Multifunctional fruit picking robot

Abstract

The utility model relates to the technical field of fruit picking, and discloses a multifunctional fruit picking robot which comprises a trolley, hydraulic cylinders, a lifting frame, a swing frame, a machine shell, a clamping mechanism, an angle adjusting mechanism and a storage box, the two hydraulic cylinders are fixed to the trolley, the output ends of the hydraulic cylinders are fixed to the lifting frame, and the swing frame is installed on the lifting frame. A transmission shaft is fixed to the lower end of the swing frame and rotationally connected with the lifting frame, a machine shell is fixed to the top of the swing frame, and a clamping mechanism is installed on the machine shell. The clamping mechanism comprises a first motor, a two-way screw, a first thread, a second thread, a first threaded sleeve, a second threaded sleeve, a limiting rod, a supporting plate, a clamping plate, an anti-skid pad, a spring, a guide rod, a pressure sensor and a limiting sleeve, and an angle adjusting mechanism used for driving the transmission shaft to rotate is installed on the lifting frame. The fruit picker is convenient for picking fruits with different sizes; the picking force is convenient to control, and fruits are prevented from being damaged by clamping.

Description

Technical Field

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

[0002] With the development of technology, people gradually use robots to pick fruits quickly. Chinese patent CN108811768B discloses a fruit picking robot, which is composed of a robot arm body, a robot gripper assembly and a joint mechanism. The robot arm body is composed of a rotating upper arm, a rotating lower arm, a rotating lower arm and a wrist pitch rod. The rotating upper arm is rotationally connected to the rotating lower arm, the rotating lower arm is rotationally connected to the rotating lower arm, the wrist pitch rod is rotationally connected to the rotating lower arm, the robot gripper assembly is fixedly connected to the upper end of the wrist pitch rod, and the joint mechanism includes a first joint assembly, a second joint assembly and a third joint assembly. The first joint assembly is fixedly connected between the rotating upper arm and the rotating lower arm, which is conducive to the rotation control of the rotating upper arm and the rotating lower arm, the second joint assembly is fixedly connected between the rotating lower arm and the rotating lower arm, which is conducive to the rotation control of the rotating lower arm and the rotating lower arm, and the third joint assembly is fixedly connected between the rotating lower arm and the wrist pitch rod, which is conducive to the rotation control of the wrist pitch rod and the rotating lower arm. This embedded matching mode of the joint mechanism can prevent the motor from being hung on branches, which is conducive to the smooth completion of fruit picking.

[0003] The above patent uses a clamp to pick the fruit when in use, but due to the difference in size of different fruits, the above patent cannot accurately control the pressure exerted by the clamp on the fruit when in use, resulting in the fruit being easily damaged. Therefore, in view of the above situation, there is an urgent need to develop a multifunctional fruit picking robot that is convenient for picking fruits of different sizes, easy to control the picking force, and prevents the fruit from being damaged, so as to overcome the shortcomings in current practical applications and meet current needs. Utility Model Content

[0004] The utility model aims to provide a multifunctional fruit picking robot, which is convenient for picking fruits of different sizes and convenient for controlling the picking force to prevent the fruits from being damaged by being clamped.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A multifunctional fruit picking robot comprises a trolley, a hydraulic cylinder, a lifting frame, a swing frame, a casing, a clamping mechanism, an angle adjustment mechanism and a storage box. Two hydraulic cylinders are fixed on the trolley, and the output ends of the hydraulic cylinders are fixed to the lifting frame. The lifting frame is equipped with a swing frame. A transmission shaft is fixed to the lower end of the swing frame, and the transmission shaft is rotatably connected to the lifting frame. A casing is fixed to the top of the swing frame, and a clamping mechanism is installed on the casing. The clamping mechanism comprises: a first motor, a bidirectional screw, a first thread, a second thread, a first thread sleeve, a second thread sleeve, a limit rod, a support plate, a clamping plate, an anti-slip pad, a spring, a guide rod, a pressure sensor and a limit sleeve. The first motor is fixed to the casing, and the bidirectional screw is rotatably connected to the casing. The output shaft of the first motor is connected to the bidirectional screw. The left half of the bidirectional screw is provided with a first thread, and the outer side of the first thread is provided with a The first and second threaded sleeves are matched with each other, and the right half of the bidirectional screw is provided with a second thread, and the outer side of the second thread is equipped with a second threaded sleeve that matches with it, and the lower sides of the first threaded sleeve and the second threaded sleeve are fixed with a limit rod inserted into the casing, and the rotation directions of the first thread and the second thread are opposite, and the upper sides of the first threaded sleeve and the second threaded sleeve are fixed with a support plate, each of the front sides of the support plates is equipped with a clamping plate, and each of the clamping plates is equipped with an anti-slip pad, and the clamping plate is elastically connected to the support plate through a spring, and a guide rod is fixed to the rear side of each of the clamping plates, and each of the support plates is fixed with a limit sleeve, and each of the guide rods passes through a limit sleeve, and the guide rod is slidably connected with the limit sleeve, and a pressure sensor is installed on the support plate, and the pressure sensor is facing a guide rod, and an angle adjustment mechanism for driving the transmission shaft to rotate is installed on the lifting frame.

[0007] Preferably, the limiting rod is slidably connected to the casing, and a limiting sliding groove for movement of the limiting rod is provided on the casing.

[0008] Preferably: the angle adjustment mechanism includes: a second motor, a first gear and a second gear, the second motor is fixed on the lifting frame, the first gear is installed on the output shaft of the second motor, a second gear meshing with the first gear is installed on one side of the first gear, and the second gear is installed on the transmission shaft.

[0009] Preferably: a storage box is installed on the upper trolley at the front side of the lifting frame.

[0010] Preferably: a control panel and a power module are installed on the trolley.

[0011] The beneficial effects of the utility model are as follows: when the multifunctional fruit picking robot is in use, the lifting frame, the swing frame, the casing, and the clamping mechanism are driven up and down by the hydraulic cylinder, so as to adjust the height of the clamping mechanism, the transmission shaft and the swing frame are driven to rotate by the angle adjustment mechanism, the casing and the clamping mechanism are driven to rotate by the swing frame, and then the angle of the clamping mechanism is adjusted, so that the fruit enters between the two clamping plates, and then the bidirectional screw is driven to rotate by the first motor, the first threaded sleeve and the second threaded sleeve are driven to move toward each other by the rotation of the bidirectional screw, the two support plates are driven to move toward each other by the first threaded sleeve and the second threaded sleeve, the two clamping plates are driven to move toward each other by the two support plates, the fruit is gradually clamped by the clamping plates, and the fruit is clamped by the clamping plates During the process, the clamping plate and the anti-skid pad are blocked by the fruit after being attached to the fruit, causing the clamping plate to move backward, and the guide rod is driven backward by the clamping plate, so that the guide rod is gradually pressed onto the pressure sensor. Due to the relationship between the action force and the reaction force, the pressure on the fruit is transmitted to the pressure sensor. When the pressure on the pressure sensor reaches the set value, it means that the fruit has been clamped. At this time, the first motor stops automatically to prevent the fruit from being damaged by clamping. Then, the swing frame, the casing, and the clamping mechanism are driven to rotate downward by the angle adjustment mechanism to pick the fruit from the fruit tree. Then, the swing frame, the casing, and the clamping mechanism continue to rotate downward to move the clamping mechanism to the storage box. The clamping mechanism then releases the fruit and makes it fall into the storage box. In summary, the utility model is convenient for picking fruits of different sizes and convenient for controlling the picking force to prevent the fruit from being damaged by clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 The three-dimensional structure of the utility model is shown in FIG. Figure 1 .

[0013] Figure 2 The three-dimensional structure of the utility model is shown in FIG. Figure 2 .

[0014] Figure 3 It is a partial structure diagram of the utility model Figure 1 .

[0015] Figure 4 It is a partial structure diagram of the utility model Figure 2 .

[0016] Legend:

[0017] 1. Trolley; 2. Hydraulic cylinder; 3. Lifting frame; 4. Swinging frame; 401. Transmission shaft; 5. Casing; 501. Limiting slide; 6. Clamping mechanism; 601. First motor; 602. Bidirectional screw; 603. First thread; 604. Second thread; 605. First thread sleeve; 606. Second thread sleeve; 607. Limiting rod; 608. Support plate; 609. Clamping plate; 610. Anti-slip pad; 611. Spring; 612. Guide rod; 613. Pressure sensor; 614. Limiting sleeve; 7. Angle adjustment mechanism; 701. Second motor; 702. First gear; 703. Second gear; 8. Storage box; 9. Control panel; 10. Power module. DETAILED DESCRIPTION

[0018] 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 of 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.

[0019] Specific examples are given below.

[0020] See also Figure 1 to Figure 4In the embodiment of the utility model, a multifunctional fruit picking robot includes a trolley 1, a hydraulic cylinder 2, a lifting frame 3, a swing frame 4, a casing 5, a clamping mechanism 6, an angle adjustment mechanism 7 and a storage box 8. Two hydraulic cylinders 2 are fixed on the trolley 1, the output end of the hydraulic cylinder 2 is fixed to the lifting frame 3, the lifting frame 3 is equipped with a swing frame 4, the lower end of the swing frame 4 is fixed with a transmission shaft 401, the transmission shaft 401 is rotatably connected to the lifting frame 3, the top of the swing frame 4 is fixed with a casing 5, and the casing 5 is equipped with a clamping mechanism 6, and the clamping mechanism 6 includes: a first motor 601, a bidirectional screw 602, a first thread 603, a second thread 604, a first thread sleeve 605, a second thread sleeve 606, a limit rod 607, a support plate 608, and a clamping plate 609. 09, anti-slip pad 610, spring 611, guide rod 612, pressure sensor 613 and limit sleeve 614, the first motor 601 is fixed on the casing 5, the bidirectional screw 602 is rotatably connected in the casing 5, the output shaft of the first motor 601 is connected to the bidirectional screw 602, the left half of the bidirectional screw 602 is provided with a first thread 603, the outer side of the first thread 603 is equipped with a first thread sleeve 605 matched therewith, the right half of the bidirectional screw 602 is provided with a second thread 604, the outer side of the second thread 604 is equipped with a second thread sleeve 606 matched therewith, the lower sides of the first thread sleeve 605 and the second thread sleeve 606 are both fixed with a limit rod 607 inserted into the casing 5, the limit rod 607 is slidably connected to the casing 5, the casing 5 is provided with a limiting slide groove 501 for the movement of the limiting rod 607, and the movement of the first threaded sleeve 605 and the second threaded sleeve 606 is limited by the limiting rod 607 so that they cannot rotate but can only move in a straight line. The first thread 603 and the second thread 604 have opposite rotation directions, so that when the bidirectional screw 602 rotates, the first threaded sleeve 605 and the second threaded sleeve 606 move in opposite directions. A support plate 608 is fixed on the upper side of the first threaded sleeve 605 and the second threaded sleeve 606, and a clamping plate 609 is installed on the front side of each support plate 608. An anti-slip pad 610 is installed on each clamping plate 609. The clamping plate 609 is elastically connected to the support plate 608 through a spring 611, and the rear side of each clamping plate 609 is fixed There is a guide rod 612, and a limit sleeve 614 is fixed on each support plate 608. Each guide rod 612 passes through a limit sleeve 614. The guide rod 612 is slidably connected with the limit sleeve 614. A pressure sensor 613 is installed on the support plate 608. The pressure sensor 613 is facing a guide rod 612. An angle adjustment mechanism 7 for driving the transmission shaft 401 to rotate is installed on the lifting frame 3. A storage box 8 is installed on the front side of the lifting frame 3 on the upper trolley 1. When in use, the lifting frame 3, the swing frame 4, the casing 5, and the clamping mechanism 6 are driven up and down by the hydraulic cylinder 2 to adjust the height of the clamping mechanism 6. The transmission shaft 401 and the swing frame 4 are driven to rotate through the angle adjustment mechanism 7, and the casing 5 and the clamping mechanism 6 are driven to rotate through the swing frame 4.Then, the angle of the clamping mechanism 6 is adjusted so that the fruit enters between the two clamping plates 609. Then, the bidirectional screw 602 is driven to rotate by the first motor 601, and the first threaded sleeve 605 and the second threaded sleeve 606 are driven to move toward each other by the rotation of the bidirectional screw 602. The two support plates 608 are driven to move toward each other by the first threaded sleeve 605 and the second threaded sleeve 606. The two clamping plates 609 are driven to move toward each other by the two support plates 608, and the fruit is gradually clamped by the clamping plates 609. During the process of clamping the fruit, the clamping plate 609 and the anti-skid pad 610 are blocked by the fruit after being attached to the fruit, so that the clamping plate 609 moves backward, and the guide rod 612 is driven backward by the clamping plate 609, so that the guide rod 612 gradually presses on the pressure sensor 613. Due to the relationship between the action force and the reaction force, the pressure on the fruit is transmitted to the pressure sensor 613. When the pressure on the pressure sensor 613 reaches the set value, it means that the fruit has been clamped. At this time, the first motor 601 automatically stops, thereby preventing the fruit from being damaged by the clamping.

[0021] The angle adjustment mechanism 7 includes: a second motor 701, a first gear 702 and a second gear 703. The second motor 701 is fixed on the lifting frame 3. The first gear 702 is installed on the output shaft of the second motor 701. A second gear 703 meshing with the first gear 702 is installed on one side of the first gear 702. The second gear 703 is installed on the transmission shaft 401. When in use, the first gear 702 and the second gear 703 are driven to rotate by the second motor 701, and the transmission shaft 401 and the swing frame 4 are driven to rotate by the second gear 703.

[0022] A control panel 9 and a power module 10 are installed on the trolley 1 .

[0023] Working principle: When the multifunctional fruit picking robot is in use, the hydraulic cylinder 2 drives the lifting frame 3, the swing frame 4, the casing 5, and the clamping mechanism 6 to move up and down, so as to adjust the height of the clamping mechanism 6, and the transmission shaft 401 and the swing frame 4 are driven to rotate through the angle adjustment mechanism 7, and the casing 5 and the clamping mechanism 6 are driven to rotate through the swing frame 4, and then the angle of the clamping mechanism 6 is adjusted, so that the fruit enters between the two clamping plates 609, and then the bidirectional screw 602 is driven to rotate through the first motor 601, and the first threaded sleeve 605 and the second threaded sleeve 606 are driven to move toward each other through the rotation of the bidirectional screw 602, and the two support plates 608 are driven to move toward each other through the first threaded sleeve 605 and the second threaded sleeve 606, and the two clamping plates 609 are driven to move toward each other through the two support plates 608, and the fruit is gradually clamped by the clamping plates 609, and the fruit is clamped by the clamping plates 609. In the process of clamping the fruit, the clamping plate 609 and the anti-skid pad 610 are blocked by the fruit after being attached to the fruit, so that the clamping plate 609 moves backward, and the guide rod 612 is driven backward by the clamping plate 609, so that the guide rod 612 is gradually pressed onto the pressure sensor 613. Due to the relationship between the action force and the reaction force, the pressure on the fruit is transmitted to the pressure sensor 613. When the pressure on the pressure sensor 613 reaches the set value, it means that the fruit has been clamped. At this time, the first motor 601 stops automatically to prevent the fruit from being damaged by the clamping. Then, the swing frame 4, the housing 5, and the clamping mechanism 6 are driven to rotate downward through the angle adjustment mechanism 7, so that the fruit is picked from the fruit tree. Then, the swing frame 4, the housing 5, and the clamping mechanism 6 continue to rotate downward, so that the clamping mechanism 6 moves to the storage box 8, and the clamping mechanism 6 releases the fruit so that it falls into the storage box 8.

[0024] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. A multifunctional fruit picking robot, characterized in that: The invention comprises a trolley (1), a hydraulic cylinder (2), a lifting frame (3), a swing frame (4), a casing (5), a clamping mechanism (6), an angle adjustment mechanism (7) and a storage box (8), wherein two hydraulic cylinders (2) are fixed on the trolley (1), the output ends of the hydraulic cylinders (2) are fixed to the lifting frame (3), a swing frame (4) is installed on the lifting frame (3), a transmission shaft (401) is fixed at the lower end of the swing frame (4), the transmission shaft (401) is rotatably connected to the lifting frame (3), a casing (5) is fixed on the top of the swing frame (4), a clamping mechanism (6) is installed on the casing (5), and the clamping mechanism (6) comprises: a first motor (601), a bidirectional screw (602 ), a first thread (603), a second thread (604), a first thread sleeve (605), a second thread sleeve (606), a limiting rod (607), a support plate (608), a clamping plate (609), an anti-slip pad (610), a spring (611), a guide rod (612), a pressure sensor (613) and a limiting sleeve (614), wherein the first motor (601) is fixed on the housing (5), the bidirectional screw rod (602) is rotatably connected in the housing (5), the output shaft of the first motor (601) is connected to the bidirectional screw rod (602), the left half of the bidirectional screw rod (602) is provided with a first thread (603), and the outer side of the first thread (603) is provided with a matching thread (603). The first threaded sleeve (605) is provided with a first threaded sleeve (605) which is matched with the housing (5), the right half of the bidirectional screw rod (602) is provided with a second threaded sleeve (604), the outer side of the second threaded sleeve (604) is provided with a second threaded sleeve (606) which matches with the housing (5), the lower sides of the first threaded sleeve (605) and the second threaded sleeve (606) are both fixed with a limit rod (607) which is inserted into the housing (5), the first threaded sleeve (603) and the second threaded sleeve (604) have opposite rotation directions, the upper sides of the first threaded sleeve (605) and the second threaded sleeve (606) are both fixed with a support plate (608), the front side of each support plate (608) is provided with a clamping plate (609), and each clamping plate (609) is provided with a An anti-slip pad (610) is installed, the clamping plate (609) is elastically connected to the support plate (608) through a spring (611), a guide rod (612) is fixed to the rear side of each clamping plate (609), a limit sleeve (614) is fixed on each support plate (608), each guide rod (612) passes through a limit sleeve (614), the guide rod (612) and the limit sleeve (614) are slidably connected, a pressure sensor (613) is installed on the support plate (608), and the pressure sensor (613) is opposite to a guide rod (612), and an angle adjustment mechanism (7) for driving the transmission shaft (401) to rotate is installed on the lifting frame (3).

2. The multifunctional fruit picking robot according to claim 1, characterized in that: The limiting rod (607) is slidably connected to the housing (5), and a limiting sliding groove (501) for moving the limiting rod (607) is provided on the housing (5).

3. The multifunctional fruit picking robot according to claim 1, characterized in that: The angle adjustment mechanism (7) comprises: a second motor (701), a first gear (702) and a second gear (703); the second motor (701) is fixed on the lifting frame (3); the first gear (702) is installed on the output shaft of the second motor (701); a second gear (703) meshing with the first gear (702) is installed on one side of the first gear (702); and the second gear (703) is installed on the transmission shaft (401).

4. The multifunctional fruit picking robot according to claim 1, characterized in that: A storage box (8) is installed on the front side of the lifting frame (3) on the upper trolley (1).

5. The multifunctional fruit picking robot according to claim 1, characterized in that: The trolley (1) is equipped with a control panel (9) and a power module (10).

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