Automatic fruit picking machine

Abstract

The utility model discloses an automatic fruit picking machine, and relates to the technical field of fruit picking machines. Comprising a picking machine body and two manipulators, two conveying mechanisms are arranged at the top of the picking machine body, and the conveying mechanisms are used for conveying fruits picked by the manipulators. The fruit picking device is provided with the conveying mechanism, the rotating disc and the annular baffle, the mechanical arm picks fruits on fruit trees and then places the fruits on the tops of the corresponding conveying belts, the fruits move along with the conveying belts, and when the fruits move to the output sides of the conveying belts, the fruits fall into the tops of the elastic plates and move along with rotation of the rotating disc; when the fruits move to the outer side of the arc-shaped plate, the arc-shaped plate stops the fruits, the outer side of the rotating disc is lower than the inner side of the rotating disc, the fruits are pushed to the edge of the rotating disc and finally fall and are collected through the arc-shaped sliding plate at the bottom of the discharging groove, in the fruit collecting process, the collision probability of the surfaces of the fruits is greatly reduced, and then the quality of the fruits is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit picking machines, in particular to an automatic fruit picking machine. Background Art

[0002] The automatic fruit picking machine is mainly composed of a robotic arm and a basket. The robotic arm picks fruits under the control of a control system and then places the picked fruits in the basket.

[0003] The Chinese utility model patent, authorization announcement number CN220044230U discloses an automatic fruit picking machine with an anti-breakage mechanism. The machine picks fruits by setting a six-degree-of-freedom articulated mechanical arm, and sets a receiver and a conveying pipe to convey the picked fruits and place them in a collection basket. The buffer part set inside the fruit receiver effectively reduces the kinetic energy of the fruit when it is transported from the conveying pipe to the receiving frame, so that the fruit can fall into the receiving frame at a lower speed, thereby avoiding damage to the fruit during the collection process.

[0004] The above scheme solves the technical problems raised in its background technology, but in practical application, the above scheme still has certain defects. For example, the above device picks fruits by a mechanical arm and then puts the picked fruits into a conveying pipe. The fruits roll into a collection frame under gravity. Since the fruits roll for a long distance in the conveying pipe and the pipe is curved, the fruits will collide with the side wall of the pipe, thereby damaging the surface of the fruits and affecting the quality of the fruits. Utility Model Content

[0005] The purpose of the utility model is to provide an automatic fruit picking machine to solve the problems raised in the above background technology.

[0006] To achieve the above object, the utility model provides the following technical solutions: an automatic fruit picking machine, comprising a picking machine body and two manipulators, wherein two conveying mechanisms are arranged on the top of the picking machine body, and the conveying mechanisms are used to convey the fruits picked by the manipulators;

[0007] An annular baffle is fixed on the output side of the transmission mechanism, a turntable is movably arranged inside the annular baffle, a driving member is arranged at the bottom of the turntable, and the turntable is driven to rotate by the driving member, a horizontal plate is fixed on the top of the turntable, a fixing rod is fixed in the middle of the horizontal plate, and an arc plate is fixed on the fixing rod;

[0008] A butt plate is integrally formed at the bottom of the arc-shaped plate, and the bottom end of the butt plate contacts the top end surface of the turntable;

[0009] A discharge trough is arranged on one side of the annular baffle, and a collecting frame is placed at the bottom of the discharge trough.

[0010] Preferably, the conveying mechanism includes a driving motor, two vertical plates, a plurality of rotating shafts and a conveyor belt. The driving motor is fixed to one side of the vertical plate, and an output end thereof is fixed to an end of one of the rotating shafts.

[0011] Preferably, the output sides of the conveying mechanisms on both sides are close to each other, and the conveying mechanisms on both sides are installed in a V-shape on the top of the harvester body.

[0012] Preferably, side plates are fixed on both sides of the discharge chute, and an arc-shaped slide plate is fixed between the side plates, and the fruits slide into the collection frame through the arc-shaped slide plates.

[0013] Preferably, a buffer is fixed to the bottom end of the side plate;

[0014] The buffer component comprises a buffer frame, a plurality of discharge ports are arranged on the side of the buffer frame, and an air bag protruding upward is fixed on the top of the buffer frame.

[0015] Preferably, the turntable comprises an elastic plate and a bottom plate, and the elastic plate is fixed on the top of the bottom plate;

[0016] The top of the turntable is shaped like an umbrella.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] The automatic fruit picking machine is provided with a conveying mechanism, a turntable and an annular baffle. A manipulator picks the fruit from the fruit tree and then places it on the top of the corresponding conveyor belt. The fruit moves with the conveyor belt. When the fruit moves to the output side of the conveyor belt, the fruit falls on the top of the elastic plate. The fruit moves with the rotation of the turntable. When the fruit moves to the outside of the arc plate, the arc plate blocks the fruit. Since the outside of the turntable is lower than the inside, the fruit is pushed to the edge of the turntable and finally falls and is collected through the arc slide at the bottom of the discharge chute. During the fruit collection process, the probability of collision on the fruit surface is greatly reduced, thereby ensuring the quality of the fruit.

[0019] At the same time, a buffer is provided, and the fruit falls through the arc-shaped slide plate at the bottom of the discharge chute. After the fruit falls through the arc-shaped slide plate to the top of the airbag, the airbag buffers the impact force of the fruit, and then the fruit falls into the collection frame through the discharge port for collection. The airbag buffers the impact force of the fruit falling into the collection frame, thereby protecting the fruit and further improving the practicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a left side axial view of the utility model;

[0021] Figure 2 It is the front view of the utility model;

[0022] Figure 3This is a detailed view of the annular baffle and buffer member of the utility model;

[0023] Figure 4 It is a half-section view of the annular baffle and the buffer member of the utility model.

[0024] In the figure: 1. harvester body; 2. manipulator; 3. conveying mechanism; 4. turntable; 401. elastic plate; 402. bottom plate; 403. rotating shaft; 404. discharge chute; 5. annular baffle; 6. buffer; 601. buffer frame; 602. discharge port; 603. air bag; 701. horizontal plate; 702. fixing rod; 703. arc plate; 704. abutment plate; 8. collection frame. DETAILED DESCRIPTION

[0025] 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.

[0026] like Figure 1-Figure 4 As shown, the utility model provides a technical solution: an automatic fruit picking machine, including a picking machine body 1 and two manipulators 2, the picking machine body 1 moves by means of tracks, and also includes a manipulator arm control module for accurately grasping and picking fruits, an image recognition module for identifying fruits, and a path planning module for planning a picking route, etc., all of which are prior arts and will not be described in detail in this solution.

[0027] Two conveying mechanisms 3 are arranged on the top of the picking machine body 1, wherein the conveying mechanism 3 includes a driving motor, two vertical plates, a plurality of rollers and a conveyor belt. The conveyor belt is movably arranged on the rollers. The driving motor is fixed on one side of the vertical plate, and its output end is fixed to the end of one of the rollers. The driving motor drives the rollers to rotate, thereby realizing the rotation of the conveyor belt, which is used to transport the fruits picked by the robot 2.

[0028] In this solution, in order to reduce the overall volume of the two transmission mechanisms 3, as shown in FIG. Figure 1 As shown, the output sides of the conveying mechanisms 3 on both sides are close to each other, that is, the conveying mechanisms 3 on both sides are installed in a V-shape on the top of the picking machine body 1, and each manipulator 2 places the picked fruits on the corresponding conveyor belt.

[0029] It can be known that when the fruits are transported on the conveyor belt, the relative positions of the fruits on the conveyor belt remain unchanged, thereby preventing the fruits from being damaged during the transport process.

[0030] An annular baffle 5 is provided on the output side of the transmission mechanism 3, and the annular baffle 5 is fixed to the top of the picking machine body 1. A turntable 4 is movably provided in the annular baffle 5. A driving member is provided at the bottom of the turntable 4, and the turntable 4 is driven to rotate by the driving member. The driving member includes a rotating motor and a rotating shaft 403. The rotating shaft 403 is fixed to the bottom end of the turntable 4, and the rotating shaft 403 is driven to rotate by the rotating motor, thereby driving the turntable 4 to rotate. A horizontal plate 701 is fixed on the top of the turntable 4, and a fixing rod 702 is fixed in the middle of the horizontal plate 701. An arc plate 703 in the shape of an Archimedean spiral is fixed on the fixing rod 702. A butt plate 704 is integrally formed at the bottom of the arc plate 703, and the bottom end of the butt plate 704 contacts with the top surface of the turntable 4.

[0031] The fruit falls onto the top of the turntable 4 through the output side of the conveying mechanism 3, which buffers the impact force on the fruit and reduces the damage rate of the fruit. Figure 4 As shown, the turntable 4 includes an elastic plate 401 and a bottom plate 402 . The elastic plate 401 is fixed on the top of the bottom plate 402 . The elastic plate 401 can be a rubber plate with a smooth surface.

[0032] A discharge chute 404 is provided on one side of the annular baffle plate 5. Figure 3 As shown, the discharge chute 404 is located on one side of the protruding surface of the annular baffle 5 , and a collecting frame 8 is placed at the bottom of the discharge chute 404 .

[0033] In order to make the fruit move to the edge of the turntable 4 under the push of the annular baffle 5, so as to facilitate the fruit to pass through the discharge chute 404, as shown in FIG. Figure 4 As shown, the top of the rotating disk 4 is in the shape of an umbrella.

[0034] In addition, side plates are fixed on both sides of the discharge chute 404, and an arc-shaped slide plate is fixed between the side plates, and the fruit falls through the arc-shaped slide plate.

[0035] In order to reduce the impact force of fruits falling into the collection frame 8 and thus protect the fruits, a buffer member 6 is fixed at the bottom end of the side plate, such as Figure 4 As shown, the buffer member 6 includes a buffer frame 601, and a plurality of discharge ports 602 are opened on the side of the buffer frame 601. An upwardly protruding air bag 603 is fixed to the top of the buffer frame 601. After the fruit falls into the top of the air bag 603 through the arc-shaped slide plate, the air bag 603 buffers the impact force of the fruit, and then the fruit falls into the collection frame 8 through the discharge port 602.

[0036] To supplement this solution, the robot 2 picks the fruit from the fruit tree and then places it on the top of the corresponding conveyor belt. The fruit moves with the conveyor belt. When the fruit moves to the output side of the conveyor belt, the fruit will fall on the top of the elastic plate 401. The fruit moves with the rotation of the turntable 4. When the fruit moves to the outside of the arc plate 703, the arc plate 703 resists the fruit. However, because the outside of the turntable 4 is lower than the inside, the fruit is pushed to the edge of the turntable 4 and finally falls through the arc slide at the bottom of the discharge trough 404. After the fruit falls to the top of the airbag 603 through the arc slide, the airbag 603 buffers the impact force of the fruit, and then the fruit falls into the collection frame 8 through the discharge port 602 for collection.

[0037] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is limited by the attached embodiments and their equivalents.

Claims

1. An automatic fruit picking machine, comprising a picking machine body (1) and two manipulators (2), characterized in that: Two conveying mechanisms (3) are arranged on the top of the picking machine body (1), and the conveying mechanisms (3) are used to convey the fruits picked by the manipulator (2); An annular baffle (5) is fixed on the output side of the transmission mechanism (3), a turntable (4) is movably arranged inside the annular baffle (5), a driving member is arranged at the bottom of the turntable (4), and the turntable (4) is driven to rotate by the driving member, a transverse plate (701) is fixed on the top of the turntable (4), a fixing rod (702) is fixed in the middle of the transverse plate (701), and an arc-shaped plate (703) is fixed on the fixing rod (702); A stop plate (704) is integrally formed at the bottom of the arc-shaped plate (703), and the bottom end of the stop plate (704) contacts the top end surface of the rotating disk (4); A discharge trough (404) is provided on one side of the annular baffle (5), and a collection frame (8) is placed at the bottom of the discharge trough (404).

2. The automatic fruit picking machine according to claim 1, characterized in that: The conveying mechanism (3) comprises a driving motor, two vertical plates, a plurality of rotating shafts and a conveying belt. The driving motor is fixed on one side of the vertical plate, and its output end is fixed to the end of one of the rotating shafts.

3. The automatic fruit picking machine according to claim 1, characterized in that: The output sides of the conveying mechanisms (3) on both sides are close to each other, and the conveying mechanisms (3) on both sides are installed in a V-shape on the top of the harvesting machine body (1).

4. The automatic fruit picking machine according to claim 1, characterized in that: Side plates are fixed on both sides of the discharge chute (404), and an arc-shaped slide plate is fixed between the side plates, and the fruits slide into the collection frame (8) through the arc-shaped slide plate.

5. The automatic fruit picking machine according to claim 4, characterized in that: A buffer member (6) is fixed to the bottom end of the side plate; The buffer member (6) comprises a buffer frame (601), a plurality of discharge ports (602) are provided on the side of the buffer frame (601), and an upwardly protruding air bag (603) is fixed on the top of the buffer frame (601).

6. The automatic fruit picking machine according to claim 1, characterized in that: The rotating disk (4) comprises an elastic plate (401) and a bottom plate (402), wherein the elastic plate (401) is fixed on the top of the bottom plate (402); The top of the rotating disk (4) is in the shape of an umbrella.

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