clamping claws 412 are provided with clamping ends 4121 arranged opposite to each other, the clamping drive structure 413 is transmission-connected to the two clamping claws 412, and the clamping drive structure 413 is used to drive the two clamping ends 4121 to move closer to and away from each other. In this embodiment, the two clamping claws 412 are used to clamp the fruits and vegetables, and the clamping drive structure 413 is used to drive the two clamping ends 4121 to move closer to and away from each other.

[0055] The cutting module 420 includes a cutting frame 421, two cutting claws 422 and a cutting drive structure 423. The cutting frame 421 is connected to the moving seat 432. The two cutting claws 422 and the cutting drive structure 423 are installed on the cutting frame 421. The two cutting claws 422 are each provided with a cutting head 4221. The cutting drive structure 423 is transmission-connected to the two cutting claws 422. The cutting drive structure 423 is used to drive the two cutting heads 4221 to move closer to or further away from each other. The cutting drive structure 423 drives the two cutting heads 4221 to move closer to or further away from each other to achieve cutting of the fruit and vegetable stalks.

[0056] The clamping drive structure 413 and the cutting drive structure 423 may adopt drive structures such as finger cylinders.

[0057] Furthermore, the fruit and vegetable harvester of the present embodiment also includes a rotating mechanism, which includes a rotating base 500 installed on the mobile vehicle 100 and a rotating drive member that drives the rotating base 500 to rotate. The collecting mechanism and the picking mechanism of the present embodiment are both installed on the rotating base 500. The rotating base 500 is driven to rotate by the rotating drive member to drive the collecting mechanism and the picking mechanism installed on the rotating base 500 to rotate synchronously. The picking component 400 can be adjusted according to different picking directions, making the whole machine more flexible and changeable, wherein the rotating drive member adopts a motor.

[0058] And, the collecting mechanism also includes a collecting lifting assembly 600 installed on the rotating seat 500, and the collecting lifting assembly 600 is used to drive the collecting conveying assembly 200 and the picking mechanism to rise and fall. Specifically, Figure 1 and Figure 3 As shown, the collecting lifting assembly 600 of this embodiment includes two lifting cylinders vertically arranged on the rotating seat 500, and the upper ends of the lifting cylinders are connected to the bottom of the collecting casing 230. In this way, the height of the collecting discharge end 220 can be adjusted to meet the needs of collecting bags of different lengths, and secondly, the secondary lifting adjustment of the picking mechanism can be realized.

[0059] like Figure 2As shown, the picking mechanism also includes a visual recognition module 700 , which is used to photograph and identify the picked fruits and vegetables to adjust the positions of the cutting module 420 and the clamping module 410 .

[0060] In addition, the fruit and vegetable harvesting machine also includes a power supply mechanism, which includes a solar charging panel 800 and a battery box 900 installed on the mobile vehicle 100. The solar energy is converted into electrical energy by the solar charging panel 800 and stored in the battery box 900. The battery box 900 provides power to the entire machine without the need for fuel, which can effectively save resources, further extend the working time, and effectively save the use cost.

[0061] When in use, farmers put the collection bag on the hook 231 of the collecting housing 230 according to actual needs. When working, the driving moving wheel 130 and the steering wheel 120 control the mobile vehicle 100 to move to the target position, the visual recognition module 700 identifies the picking target, and through the controller, controls the rotating seat 500 and the collecting lifting assembly 600 to the appropriate picking position, and the data processing terminal determines the type of fruits and vegetables and whether the fruit and vegetable stems need to be cut according to the image data, and controls the picking lifting assembly 300 to adjust the position of the picking assembly 400. For fruits and vegetables that need to cut the stem, the spacing adjustment module 430 adjusts the height of the cutting module 420 relative to the clamping module 410, and then the clamping drive structure 413 drives the two clamping ends 4121 to approach each other to clamp the target fruits and vegetables, and the cutting drive structure 423 drives the two cutting heads 4221 to approach each other to cut the fruit and vegetable stems. For fruits and vegetables that do not need to cut the stem, only the clamping module 410 is controlled to pick the fruits and vegetables.

[0062] After picking the fruits and vegetables, the picking lifting assembly 300 is adjusted to move the fruits and vegetables to the collecting feed end 210 of the collecting conveying assembly 200, and the fruits and vegetables are transported to the collecting discharge end 220 through the conveyor belt, and dropped into the collecting bag. After completing the fruit and vegetable harvesting work, the farmer only needs to remove the collecting bag to complete the fruit and vegetable harvesting work.

[0063] The preferred implementation modes of the present invention are specifically described above, but the present invention is not limited to the described embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention, and these equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A fruit and vegetable harvesting machine, characterized in that: include: A mobile mechanism, including a mobile vehicle (100); The collecting mechanism comprises a collecting conveying assembly (200) arranged on the mobile vehicle (100), wherein the collecting conveying assembly (200) is provided with a collecting feed end (210) and a collecting discharge end (220); The picking mechanism comprises a picking lifting assembly (300) and a picking assembly (400) arranged on the mobile vehicle (100); the picking lifting assembly (300) is used to drive the picking assembly (400) to rise and fall above the collecting and feeding end (210); and the picking assembly (400) comprises a clamping module (410) and a cutting module (420).

2. The integrated fruit and vegetable harvester according to claim 1, characterized in that: The integrated fruit and vegetable harvester further comprises a rotating mechanism, the rotating mechanism comprising a rotating seat (500) arranged on the mobile vehicle (100) and a rotating driving member driving the rotating seat (500) to rotate, and the collecting mechanism and the picking mechanism are both arranged on the rotating seat (500).

3. The integrated fruit and vegetable harvester according to claim 2, characterized in that: The collecting and conveying assembly (200) comprises a collecting housing (230) and a conveying path (240) arranged transversely on the collecting housing (230); the collecting and discharging end (220) is provided with hooks (231) arranged on both sides of the collecting housing (230).

4. The integrated fruit and vegetable harvester according to claim 3, characterized in that: The picking and lifting assembly (300) comprises a multi-axis manipulator (310), wherein the manipulator (310) is provided with a fixed end (311) fixedly connected to the collecting housing (230) and an execution end (312) connected to the picking assembly (400).

5. The integrated fruit and vegetable harvester according to claim 3, characterized in that: The collecting mechanism further comprises a collecting lifting assembly (600) mounted on the rotating seat (500), wherein the collecting lifting assembly (600) is used to drive the collecting conveying assembly (200) and the picking mechanism to rise and fall.

6. The integrated fruit and vegetable harvester according to claim 1, characterized in that: The cutting module (420) is located above the clamping module (410), and the picking assembly (400) further comprises a spacing adjustment module (430), wherein the spacing adjustment module (430) is used to adjust the spacing between the cutting module (420) and the clamping module (410) in the up-down direction.

7. The integrated fruit and vegetable harvester according to claim 6, characterized in that: The spacing adjustment module (430) comprises a fixed frame (431), a movable seat (432), and an adjustment drive structure (433); the clamping module (410) is fixedly mounted on the fixed frame (431); the cutting module (420) is fixedly mounted on the movable seat (432); the movable seat (432) is slidably mounted on the fixed frame (431); and the adjustment drive structure (433) is used to drive the movable seat (432) to move up and down.

8. The integrated fruit and vegetable harvester according to claim 7, characterized in that: The clamping module (410) comprises a clamping frame (411), a clamping claw (412) mounted on the clamping frame (411), and a clamping drive structure (413), wherein two clamping claws (412) are provided, and the two clamping claws (412) are provided with clamping ends (4121), and the clamping drive structure (413) is used to drive the two clamping ends (4121) to move closer to or farther from each other; The cutting module (420) comprises a cutting frame (421), a cutting claw (422) mounted on the cutting frame (421), and a cutting drive structure (423), wherein two cutting claws (422) are provided, the two cutting claws (422) are provided with cutting heads (4221), and the cutting drive structure (423) drives the two cutting heads (4221) to move closer to and away from each other.

9. The integrated fruit and vegetable harvester according to claim 1, characterized in that: The picking mechanism further comprises a visual recognition module (700), wherein the visual recognition module (700) is used to photograph and identify the picked fruits and vegetables.

10. The integrated fruit and vegetable harvester according to claim 1, characterized in that: The integrated fruit and vegetable harvester further comprises a power supply mechanism, wherein the power supply mechanism comprises a solar charging panel (800) and a battery box (900) installed on the mobile vehicle (100).

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