Apple picking machine capable of preventing collision

Abstract

The utility model discloses an apple picking machine for preventing collision, comprising a connecting disk, a picking device and a mounting device, wherein the picking device comprises three clamping assemblies, three driving assemblies and three groups of rubber pads, wherein the three clamping assemblies are respectively movably arranged on one side of the connecting disk, and one side of the three clamping assemblies is provided with a sensor; one end of the three driving assemblies is movably arranged on one side of the connecting disk, and the other end is respectively movably connected to the three driving assemblies; and the three groups of rubber pads are respectively arranged on the inner side of the three clamping assemblies. Thus, by using the sensor to connect with the driving device, the picking machine can accurately sense the contact force and position with the apple, adjust the power output of the driving assembly in real time, ensure that the clamping assembly applies just the right force when picking apples, thereby avoiding any form of damage to the fruit, not only improving the picking efficiency, but also ensuring the quality and integrity of the apples, and bringing higher economic benefits to fruit farmers.

Description

Technical Field

[0001] The utility model relates to the technical field of picking devices, in particular to an apple picking machine capable of preventing collision. Background Art

[0002] In apple picking operations, the performance of the picking claw has a direct impact on the integrity and quality of the fruit. However, the picking claws used in existing apple pickers often face the problem of uneven picking force during the picking process. This uneven force poses a significant challenge to the safe picking of apples.

[0003] When the gripping force of the picking claw is too small, it cannot effectively fix the apple, especially under the effect of the fruit's gravity. This causes the apple to slip in the picking robot or even fall directly. During the sliding and falling process, it is easy to leave scratches or bruises on the skin, which affects the appearance quality of the apple and reduces its market value.

[0004] When the gripping force of the picking claws is too strong, the excessive gripping force will exceed the damage threshold of the apple, causing the fruit skin to break, and may even penetrate into the flesh, causing mechanical damage. This damage not only destroys the appearance of the apple, but may also cause irreversible effects on its internal quality, such as water loss and poor taste.

[0005] According to research data, these minor damages caused by uneven force of the picking claws will gradually worsen during subsequent storage and transportation, eventually leading to a fruit abandonment rate as high as 51%, causing heavy economic losses to fruit farmers. Utility Model Content

[0006] The utility model aims to solve one of the technical problems in the related art at least to a certain extent.

[0007] To this end, the purpose of the utility model is to propose an apple picking machine that prevents bumps. By using sensors connected to a driving device, the picking machine can accurately sense the contact force and position with the apples, and adjust the power output of the driving component in real time to ensure that the clamping component applies just the right amount of force when picking apples, thereby avoiding any form of damage to the fruit. This not only improves the picking efficiency, but also ensures the quality and integrity of the apples, bringing higher economic benefits to fruit farmers.

[0008] To achieve the above-mentioned purpose, the utility model proposes an apple picking machine that prevents bumps, including a connecting plate, a picking device and an installation device, wherein the picking device includes three clamping assemblies, three driving assemblies and three groups of rubber pads, wherein the three clamping assemblies are respectively movably arranged on one side of the connecting plate, and one side of the three clamping assemblies is provided with a sensor; one end of the three driving assemblies is movably arranged on one side of the connecting plate, and the other end is respectively movably connected to the three driving assemblies; the three groups of rubber pads are respectively arranged on the inner sides of the three clamping assemblies; the installation device includes an installation assembly, wherein the installation assembly is arranged on the other side of the connecting plate.

[0009] The utility model discloses an apple picking machine which can prevent bumps. By using a sensor connected to a driving device, the picking machine can accurately sense the contact force and position with the apples, and adjust the power output of the driving component in real time to ensure that the clamping component applies just the right force when picking apples, thereby avoiding any form of damage to the fruits. This not only improves the picking efficiency, but also ensures the quality and integrity of the apples, bringing higher economic benefits to fruit farmers.

[0010] In addition, the anti-collision apple picking machine proposed in the application may also have the following additional technical features:

[0011] Specifically, the three clamping assemblies each include a mounting seat, a first movable block, a first connecting rod and a second connecting rod, wherein the mounting seat is arranged at the bottom of the connecting plate; the first movable block is arranged on the mounting seat; the first connecting rod is movably arranged on the first movable block; and the second connecting rod is movably connected to the other end of the first connecting rod.

[0012] Specifically, the three driving components all include a second movable block, an electric push rod, a bearing seat, a connecting block and a third connecting rod, wherein the second movable block is arranged on one side of the mounting seat; one end of the electric push rod is movably connected to the second movable block; the bearing seat is fixedly connected to one end of the second connecting rod, and one end of the electric push rod is movably connected to one end of the bearing seat; one end of the connecting block is movably connected to the first connecting rod; one end of the third connecting rod is movably connected to the other end of the connecting block, and the other end is movably connected to the other end of the bearing seat.

[0013] Specifically, the mounting assembly includes a mounting connection seat and a mounting threaded rod, wherein the mounting connection seat is connected to the connection plate; and the mounting threaded rod is connected to the mounting connection seat.

[0014] Specifically, the three groups of rubber pads are respectively connected to the inner walls of the first connecting rod and the second connecting rod.

[0015] Specifically, the sensors are respectively arranged on the outer side walls of the second connecting rod, the sensors are connected to the electric push rods, and the electric push rods are respectively connected to external controllers.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will become apparent from the following description or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0018] Figure 1 A three-dimensional diagram of an apple picker that prevents collisions according to an embodiment of the utility model;

[0019] Figure 2 A three-dimensional diagram of an apple picker that prevents collisions according to another embodiment of the utility model;

[0020] Figure 3 A three-dimensional diagram of an apple picker that prevents collisions according to another embodiment of the utility model;

[0021] Figure 4 The present invention is a three-dimensional diagram of an apple picker that prevents collisions according to another embodiment of the present invention.

[0022] As shown in the figure: 1. Connecting plate; 2. Picking device; 3. Installing device; 4. Sensor; 21. Clamping assembly; 22. Driving assembly; 23. Rubber pad; 31. Installing assembly; 211. Installing seat; 212. First movable block; 213. First connecting rod; 214. Second connecting rod; 221. Second movable block; 222. Electric push rod; 223. Bearing seat; 224. Connecting block; 225. Third connecting rod; 311. Installing connecting seat; 312. Installing threaded rod. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limitations on the present invention. On the contrary, the embodiments of the present invention include all changes, modifications, and equivalents that fall within the spirit and connotation of the appended claims.

[0024] An apple picking machine that prevents bumping according to an embodiment of the utility model will be described below in conjunction with the accompanying drawings.

[0025] like Figure 1-Figure 4As shown, an apple picker for preventing bumps according to an embodiment of the utility model comprises a connecting disk 1, a picking device 2 and an installation device 3, wherein the picking device 2 comprises three clamping assemblies 21, three driving assemblies 22 and three groups of rubber pads 23, wherein the three clamping assemblies 21 are respectively movably arranged on one side of the connecting disk 1, a sensor 4 is arranged on one side of the three clamping assemblies 21, one end of the three driving assemblies 22 is movably arranged on one side of the connecting disk 1, and the other ends are respectively movably connected to the three driving assemblies 22, the three groups of rubber pads 23 are respectively arranged on the inner sides of the three clamping assemblies 21, and the installation device 3 comprises an installation assembly 31, wherein the installation assembly 31 is arranged on the other side of the connecting disk 1.

[0026] Among them, it can be understood that the device is installed and fixed to the apple picker through the installation component 31, and the three clamping components 21 are driven by the three driving components 22 to pick and clamp, and the movement of the three driving components 22 is controlled by the three sensors 4. The contact force and position of the three clamping components 21 with the apples are respectively sensed, and the power output of the driving component 22 is adjusted in real time to ensure that the clamping component 21 applies just the right force when picking apples, thereby avoiding any form of damage to the fruit.

[0027] In one embodiment of the present invention, Figure 3 As shown, the three driving components 22 all include a second movable block 221, an electric push rod 222, a bearing seat 223, a connecting block 224 and a third connecting rod 225, wherein the second movable block 221 is arranged on one side of the mounting seat 211, one end of the electric push rod 222 is movably connected to the second movable block 221, the bearing seat 223 is fixedly connected to one end of the second connecting rod 214, and one end of the electric push rod 222 is movably connected to one end of the bearing seat 223, one end of the connecting block 224 is movably connected to the first connecting rod 213, one end of the third connecting rod 225 is movably connected to the other end of the connecting block 224, and the other end is movably connected to the other end of the bearing seat 223.

[0028] It can be understood that when the electric push rod 222 is pushed forward, it will drive the bearing seat 223 and the third connecting rod 225 to move, and at the same time drive the connecting block 224 to rotate.

[0029] In one embodiment of the present invention, Figure 2 As shown, the three clamping assemblies 21 each include a mounting seat 211, a first movable block 212, a first connecting rod 213 and a second connecting rod 214, wherein the mounting seat 211 is arranged at the bottom of the connecting plate 1, the first movable block 212 is arranged on the mounting seat 211, the first connecting rod 213 is movably arranged on the first movable block 212, and the second connecting rod 214 is movably connected to the other end of the first connecting rod 213.

[0030] It is understandable that when the bearing seat 223 rotates, it drives the second connecting rod 214 to move inward or outward, and at the same time drives the first connecting rod 213 to move inward or outward synchronously.

[0031] In one embodiment of the present invention, Figure 4 As shown, the mounting assembly 31 includes a mounting connection seat 311 and a mounting threaded rod 312 , wherein the mounting connection seat 311 is connected to the connection plate 1 , and the mounting threaded rod 312 is connected to the mounting connection seat 311 .

[0032] It is understandable that by installing the threaded rod 312 to fix the device to the apple picker, the apple picker can be easily controlled to control the device.

[0033] In one embodiment of the present invention, Figure 1 As shown, three groups of rubber pads 23 are connected to the inner walls of the first connecting rod 213 and the second connecting rod 214 respectively.

[0034] It can be understood that the three groups of rubber pads 23 can better protect the apple when in contact with the apple, and prevent the surface from bumping against the apple when in contact with the apple.

[0035] In one embodiment of the present invention, Figure 4 As shown, the sensors 4 are respectively arranged on the outer side wall of the second connecting rod 214, the sensors 4 are connected to the electric push rods 222, and the electric push rods 222 are respectively connected to the external controller.

[0036] Among them, it can be understood that the movement of the three driving components 22 is controlled by the sensor 4, the contact force and position of the three clamping components 21 with the apple are respectively sensed, and the power output of the driving component 22 is adjusted in real time to ensure that the clamping component 21 applies just the right force when picking apples, thereby avoiding any form of damage to the fruit. The electric push rod 222 can be controlled by an external controller to facilitate the picking work.

[0037] Specifically, in the actual implementation process, the threaded rod 312 is installed to fix it to the apple picker, which facilitates the control of the device by the apple picker. When the electric push rod 222 is pushed forward, it will drive the bearing seat 223 and the third connecting rod 225 to move, and at the same time drive the connecting block 224 to rotate. When the bearing seat 223 rotates, it will drive the second connecting rod 214 to move inward or outward, and at the same time drive the first connecting rod 213 to move inward or outward synchronously.

[0038] The movement of the electric push rod 222 can be controlled by the sensor 4 to sense the contact force and position with the apple. When the sensor 4 senses that the inner wall of the second connecting rod 214 is in contact with the apple, the electric push rod 222 is stopped, ensuring that just the right force is applied when picking apples, thereby avoiding any form of damage to the fruit.

[0039] In summary, the apple picking machine that prevents bumps in the embodiment of the utility model is connected to the driving device by using sensors. The picking machine can accurately sense the contact force and position with the apples, and adjust the power output of the driving component in real time to ensure that the clamping component applies just the right force when picking apples, thereby avoiding any form of damage to the fruit. This not only improves the picking efficiency, but also ensures the quality and integrity of the apples, bringing higher economic benefits to fruit farmers.

[0040] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0041] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0042] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and deform the above embodiments within the scope of the present invention.

Claims

1. An apple picking machine that prevents bumping, characterized in that: It comprises a connecting plate (1), a picking device (2) and a mounting device (3), wherein: The picking device (2) comprises three clamping assemblies (21), three driving assemblies (22) and three groups of rubber pads (23), wherein: The three clamping assemblies (21) are respectively movably arranged on one side of the connecting plate (1), and a sensor (4) is arranged on one side of the three clamping assemblies (21); One end of the three driving components (22) is movably arranged on one side of the connecting disk (1), and the other end is movably connected to the three driving components (22) respectively; The three groups of rubber pads (23) are respectively arranged on the inner side surfaces of the three clamping components (21); The mounting device (3) comprises a mounting assembly (31), wherein: The mounting assembly (31) is arranged on the other side of the connecting plate (1); The three clamping assemblies (21) each comprise a mounting seat (211), a first movable block (212), a first connecting rod (213) and a second connecting rod (214), wherein: The mounting seat (211) is arranged at the bottom of the connecting plate (1); The first movable block (212) is arranged on the mounting seat (211); The first connecting rod (213) is movably arranged on the first movable block (212); The second connecting rod (214) is movably connected to the other end of the first connecting rod (213); The three driving assemblies (22) each include a second movable block (221), an electric push rod (222), a bearing seat (223), a connecting block (224) and a third connecting rod (225), wherein: The second movable block (221) is arranged on one side of the mounting seat (211); One end of the electric push rod (222) is movably connected to the second movable block (221); The bearing seat (223) is fixedly connected to one end of the second connecting rod (214), and one end of the electric push rod (222) is movably connected to one end of the bearing seat (223); One end of the connecting block (224) is movably connected to the first connecting rod (213); One end of the third connecting rod (225) is movably connected to the other end of the connecting block (224), and the other end is movably connected to the other end of the bearing seat (223); The mounting assembly (31) comprises a mounting connection seat (311) and a mounting threaded rod (312), wherein: The mounting connection seat (311) is connected to the connection plate (1); The mounting threaded rod (312) is connected to the mounting connection seat (311).

2. The anti-collision apple picking machine according to claim 1, characterized in that: The three groups of rubber pads (23) are respectively connected to the inner walls of the first connecting rod (213) and the second connecting rod (214).

3. The anti-collision apple picking machine according to claim 1, characterized in that: The sensors (4) are respectively arranged on the outer side walls of the second connecting rod (214), the sensors (4) are connected to the electric push rods (222), and the electric push rods (222) are respectively connected to external controllers.

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