Harvesting device of solanaceous vegetable picking robot
By designing a robot harvesting device for picking eggplant vegetables using telescopic rods, elastic bars and jaws, the problem of fruit rupture during the picking process is solved, the smooth separation and automatic collection of fruits and vines are achieved, and the picking efficiency and product integrity are improved.
Patent Information
- Application Number
- CN202421647745.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-12
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-07-12
AI Technical Summary
During the picking process of the existing goose fruit vegetable picking robot, the fruit falls freely and hits the platform, resulting in fruit rupture and lacks an effective separation and collection mechanism.
A robot harvesting device for picking eggplant vegetables is designed, using a telescopic rod to drive the spindle movement, and the fruit is wrapped and flipped through elastic clamps and jaws, separated the fruit from the vines, and automatically dropped and collected through the deflector and collection frame. The spring structure is used to eliminate vibration and alleviate the impact of gravity on the rupture of the fruit.
It effectively solves the problem of fruit breakage during the picking process, realizes smooth separation and automatic collection of fruits and vines, and improves the picking efficiency and product integrity.
Smart Images
Figure CN222916625U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of picking robots, in particular to a harvesting device for a solanaceous vegetable picking robot. Background Technique
[0002] A picking robot is a flexible automated or semi-automated device that takes fruits or vegetables as the operation object and has some information perception and limb movement functions of humans. It is a reprogrammable intelligent machine that integrates multiple disciplines such as electronics, machinery, computer, sensing technology, control technology, artificial intelligence, bionics, and agricultural knowledge. After solanaceous vegetables mature, using a picking robot to replace manual picking can not only reduce the labor intensity but also improve the labor efficiency and help solve the problem of labor scarcity.
[0003] In traditional technologies, scissors are installed on the robotic arm of the robot to cut off the vines of fruits and vegetables, and a telescopic platform at its bottom catches the fruits. This operation is convenient and fast. However, when the vines are cut short, the fruits will fall freely and hit the platform, which may cause the fruits to crack.
[0004] Therefore, for the improvement of the existing harvesting device for solanaceous vegetable picking robots, it is particularly important to design a new harvesting device for solanaceous vegetable picking robots to solve the above technical defects and improve the practicability of the overall harvesting device for solanaceous vegetable picking robots. Summary of the Utility Model
[0005] The purpose of the utility model is to provide a harvesting device for a solanaceous vegetable picking robot to solve the problems raised in the above background technique.
[0006] To achieve the above purpose, the utility model provides the following technical solutions:
[0007] A harvesting device for a solanaceous vegetable picking robot includes an operating table. The bottom end of the operating table is symmetrically and rotatably connected with crawler wheels. The top of the operating table is rotatably connected with a monitor. There are two groups of monitors. The left side of the operating table is fixedly connected with a driving box. The top of the driving box is rotatably connected with a robotic arm. The output end of the robotic arm is fixedly connected with a sleeve. The inside of the sleeve is slidably connected with a main shaft.
[0008] As a preferred solution of the utility model, a fixing sleeve is fixedly connected to the outside of the main shaft. A groove is opened inside the fixing sleeve. An elastic clamping strip is slidably connected inside the groove. One end of the elastic clamping strip away from the fixing sleeve is fixedly connected with a clamping jaw. The inside of the clamping jaw is designed with a concave structure.
[0009] As a preferred embodiment of the present utility model, a collet is slidably connected to the middle of the outside of the main shaft, the elastic clamping strip extends into the inside of the collet, and the elastic clamping strip is designed in an open structure.
[0010] As a preferred embodiment of the present utility model, an extension sleeve is fixedly connected to the side of the collet away from the elastic clamping strip, a threaded groove is formed inside the extension sleeve, a clamping post is fixedly connected to the position corresponding to the threaded groove at the top of one end of the main shaft away from the collet, and a telescopic rod is fixedly connected to one end of the main shaft away from the collet.
[0011] As a preferred embodiment of the present utility model, a collection box is fixedly connected to the front of the operating table, a diversion plate is fixedly connected to the top inside the collection box, and the diversion plate is designed with symmetric inclined surfaces.
[0012] As a preferred embodiment of the present utility model, a chute is formed at the bottom inside the collection box, a slider is slidably connected to the inside of the chute, a swing rod is rotatably connected to the top of the slider, a receiving plate is rotatably connected to the end of the swing rod away from the slider, and a blanking plate is rotatably connected to the top of the receiving plate.
[0013] As a preferred embodiment of the present utility model, a first spring is fixedly connected to the inside of the chute on the side where the sliders are away from each other, a second spring is fixedly connected between the receiving plate and the collection box, and the top of the blanking plate is designed with an inclined surface structure.
[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows:
[0015] 1. In the present utility model, the telescopic rod is used to squeeze the elastic clamping strip by the fixed sleeve, so that the elastic clamping strip drives the clamping jaws to approach each other, wrapping the ripe fruits. The telescopic rod drives the main shaft to continue moving, so that a threaded reaction is generated between the clamping post and the inside of the threaded groove, causing the clamping jaws to turn the fruits, thereby separating the connection between the fruits and the vines.
[0016] 2. Through the guiding action of the diversion plate, the fruits automatically fall into the inside of the collection box. When the fruits hit the blanking plate, it will drive the second spring to contract, and the swing rod will be unfolded to both sides, causing the slider to squeeze the first spring inside the chute, thereby eliminating the vibration force and alleviating the fragmentation of the fruits caused by gravity. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the overall structure of the present utility model;
[0018] Figure 2 It is a schematic diagram of the robotic arm structure of the present utility model;
[0019] Figure 3 It is a schematic diagram of the internal structure of the main shaft of the present utility model;
[0020] Figure 4 This is a schematic diagram of the collection frame structure of the present utility model;
[0021] Figure 5 This is a schematic diagram of the internal structure of the collection frame of the present utility model.
[0022] In the figure: 1, operating platform; 2, crawler wheel; 3, monitor; 4, drive box; 5, robotic arm; 6, sleeve; 7, main shaft; 8, fixed sleeve; 9, elastic clamping strip; 10, clamping jaw; 11, clamping sleeve; 12, extension sleeve; 13, thread groove; 14, clamping column; 15, telescopic rod; 16, collection frame; 17, diversion plate; 18, chute; 19, slider; 20, swing rod; 21, receiving plate; 22, blanking plate; 23, first spring; 24, second spring. Specific embodiments
[0023] Next, in combination with the embodiments of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model. Embodiment
[0024] Please refer to Figures 1-5 , the present utility model provides a technical solution:
[0025] A harvesting device for a solanaceous vegetable picking robot, including an operating platform 1, crawler wheels 2 are symmetrically and rotatably connected to the bottom end of the operating platform 1, a monitor 3 is rotatably connected to the top of the operating platform 1, there are two groups of monitors 3, a drive box 4 is fixedly connected to the left side of the operating platform 1, a robotic arm 5 is rotatably connected to the top of the drive box 4, a sleeve 6 is fixedly connected to the output end of the robotic arm 5, and a main shaft 7 is slidably connected inside the sleeve 6.
[0026] Further, please refer to Figure 1 , Figure 2 and Figure 3, in this embodiment, a fixed sleeve 8 is fixedly connected to the outside of the main shaft 7. A groove is formed inside the fixed sleeve 8, and an elastic clamping strip 9 is slidably connected inside the groove. One end of the elastic clamping strip 9 away from the fixed sleeve 8 is fixedly connected to a clamping jaw 10. The inside of the clamping jaw 10 is designed with a concave structure. By the rolling of the caterpillar wheel 2, the operating platform 1 is moved to a designated position. Fruits and vegetables are identified by the monitor 3. Through the multi-axis movement of the robotic arm 5, the clamping jaw 10 is driven to move to the outside of the ripe fruit. By extending the main shaft 7 to the outside of the sleeve 6, the fixed sleeve 8 is driven to move accordingly, thereby squeezing the elastic clamping strip 9. When the fixed sleeve 8 moves to the front end of the elastic clamping strip 9, the elastic clamping strip 9 drives the clamping jaws 10 to approach each other, wrapping the ripe fruit.
[0027] Further, please refer to Figure 1 , Figure 2 and Figure 3 , in this embodiment, a clamping sleeve 11 is slidably connected to the middle of the outside of the main shaft 7. The elastic clamping strip 9 extends into the clamping sleeve 11. The elastic clamping strip 9 is designed with an open structure. Through the open design of the elastic clamping strip 9, when the fixed sleeve 8 moves, the pressure is transmitted to the elastic clamping strip 9, driving the elastic clamping strip 9 to tend to a parallel state.
[0028] Further, please refer to Figure 1 , Figure 2 and Figure 3 , in this embodiment, an extension sleeve 12 is fixedly connected to the side of the clamping sleeve 11 away from the elastic clamping strip 9. A threaded groove 13 is formed inside the extension sleeve 12. A clamping post 14 is fixedly connected to the position corresponding to the threaded groove 13 at the top of one end of the main shaft 7 away from the clamping sleeve 11. A telescopic rod 15 is fixedly connected to one end of the main shaft 7 away from the clamping sleeve 11. By starting the telescopic rod 15, the main shaft 7 is extended to the outside of the sleeve 6. When the clamping jaws 10 wrap the fruit, the telescopic rod 15 drives the main shaft 7 to continue moving, so that a threaded reaction occurs inside the clamping post 14 and the threaded groove 13, causing the main shaft 7 to rotate, making the clamping jaws 10 flip the fruit, thereby separating the connection between the fruit and the vine.
[0029] Further, please refer to Figure Figure 1 , Figure 4 and Figure 5 , in this embodiment, a collection box 16 is fixedly connected to the front of the operating platform 1. A diversion plate 17 is fixedly connected to the top inside the collection box 16. The diversion plate 17 is designed with symmetric inclined planes. After the fruit is picked, the clamping jaws 10 are released, and through the guiding action of the diversion plate 17, the fruit automatically falls into the collection box 16.
[0030] Further, please refer to Figure 1 , Figure 4 and Figure 5, in this embodiment, a chute 18 is opened at the bottom inside the collection box 16. A slider 19 is slidably connected inside the chute 18. A swing rod 20 is rotatably connected to the top of the slider 19. One end of the swing rod 20 away from the slider 19 is rotatably connected to a receiving plate 21. A blanking plate 22 is rotatably connected to the top of the receiving plate 21. On the sides of the slider 19 away from each other and inside the chute 18, a first spring 23 is fixedly connected. A second spring 24 is fixedly connected between the receiving plate 21 and the collection box 16. The top of the blanking plate 22 is designed with an inclined surface structure. Due to the design of the inclined surface of the blanking plate 22, when the fruits fall, they will automatically roll to both sides. When the fruits hit the blanking plate 22, it will drive the second spring 24 to contract, and the swing rod 20 will be unfolded to both sides, causing the slider 19 to squeeze the first spring 23 inside the chute 18, thereby eliminating the vibration force and alleviating the fragmentation of the fruits caused by gravity.
[0031] In this embodiment, the implementation scenario is specifically as follows: Through the rolling of the crawler wheels 2, the operating platform 1 is moved to a designated position. The fruits and vegetables are identified by the monitor 3. Through the multi-axis movement of the robotic arm 5, the gripper 10 is driven to move to the outside of the ripe fruits. By starting the telescopic rod 15, the main shaft 7 extends to the outside of the sleeve 6, and the fixed sleeve 8 follows the movement, thereby squeezing the elastic clamping strip 9. When the fixed sleeve 8 moves to the front end of the elastic clamping strip 9, the elastic clamping strip 9 drives the grippers 10 to approach each other to wrap the ripe fruits. The telescopic rod 15 drives the main shaft 7 to continue moving, thereby causing a threaded reaction between the clamping post 14 and the internal thread groove 13, and the main shaft 7 rotates, causing the grippers 10 to flip the fruits, thereby separating the connection between the fruits and the vines. Through the guiding function of the diversion plate 17, the fruits automatically fall into the collection box 16. Due to the design of the inclined surface of the blanking plate 22, when the fruits fall, they will automatically roll to both sides. When the fruits hit the blanking plate 22, it will drive the second spring 24 to contract, and the swing rod 20 will be unfolded to both sides, causing the slider 19 to squeeze the first spring 23 inside the chute 18, thereby eliminating the vibration force and alleviating the fragmentation of the fruits caused by gravity.
[0032] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A robotic harvesting device for harvesting solanaceous vegetables, comprising an operating table (1), characterized in that: The bottom end of the operating platform (1) is symmetrically rotatably connected to a track wheel (2), the top of the operating platform (1) is rotatably connected to a monitoring instrument (3), and the monitoring instrument (3) is provided with two groups. The left side of the operating platform (1) is fixedly connected to a drive box (4), and the top of the drive box (4) is rotatably connected to a mechanical arm (5), and the output end of the mechanical arm (5) is fixedly connected to a sleeve (6), and the inside of the sleeve (6) is slidably connected to a main shaft (7); The outside of the main shaft (7) is fixedly connected to a fixing sleeve (8), the inside of the fixing sleeve (8) is provided with a groove, the inside of the groove is slidably connected to an elastic clamping strip (9), the end of the elastic clamping strip (9) away from the fixing sleeve (8) is fixedly connected to a clamping claw (10), and the inside of the clamping claw (10) is designed to be a concave structure; A clamping sleeve (11) is slidably connected to the middle of the outer portion of the main shaft (7), the elastic clamping strip (9) extends to the interior of the clamping sleeve (11), and the elastic clamping strip (9) is designed as an open structure; An extension sleeve (12) is fixedly connected to a side of the clamping sleeve (11) away from the elastic clamping strip (9), a thread groove (13) is provided inside the extension sleeve (12), a clamping column (14) is fixedly connected to a top of an end of the main shaft (7) away from the clamping sleeve (11) at a position corresponding to the thread groove (13), and an end of the main shaft (7) away from the clamping sleeve (11) is fixedly connected to a telescopic rod (15); The front of the operating table (1) is fixedly connected to a collecting frame (16), the top of the inner side of the collecting frame (16) is fixedly connected to a guide plate (17), and the guide plate (17) is designed to be a symmetrical inclined surface; A slide groove (18) is provided at the bottom end of the inner side of the collecting frame (16), a slider (19) is slidably connected to the inside of the slide groove (18), a swing rod (20) is rotatably connected to the top of the slider (19), an end of the swing rod (20) away from the slider (19) is rotatably connected to a receiving plate (21), and a blanking plate (22) is rotatably connected to the top of the receiving plate (21); A first spring (23) is fixedly connected to the side of the slide block (19) away from the slide block (19) and located inside the slide groove (18), a second spring (24) is fixedly connected between the receiving plate (21) and the collecting frame (16), and the top of the blanking plate (22) is designed as an inclined structure.