Anti-falling fruit picking device
By designing an anti-fall fruit picking device, using components such as mechanical arms, clamping arms, cylinders, limit shells and rotating plates, the problems of falling and rupture during grapefruit picking in the prior art are solved, and efficient and safe picking of grapefruits of different sizes is achieved.
Patent Information
- Application Number
- CN202421452171.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-24
- Publication Date
- 2025-03-28
- Estimated Expiration
- 2034-06-24
AI Technical Summary
The existing grapefruit picking device lacks the anti-fall function, which causes grapefruit fruits that are less than the clamping range of the robot to fall easily during the picking process, and the internal shaking of the robot may cause the fruit to break.
A fruit picking device for anti-falling is designed, using components such as mechanical arms, clamping arms, cylinders, limit shells and rotating plates. Through the coordination of the adjustment mechanism and the anti-falling mechanism, the clamping arms and grapefruits of different sizes are synchronized. The elastic springs and oblique guide surface design ensure that the grapefruits are not easily dropped during the picking process.
It effectively prevents the grapefruit from falling and breaking during the picking process, adapts to the picking needs of different sizes of grapefruits, and improves the picking efficiency and safety.
Smart Images
Figure CN222675008U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a fruit picking device for preventing falling fruits, belonging to the field of grapefruit picking. Background Art
[0002] Grapefruit is one of the favorite fruits of people. Grapefruit is generally picked by hand. For relatively high fruit trees, people usually climb ladders to pick them or use a picker with an extension pole and scissors. The ladder method of picking is generally inefficient and unsafe.
[0003] In the prior art, the fruit is mostly clamped by a robot, and the grapefruit stem is cut off by a shearing mechanism to separate the grapefruit from the branch. However, the robot does not have an anti-falling function, and grapefruit fruits are of different sizes. Therefore, when picking grapefruit fruits that are smaller than the clamping range of the robot, at the moment when the grapefruit stem is cut off, the grapefruit fruit will shake in the space formed inside the robot, and it is easy to fall from the space gap formed inside the robot, which is not conducive to use and cannot adapt to grapefruit fruits of various sizes. In addition, the grapefruit fruit is easy to break due to collision when shaking inside the robot. Utility Model Content
[0004] In view of the deficiencies in the prior art, the utility model aims to provide a fruit picking device that prevents falling.
[0005] In order to achieve the above purpose, the utility model is implemented through the following technical solutions:
[0006] A fruit picking device for preventing falling fruit comprises a mounting seat, a mechanical arm is provided on the top of the mounting seat, a connecting shaft is installed on the output end of the mechanical arm, a plurality of mounting blocks are provided at the end of the connecting shaft, a movable arm is movably connected to the mounting block, a clamping arm is movably connected to the end of the movable arm, a cutting mechanism is fixed to one end of the clamping arm, a movable cavity is provided inside the connecting shaft, a cylinder is fixed on the side of the movable cavity away from the mounting block, an adjusting mechanism is connected to the output end of the cylinder, a plurality of pushing rods are provided on the outer surface of the adjusting mechanism, the other end of the pushing rod passes through the outer side of the connecting shaft and is connected to the end of the clamping arm, and an anti-falling mechanism cooperating with the adjusting mechanism is provided at the end of the connecting shaft.
[0007] Furthermore, the cutting mechanism includes a accommodating shell fixed at the end of the clamping arm, a sliding plate is slidably connected to the inside of the accommodating shell, a plurality of cutting blades are fixed to an outer surface of one side of the sliding plate, an electric push rod is fixed to the outer surface of the accommodating shell, and an output end of the electric push rod passes through the inside of the accommodating shell and is connected and fixed to the other end of the sliding plate.
[0008] Furthermore, the cutting blades on a plurality of the cutting mechanisms are vertically staggered.
[0009] Further, the adjustment mechanism includes a first-level limiting shell fixed on the top of the active cavity, a limiting plate 2 is fixed on the bottom of the first-level limiting shell, the limiting plate 2 is slidably connected in the second-level limiting shell, and a return spring 2 matching with the limiting plate 2 is provided at the bottom of the second-level limiting shell, a limiting plate 1 is fixed on the bottom of the second-level limiting shell, the limiting plate 1 is slidably connected in the third-level limiting shell, and a return spring 1 matching with the limiting plate 1 is provided at the bottom of the third-level limiting shell.
[0010] Furthermore, a movable opening 1 penetrating into the movable cavity is provided on one side of the outer surface of the connecting shaft, and the push rod passes through the movable opening 1 into the movable cavity and is connected to the outer surface of the three-stage limiting shell.
[0011] Furthermore, the anti-fall mechanism includes a second movable opening opened on the outer surface of the connecting shaft, a support shaft is provided in the second movable opening, a rotating plate is rotatably connected to the support shaft, one end of the rotating plate is squeezed together with the outer surface of the adjusting mechanism, and the other end of the rotating plate passes through the outer side of the connecting shaft and is connected and fixed to the limiting arm.
[0012] Furthermore, a tension spring is provided between the rotating plate and the top inner wall of the second movable opening.
[0013] Furthermore, the top openings of both the third-stage limiting shell and the second-stage limiting shell are provided with oblique guide surfaces, and the oblique guide surfaces match with the end of the rotating plate.
[0014] Beneficial effects of the utility model:
[0015] Through the design of the adjustment mechanism, the robotic arm moves to the bottom of the pomelo tree, and the robotic arm drives the connecting shaft to adapt to the pomelo, so that the pomelo is located between several clamping arms, and then drives the cylinder according to the size of the pomelo, and the cylinder pushes the three-stage limit shell to move. When the three-stage limit shell moves, it will drive the end of the push rod to move, and the other end of the push rod will push the end of the clamping arm, thereby driving the clamping arm to rotate along the mounting block under the support of the movable arm, thereby realizing the closing of several clamping arms, so that the clamping arm can adapt to grapefruits of different sizes.
[0016] Through the design of the adjustment mechanism and the anti-fall mechanism, when the third-level limit shell moves, the third-level limit shell will push the second-level limit shell to rise through the reset spring 1 and the limit plate 1, and the movement of the second-level limit shell will move on the first-level limit shell, so that the rise of the second-level limit shell and the third-level limit shell will be achieved under the guidance of the third-level limit shell. The end of the rotating plate switches and contacts between the first-level limit shell, the second-level limit shell and the third-level limit shell, so as to limit the activity range of the rotating plate, and then adjust the opening amplitude of the rotating plate, so as to achieve the purpose of adjusting the activity range of several limit arms, so that the opening range of the limit arm is adapted to the opening range of the clamping arm, so as to realize the synchronous adjustment of the clamping arm and the limit arm with grapefruits of different sizes.
[0017] Through the design of the elastic spring, the contact between the first-level limit shell, the second-level limit shell and the third-level limit shell and the rotating plate can be switched, and the limit arm always clamps the grapefruit fruit inward, and the first-level limit shell, the second-level limit shell and the third-level limit shell only play the role of limiting the activity range of the rotating plate, so that the maximum interaction range will not cause the grapefruit fruit to fall off. At the same time, with such a setting, when the fruit shakes inside the manipulator, the limit arm can have an elastic buffer space, which is convenient for buffering the impact force of the grapefruit and avoiding damage to the grapefruit.
[0018] By designing the oblique guide surface, when the third-level limiting shell and the second-level limiting shell move vertically, it is convenient for the end of the rotating plate to switch contact among the first-level limiting shell, the second-level limiting shell and the third-level limiting shell.
[0019] Through the design of the cutting mechanism, when the clamping arm and the limit arm are adjusted, the electric push rod pushes the sliding plate to move, and the sliding plate pushes the cutting blade to move, so that the cutting blade cuts the grapefruit root stalk, and the cutting positions of the three groups of cutting blades are staggered with each other to ensure the cutting action of the grapefruit root stalk. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0021] Figure 1 The three-dimensional structure diagram of a device for picking fruits to prevent falling is shown in the following figure. Figure 1 ;
[0022] Figure 2 The three-dimensional structure diagram of a device for picking fruits to prevent falling is shown in the following figure. Figure 2 ;
[0023] Figure 3 This is a partial structural diagram of a fruit picking device to prevent falling fruit in the utility model. Figure 1 ;
[0024] Figure 4 This is a partial structural diagram of a fruit picking device to prevent falling fruit in the utility model. Figure 2 ;
[0025] Figure 5 This is a schematic diagram of the partial internal structure of the active cavity of a fruit picking device to prevent falling fruit in the utility model. Figure 1 ;
[0026] Figure 6 This is a schematic diagram of the partial internal structure of the active cavity of a fruit picking device to prevent falling fruit in the utility model. Figure 2 ;
[0027] Figure 7 The utility model is a schematic diagram of the cutting mechanism structure of a fruit picking device to prevent falling.
[0028] In the figure, 1. mounting seat; 2. mechanical arm; 3. connecting shaft; 4. mounting block; 5. movable arm; 6. clamping arm; 7. movable chamber; 8. cylinder; 9. three-stage limiting shell; 10. pushing rod; 11. movable opening one; 12. reset spring one; 13. limiting plate one; 14. two-stage limiting shell; 15. reset spring two; 16. limiting plate two; 17. one-stage limiting shell; 18. movable opening two; 19. supporting shaft; 20. rotating plate; 21. limiting arm; 22. containing shell; 23. sliding plate; 24. cutting blade; 25. electric push rod; 26. tension spring. DETAILED DESCRIPTION
[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0030] See also Figure 1-Figure 7 The utility model provides a technical solution for a fruit picking device to prevent falling. Through the design of the cutting mechanism, when the clamping arm 6 and the limiting arm 21 are adjusted, the electric push rod 25 pushes the sliding plate 23 to move, and the sliding plate 23 pushes the cutting blade 24 to move, so that the cutting blade 24 cuts the grapefruit root stalk, and the cutting positions of the three groups of cutting blades 24 are staggered to ensure the cutting action of the grapefruit root stalk.
[0031] See also Figure 7The cutting mechanism includes a housing shell 22 fixed to the end of the clamping arm 6, a sliding plate 23 is slidably connected inside the housing shell 22, a plurality of cutting blades 24 are fixed to the outer surface of one side of the sliding plate 23, an electric push rod 25 is fixed to the outer surface of the housing shell 22, the output end of the electric push rod 25 passes through the inside of the housing shell 22 and is connected and fixed to the other end of the sliding plate 23, and the cutting blades 24 on the plurality of cutting mechanisms are staggered vertically; through the design of the cutting mechanism, when the clamping arm 6 and the limiting arm 21 are adjusted, at this time, the electric push rod 25 pushes the sliding plate 23 to move, and the sliding plate 23 pushes the cutting blades 24 to move, so that the cutting blades 24 cut the grapefruit root stalk, and the cutting positions of the three groups of cutting blades 24 are staggered with each other, ensuring the cutting action of the grapefruit root stalk.
[0032] See also Figure 3-Figure 6 The adjusting mechanism includes a primary limiting shell 17 fixed to the top of the active cavity 7, a limiting plate 16 is fixed to the bottom of the primary limiting shell 17, the limiting plate 16 is slidably connected to the secondary limiting shell 14, and a return spring 15 matching the limiting plate 16 is provided at the bottom of the secondary limiting shell 14. A limiting plate 13 is fixed to the bottom of the secondary limiting shell 14, and the limiting plate 13 is slidably connected to the tertiary limiting shell 9. A return spring 12 matching the limiting plate 13 is provided at the bottom of the tertiary limiting shell 9. A movable opening 11 that penetrates into the interior of the active cavity 7 is opened on one side of the outer surface of the connecting shaft 3, and the pushing rod 1 0 passes through the movable opening 11 to the inside of the movable cavity 7 and is connected to the outer surface of the three-stage limiting shell 9; through the design of the adjustment mechanism, the mechanical arm 2 moves to the bottom of the pomelo tree, and the mechanical arm 2 drives the connecting shaft 3 to adapt to the pomelo, so that the pomelo is located between the plurality of clamping arms 6, and then drives the cylinder 8 according to the size of the pomelo, and the cylinder 8 pushes the three-stage limiting shell 9 to move, and when the three-stage limiting shell 9 moves, it will drive the end of the push rod 10 to move, and the other end of the push rod 10 will push the end of the clamping arm 6, thereby driving the clamping arm 6 to rotate along the mounting block 4 under the support of the movable arm 5, so as to realize the closing of the plurality of clamping arms 6, so that the clamping arm 6 can adapt to pomeloes of different sizes.
[0033] See also Figure 3-Figure 6The anti-fall mechanism includes a movable opening 2 18 opened on the outer surface of the connecting shaft 3, a support shaft 19 is arranged in the movable opening 2 18, a rotating plate 20 is rotatably connected to the support shaft 19, one end of the rotating plate 20 is squeezed together with the outer surface of the adjusting mechanism, and the other end of the rotating plate 20 passes through the outer side of the connecting shaft 3 and is connected and fixed to the limiting arm 21, and a tension spring 26 is arranged between the rotating plate 20 and the top inner wall of the movable opening 2 18; through the design of the adjusting mechanism and the anti-fall mechanism, when the three-stage limiting shell 9 moves, the three-stage limiting shell 9 will be pushed by the reset spring 12 and the limiting plate 13 The secondary limiting shell 14 rises, and the movement of the secondary limiting shell 14 will move on the primary limiting shell 17, so that the rising of the secondary limiting shell 14 and the tertiary limiting shell 9 will realize the switching contact between the end of the rotating plate 20 among the primary limiting shell 17, the secondary limiting shell 14 and the tertiary limiting shell 9 under the guidance of the tertiary limiting shell 9, so as to limit the activity range of the rotating plate 20, and then adjust the opening amplitude of the rotating plate 20, so as to achieve the purpose of adjusting the activity range of several limiting arms 21, so that the opening range of the limiting arm 21 is adapted to the opening range of the clamping arm 6, so as to realize the synchronous adjustment of the clamping arm 6 and the limiting arm 21 with grapefruits of different sizes.
[0034] See also Figure 5-Figure 6 The top openings of both the third-level limiting shell 9 and the second-level limiting shell 14 are provided with oblique guide surfaces, and the oblique guide surfaces cooperate with the end of the rotating plate 20; through the design of the oblique guide surfaces, when the third-level limiting shell 9 and the second-level limiting shell 14 move vertically, it is convenient for the end of the rotating plate 20 to switch contact between the first-level limiting shell 17, the second-level limiting shell 14 and the third-level limiting shell 9.
[0035] When in use, the mounting base 1 is mounted on a moving mechanism or a moving carrier, and the moving mechanism or the moving carrier drives the mechanical arm 2 to move under the grapefruit tree, and the mechanical arm 2 drives the connecting shaft 3 to adapt to the grapefruit, so that the grapefruit is located between a plurality of clamping arms 6, and then according to the size of the grapefruit, the cylinder 8 is driven, and the cylinder 8 pushes the three-stage limiting shell 9 to move, and when the three-stage limiting shell 9 moves, it drives the end of the push rod 10 to move, and the other end of the push rod 10 pushes the end of the clamping arm 6, thereby driving the clamping arm 6 to rotate along the mounting block 4 under the support of the movable arm 5, so as to realize the closing of a plurality of clamping arms 6, so that the clamping arm 6 is adapted to grapefruits of different sizes;
[0036] When the third-level limiting shell 9 moves, the third-level limiting shell 9 will push the second-level limiting shell 14 to rise through the return spring 12 and the limiting plate 13, and the movement of the second-level limiting shell 14 will move on the first-level limiting shell 17, so that the rise of the second-level limiting shell 14 and the third-level limiting shell 9 will be achieved under the guidance of the third-level limiting shell 9. The end of the rotating plate 20 switches and contacts between the first-level limiting shell 17, the second-level limiting shell 14 and the third-level limiting shell 9, so as to limit the activity range of the rotating plate 20, and then adjust the opening amplitude of the rotating plate 20, so as to achieve the purpose of adjusting the activity range of several limiting arms 21, so that the opening range of the limiting arm 21 is adapted to the opening range of the clamping arm 6, so as to achieve the synchronous adjustment of the clamping arm 6 and the limiting arm 21 with grapefruits of different sizes;
[0037] When the clamping arm 6 and the limiting arm 21 are adjusted, the electric push rod 25 pushes the sliding plate 23 to move, and the sliding plate 23 pushes the cutting blade 24 to move, so that the cutting blade 24 cuts the grapefruit root, and the cutting positions of the three groups of cutting blades 24 are staggered to ensure the cutting action of the grapefruit root.
[0038] Although this specification is described according to implementation modes, not every implementation mode includes only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.
Claims
1. A fruit picking device to prevent falling fruit, characterized in that: The invention comprises a mounting seat (1), a mechanical arm (2) is provided on the top of the mounting seat (1), a connecting shaft (3) is installed on the output end of the mechanical arm (2), a plurality of mounting blocks (4) are provided at the end of the connecting shaft (3), a movable arm (5) is movably connected to the mounting block (4), a clamping arm (6) is movably connected to the end of the movable arm (5), a cutting mechanism is fixed to one end of the clamping arm (6), a movable chamber (7) is provided inside the connecting shaft (3), a cylinder (8) is fixed inside the movable chamber (7) on the side away from the mounting block (4), an adjustment mechanism is connected to the output end of the cylinder (8), a plurality of push rods (10) are provided on the outer surface of the adjustment mechanism, the other end of the push rod (10) passes through the outer side of the connecting shaft (3) and is connected to the end of the clamping arm (6), and an anti-fall mechanism cooperating with the adjustment mechanism is provided at the end of the connecting shaft (3).
2. The device for picking fruits to prevent falling according to claim 1, characterized in that: The cutting mechanism comprises a housing (22) fixed at the end of the clamping arm (6), a sliding plate (23) is slidably connected inside the housing (22), a plurality of cutting blades (24) are fixed on the outer surface of one side of the sliding plate (23), an electric push rod (25) is fixed on the outer surface of the housing (22), and the output end of the electric push rod (25) passes through the interior of the housing (22) and is connected and fixed to the other end of the sliding plate (23).
3. The device for picking fruits to prevent falling according to claim 2, characterized in that: The cutting blades (24) on a plurality of the cutting mechanisms are arranged in a staggered manner vertically.
4. The device for picking fruits to prevent falling according to claim 1, characterized in that: The regulating mechanism comprises a first-stage limiting shell (17) fixed to the top of the movable cavity (7); a second limiting plate (16) is fixed to the bottom of the first-stage limiting shell (17); the second limiting plate (16) is slidably connected to the second-stage limiting shell (14); a second return spring (15) matching with the second limiting plate (16) is provided at the bottom of the second-stage limiting shell (14); a first limiting plate (13) is fixed to the bottom of the second-stage limiting shell (14); the first limiting plate (13) is slidably connected to the third-stage limiting shell (9); a first return spring (12) matching with the first limiting plate (13) is provided at the bottom of the third-stage limiting shell (9).
5. The device for picking fruits to prevent falling according to claim 4, characterized in that: One side of the outer surface of the connecting shaft (3) is provided with a movable opening (11) penetrating into the interior of the movable cavity (7); the push rod (10) passes through the movable opening (11) into the interior of the movable cavity (7) and is connected to the outer surface of the third-level limiting shell (9).
6. The device for picking fruits to prevent falling according to claim 5, characterized in that: The anti-fall mechanism comprises a movable opening (18) provided on the outer surface of the connecting shaft (3), a support shaft (19) being provided in the movable opening (18), a rotating plate (20) being rotatably connected to the support shaft (19), one end of the rotating plate (20) being pressed together with the outer surface of the adjusting mechanism, and the other end of the rotating plate (20) passing through the outer side of the connecting shaft (3) and being connected and fixed to a limiting arm (21).
7. The device for picking fruits to prevent falling according to claim 6, characterized in that: A tension spring (26) is provided between the rotating plate (20) and the top inner wall of the second movable opening (18).
8. The device for picking fruits to prevent falling according to claim 7, characterized in that: The top openings of both the third-level limiting shell (9) and the second-level limiting shell (14) are provided with oblique guide surfaces, and the oblique guide surfaces match the end of the rotating plate (20).