Auxiliary picking equipment for bunch-type fruits

Abstract

The utility model provides an auxiliary picking device for bunch-type fruits, which relates to the field of fruit picking, and comprises a driving box (10), a picking mechanism, a lifting mechanism and a collecting frame (40). The picking mechanism comprises a picking shear (21), a connecting rod (22) and a sliding frame (23). The lifting mechanism comprises a first rotating shaft (31), a first bevel gear (32), a lifting rod (33) and a connecting assembly. The collecting frame (40) is correspondingly arranged at the lower side of the picking shear (21), and the collecting frame (40) is fixedly connected to the bottom end of the lifting rod (33) through a connecting block (41). The auxiliary picking device can firstly avoid the problem of falling and loss of bunch-type fruits during the picking process; secondly, it can avoid the problem of scattering of bunch-type fruits after picking due to vibration of a mechanical arm, thereby ensuring the integrity of the fruit bunch.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit picking, in particular to auxiliary picking equipment for bunch-type fruits. Background Art

[0002] Fruits such as lychee, longan, and loquat are collectively referred to as bunch fruits because they bear fruit in bunches on tree branches, that is, a mother branch contains multiple fruits in bunches. Chinese patent document CN217160478U discloses an intelligent system for picking bunch fruits, which is provided with a clamping piece, a pull ring, and a spring. Through the above design, the device has a protective mechanism, which can clamp the fruit before cutting it to prevent the fruit from falling to the ground and breaking at the moment of cutting, thereby improving the protection of the device; at the same time, the intelligent system for picking bunch fruits is provided with a cutting disc and a cutting knife. Through the above design, the device has a cutting mechanism, which can realize the cutting operation of the bunch fruits, thereby realizing the picking operation. However, after the bunches of fruits are picked, the robotic arm needs to transport the picked bunches of fruits to a collection device for recycling. During this process, since the bunches of fruits in the picking system are only clamped on the mother branches, the fruit bunches corresponding to the mother branches are easily affected by environmental factors such as surrounding branches or wind during transportation, causing the robotic arm to oscillate during the recycling process. The vibration of the robotic arm causes the fruit bunches clamped thereon to disperse or fall off, which firstly affects the overall aesthetics of the fruit bunches, thereby affecting the transportation and sales of the bunches of fruits. Secondly, it reduces the overall yield of the bunches of fruits (the fallen bunches of fruits fall to the ground and are easily damaged) and reduces the planting benefits. Utility Model Content

[0003] In view of the problems existing in the above-mentioned prior art, the purpose of the utility model is to provide an auxiliary picking device for bunch fruits. The auxiliary picking device can, firstly, avoid the problem of bunch fruits falling during the picking process and avoid damage to the fruits; secondly, it can avoid the problem of bunch fruits scattering due to vibration of the mechanical arm after picking and ensure the integrity of the bunch fruits.

[0004] The purpose of the utility model is achieved through the following technical solutions:

[0005] An auxiliary picking device for bunch-type fruits comprises a driving box, a picking mechanism, a lifting mechanism and a collecting frame. The picking mechanism comprises a picking shear, a connecting rod and a sliding frame. The picking shear is arranged on the outer wall of one side of the driving box. The two ends of the picking shear close to the driving box respectively penetrate the corresponding side walls of the driving box and are rotatably arranged with a connecting rod. The sliding frame is slidably arranged in the inner cavity of the driving box and the side surface of the sliding frame close to the picking shear is rotatably connected to the two connecting rods through the same rotating rod; the lifting mechanism comprises a first rotating shaft, a first bevel gear, a lifting rod and a connecting assembly. The first rotating shaft is rotatably arranged in the driving box and is located on the side of the sliding frame away from the picking shear. The outer wall of the first rotating shaft is fixedly sleeved with the first bevel gear. There are two lifting rods and they are respectively slidably arranged on the front and rear inner walls of the driving box. The lifting rods are respectively connected to the first bevel gears through the connecting assembly; the collecting frame is correspondingly arranged on the lower side of the picking shear and the collecting frame is fixedly connected to the bottom end of the lifting rod through a connecting block.

[0006] Based on further optimization of the above scheme, two positioning plates are arranged parallel to the outer wall of the driving box on one side of the picking shears and the picking shears are located between the two positioning plates; the two positioning plates are connected by a rotating driving shaft at one end away from the driving box and the two blades of the picking shears are respectively rotatably sleeved on the outer wall of the driving shaft, thereby realizing the rotational shearing of the two blades of the picking shears.

[0007] Based on further optimization of the above scheme, the sliding frame realizes sliding in the driving box by setting a lifting block on the top surface. Specifically, lifting blocks are fixedly set at both ends of the top surface of the sliding frame and a horizontal sliding groove is opened on the top surface of the inner cavity of the driving box corresponding to the lifting block, and the end of the lifting block away from the sliding frame is stuck in the corresponding horizontal sliding groove and slidably connected.

[0008] Based on further optimization of the above scheme, the sliding frame is controlled to slide by a driving mechanism, and the driving mechanism includes a second rotating shaft, a first gear, a second gear and an incomplete gear. The second rotating shaft is rotatably arranged in the driving box and the second rotating shaft is arranged parallel to the first rotating shaft; the second rotating shaft corresponds to the outer wall of the sliding frame fixedly sleeved with the first gear, the outer wall of the second rotating shaft located at the lower side of the sliding frame is fixedly sleeved with the second gear, a horizontal rack is arranged on the inner wall of one side of the sliding frame and the horizontal rack is meshed with the first gear; the first rotating shaft corresponds to the second gear and is fixedly sleeved with the incomplete gear and the tooth segment of the incomplete gear can mesh with the second gear, and the incomplete gear is located on the upper side of the first bevel gear.

[0009] Based on further optimization of the above scheme, the connecting assembly includes a gear rod, a second bevel gear and a third gear. The gear rod is rotatably arranged on the inner walls of the front and rear ends of the drive box respectively and the gear rod is symmetrically arranged about the first rotating shaft. The third gear and the second bevel gear are arranged on the outer wall of the gear rod in sequence from the inner wall of the drive box to the first rotating shaft; a vertical rack is arranged on the side wall of the lifting rod close to the first rotating shaft and the vertical rack is meshed with the corresponding third gear, and the two second bevel gears are meshed with the first bevel gear respectively; at the same time, in order to ensure that the two third gears rotate in the same direction, one third gear is fixedly sleeved on the outer wall of the corresponding gear rod, and the other third gear is arranged on the outer wall of the gear rod through a planetary gear reverse assembly.

[0010] Based on further optimization of the above solution, the top end of the lifting rod passes through the top surface of the driving box and the top ends of the two lifting rods are connected by a limit rod, thereby preventing the lifting rod from moving downward and separating from the driving box, and realizing hard limiting of the lifting rod downward.

[0011] Based on further optimization of the above solution, the collection frame is a funnel-shaped structure with a large upper opening and a small lower closing.

[0012] The following are the technical effects of the utility model:

[0013] The present application drives the lifting rod upward by rotating the first rotating shaft, utilizing the first bevel gear and the connecting assembly, and then drives the collection frame upward; on the premise of determining the picking point and moving the picking shears to the picking point, the upward movement of the collection frame can effectively wrap the fruit bunch of the corresponding mother branch, thereby preventing the fruit bunch from falling after picking; thereafter, the mother branch of the bunch-type fruit is sheared by sliding the sliding frame and driving the picking shears through the connecting rod, so that the mother branch and its corresponding fruit bunch fall into the collection frame, and the picking is completed. After the picking is completed, the collection frame is moved to the corresponding collection position by moving the driving box. During this process, since the fruit bunch is always located in the collection frame, it will not be affected by the vibration interference caused by the movement of the mechanical arm or the interference of the surrounding branches, which will cause the fruit bunch to scatter. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the auxiliary picking device in the embodiment of the utility model.

[0015] Figure 2 for Figure 1 AA section view.

[0016] Figure 3 for Figure 1 BB section view.

[0017] Figure 4 This is a schematic diagram of an auxiliary picking device in another embodiment of the utility model.

[0018] Among them, 10, drive box; 11, second rotating shaft; 12, first gear; 13, second gear; 14, incomplete gear; 15, mounting seat; 21, picking shears; 211, drive shaft; 212, positioning plate; 22, connecting rod; 23, sliding frame; 31, first rotating shaft; 32, first bevel gear; 33, lifting rod; 330, limit rod; 341, gear rod; 342, second bevel gear; 343, third gear; 40, collection frame; 41, connecting block. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0020] Embodiment 1:

[0021] An auxiliary picking device for bunch-type fruits, such as Figure 1 As shown, it includes a drive box 10, a picking mechanism, a lifting mechanism and a collection frame 40. The drive box 10 is arranged at the end of the picking robot arm (that is, the end of the picking robot arm away from the walking trolley). The picking robot arm adopts any one of the three-axis, four-axis, five-axis or six-axis robots commonly used in the market (not specifically limited in this embodiment).

[0022] The picking mechanism includes a picking shear 21, a connecting rod 22 and a sliding frame 23. The picking shear 21 is arranged on the outer wall of one side of the driving box 10. Specifically, two positioning plates 212 are arranged in parallel on the outer wall of the driving box 10 on one side of the picking shear 21, and the picking shear 21 is located between the two positioning plates 212; the two positioning plates 212 are connected at one end away from the driving box 10 through a rotating driving shaft 211 (that is, the upper and lower ends of the driving shaft 211 are respectively rotatably connected to the two positioning plates 212), and the two blades of the picking shear 21 are respectively rotatably sleeved on the outer wall of the driving shaft 211 (similar to a scissors structure, such as Figure 2 As shown in FIG. 1 ), the two blades of the picking shears 21 are rotated to cut. The two ends of the picking shears 21 near the driving box 10 (i.e., the two ends of the two blades) respectively penetrate the corresponding side walls of the driving box 10 and are rotatably provided with a connecting rod 22, and the sliding frame 23 is slidably provided in the inner cavity of the driving box 10 (see FIG. 1 ). Figure 2 As shown, the sliding frame 23 is a rectangular frame), specifically: hanging blocks (such as Figure 1As shown in the figure, a horizontal slide groove is provided on the top surface of the inner cavity of the driving box 10 corresponding to the lifting block, and the end of the lifting block away from the sliding frame 23 is stuck in the corresponding horizontal slide groove and is slidably connected; and the side surface of the sliding frame 23 close to the picking shears 21 is rotatably connected with the two connecting rods 22 through the same rotating rod (specifically: the rotating rod is fixedly arranged in the middle part of the side surface of the sliding frame 23 close to the picking shears 21, and the two connecting rods 22 are staggered up and down; that is, one end of one connecting rod 22 is rotatably connected to the upper end surface of a blade of the picking shears 21, and the other end is rotatably connected to the corresponding outer wall of the rotating rod; one end of the other connecting rod 22 is rotatably connected to the lower end surface of another blade of the picking shears 21, and the other end is rotatably connected to the corresponding outer wall of the rotating rod).

[0023] The lifting mechanism includes a first rotating shaft 31, a first bevel gear 32, a lifting rod 33 and a connecting assembly. The first rotating shaft 31 is rotatably arranged in the driving box 10 and is located on the side of the sliding frame 23 away from the picking shears 21 (see Figure 1 and Figure 2 As shown), at the same time, the first rotating shaft 31 is controlled to rotate by a motor arranged outside the collecting box 10; the outer wall of the first rotating shaft 31 is fixedly sleeved with the first bevel gear 32 (as shown Figure 1 As shown, the first bevel gear 32 is located at the lower side of the sliding frame 23), and there are two lifting rods 33 which are slidably arranged on the front and rear inner walls of the driving box 10 (i.e. Figure 1 The front and rear ends shown or Figure 2 The lifting rod 33 is connected to the first bevel gear through a connecting assembly; the connecting assembly includes a gear rod 341, a second bevel gear 342 and a third gear 343, and the gear rod 341 is rotatably arranged on the front and rear end inner walls of the driving box 10 and the gear rod 341 is symmetrically arranged about the first rotating shaft 31 (see Figure 2 or Figure 3 As shown, the outer wall of the gear rod 341 is provided with a third gear 343 and a second bevel gear 342 in sequence from the inner wall of the driving box 10 to the first rotating shaft 31; a vertical rack is provided on the side wall of the lifting rod 33 close to the first rotating shaft 31, and the vertical rack is meshed with the corresponding third gear 343 (as shown Figure 2 As shown in FIG. 1 ), the two second bevel gears 342 are respectively meshed with the first bevel gear 32 (as shown in FIG. Figure 3 At the same time, in order to ensure that the two third gears 343 rotate in the same direction (that is, the lifting rod 33 is driven to rise or fall at the same time to avoid interference), as shown in FIG. Figure 3 As shown: a third gear 343 (i.e. Figure 3 The third gear 343 on the right side is fixedly sleeved on the outer wall of the corresponding gear rod 341, and the other third gear 343 (i.e. Figure 3 The third gear 343 on the left side is arranged on the outer wall of the gear rod 341 (see Figure 3As shown: a through hole is opened in the middle of the third gear 343 on the left and an inner gear ring is arranged on the inner wall of the through hole. The third gear 343 is located on the left side wall of the outer ring of the through hole and realizes free rotation in the drive box 10 by arranging a rotating block. The outer wall of the gear rod 341 on the left is fixedly sleeved with an intermediate gear and a planetary gear is arranged between the intermediate gear and the inner gear ring. The planetary gears are evenly distributed around the axis of the gear rod 341, generally 2 or three, and the planetary gears are respectively meshed with the intermediate gear and the inner gear ring).

[0024] The sliding frame 23 is controlled to slide by a driving mechanism, and the driving mechanism includes a second rotating shaft 11, a first gear 12, a second gear 13 and an incomplete gear 14. The second rotating shaft 11 is rotatably arranged in the driving box 10 and the second rotating shaft 11 is arranged parallel to the first rotating shaft 31 (refer to Figure 1 As shown); the second rotating shaft 11 corresponds to the outer wall of the sliding frame 23 and is fixedly sleeved with the first gear 12, the outer wall of the second rotating shaft 11 located at the lower side of the sliding frame 23 is fixedly sleeved with the second gear 13, and a horizontal rack is arranged on the inner wall of one side of the sliding frame 23 and the horizontal rack is meshed with the first gear 12 (as shown Figure 2 The first rotating shaft 31 corresponds to the second gear 12 and is fixedly sleeved with the incomplete gear 14, and the tooth segment of the incomplete gear 14 can mesh with the second gear 12. The incomplete gear 14 is located on the upper side of the first bevel gear 32 (combined with Figure 1 and Figure 2 As shown in the figure, the tooth segment of the incomplete gear 14 is less than 1 / 4 of its circumference. At the same time, the outer diameter of the second gear 13 is greater than the outer diameter of the first gear 12 and the outer diameter of the second gear 13 is not greater than the outer diameter of the incomplete gear 14. The outer diameter of the incomplete gear 14 is less than the outer diameter of the first bevel gear 32 and greater than the outer diameter of the second bevel gear 342. The outer diameter of the third gear 343 is much greater than the outer diameter of the second bevel gear 342.

[0025] A collecting frame 40 is correspondingly arranged at the lower side of the picking shears 21 and the collecting frame 40 is fixedly connected to the bottom end of the lifting rod 33 through a connecting block 41 (such as Figure 1 As shown, the bottom ends of the two lifting rods 33 respectively penetrate the bottom surface of the driving box 10 and are fixedly connected to a connecting block 41, and the connecting block 41 is fixedly provided with a collecting frame 40 on the side of the side close to the picking shears 21). The top ends of the lifting rods 33 penetrate the top surface of the driving box 10 and the top ends of the two lifting rods 33 are connected by a limiting rod 330, thereby preventing the lifting rods 33 from moving downward and separating from the driving box 10, and realizing the hard limit of the lifting rods 33 moving downward. The collecting frame 40 is a funnel-shaped structure with a large upper opening and a small lower closing (refer to Figure 1 as shown).

[0026] Working principle:

[0027] When in use, first locate the picking point of the bunch-type fruit (using conventional methods in the art to locate, the picking point is the mother branch of the fruit bunch), and move the picking device to the picking point through the picking mechanical arm (specifically: the picking shears 21 correspond to the picking point). After that, start the first rotating shaft 31 to rotate, and the first rotating shaft 31 drives the incomplete gear 14 and the first bevel gear 32 to rotate: at this time, the smooth section of the incomplete gear 14 corresponds to the second gear 13, so the second gear 13 and the corresponding picking mechanism do not operate; the first bevel gear 32 drives the third gear 343 to rotate through the second bevel gear 342, and then drives the lifting rod 33 to rise, so that the collection frame 40 rises and covers the fruit bunch below the picking point. As the first rotating shaft 31 continues to rotate, the tooth segment of the incomplete gear 14 meshes with the second gear 13 and drives the first gear 12 to rotate, and then pulls the picking shears 21 through the rectangular frame 23 and the connecting rod 22 to cut the picking point. During this process, the picking frame 40 continues to move up and collect the fruit bunches, thereby preventing the fruit bunches from falling during the cutting process. Finally, the picking mechanical arm moves the collection frame 40 to the collection position, and after unloading the fruit bunches, all mechanisms are reset for the next picking.

[0028] Embodiment 2:

[0029] As a further optimization of the solution of the utility model, based on the solution of Example 1, Figure 4 As shown, a mounting seat 15 is fixedly provided at the middle of the side of the collecting box 10 away from the picking shears 21, and is used for detachable connection with the end of the picking robot arm.

[0030] Embodiment 3:

[0031] As a further optimization of the solution of the utility model, on the basis of the solution of Example 1 or Example 2, a collection bag can be detachably provided in the collection frame 40, so that packaging and collection can be performed in real time during the picking process, thus saving collection time.

Claims

1. An auxiliary picking device for bunch-shaped fruits, characterized in that: It includes a driving box, a picking mechanism, a lifting mechanism and a collecting frame. The picking mechanism includes a picking shear, a connecting rod and a sliding frame. The picking shear is arranged on the outer wall of one side of the driving box. The two ends of the picking shear close to the driving box respectively penetrate the corresponding side walls of the driving box and are rotatably arranged with a connecting rod. The sliding frame is slidably arranged in the inner cavity of the driving box and the side surface of the sliding frame close to the picking shear is rotatably connected with the two connecting rods through the same rotating rod; the lifting mechanism includes a first rotating shaft, a first bevel gear, a lifting rod and a connecting assembly. The first rotating shaft is rotatably arranged in the driving box and is located on the side of the sliding frame away from the picking shear. The outer wall of the first rotating shaft is fixedly sleeved with the first bevel gear. There are two lifting rods and they are respectively slidably arranged on the front and rear inner walls of the driving box. The lifting rods are respectively connected to the first bevel gears through connecting assemblies; a collecting frame is correspondingly arranged on the lower side of the picking shear and the collecting frame is fixedly connected to the bottom end of the lifting rod through a connecting block.

2. The auxiliary picking device for bunch-shaped fruits according to claim 1, characterized in that: The outer wall of the driving box on one side of the picking shears is parallelly provided with two positioning plates, and the picking shears are located between the two positioning plates; the two positioning plates are connected by a rotating driving shaft at one end away from the driving box, and the two blades of the picking shears are respectively rotatably sleeved on the outer wall of the driving shaft.

3. The auxiliary picking device for bunch-shaped fruits according to claim 1, characterized in that: The sliding frame realizes sliding in the driving box by setting a lifting block on the top surface. Specifically, lifting blocks are fixedly set at both ends of the top surface of the sliding frame and horizontal sliding grooves are opened on the top surface of the inner cavity of the driving box corresponding to the lifting blocks. The end of the lifting block away from the sliding frame is stuck in the corresponding horizontal sliding groove and is slidably connected.

4. The auxiliary picking device for bunch-shaped fruits according to claim 1, characterized in that: The sliding frame is controlled to slide by a driving mechanism, and the driving mechanism includes a second rotating shaft, a first gear, a second gear and an incomplete gear. The second rotating shaft is rotatably arranged in the driving box and the second rotating shaft is arranged parallel to the first rotating shaft; the second rotating shaft corresponds to the outer wall of the sliding frame fixedly sleeved with the first gear, the outer wall of the second rotating shaft located at the lower side of the sliding frame is fixedly sleeved with the second gear, a horizontal rack is arranged on the inner wall of one side of the sliding frame, and the horizontal rack is meshed with the first gear; the first rotating shaft corresponds to the second gear and is fixedly sleeved with the incomplete gear, and the tooth segment of the incomplete gear can mesh with the second gear, and the incomplete gear is located on the upper side of the first bevel gear.

5. The auxiliary picking device for bunch-shaped fruits according to claim 4, characterized in that: The connecting assembly includes a gear rod, a second bevel gear and a third gear. The gear rod is rotatably arranged on the inner walls of the front and rear ends of the driving box respectively and is symmetrically arranged about the first rotating shaft. The third gear and the second bevel gear are arranged on the outer wall of the gear rod in sequence from the inner wall of the driving box to the first rotating shaft; a vertical rack is arranged on the side wall of the lifting rod close to the first rotating shaft and the vertical rack is meshed with the corresponding third gear, and the two second bevel gears are meshed with the first bevel gear respectively; a third gear is fixedly sleeved on the outer wall of the corresponding gear rod, and another third gear is arranged on the outer wall of the gear rod through a planetary gear reverse assembly.

6. The auxiliary picking device for bunch-shaped fruits according to claim 1, characterized in that: The top end of the lifting rod passes through the top surface of the driving box and the top ends of the two lifting rods are connected by a limiting rod.

7. The auxiliary picking device for bunch-shaped fruits according to claim 1, characterized in that: The collecting frame is a funnel-shaped structure with a large upper opening and a small lower closing.

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