Intelligent equipment for picking, sorting and storing pepper fruits

Abstract

The utility model discloses intelligent equipment for picking, sorting and storing pepper fruits, and relates to the technical field of agricultural machinery, a scissor type lifting platform is arranged on a vehicle body, a multi-shaft mechanical arm picking mechanism is arranged on the scissor type lifting platform, a supporting frame is fixedly arranged on the vehicle body, and a double-shaft motor support is arranged on the supporting frame. A double-shaft motor is arranged on the double-shaft motor support, an output shaft of the double-shaft motor is connected with a driving wheel, two or more first vertical bearing seats are arranged at the top of the supporting frame, clearance sorting shafts are rotationally connected to the first vertical bearing seats, driven wheels are arranged on the clearance sorting shafts, and a steering engine mounting support is arranged above the clearance sorting shafts. A first steering engine is arranged on the steering engine mounting support, an output shaft of the first steering engine is connected with a sorting baffle, and the adjustable sorting storage box is arranged on the inner side of the supporting frame. The device can achieve efficient pepper picking, saves manpower, improves efficiency, meanwhile, achieves precise and efficient pepper sorting and storage, guarantees pepper quality and improves productivity.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, and more specifically, to an intelligent equipment for picking, sorting and storing pepper fruits. Background Art

[0002] With the continuous expansion of the chili-eating regions and populations in China, chili has gradually become an indispensable food in people's daily lives. In the traditional way, chili is usually picked manually after ripening, and then classified, stored and transported according to the fruit quality.

[0003] However, the traditional manual picking method has obvious defects: First, the manual picking has a large labor intensity. People may need to bend down for a long time, and there may be problems such as falls, sprains, and overwork injuries, which pose certain risks to health and safety. At the same time, the distribution of chili plants is relatively dense, and the operation space is limited during picking. The manual picking speed is slow, the efficiency is low, and it cannot be picked according to strict picking standards, so it is impossible to guarantee the quality of chili and the market demand. Second, the existing sorting equipment is generally large in volume and occupies a large area, which is not convenient for simple storage and not suitable for daily household use. Moreover, the screening structure is fixed and cannot be adjusted according to the actual situation, so more often it is also the manual method, resulting in a large labor intensity of workers, low productivity, a waste of a large amount of manpower, and low mechanization. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is that the existing picking and sorting methods have a large labor intensity, low efficiency, and cannot guarantee the quality of chili. In order to overcome the defects of the prior art, the utility model provides an intelligent equipment for picking, sorting and storing pepper fruits, which can realize efficient pepper picking, save manpower, improve efficiency, and at the same time realize the precise and efficient sorting and storage of chili, guarantee the quality of chili, and improve productivity.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] The utility model provides an intelligent equipment for picking, sorting and storing chili fruits, which comprises a vehicle body, a scissor lift platform, a multi-axis robotic arm picking mechanism, a gap sorting mechanism and an adjustable sorting and storage box. The scissor lift platform is arranged on the vehicle body, the multi-axis robotic arm picking mechanism is arranged on the scissor lift platform, the gap sorting mechanism is arranged below the scissor lift platform, and the gap sorting mechanism comprises a support frame, a double-axis motor bracket, a double-axis motor, a driving wheel, a synchronous belt, a driven wheel, a first vertical bearing seat, a gap sorting shaft, a servo motor mounting bracket, a first servo motor and a sorting baffle. The support frame is fixedly arranged on the vehicle body, the double-axis motor bracket is arranged on the support frame, the double-axis motor is arranged on the double-axis motor bracket, the output shaft of the double-axis motor is connected with the driving wheel, two or more first vertical bearing seats are arranged on the top of the support frame, the gap sorting shaft is rotatably connected on the first vertical bearing seat, and the distance between two adjacent gap sorting shafts gradually increases along the length direction of the support frame. The driven wheel is arranged on the gap sorting shaft, and the driving wheel is in transmission connection with the driven wheel through the synchronous belt. The servo motor mounting bracket is arranged above the gap sorting shaft, the first servo motor is arranged on the servo motor mounting bracket, the output shaft of the first servo motor is connected with the sorting baffle, and the adjustable sorting and storage box is arranged inside the support frame.

[0007] In a preferred technical solution of the utility model, the scissor lift platform comprises a top plate, a top mounting plate, a bottom mounting plate, a first bracket, a first cushion block, a first sliding block, a first guiding optical axis, a second bracket, a second cushion block, a second sliding block, a second guiding optical axis, a stepping motor, a lead screw and a connecting piece. The top plate is fixedly arranged on the vehicle body, the top mounting plates are arranged at both ends of the bottom of the top plate, the bottom mounting plate is arranged in parallel directly below the top mounting plate. The first bracket and the second bracket are cross-hinged to form a scissor frame, and the top mounting plate and the bottom mounting plate are connected by two groups of parallel scissor frames. Both ends of the first bracket are respectively connected with the first cushion block and the first sliding block, the first cushion block is fixedly arranged on the top mounting plate, and the first sliding block is slidably connected on the first guiding optical axis on the bottom mounting plate. Both ends of the second bracket are respectively connected with the second cushion block and the second sliding block, the second cushion block is fixedly arranged on the bottom mounting plate, and the second sliding block is slidably connected on the second guiding optical axis on the top mounting plate. The stepping motor is fixedly arranged on the top mounting plate, the output shaft of the stepping motor is connected with the lead screw, the connecting piece is in threaded connection with the lead screw, and the connecting piece is fixedly connected with the second sliding block. The multi-axis robotic arm picking mechanisms are arranged on both the first sliding block and the bottom mounting plate.

[0008] In a preferred technical solution of the utility model, the first bracket and the second bracket are hinged through a central shaft, and shaft fixing rings are arranged at both ends of the central shaft.

[0009] In a preferred technical solution of the present utility model, the multi-axis robotic arm picking mechanism includes copper columns, a one-dimensional servo pan-tilt, a second servo, a first fixing bracket, a third servo, a second fixing bracket, a fourth servo, a third fixing bracket, and picking claws. Copper columns are provided on both the bottom mounting plate and the first slider. A one-dimensional servo pan-tilt is provided on the copper columns. A second servo is provided on the one-dimensional servo pan-tilt. The output shaft of the second servo is connected to a first fixing bracket. A third servo is fixedly provided on the first fixing bracket. The output shaft of the third servo is connected to a second fixing bracket. A fourth servo is provided on the second fixing bracket. And the output shafts of the second servo, the third servo, and the fourth servo are all arranged vertically. The output shaft of the fourth servo is connected to a third fixing bracket. A picking claw is provided on the third fixing bracket.

[0010] In a preferred technical solution of the present utility model, the picking claw includes a claw disc, a fifth servo, a first connecting rod, a second connecting rod, and a hand claw. The claw disc is fixedly provided on the third fixing bracket. A fifth servo is provided on the claw disc. The output shaft of the fifth servo is connected to the center of the first connecting rod. Both ends of the first connecting rod are hinged with a second connecting rod. The free end of the second connecting rod is hinged with a hand claw. And the hand claw is slidably connected to the claw disc.

[0011] In a preferred technical solution of the present utility model, the adjustable sorting and storage box includes a bottom plate, side baffles, fixed supports, adjustable supports, and adjustable baffles. One bottom plate and four side baffles enclose a box body. And the side baffles are connected to the bottom plate through fixed supports. Two or more adjustable baffles are vertically arranged inside the box body. The bottoms of the adjustable baffles are all connected with adjustable supports. And the adjustable supports are slidably connected to the chutes on the bottom plate.

[0012] In a preferred technical solution of the present utility model, the number of the adjustable baffles matches the number of the gap sorting shafts. And the positions of the adjustable baffles and the gap sorting shafts correspond one by one.

[0013] In a preferred technical solution of the present utility model, the vehicle body is a frame structure made of aluminum profiles.

[0014] The beneficial effects of the present utility model are as follows:

[0015] 1. In the present utility model, by adopting a scissor lift platform and a multi-axis robotic arm picking mechanism, the space occupancy can be maximally utilized, and the equipment size can be reduced. At the same time, two multi-axis robotic arm picking mechanisms are installed on both sides of the bottom of the scissor lift platform and move up and down with the scissor lift platform. The entire picking structure is suspended and installed inside the vehicle frame. The pepper plants are in the middle space between the multi-axis robotic arm picking mechanism and the scissor lift platform. Through the coordinated cooperation of the scissor lift platform and the multi-axis robotic arm picking mechanism, complete coverage of the plants can be achieved, and accurate and efficient picking can be realized.

[0016] 2. In the present utility model, a gap sorting mechanism and an adjustable classification storage box are adopted, which can sort chili fruits according to quality and size, and conduct classified storage. At the same time, the two functions of sorting and storage are realized. The sorting accuracy is high, and the whole process does not require manual operation, reducing the labor cost and improving the work efficiency. Meanwhile, the first servo motor is set to be able to drive the sorting baffle to swing left and right, so as to remove the fruits with diseases and pests and ensure the quality of chili fruits.

[0017] 3. In the present utility model, during the working process, the manual operation process is less. Generally, the device's own structure and system cooperate to solve the problems, effectively improving the work efficiency and reducing the production cost to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of an intelligent equipment for picking, sorting and storing chili fruits provided by the specific embodiment of the present utility model;

[0019] Figure 2 is a schematic structural diagram of a scissor lift platform;

[0020] Figure 3 is a schematic structural diagram of the scissor lift platform from another perspective;

[0021] Figure 4 is a schematic structural diagram of a multi-axis robotic arm picking mechanism;

[0022] Figure 5 is a schematic structural diagram of a picking claw;

[0023] Figure 6 is a schematic structural diagram of a gap sorting mechanism;

[0024] Figure 7 is a schematic structural diagram of the gap sorting mechanism from another perspective;

[0025] Figure 8 is a schematic structural diagram of an adjustable sorting storage box.

[0026] In the figure:

[0027] 1. Vehicle body; 2. Scissor lift platform; 201. Top plate; 202. Top mounting plate; 203. Bottom mounting plate; 204. First bracket; 205. First cushion block; 206. First slider; 207. First guiding optical axis; 208. Second bracket; 209. Second cushion block; 210. Second slider; 211. Second guiding optical axis; 212. Stepping motor; 213. Lead screw; 214. Connecting piece; 215. Central axis; 216. Shaft fixing ring; 3. Multi-axis robotic arm picking mechanism; 31. Copper column; 32. One-dimensional servo pan-tilt head; 33. Second servo; 34. First fixing bracket; 35. Third servo; 36. Second fixing bracket; 37. Fourth servo; 38. Third fixing bracket; 39. Picking claw; 391. Claw disc; 392. Fifth servo; 393. First connecting rod; 394. Second connecting rod; 395. Hand claw; 4. Gap sorting mechanism; 401. Support frame; 402. Biaxial motor bracket; 403. Biaxial motor; 404. Driving wheel; 405. Synchronous belt; 406. Driven wheel; 407. First vertical bearing block; 408. Gap sorting shaft; 409. Servo mounting bracket; 410. First servo; 411. Sorting baffle; 5. Adjustable sorting storage box; 51. Bottom plate; 52. Side baffle; 53. Fixed support; 54. Adjustable support; 55. Adjustable baffle. Detailed implementation mode

[0028] The technical solution of the present utility model will be further described below in conjunction with the accompanying drawings and through specific implementation modes.

[0029] As Figure 1-8As shown in the figure, in the embodiment, an intelligent equipment for picking, sorting and storing chili fruits is provided, which includes a vehicle body 1, a scissor lift platform 2, a multi-axis robotic arm picking mechanism 3, a gap sorting mechanism 4 and an adjustable sorting and storage box 5. A scissor lift platform 2 is arranged on the vehicle body 1, a multi-axis robotic arm picking mechanism 3 is arranged on the scissor lift platform 2, a gap sorting mechanism 4 is arranged below the scissor lift platform 2. The gap sorting mechanism 4 includes a support frame 401, a double-axis motor bracket 402, a double-axis motor 403, a driving wheel 404, a synchronous belt 405, a driven wheel 406, a first vertical bearing block 407, a gap sorting shaft 408, a servo motor mounting bracket 409, a first servo motor 410 and a sorting baffle 411. The support frame 401 is fixedly arranged on the vehicle body 1, a double-axis motor bracket 402 is arranged on the support frame 401, a double-axis motor 403 is arranged on the double-axis motor bracket 402, the output shaft of the double-axis motor 403 is connected with the driving wheel 404. More than two first vertical bearing blocks 407 are arranged on the top of the support frame 401, a gap sorting shaft 408 is rotatably connected to the first vertical bearing block 407, and the distance between two adjacent gap sorting shafts 408 gradually increases along the length direction of the support frame 401. A driven wheel 406 is arranged on the gap sorting shaft 408, and the driving wheel 404 is in transmission connection with the driven wheel 406 through the synchronous belt 405. A servo motor mounting bracket 409 is arranged above the gap sorting shaft 408, a first servo motor 410 is arranged on the servo motor mounting bracket 409, and the output shaft of the first servo motor 410 is connected with the sorting baffle 411. The adjustable sorting and storage box 5 is arranged inside the support frame 401. In this embodiment, walking wheels are arranged at the bottom of the vehicle body 1, so that the vehicle body can move forward to realize continuous picking operation. The arranged scissor lift platform 2 can drive the multi-axis robotic arm picking mechanism 3 to lift, so as to realize the picking operation of chili fruits at different heights and improve the applicability of the device.The provided gap sorting mechanism 4 can classify fruits of different sizes and remove fruits with pests and diseases to ensure product quality. Among them, the support frame 401 is a rectangular frame made of aluminum profiles. There are two support frames 401 in total, and a gap is reserved between the two support frames 401 for the pepper plants to pass through. The double-shaft motor bracket 402 is located at the inner bottom of the support frame 401, and a motor support aluminum profile is horizontally arranged at the bottom of the double-shaft motor bracket 402 to play a role in fixing and supporting. A vertical bearing seat is also arranged on one side of the double-shaft motor bracket 402, and the vertical bearing seat is fixedly installed on the support frame 401. The driving wheel 404 is rotatably connected to the vertical bearing seat and is connected to the output shaft of the double-shaft motor 403 through a motor coupling, so that the double-shaft motor 403 can drive the driving wheel 404 to rotate. Two rows of first vertical bearing seats 407 are arranged at the top of each support frame 401, and each row of first vertical bearing seats 407 is arranged along the length direction of the support frame 401. More than two gap sorting shafts 408 are located on the same horizontal plane. When the size of the pepper fruit is smaller than the gap between two adjacent gap sorting shafts 408, it will fall through the gap to achieve the purpose of separation. At the same time, the double-shaft motor 403 can drive the gap sorting shafts 408 to rotate through a pulley structure to convey the pepper fruits with a larger diameter backward. The servo motor mounting bracket 409 is fixedly installed on the support frame 401 to support the first servo motor 410. The sorting baffle 411 is located above the gap sorting shafts 408, and the first servo motor 410 can drive the sorting baffle 411 to swing left and right to remove the fruits with pests and diseases. The adjustable sorting storage box 5 can classify and store the pepper fruits according to their diameters, which is convenient for management.

[0030] Specifically, the scissor lift platform 2 includes a top plate 201, a top mounting plate 202, a bottom mounting plate 203, a first bracket 204, a first cushion block 205, a first slider 206, a first guiding optical axis 207, a second bracket 208, a second cushion block 209, a second slider 210, a second guiding optical axis 211, a stepping motor 212, a lead screw 213 and a connecting member 214. The top plate 201 is fixedly arranged on the vehicle body 1. Top mounting plates 202 are arranged at both ends of the bottom of the top plate 201. A bottom mounting plate 203 is arranged in parallel directly below the top mounting plate 202. The first bracket 204 and the second bracket 208 are cross-hinged to form a scissor frame, and the top mounting plate 202 and the bottom mounting plate 203 are connected by two groups of parallel scissor frames. The two ends of the first bracket 204 are respectively connected with a first cushion block 205 and a first slider 206. The first cushion block 205 is fixedly arranged on the top mounting plate 202. The first slider 206 is slidably connected to the first guiding optical axis 207 on the bottom mounting plate 203. The two ends of the second bracket 208 are respectively connected with a second cushion block 209 and a second slider 210. The second cushion block 209 is fixedly arranged on the bottom mounting plate 203. The second slider 210 is slidably connected to the second guiding optical axis 211 on the top mounting plate 202. The stepping motor 212 is fixedly arranged on the top mounting plate 202. The output shaft of the stepping motor 212 is connected with a lead screw 213. A connecting member 214 is threadedly connected to the lead screw 213, and the connecting member 214 is fixedly connected with the second slider 210. Multi-axis robotic arm picking mechanisms 3 are arranged on both the first slider 206 and the bottom mounting plate 203. In this embodiment, the top plate 201 is horizontally arranged, and the top end surface of the top plate 201 is fixedly installed on the vehicle body 1. The top mounting plates 202 are located at the front and rear ends of the bottom end surface of the top plate 201, and the numbers and positions of the top mounting plates 202, the bottom mounting plates 203, the support frames 401 and the adjustable sorting and storage boxes 5 correspond one by one. The first bracket 204, the first cushion block 205 and the first slider 206, as well as the second bracket 208, the second cushion block 209 and the second slider 210, are all hinged through hinge structures. The hinge structure includes a coupling shaft arranged at both ends of the first bracket 204 and the second bracket 208, and vertical bearing seats arranged on the first cushion block 205, the first slider 206, the second cushion block 209 and the second slider 210. The coupling shaft is rotatably connected with the vertical bearing seats, so as to achieve hinge cooperation. Shaft fixing rings are arranged at both ends of the coupling shaft to prevent loosening of the connection. Vertical bearing seats are arranged at both ends of the first guiding optical axis 207 and the second guiding optical axis 211. The vertical bearing seat on the first guiding optical axis 207 is fixedly connected with the top mounting plate 202. The vertical bearing seat on the second guiding optical axis 211 is fixedly connected with the bottom mounting plate 203. The guiding optical axis can support and guide the slider, so that both the first slider 206 and the second slider 210 can only slide left and right, so as to achieve the purpose of adjusting the distance between the top mounting plate 202 and the bottom mounting plate 203.The stepping motor 212 is preferably a 42-step motor. The output shaft of the stepping motor 212 is connected to the lead screw 213 through a stepping motor coupling, thereby driving the lead screw 213 to rotate so that the second slider 210 slides left and right. Corresponding to the lower side of each bottom mounting plate 203, two multi-axis robotic arm picking mechanisms 3 are provided, and one of the multi-axis robotic arm picking mechanisms 3 is connected to one end of the bottom mounting plate 203, and the other multi-axis robotic arm picking mechanism 3 passes through the slot hole in the center of the bottom mounting plate 203 and is connected to the first slider 206. In addition, when the first slider 206 moves, the distance between the two multi-axis robotic arm picking mechanisms 3 can be synchronously adjusted.

[0031] Specifically, the first bracket 204 and the second bracket 208 are hinged through a central shaft 215, and shaft fixing rings 216 are provided at both ends of the central shaft 215. In this embodiment, central holes are provided at the midpoints of the first bracket 204 and the second bracket 208, and the central shaft 215 passes through the central holes to fix the first bracket 204 and the second bracket 208, thereby forming an X-shaped structure. The provided shaft fixing rings 216 are used to prevent loosening of the connection.

[0032] Specifically, the multi-axis robotic arm picking mechanism 3 includes copper columns 31, a one-dimensional servo gimbal 32, a second servo 33, a first fixing bracket 34, a third servo 35, a second fixing bracket 36, a fourth servo 37, a third fixing bracket 38, and a picking claw 39. Copper columns 31 are provided on both the bottom mounting plate 203 and the first slider 206. A one-dimensional servo gimbal 32 is provided on the copper columns 31. A second servo 33 is provided on the one-dimensional servo gimbal 32. The output shaft of the second servo 33 is connected to a first fixing bracket 34. A third servo 35 is fixedly provided on the first fixing bracket 34. The output shaft of the third servo 35 is connected to a second fixing bracket 36. A fourth servo 37 is provided on the second fixing bracket 36. The output shafts of the second servo 33, the third servo 35, and the fourth servo 37 are all arranged vertically. The output shaft of the fourth servo 37 is connected to a third fixing bracket 38. A picking claw 39 is provided on the third fixing bracket 38. In this embodiment, there are two or more copper columns 31, and the two or more copper columns 31 are evenly arranged in a ring for fixing the one-dimensional servo gimbal 32. The output shaft of the second servo 33 is arranged vertically downward for driving the first fixing bracket 34 to rotate circumferentially. The first fixing bracket 34 includes a first short U-shaped bracket, a first long U-shaped bracket, and a first L-shaped bracket connected in an L shape. The first short U-shaped bracket is connected to the servo disc on the output shaft of the second servo 33. One end of the first long U-shaped bracket is connected to the first short U-shaped bracket, and the other end of the first long U-shaped bracket is connected to a first L-shaped bracket. The third servo 35 is fixedly installed on the first L-shaped bracket, and the output shaft of the third servo 35 is arranged vertically upward for driving the second fixing bracket 36 to rotate. The second fixing bracket 36 includes a second short U-shaped bracket, a third short U-shaped bracket, and a second L-shaped bracket connected in an L shape. The second short U-shaped bracket is connected to the servo disc on the output shaft of the third servo 35. One end of the third short U-shaped bracket is connected to the second short U-shaped bracket, and the other end of the third short U-shaped bracket is connected to a second L-shaped bracket. The fourth servo 37 is fixedly installed on the second L-shaped bracket, and the output shaft of the fourth servo 37 is arranged vertically downward for driving the third fixing bracket 38 to rotate. The third fixing bracket 38 includes a third L-shaped bracket, and one end of the third L-shaped bracket is connected to the servo disc on the output shaft of the fourth servo 37. The second servo 33, the third servo 35, and the fourth servo 37 cooperate with each other to enable the driving of the picking claw 39 to rotate and move in the horizontal plane to achieve multi-angle picking operations and improve the applicability of the device.

[0033] Specifically, the picking claw 39 includes a claw plate 391, a fifth servo 392, a first connecting rod 393, a second connecting rod 394, and a hand claw 395. The claw plate 391 is fixedly arranged on the third fixing bracket 38. A fifth servo 392 is arranged on the claw plate 391. The output shaft of the fifth servo 392 is connected to the center of the first connecting rod 393. Both ends of the first connecting rod 393 are hinged with a second connecting rod 394. The free end of the second connecting rod 394 is hinged with a hand claw 395, and the hand claw 395 is slidably connected to the claw plate 391. In this embodiment, the claw plate 391 is of a semi-circular disk structure and is fixedly installed on the third L-shaped bracket. The fifth servo 392 is fixedly installed on the claw plate 391, and the output shaft of the fifth servo 392 is arranged vertically downward. The hand claw 395 is of a triangular structure. A chute is arranged on the hand claw 395, and the outer edge of the claw plate 391 is matched with the chute, so that the hand claw 395 can slide on the claw plate 391. The second connecting rod 394 is an arc-shaped rod. When the fifth servo 392 drives the first connecting rod 393 to rotate, it can drive the two hand claws 395 to approach or separate from each other through the second connecting rod 394, so as to clamp or release the pepper fruits.

[0034] Specifically, the adjustable sorting and storage box 5 includes a bottom plate 51, side baffles 52, fixed supports 53, adjustable supports 54, and adjustable baffles 55. A bottom plate 51 and four side baffles 52 enclose a box body, and the side baffles 52 are connected to the bottom plate 51 through the fixed supports 53. Two or more adjustable baffles 55 are vertically arranged on the inner side of the box body. The bottoms of the adjustable baffles 55 are all connected with adjustable supports 54, and the adjustable supports 54 are slidably connected with the chutes on the bottom plate 51. In this embodiment, the bottom plate 51 is horizontally arranged above the double-shaft motor 403, and the bottom plate 51 is detachably connected to the support frame 401, so that the box body can be taken out of the support frame 401, which is convenient for transferring the pepper fruits. The adjustable supports 54 can slide left and right inside the box body to adjust the distance between two adjacent adjustable baffles 55, so as to form storage grids of different specifications and achieve classified storage of pepper fruits according to different sizes.

[0035] Specifically, the number of the adjustable baffles 55 matches the number of the gap sorting shafts 408, and the positions of the adjustable baffles 55 and the gap sorting shafts 408 correspond one by one. In this embodiment, when the size of the mature pepper fruits is smaller than the axial gap between two adjacent gap sorting shafts 408, they can slide into the corresponding storage grids, which is convenient for classification and management.

[0036] Specifically, the vehicle body 1 is a frame structure made of aluminum profiles. In this embodiment, the scissor lift platform 2, the multi-axis robotic arm picking mechanism 3, the gap sorting mechanism 4, and the adjustable sorting and storage box 5 are all located inside the frame structure, which can play a protective role.

[0037] Working principle: Before use, adjust the axial distance between two adjacent gap sorting shafts 408 according to the actual site conditions, and correspondingly adjust the distance between two adjacent adjustable baffles 55 to make the size of the storage cells adaptable. When the system receives an instruction from the user terminal, first control the scissor lift platform 2 to work. The stepping motor 212 drives the lead screw 213 to rotate. The rotation of the lead screw 213 drives the second slider 210 to move towards the first cushion block 205, and then drives the bottom mounting plate 203 to move downward through the scissor frame, so that the multi-axis robotic arm picking mechanism 3 gradually extends to the pepper fruit. Then the multi-axis robotic arm picking mechanism 3 works. The second servo 33, the third servo 35 and the fourth servo 37 cooperate with each other to control the rotation of the picking claw 39 to align it with the pepper fruit. At this time, the fifth servo 392 is started. The fifth servo 392 drives the first connecting rod 393 to rotate. The first connecting rod 393 drives two hand claws 395 to approach each other through the second connecting rod 394 to clamp and fix the pepper fruit. Then the second servo 33, the third servo 35 and the fourth servo 37 drive the picking claw 39 to reverse, pick the pepper fruit and transfer it above the gap sorting mechanism 4. At this time, the fifth servo 392 reverses to release the pepper fruit and make it fall onto the gap sorting mechanism 4. Then the gap sorting mechanism 4 works. The dual-axis motor 403 drives the gap sorting shaft 408 to rotate through the pulley structure. When the size of the pepper fruit is smaller than the axial gap between two adjacent gap sorting shafts 408, it can slide into the corresponding storage cell. Otherwise, it will move backward under the rotation of the gap sorting shaft 408 until it falls into the storage cell of the corresponding size. At the same time, the first servo 410 also drives the sorting baffle 411 to swing to the right to remove the fruits with pests and diseases, thus realizing automatic picking, sorting and storage operations.

[0038] The present utility model is described by way of preferred embodiments. Those skilled in the art will know that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the present utility model. The present utility model is not limited by the specific embodiments disclosed herein, and other embodiments falling within the scope of the claims of this application belong to the protection scope of the present utility model.

Claims

1. An intelligent device for picking, sorting and storing pepper fruits, characterized by: The invention comprises a vehicle body (1), a scissor-type lifting platform (2), a multi-axis mechanical arm picking mechanism (3), a gap sorting mechanism (4) and an adjustable sorting storage box (5); the vehicle body (1) is provided with a scissor-type lifting platform (2); the multi-axis mechanical arm picking mechanism (3) is provided on the scissor-type lifting platform (2); a gap sorting mechanism (4) is provided below the scissor-type lifting platform (2); the gap sorting mechanism (4) comprises a support frame (401), a double-axis motor bracket (402), a double-axis motor (403), a driving wheel (404), a synchronous belt (405), a driven wheel (406), a first vertical bearing seat (407), a gap sorting shaft (408), a steering gear mounting bracket (409), a first steering gear (410) and a sorting baffle (411); the support frame (401) is fixedly arranged on the vehicle body (1); the support frame (401) is provided with a double-axis motor bracket (402); the double-axis motor bracket (403) A double-axis motor (403) is arranged on the support frame (402), the output shaft of the double-axis motor (403) is connected to a driving wheel (404), and more than two first vertical bearing seats (407) are arranged on the top of the support frame (401), and a gap sorting shaft (408) is rotatably connected to the first vertical bearing seat (407), and the spacing between two adjacent gap sorting shafts (408) gradually increases along the length direction of the support frame (401), and the gap sorting shaft (408) ) is provided with a driven wheel (406), and the driving wheel (404) is connected to the driven wheel (406) through a synchronous belt (405), a steering gear mounting bracket (409) is provided above the gap sorting shaft (408), a first steering gear (410) is provided on the steering gear mounting bracket (409), and the output shaft of the first steering gear (410) is connected to a sorting baffle (411), and an adjustable sorting storage box (5) is provided on the inner side of the supporting frame (401).

2. The intelligent equipment for picking, sorting and storing pepper fruits according to claim 1, characterized in that: The scissor-type lifting platform (2) comprises a top plate (201), a top mounting plate (202), a bottom mounting plate (203), a first bracket (204), a first cushion block (205), a first slider (206), a first guide light axis (207), a second bracket (208), a second cushion block (209), a second slider (210), a second guide light axis (211), a stepping motor (212), a screw rod (213) and a connecting piece (214); the top plate (201) is fixedly arranged on the vehicle body (1); top mounting plates (202) are arranged at both ends of the bottom of the top plate (201); a bottom mounting plate (203) is arranged parallel to and directly below the top mounting plate (202); the first bracket (204) and the second bracket (208) are cross-hinged to form a scissor frame; the top mounting plate (202) and the bottom mounting plate (203) are connected by two sets of parallel scissor frames; the two ends of the first bracket (204) are respectively connected with A first cushion block (205) and a first slider (206), wherein the first cushion block (205) is fixedly mounted on the top mounting plate (202), and the first slider (206) is slidably connected to a first guide light axis (207) on the bottom mounting plate (203); two ends of the second bracket (208) are respectively connected to a second cushion block (209) and a second slider (210), wherein the second cushion block (209) is fixedly mounted on the bottom mounting plate (203), and the second slider (210) is slidably connected to the first guide light axis (207) on the bottom mounting plate (203). On the second guide light axis (211) on the top mounting plate (202), a stepper motor (212) is fixedly mounted on the top mounting plate (202), an output shaft of the stepper motor (212) is connected to a lead screw (213), a connecting piece (214) is threadedly connected to the lead screw (213), and the connecting piece (214) is fixedly connected to the second slider (210), and a multi-axis mechanical arm picking mechanism (3) is provided on both the first slider (206) and the bottom mounting plate (203).

3. The intelligent equipment for picking, sorting and storing pepper fruits according to claim 2, characterized in that: The first bracket (204) and the second bracket (208) are hingedly connected via a central axis (215), and shaft fixing rings (216) are provided at both ends of the central axis (215).

4. The intelligent equipment for picking, sorting and storing pepper fruits according to claim 2, characterized in that: The multi-axis mechanical arm picking mechanism (3) comprises a copper column (31), a one-dimensional steering gear platform (32), a second steering gear (33), a first fixed bracket (34), a third steering gear (35), a second fixed bracket (36), a fourth steering gear (37), a third fixed bracket (38) and a picking claw (39), the bottom mounting plate (203) and the first sliding block (206) are both provided with the copper column (31), the one-dimensional steering gear platform (32) is provided on the copper column (31), the second steering gear (33) is provided on the one-dimensional steering gear platform (32), and the first sliding block (206) is provided with the second steering gear (33). ), the output shaft of the second steering gear (33) is connected to the first fixed bracket (34), the third steering gear (35) is fixedly arranged on the first fixed bracket (34), the output shaft of the third steering gear (35) is connected to the second fixed bracket (36), the second fixed bracket (36) is provided with a fourth steering gear (37), and the output shafts of the second steering gear (33), the third steering gear (35) and the fourth steering gear (37) are all arranged vertically, the output shaft of the fourth steering gear (37) is connected to the third fixed bracket (38), and the third fixed bracket (38) is provided with a picking claw (39).

5. The intelligent equipment for picking, sorting and storing pepper fruits according to claim 4, characterized in that: The picking claw (39) comprises a claw plate (391), a fifth steering gear (392), a first connecting rod (393), a second connecting rod (394) and a hand claw (395); the claw plate (391) is fixed on the third fixed bracket (38); the claw plate (391) is provided with a fifth steering gear (392); the output shaft of the fifth steering gear (392) is connected to the center of the first connecting rod (393); the second connecting rod (394) is hinged at both ends of the first connecting rod (393); the hand claw (395) is hinged at the free end of the second connecting rod (394); and the hand claw (395) is slidably connected to the claw plate (391).

6. The intelligent equipment for picking, sorting and storing pepper fruits according to claim 1, characterized in that: The adjustable sorting storage box (5) comprises a bottom plate (51), a side baffle (52), a fixed support (53), an adjustable support (54) and an adjustable baffle (55); a bottom plate (51) and four side baffles (52) are combined to form a box body, and the side baffle (52) is connected to the bottom plate (51) through the fixed support (53); more than two adjustable baffles (55) are vertically arranged inside the box body, and the bottoms of the adjustable baffles (55) are all connected to the adjustable supports (54), and the adjustable supports (54) are slidably connected to the slide grooves on the bottom plate (51).

7. The intelligent equipment for picking, sorting and storing pepper fruits according to claim 6, characterized in that: The number of the adjustable baffles (55) matches the number of the gap sorting shafts (408), and the positions of the adjustable baffles (55) and the gap sorting shafts (408) correspond one to one.

8. The intelligent equipment for picking, sorting and storing pepper fruits according to claim 1, characterized in that: The vehicle body (1) is a frame structure made of aluminum profiles.

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