Lightweight black olive fruit picking device and system
By designing a lightweight black olive picking device combined with drones, the safety hazards, low efficiency and high cost of traditional picking methods are solved, and efficient, safe and automated picking effects are achieved.
Patent Information
- Application Number
- CN202420563765.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-22
- Publication Date
- 2025-03-07
- Estimated Expiration
- 2034-03-22
AI Technical Summary
Traditional black olive picking methods have safety hazards, inefficiency and high cost problems, especially when picking plants at high altitudes and mountainous areas.
A lightweight black olive fruit picking device is designed, including a mounting platform, a pneumatic telescopic rod, a winch device, a knocking rake device and a movable bearing seat, which can be combined with a rotor-type drone to achieve automated picking.
The device is simple and lightweight, easy to load by drone, realizes efficient and safe black olive picking, reduces the risk and cost of manual picking, and is suitable for picking mountains, high and low plants.
Smart Images
Figure CN222564432U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of agricultural robots, in particular to a lightweight black olive fruit picking device and system. Background Art
[0002] Black olive fruit has very high nutritional value, edible value and medicinal value, and its shell is also a very good material for craft carving. With the rise of rural revitalization, black olives, as a high economic value crop, have become the first choice of economic crops for many farmers in southern my country to make a fortune. However, black olives are an evergreen tree that can usually grow to more than ten meters high, and the branches of the tree are thin and brittle, which makes it difficult to pick ripe fruits. There are currently three main traditional picking methods: one is to pick by manual climbing, one is to knock the fruit off the branch by hand-held tools, and the other is to build a scaffolding around the tree trunk and climb the scaffolding for picking. However, all three methods have major problems: black olives are an evergreen tree with a large crown and thin and brittle branches. Climbing and picking can easily break branches, which not only easily causes casualties, but also has low picking efficiency. The method of picking with hand-held tools is mainly for small plants. For large plants, the hand-held tools are long and heavy, and the eyes and other soft parts of the person are easily injured by falling fruits or branches. The picking efficiency is also low. The method of building scaffolding is costly and is mainly used for picking individual particularly tall black olive plants, which is not conducive to promotion. Summary of the invention
[0003] In order to solve the problems in the background technology, the present application provides a lightweight black olive fruit picking device, which has a simple and lightweight structure, is easy to load and use on agricultural drones, and is easy to realize automated picking. It is suitable for picking fruits in mountainous areas, high and low plants, and fruits similar to black olives, and has wide applicability to agricultural harvesting operations. In addition, the present application also provides a lightweight black olive fruit picking device system. It can provide a hardware foundation for the intelligent application of lightweight black olive fruit picking devices.
[0004] A lightweight black olive fruit picking device comprises a mounting platform, a plurality of pneumatic telescopic rods hinged to the mounting platform at one end, a winch device arranged at the upper end of the mounting platform, a beating rake device arranged at the lower end of the mounting platform, and a plurality of movable bearing seats; the beating rake device is connected to the mounting platform through a mechanical arm; the movable bearing seat is hinged to the other end of the pneumatic telescopic rod; the movable bearing seat is used to connect to the landing gear of a rotary-wing unmanned aerial vehicle; the winch device is connected to the base of the rotary-wing unmanned aerial vehicle through a rope, and the mounting platform is driven to do lifting and lowering movement by the rotation of the winch; the pneumatic telescopic rod is used to support the mounting platform and limit the circumferential rotation of the mounting platform; the beating rake device is used to contact and separate the black olive fruit from the fruit branch by simulating mechanical striking, so as to make the fruit fall. With such a configuration, a lightweight black olive fruit picking device with a simple structure and light weight can be obtained, which is convenient for agricultural unmanned aerial vehicles to load and use. It is easy to realize automated harvesting and is suitable for picking fruits in mountainous areas, high and low plants, and fruits like black olives. It has wide applicability to agricultural harvesting operations, and also opens up ideas for agricultural intelligent harvesting and provides basic hardware equipment for agricultural intelligent harvesting.
[0005] In one of the embodiments, the pneumatic telescopic rod is also used to change the posture of the mounting platform through telescopic movement.
[0006] In one of the embodiments, it also includes a lifting ring, which is used to connect to the base of the rotary-wing UAV, and the winch device is connected to the lifting ring through a rope.
[0007] In one of the embodiments, a camera is also provided on the mounting platform for people to observe or automatically identify black olive fruits.
[0008] In one embodiment, a plurality of cameras are evenly arranged around the mounting platform to facilitate 360-degree observation or automatic and efficient identification of black olive fruits.
[0009] In one embodiment, the pneumatic telescopic rod includes a first pneumatic telescopic rod, a second pneumatic telescopic rod, a third pneumatic telescopic rod and a fourth pneumatic telescopic rod; the first pneumatic telescopic rod is provided with a first air nozzle connected to its pneumatic cavity, the second pneumatic telescopic rod is provided with a second air nozzle connected to its pneumatic cavity, the third pneumatic telescopic rod is provided with a third air nozzle connected to its pneumatic cavity, and the fourth pneumatic telescopic rod is provided with a fourth air nozzle connected to its pneumatic cavity; an air pump is also included, and the air pump is connected to the first air nozzle, the second air nozzle, the third air nozzle and the fourth air nozzle respectively through an air pipe; the air flow passage between the air pump and the first air nozzle is provided with a first electronic Control valve, the first electronic control valve is used to control the connection and disconnection of the first air nozzle with the air pump and / or the outside world, the air flow path between the air pump and the second air nozzle is provided with a second electronic control valve, the second electronic control valve is used to control the connection and disconnection of the second air nozzle with the air pump and / or the outside world, the air flow path between the air pump and the third air nozzle is provided with a third electronic control valve, the third electronic control valve is used to control the connection and disconnection of the third air nozzle with the air pump and / or the outside world, the air flow path between the air pump and the fourth air nozzle is provided with a fourth electronic control valve, the fourth electronic control valve is used to control the connection and disconnection of the fourth air nozzle with the air pump and / or the outside world.
[0010] In one embodiment, the first pneumatic telescopic rod, the second pneumatic telescopic rod, the third pneumatic telescopic rod and the fourth pneumatic telescopic rod have the same specifications.
[0011] In one embodiment, the first pneumatic telescopic rod, the second pneumatic telescopic rod, the third pneumatic telescopic rod and the fourth pneumatic telescopic rod are evenly arranged around the mounting platform.
[0012] In one of the embodiments, a rotating mounting disc seat is further provided at the lower end of the mounting platform; the robotic arm is connected to the mounting platform via the rotating mounting disc seat; the rotating mounting disc seat is provided with a first motor for driving the robotic arm to rotate relative to the mounting platform.
[0013] In one embodiment, the mechanical arm includes a telescopic arm; one end of the telescopic arm is hinged to the mounting platform; and the beating rake device is hinged to the other end of the telescopic arm.
[0014] In one embodiment, the hinges between the telescopic arm and the mounting platform and between the beating rake device and the telescopic arm are rotated by driving two ends of the hinges via a motor.
[0015] In one embodiment, the mechanical arm further includes a connecting arm; the beating rake device is connected to the telescopic arm via the connecting arm, the beating rake device is hinged to the connecting arm, and the connecting arm is hinged to the telescopic arm.
[0016] In one embodiment, the hinges between the connecting arm and the telescopic arm and between the beating rake device and the connecting arm are rotated by driving the motor at both ends of the hinges.
[0017] In one embodiment, the knocking rake device includes a shell, a driving motor, a knocking rake tooth, a first circular arc gear and a first rack arranged in the shell; the shell is provided with a through hole, the through hole is used to pass the knocking rake tooth and provide a rotation space for the knocking rake tooth; the knocking rake tooth is provided with a rotating shaft perpendicular to the axis of the knocking rake tooth, and the knocking rake tooth is rotatably connected to the shell through the rotating shaft; the knocking rake tooth is inserted into one end of the shell and fixedly connected to the first circular arc gear, and the first circular arc gear is meshed with the first rack through gear teeth, so that the translation of the first rack can drive the first circular arc gear to rotate, and then drive the knocking rake tooth to swing to knock the black olive fruit; a first block and a second block are provided on the first rack, and a first cam is provided between the first block and the second block, and the first cam is connected to the driving motor to convert the rotation of the driving motor into the translation of the first rack.
[0018] In one embodiment, the invention further comprises a second circular arc gear and a second rack meshingly connected with the second circular arc gear; the second rack is arranged in parallel with the first rack; a third block and a fourth block are arranged on the second rack, and a second cam is arranged between the third block and the fourth block; the second cam and the first cam are mounted on the same output shaft of the driving motor to convert the rotation of the driving motor into the translation of the second rack. The cam direction of the second cam is arranged opposite to that of the first cam, so that the movement direction of the second rack is always opposite to that of the first rack, thereby forming a shearing motion between the hammering rake teeth connected to the second circular arc gear and the hammering rake teeth connected to the first circular arc gear.
[0019] In one embodiment, a plurality of the first circular arc gears are arranged in sequence along the direction of the first rack; a plurality of the second circular arc gears are arranged in sequence along the direction of the second rack.
[0020] In one embodiment, the first circular arc gear and the second circular arc gear are arranged alternately, and the through holes are opened alternately to correspond to the installation positions of the first circular arc gear and the second circular arc gear respectively, so as to facilitate the installation and movement of the knocking rake teeth.
[0021] In one of the embodiments, the housing is further provided with a slide groove for mounting the first rack and / or the second rack.
[0022] In one embodiment, the first rack and the second rack are slidably connected to the housing, and a limit block is provided on the first rack and the second rack; the limit block is used to limit the rotation of the first rack and / or the second rack.
[0023] In one of the embodiments, the beating rake device further comprises a connecting tube; the connecting tube is fixedly connected to the shell; the connecting tube is hinged to the telescopic arm or the connecting arm.
[0024] In one embodiment, the connecting tube is a hollow structure to facilitate the passage of a power line for supplying power to the driving motor.
[0025] In one embodiment, the housing is protruded above the first cam and the second cam to provide sufficient space for the first cam and the second cam to rotate.
[0026] The lightweight black olive fruit picking device provided above has a simple and lightweight structure, is easy to load and use on agricultural drones, can achieve more efficient black olive picking operations, and reduces the work intensity and work risks of manual picking. In addition, it is applicable to picking fruits in mountainous areas, high and low plants, and similar black olives, and has wide applicability to agricultural harvesting operations. At the same time, it is also convenient to realize intelligent and automated picking, provides basic hardware equipment for agricultural intelligent harvesting, and has pioneering significance for the manufacture of agricultural intelligent machinery.
[0027] Based on the above content, the present application also provides a system of lightweight black olive fruit picking device.
[0028] A system of lightweight black olive fruit picking devices, wherein the lightweight black olive fruit picking device is the lightweight black olive fruit picking device described in any one of the above embodiments; the system includes a data processor, a drive board and a power module connected to the data processor; and also includes a mechanical arm electromechanical component, a first motor, a second motor and a third motor connected to the drive board; the mechanical arm electromechanical component is used to drive the extension and / or folding of the mechanical arm; the first motor is used to drive the mechanical arm to rotate relative to the mounting platform; the second motor is used to drive the winch device; the third motor is used to drive the beating rake device; the power module is also directly connected to the drive board to directly provide electrical energy to the drive board.
[0029] In one embodiment, the system also includes an air pump connected to the drive board, and a first electronic control valve, a second electronic control valve, a third electronic control valve and a fourth electronic control valve connected to the data processor; the air pump, the first electronic control valve and the first pneumatic telescopic rod are connected through a gas flow path; the air pump, the second electronic control valve and the second pneumatic telescopic rod are connected through a gas flow path; the air pump, the third electronic control valve and the third pneumatic telescopic rod are connected through a gas flow path; the air pump, the fourth electronic control valve and the fourth pneumatic telescopic rod are connected through a gas flow path.
[0030] In one embodiment, the system further includes a camera and a communication device connected to the data processor; the camera is used to capture environmental images, and the communication device is used to exchange data with the drone.
[0031] The above-mentioned lightweight black olive fruit picking device system provides a hardware system foundation for the intelligent application of lightweight black olive fruit picking devices carried by agricultural drones, thereby facilitating the realization of automated harvesting by agricultural drones, and has pioneering significance for the manufacture of intelligent machinery on agricultural drones. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] Figure 1 It is a schematic diagram of the expanded structure of a lightweight black olive fruit picking device in one or more embodiments;
[0033] Figure 2 A schematic diagram of the structure above the installation platform of the lightweight black olive fruit picking device in one or more embodiments;
[0034] Figure 3 A schematic diagram of the structure of a lightweight black olive fruit picking device in a folded state in one or more embodiments;
[0035] Figure 4 It is a schematic diagram of a partial cross-sectional structure of a beating and rake device of a lightweight black olive fruit picking device in one or more embodiments;
[0036] Figure 5 It is an enlarged structural schematic diagram of part A of the beating and rake device of the lightweight black olive fruit picking device in one or more embodiments;
[0037] Figure 6 It is a schematic diagram of the horizontal cross-section structure of a beating and rake device of a lightweight black olive fruit picking device in one or more embodiments;
[0038] Figure 7 It is a schematic diagram of the system structure of a lightweight black olive fruit picking device in one or more embodiments.
[0039] 100. Installation platform; 110. Camera; 210. First pneumatic telescopic rod; 211. First air nozzle; 220. Second pneumatic telescopic rod; 221. Second air nozzle; 230. Third pneumatic telescopic rod; 231. Third air nozzle; 240. Fourth pneumatic telescopic rod; 241. Fourth air nozzle; 250. Movable bearing seat; 300. Rotating mounting plate seat; 400. Mechanical arm; 410. Telescopic arm; 420. Connecting arm; 500. Beating rake device; 510. Shell; 511. Through hole; 520. Beating rake teeth; 521. Rotating shaft; 531. First arc gear; 532. Second arc gear; 541. First rack; 542. First Two racks; 543. Limit block; 551. First block; 552. Second block; 553. Third block; 554. Fourth block; 561. First cam; 562. Second cam; 570. Connecting tube; 571. Rib; 580. Drive motor; 600. Winch device; 610. Lifting ring; 700. Air pump; 10. Data processor; 20. Drive board; 30. Power module; 40. Communication device; 51. First motor; 52. Second motor; 53. Third motor; 60. Mechanical arm electromechanical assembly; 71. First electronic control valve; 72. Second electronic control valve; 73. Third electronic control valve; 74. Fourth electronic control valve. DETAILED DESCRIPTION
[0040] In this patent document, the following discussion Figure 1-7 The various embodiments used to describe the principles or methods of the present disclosure are for illustration only and should not be interpreted as limiting the scope of the present disclosure in any way. With reference to the accompanying drawings, preferred embodiments of the present disclosure will be described below. In the following description, detailed descriptions of well-known functions or configurations will be omitted so as not to confuse the subject matter of the present disclosure with unnecessary details. Moreover, the terms used herein will be defined according to the functions of the utility model. Therefore, the terms may vary depending on the intention or usage of the user or operator. Therefore, the terms used herein must be understood based on the descriptions made herein.
[0041] A lightweight black olive fruit picking device, such as Figure 1As shown, it includes a mounting platform 100, a plurality of pneumatic telescopic rods hinged to the mounting platform 100 at one end, a winch device 600 arranged at the upper end of the mounting platform 100, a beating rake device 500 arranged at the lower end of the mounting platform 100, and a plurality of movable bearing seats 250. The beating rake device 500 is connected to the mounting platform 100 through a mechanical arm 400. The movable bearing seat 250 is hinged to the other end of the pneumatic telescopic rod. The movable bearing seat 250 is used to connect the landing gear of the rotary-wing UAV to the outside. The winch device 600 is connected to the base of the rotary-wing UAV through a rope, and the mounting platform 100 is driven to do lifting and lowering movement by the rotation of the winch. The pneumatic telescopic rod is used to support the mounting platform 100 and limit the circumferential rotation of the mounting platform 100. The beating rake device 500 is used to contact and separate the black olive fruit from the fruit branch by simulating mechanical striking, so that the fruit falls. With such a configuration, a lightweight black olive fruit picking device with a simple structure and light weight can be obtained, which is convenient for agricultural UAVs to load and use. It is easy to realize automated harvesting and is suitable for picking fruits in mountainous areas, high and low plants, and fruits like black olives. It has wide applicability to agricultural harvesting operations, and also opens up ideas for agricultural intelligent harvesting and provides basic hardware equipment for agricultural intelligent harvesting.
[0042] In one embodiment, if Figure 1 Figure 2 As shown, the pneumatic telescopic rod is also used to change the posture of the mounting platform 100 through telescopic movement.
[0043] In one embodiment, if Figure 1 Figure 3 As shown, it also includes a lifting ring 610, which is used to connect to the base of the rotary-wing UAV, and the winch device 600 is connected to the lifting ring 610 through a rope.
[0044] In one embodiment, if Figure 1 Figure 3 As shown, a camera 110 is also provided on the mounting platform 100 for people to observe or automatically identify black olive fruits.
[0045] In one embodiment, if Figure 1 Figure 3 As shown, a number of cameras 110 are evenly arranged around the mounting platform 100 to facilitate 360-degree observation or automatic and efficient identification of black olive fruits.
[0046] In one embodiment, if Figure 1 Figure 3As shown, the pneumatic telescopic rod includes a first pneumatic telescopic rod 210, a second pneumatic telescopic rod 220, a third pneumatic telescopic rod 230 and a fourth pneumatic telescopic rod 240. The first pneumatic telescopic rod 210 is provided with a first air nozzle 211 connected to its pneumatic cavity, the second pneumatic telescopic rod 220 is provided with a second air nozzle 221 connected to its pneumatic cavity, the third pneumatic telescopic rod 230 is provided with a third air nozzle 231 connected to its pneumatic cavity, and the fourth pneumatic telescopic rod 240 is provided with a fourth air nozzle 241 connected to its pneumatic cavity. An air pump 700 is also included, and the air pump 700 is connected to the first air nozzle 211, the second air nozzle 221, the third air nozzle 231 and the fourth air nozzle 241 through air pipes. The air flow passage between the air pump 700 and the first air nozzle 211 is provided with a first electronic control valve 71, and the first electronic control valve 71 is used to control the connection and disconnection between the first air nozzle 211 and the air pump 700 and / or the outside world. The air flow passage between the air pump 700 and the second air nozzle 221 is provided with a second electronic control valve 72, and the second electronic control valve 72 is used to control the connection and disconnection between the second air nozzle 221 and the air pump 700 and / or the outside world. The air flow passage between the air pump 700 and the third air nozzle 231 is provided with a third electronic control valve 73, and the third electronic control valve 73 is used to control the connection and disconnection between the third air nozzle 231 and the air pump 700 and / or the outside world. The air flow passage between the air pump 700 and the fourth air nozzle 241 is provided with a fourth electronic control valve 74, and the fourth electronic control valve 74 is used to control the connection and disconnection between the fourth air nozzle 241 and the air pump 700 and / or the outside world.
[0047] In one embodiment, if Figure 1 Figure 3 As shown, the first pneumatic telescopic rod 210 , the second pneumatic telescopic rod 220 , the third pneumatic telescopic rod 230 and the fourth pneumatic telescopic rod 240 have the same specifications.
[0048] In one embodiment, if Figure 1 Figure 3 As shown, the first pneumatic telescopic rod 210 , the second pneumatic telescopic rod 220 , the third pneumatic telescopic rod 230 and the fourth pneumatic telescopic rod 240 are evenly arranged around the installation platform 100 .
[0049] In one embodiment, if Figure 1 Figure 3 As shown, a rotating mounting base 300 is also provided at the lower end of the mounting platform 100. The mechanical arm 400 is connected to the mounting platform 100 via the rotating mounting base 300. The rotating mounting base 300 is provided with a first motor 51 for driving the mechanical arm 400 to rotate relative to the mounting platform 100.
[0050] In one embodiment, if Figure 1 Figure 3As shown, the mechanical arm 400 includes a telescopic arm 410. One end of the telescopic arm 410 is hinged to the mounting platform 100. The beating rake device 500 is hinged to the other end of the telescopic arm 410.
[0051] In one embodiment, if Figure 1 Figure 3 As shown, the hinges between the telescopic arm 410 and the mounting platform 100 and between the beating rake device 500 and the telescopic arm 410 are driven by a motor to rotate at both ends of the hinge.
[0052] In one embodiment, if Figure 1 Figure 3 As shown, the mechanical arm 400 further includes a connecting arm 420. The beating rake device 500 is connected to the telescopic arm 410 via the connecting arm 420. The beating rake device 500 is hinged to the connecting arm 420, and the connecting arm 420 is hinged to the telescopic arm 410.
[0053] In one embodiment, if Figure 1 Figure 3 As shown, the hinges between the connecting arm 420 and the telescopic arm 410 and between the beating rake device 500 and the connecting arm 420 are driven by a motor to rotate at both ends of the hinge.
[0054] In one embodiment, if Figure 4 Figure 5 As shown, the knocking rake device 500 includes a housing 510, a driving motor 580, a knocking rake tooth 520, a first circular arc gear 531 and a first rack 541 arranged in the housing 510. The housing 510 is provided with a through hole 511, and the through hole 511 is used to pass through the knocking rake tooth 520 and provide a rotation space for the knocking rake tooth 520. The knocking rake tooth 520 is provided with a rotating shaft 521 perpendicular to the axis of the knocking rake tooth 520, and the knocking rake tooth 520 is rotatably connected to the housing 510 through the rotating shaft 521. One end of the knocking rake tooth 520 inserted into the housing 510 is fixedly connected to the first circular arc gear 531, and the first circular arc gear 531 is meshed with the first rack 541 through gear teeth, so that the translation of the first rack 541 can drive the first circular arc gear 531 to rotate, thereby driving the knocking rake tooth 520 to swing to knock the black olive fruit. The first rack 541 is provided with a first stopper 551 and a second stopper 552 . A first cam 561 is provided between the first stopper 551 and the second stopper 552 . The first cam 561 is connected to the driving motor 580 to convert the rotation of the driving motor 580 into the translation of the first rack 541 .
[0055] In one embodiment, if Figure 4 Figure 5As shown, the second rack 542 is also included, and the second rack 542 meshingly connected with the second rack 541 is provided. The second rack 542 is arranged in parallel with the first rack 541. The third block 553 and the fourth block 554 are arranged on the second rack 542, and the second cam 562 is arranged between the third block 553 and the fourth block 554. The second cam 562 and the first cam 561 are installed on the same output shaft of the driving motor 580 to convert the rotation of the driving motor 580 into the translation of the second rack 542. The cam directions of the second cam 562 and the first cam 561 are arranged oppositely, so that the movement direction of the second rack 542 is always opposite to the movement direction of the first rack 541, thereby forming a shearing motion between the knocking rake teeth 520 connected to the second circular arc gear 532 and the knocking rake teeth 520 connected to the first circular arc gear 531.
[0056] In one embodiment, if Figure 6 As shown, a plurality of first circular arc gears 531 are sequentially arranged along the direction of the first rack 541 , and a plurality of second circular arc gears 532 are sequentially arranged along the direction of the second rack 542 .
[0057] In one embodiment, if Figure 4 Figure 5 Figure 6 As shown, the first circular arc gear 531 and the second circular arc gear 532 are arranged alternately, and the through holes 511 are opened alternately to correspond to the installation positions of the first circular arc gear 531 and the second circular arc gear 532 respectively, so as to facilitate the installation and movement of the knocking rake teeth 520.
[0058] In one embodiment, the housing 510 is further provided with a slide groove (not shown in the figure) for mounting the first rack 541 and / or the second rack 542 .
[0059] In one embodiment, the first rack 541 and the second rack 542 are slidably connected to the housing 510, and a limit block 543 is provided on the first rack 541 and the second rack 542. The limit block 543 is used to limit the rotation of the first rack 541 and / or the second rack 542.
[0060] In one embodiment, if Figure 4 Figure 5 As shown, the beating rake device 500 further includes a connecting tube 570. The connecting tube 570 is fixedly connected to the housing 510. The connecting tube 570 is hinged to the telescopic arm 410 or the connecting arm 420.
[0061] In one embodiment, the connecting cylinder 570 is a hollow structure to facilitate the passage of a power line for supplying power to the driving motor 580 .
[0062] In one embodiment, if Figure 5As shown, the housing 510 is located above the first cam 561 and the second cam 562 and protrudes to provide sufficient space for the first cam 561 and the second cam 562 to rotate.
[0063] In one embodiment, if Figure 4 As shown, a rib plate 571 for enhancing connection rigidity is further provided between the connection cylinder 570 and the housing.
[0064] The lightweight black olive fruit picking device provided above has a simple and lightweight structure, is easy to load and use on agricultural drones, can achieve more efficient black olive picking operations, and reduces the work intensity and work risks of manual picking. In addition, it is applicable to picking fruits in mountainous areas, high and low plants, and similar black olives, and has wide applicability to agricultural harvesting operations. At the same time, it is also convenient to realize intelligent and automated picking, provides basic hardware equipment for agricultural intelligent harvesting, and has pioneering significance for the manufacture of agricultural intelligent machinery.
[0065] Based on the above content, the present application also provides a system of lightweight black olive fruit picking device.
[0066] A system for a lightweight black olive fruit picking device, such as Figure 7 As shown, the lightweight black olive fruit picking device is the lightweight black olive fruit picking device in any of the above-mentioned embodiments. The system includes a data processor 10, a drive board 20 and a power module 30 connected to the data processor 10. It also includes a mechanical arm electromechanical assembly 60, a first motor 51, a second motor 52 and a third motor 53 connected to the drive board 20. The mechanical arm electromechanical assembly 60 is used to drive the mechanical arm 400 to extend and / or fold. The first motor 51 is used to drive the mechanical arm 400 to rotate relative to the mounting platform 100. The second motor 52 is used to drive the winch device 600. The third motor 53 is used to drive the beating rake device 500. The power module 30 is also directly connected to the drive board 20 to directly provide electrical energy to the drive board 20. In this embodiment, the third motor 53 is the drive motor 580 in the aforementioned embodiment.
[0067] In one embodiment, if Figure 7 As shown, the system also includes an air pump 700 connected to the drive board 20, and a first electronic control valve 71, a second electronic control valve 72, a third electronic control valve 73 and a fourth electronic control valve 74 connected to the data processor 10. The air pump 700, the first electronic control valve 71 and the first pneumatic telescopic rod 210 are connected through a gas flow path. The air pump 700, the second electronic control valve 72 and the second pneumatic telescopic rod 220 are connected through a gas flow path. The air pump 700, the third electronic control valve 73 and the third pneumatic telescopic rod 230 are connected through a gas flow path. The air pump 700, the fourth electronic control valve 74 and the fourth pneumatic telescopic rod 240 are connected through a gas flow path.
[0068] In one embodiment, if Figure 7 As shown, the system further includes a camera 110 and a communication device 40 connected to the data processor 10. The camera 110 is used to collect environmental images, and the communication device 40 is used to exchange data with the drone.
[0069] The above-mentioned lightweight black olive fruit picking device system provides a hardware system foundation for the intelligent application of lightweight black olive fruit picking devices carried by agricultural drones, thereby facilitating the realization of automated harvesting by agricultural drones, and has pioneering significance for the manufacture of intelligent machinery on agricultural drones.
[0070] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.
Claims
1. A lightweight black olive fruit picking device, characterized in that: It includes a mounting platform, a plurality of pneumatic telescopic rods hinged to the mounting platform at one end, a winch device arranged at the upper end of the mounting platform, a beating rake device arranged at the lower end of the mounting platform, and a plurality of movable bearing seats; The beating rake device is connected to the mounting platform via a mechanical arm; The movable bearing seat is hinged to the other end of the pneumatic telescopic rod; The movable bearing seat is used to externally connect to the landing gear of the rotary-wing UAV; The winch device is connected to the base of the rotary-wing UAV through a rope, and the winch rotates to drive the installation platform to perform lifting motion; The pneumatic telescopic rod is used to support the mounting platform and limit the circumferential rotation of the mounting platform; The knocking rake device is used to contact and separate the black olive fruits from the fruit branches by simulating mechanical knocking, so as to cause the fruits to fall.
2. The lightweight black olive fruit picking device according to claim 1, characterized in that: The pneumatic telescopic rod comprises a first pneumatic telescopic rod, a second pneumatic telescopic rod, a third pneumatic telescopic rod and a fourth pneumatic telescopic rod; The first pneumatic telescopic rod is provided with a first air nozzle connected to its pneumatic cavity, the second pneumatic telescopic rod is provided with a second air nozzle connected to its pneumatic cavity, the third pneumatic telescopic rod is provided with a third air nozzle connected to its pneumatic cavity, and the fourth pneumatic telescopic rod is provided with a fourth air nozzle connected to its pneumatic cavity; It also includes an air pump, which is connected to the first air nozzle, the second air nozzle, the third air nozzle and the fourth air nozzle through air pipes respectively; The air flow passage between the air pump and the first air nozzle is provided with a first electronic control valve, and the first electronic control valve is used to control the connection and disconnection of the first air nozzle with the air pump and / or the outside world. The air flow passage between the air pump and the second air nozzle is provided with a second electronic control valve, and the second electronic control valve is used to control the connection and disconnection of the second air nozzle with the air pump and / or the outside world. The air flow passage between the air pump and the third air nozzle is provided with a third electronic control valve, and the third electronic control valve is used to control the connection and disconnection of the third air nozzle with the air pump and / or the outside world. The air flow passage between the air pump and the fourth air nozzle is provided with a fourth electronic control valve, and the fourth electronic control valve is used to control the connection and disconnection of the fourth air nozzle with the air pump and / or the outside world.
3. The lightweight black olive fruit picking device according to claim 1, characterized in that: A rotating mounting disc seat is also provided at the lower end of the mounting platform; The mechanical arm is connected to the mounting platform via the rotating mounting plate seat; The rotating mounting plate seat is provided with a first motor for driving the mechanical arm to rotate relative to the mounting platform.
4. The lightweight black olive fruit picking device according to claim 1 or 3, characterized in that: The mechanical arm comprises a telescopic arm; One end of the telescopic arm is hinged to the mounting platform; The beating rake device is hinged to the other end of the telescopic arm.
5. The lightweight black olive fruit picking device according to claim 4, characterized in that: The mechanical arm also includes a connecting arm; The beating rake device is connected to the telescopic arm through the connecting arm, the beating rake device is hinged to the connecting arm, and the connecting arm is hinged to the telescopic arm.
6. The lightweight black olive fruit picking device according to claim 1, characterized in that: The knocking rake device comprises a housing, a driving motor, knocking rake teeth, a first circular arc gear and a first rack arranged in the housing; The shell is provided with a through hole, the through hole is used to pass the knocking rake teeth and provide a rotation space for the knocking rake teeth; The knocking rake teeth are provided with a rotating shaft perpendicular to the axis of the knocking rake teeth, and the knocking rake teeth are rotatably connected to the housing through the rotating shaft; One end of the knocking rake teeth inserted into the housing is fixedly connected to the first arc-shaped gear, and the first arc-shaped gear is meshed with the first rack through gear teeth, so that the translation of the first rack can drive the first arc-shaped gear to rotate, thereby driving the knocking rake teeth to swing to knock the black olive fruits; The first rack is provided with a first stopper and a second stopper, a first cam is provided between the first stopper and the second stopper, and the first cam is connected to the driving motor to convert the rotation of the driving motor into the translation of the first rack.
7. The lightweight black olive fruit picking device according to claim 6, characterized in that: It also includes a second circular arc gear and a second rack meshingly connected with the second circular arc gear; The second rack is arranged parallel to the first rack; The second rack is provided with a third stopper and a fourth stopper, and a second cam is provided between the third stopper and the fourth stopper; The second cam and the first cam are mounted on the same output shaft of the driving motor to convert the rotation of the driving motor into the translation of the second rack; The second cam is arranged in opposite directions to the first cam, so that the movement direction of the second rack is always opposite to the movement direction of the first rack, thereby forming a shearing movement between the knocking rake teeth connected to the second circular arc gear and the knocking rake teeth connected to the first circular arc gear.
8. A system of lightweight black olive fruit picking device, characterized in that: The lightweight black olive fruit picking device comprises the lightweight black olive fruit picking device according to any one of claims 1 to 7; The system includes a data processor, a driving board and a power module connected to the data processor; Also included are a mechanical arm electromechanical assembly, a first motor, a second motor and a third motor connected to the drive board; The mechanical arm electromechanical assembly is used to drive the mechanical arm to extend and / or fold; The first motor is used to drive the mechanical arm to rotate relative to the mounting platform; The second motor is used to drive the winch device; The third motor is used to drive the beating rake device; The power module is also directly connected to the driving board to directly provide electrical energy to the driving board.
9. The system of the lightweight black olive fruit picking device according to claim 8, characterized in that: The system further comprises an air pump connected to the driving board, and a first electronic control valve, a second electronic control valve, a third electronic control valve and a fourth electronic control valve connected to the data processor; The air pump, the first electronic control valve and the first pneumatic telescopic rod are connected through a gas flow path; The air pump, the second electronic control valve and the second pneumatic telescopic rod are connected through a gas flow path; The air pump, the third electronic control valve and the third pneumatic telescopic rod are connected through a gas flow path; The air pump, the fourth electronic control valve and the fourth pneumatic telescopic rod are connected through a gas flow path.
10. The system of the lightweight black olive fruit picking device according to claim 8 or 9, characterized in that: The system also includes a camera and a communication device connected to the data processor; The camera is used to collect environmental images, and the communication device is used to exchange data with the drone.