Citrus picking manipulator

Abstract

The utility model provides a citrus picking manipulator which is installed at the front end of a mechanical arm in an opening and closing mode, a collecting net is arranged below the manipulator, two sides of the front portion of the mechanical arm are respectively provided with a fixing plate, a reciprocating motor is installed on the fixing plate on one side, and a rotating shaft is arranged in the middle of the fixing plate on the other side. An output shaft of the reciprocating motor is fixedly connected with the cutting knife, the cutting knife is of an annular structure, the rear portion of the cutting knife is a straight section, the straight section is fixedly connected with the output shaft of the reciprocating motor, the cutting knife is located on the outer side of the mechanical arm, and the reciprocating motor can drive the cutting knife to rotate in a reciprocating mode. According to the picking mechanical arm, the annular cutting knife is adopted, compared with a scissor type cutting structure, the cutting knife rotates from one side of the mechanical arm to the other side of the mechanical arm by a certain angle, cutting can be completed without determining the position of citrus platycodon grandiflorum, and in addition, the cutting knife is driven by a reciprocating motor and can rotate at a high speed to cut the platycodon grandiflorum.

Description

Technical Field

[0001] The utility model relates to the field of citrus picking, and more specifically, to a citrus picking manipulator. Background Art

[0002] In agricultural production, especially in the citrus planting industry, the picking work is one of the labor-intensive links. Traditionally, this work is mainly completed manually, which is not only inefficient but also costly. With the increase in labor costs and the aggravation of the aging population problem, this manual-dependent picking method has been difficult to meet the development needs of modern agriculture.

[0003] Although some automated picking devices have emerged in the market, these devices generally have the following problems: the structures of some manipulators are unreasonable, and a scissor-type cutting structure is used when cutting citrus. In many cases, after the manipulator holds the citrus, the cutting structure cannot cut the citrus stalk; during the picking process, the cutting structure of the manipulator may also damage the fruit or branches, affecting the fruit quality and tree health. Summary of the Utility Model

[0004] Based on the above technical problems, the utility model proposes a citrus picking manipulator.

[0005] A citrus picking manipulator includes: a robotic arm and a manipulator. The manipulator is openably and closably installed at the front end of the robotic arm. A collection net is provided below the manipulator. On both sides of the front part of the robotic arm, there is a fixing plate respectively. A reciprocating motor is installed on one of the fixing plates, and a rotating shaft is provided in the middle of the other fixing plate. The output shaft of the reciprocating motor is fixedly connected to a cutter. The cutter is of a ring structure, and the rear part of the cutter is a straight section, and the straight section is fixedly connected to the output shaft of the reciprocating motor. The cutter is located outside the manipulator, and the reciprocating motor can drive the cutter to rotate reciprocally.

[0006] Preferably, a stop rod is provided at the front part of the robotic arm, and the stop rod can limit the rotation angle of the cutter.

[0007] Preferably, the reciprocating motor is fixed on the fixing plate by a plurality of screw rods, and the angle between the screw rods is greater than the rotation angle of the cutter.

[0008] Preferably, synchronous reciprocating motors are provided on both fixing plates.

[0009] Preferably, blades are provided on both sides of the cutter.

[0010] Beneficial effects: The picking manipulator adopts a circular cutter. Compared with the scissor-type cutting structure, the cutter rotates from one side of the manipulator to the other side at a certain angle, enabling it to complete the cutting without determining the position of the citrus stalk. In addition, the cutter is driven by a reciprocating motor, which can rotate at high speed to cut the stalk, and after cutting, it can quickly reset for the next picking. Brief Description of the Drawings

[0011] Figure 1 Shows the structural schematic diagram of the present invention. Detailed Embodiments

[0012] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0013] As Figure 1 shown, a citrus picking manipulator 2 includes: a robotic arm 1 and a manipulator 2. The robotic arm 1 can adopt a multi-degree-of-freedom structure and is controlled by a picking device. The manipulator 2 is openably installed at the front end of the robotic arm 1. Commonly used manipulators 2 mostly adopt a two-way clamping structure to hold the citrus with the manipulator 2. A collection net 3 is provided below the manipulator 2. The collection net 3 is fixed to the robotic arm 1 through a bracket 4. The picked citrus falls into the collection net 3 and then into the collection bin along the collection net 3.

[0014] On both sides of the front part of the robotic arm 1, there is a fixing plate 5 each. The fixing plate 5 is located behind the manipulator 2. A reciprocating motor 6 is installed on one of the fixing plates 5. In the middle of the other fixing plate 5, there is a rotating shaft (not shown). The output shaft of the reciprocating motor 6 is fixedly connected to the cutter 7. The reciprocating motor 6 can drive the cutter 7 to rotate within a certain range. This range can rotate from one side of the manipulator 2 towards the manipulator 2 and reach a certain angle on the other side of the manipulator 2. The cutter 7 is of a circular structure. The rear part of the cutter 7 is a straight section 10. The straight section 10 is fixedly connected to the output shaft of the reciprocating motor 6. The cutter 7 is located outside the manipulator 2. The reciprocating motor 6 can drive the cutter 7 to make a reciprocating rotation.

[0015] Although the rotation angle of the cutter 7 can be controlled by controlling the reciprocating motor 6, for greater safety, a stop lever 9 is provided at the front part of the robotic arm 1. The stop lever 9 can limit the rotation angle of the cutter 7. When the cutter 7 is restricted by the stop lever 9, the cutter 7 will rotate to the lower side of the manipulator 2.

[0016] The reciprocating motor 6 is fixed to the fixing plate 5 through a number of screw rods 11. The angle between the screw rods 11 is greater than the rotation angle of the cutter 7. The screw rods 11 can also play a role in restricting the rotation range of the cutter 7.

[0017] In the present utility model, one motor can be provided, or two synchronous reciprocating motors 6 can be provided to drive the cutter 7 to rotate.

[0018] Blades 8 are provided on both sides of the cutter 7. The provision of the two-way blades 8 enables two-way cutting, thus expanding the applicable scenarios.

[0019] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, various modifications and changes can be made to the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A citrus picking robot, comprising: A mechanical arm and a mechanical hand, wherein the mechanical hand can be opened and closed and is installed at the front end of the mechanical arm, and a collecting net is provided under the mechanical hand, characterized in that a fixed plate is provided on each side of the front part of the mechanical arm, a reciprocating motor is installed on the fixed plate on one side, and a rotating shaft is provided in the middle part of the fixed plate on the other side, the output shaft of the reciprocating motor is connected and fixed to a cutting knife, the cutting knife is an annular structure, the rear part of the cutting knife is a straight section, the straight section is connected and fixed to the output shaft of the reciprocating motor, the cutting knife is located on the outside of the mechanical hand, and the reciprocating motor can drive the cutting knife to rotate back and forth.

2. The citrus picking robot according to claim 1, characterized in that: A gear lever is provided at the front of the mechanical arm, and the gear lever can limit the rotation angle of the cutting knife.

3. The citrus picking robot according to claim 1, characterized in that: The reciprocating motor is fixed to the fixing plate through a plurality of screw rods, and the angle between the screw rods is greater than the rotation angle of the cutting knife.

4. The citrus picking robot according to claim 1, characterized in that: The two fixed plates are both provided with synchronous reciprocating motors.

5. The citrus picking robot according to claim 1, characterized in that: Both sides of the cutting knife are provided with cutting edges.

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