Fruit picking robot

Abstract

The utility model relates to a fruit picking robot which comprises a base. The adjusting piece is arranged on one side of the base; a clamping piece for picking fruits is arranged on one side of the adjusting piece; the clamping piece comprises a mounting disc arranged on one side of the adjusting piece, a disc body is fixedly mounted on one side of the mounting disc, three groove bodies are formed in the disc body, a motor is started to drive a fluted disc to rotate, the fluted disc drives three gears to rotate synchronously, and therefore three threaded rods are controlled to rotate, and three clamping seats are close to or away from one another; in addition to clamping and picking of fruits, adhesive layer strips are arranged on the adjacent sides of the three clamping seats and used for protecting the surfaces of the fruits and enhancing friction force, the surfaces of the fruits can be attached to adsorption seats, a sealing piston can be driven to move in a cylinder by starting an air cylinder, and due to the fact that the sealing piston is tightly attached to the inner wall of the cylinder, the sealing piston can move in the cylinder. And one side of each adsorption hole is blocked by the fruits, so that negative pressure is generated, and the fruits are adsorbed.

Description

Technical Field

[0001] The utility model relates to the technical field of picking robot equipment, in particular to a fruit picking robot. Background Art

[0002] The rapid development of the fruit cultivation industry has increased market demand for orchard machinery. Harvesting accounts for 33% to 50% of the total labor involved in the entire production process. Currently, the vast majority of fruit harvesting in my country is still done manually, a complex and seasonal process. Existing robotic arms use a two-finger gripper, which, to ensure a stable grip, can easily damage the fruit surface and lack suction to assist in picking.

[0003] For example, the authorized patent document with application number CN202222344803.1 discloses a fruit picking robot, which includes a vehicle body, a conveying mechanism is installed on the top surface of the vehicle body near one side, four mechanical arms are installed on the top surface of the vehicle body near the other side, a collecting mechanism is installed on the front side of the vehicle body, the conveying mechanism includes a protective rail connected to the vehicle body, a plurality of rollers are installed on the inner side of the protective rail, a conveyor belt is installed between the plurality of rollers, a motor is installed on one side of the roller, and the collecting mechanism includes a collecting box connected to the vehicle body, a rotating plate is installed on the inner side of the collecting box near the front end, a rotating shaft is installed on one side of the rotating plate near the bottom end, a push groove is opened on the top surface of the rotating plate near both sides, and an insert plate is installed in the push groove; this utility model improves the efficiency of the picking robot in picking fruits, achieves the purpose of collecting fruits conveniently and quickly, and is convenient for staff to take out the fruits.

[0004] The above patent has a robot arm that adopts two-finger gripping. In order to ensure stable gripping, it is easy to damage the surface of the fruit. Therefore, we need to provide a fruit picking robot. Utility Model Content

[0005] The purpose of the utility model is to provide a fruit picking robot, wherein a starting motor drives a toothed disc to rotate, and the toothed disc drives three gears to rotate synchronously, thereby controlling the rotation of three threaded rods to realize the three clamping seats approaching or moving away from each other, which is the same as clamping and picking the fruit, wherein the adjacent sides of the three clamping seats are provided with adhesive strips for protecting the surface of the fruit and enhancing the friction, wherein the surface of the fruit will be attached to the adsorption seat, and the starting cylinder can drive the sealing piston to move in the cylinder. Since the sealing piston is in close contact with the inner wall of the cylinder, the air in the adsorption hole is sucked away, and one side of the adsorption hole is blocked by the fruit, thereby generating negative pressure, and the fruit is adsorbed, thereby solving the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a fruit picking robot, comprising:

[0007] base;

[0008] An adjusting member provided on one side of the base;

[0009] A clamping piece for picking fruits is provided on one side of the adjusting piece;

[0010] The clamping member includes a mounting plate provided on one side of the adjusting member, a plate body being fixedly mounted on one side of the mounting plate, three slots being provided inside the plate body, threaded rods being rotatably mounted inside the three slots, and clamping seats being threadedly mounted on the surfaces of the three threaded rods;

[0011] Wherein, a driving member for synchronously driving the three clamping seats is provided inside the mounting plate.

[0012] Preferably, the driving member includes a motor embedded in the mounting plate, a gear disc is installed at the output end of the motor, gears are fixedly installed on the surfaces of the three threaded rods, and one side of the three gears is engaged with the tooth portion of the gear disc surface.

[0013] Preferably, a protective plate is fixedly installed inside the three troughs, and the surface of the protective plate is slidably installed with the inside of the clamping seat.

[0014] Preferably, an adsorption part for assisting in the adsorption of fruits is installed on one side of the disc body, and the adsorption part includes an adsorption seat fixedly installed at the axis of the disc body, an adsorption hole is opened inside the adsorption seat, the interior of the adsorption hole is connected to a cylinder, a sealing piston is provided inside the cylinder, and a cylinder connected to the sealing piston is installed on one side of the disc body.

[0015] Preferably, a glue layer portion is provided on one side of the adsorption seat, and glue layer strips are installed on adjacent sides of the three clamping seats.

[0016] Preferably, one side of the three clamping seats is integrally machined with a slider, and one side of the mounting plate is provided with a sliding groove for the slider to slide.

[0017] Preferably, the adjusting member includes a lower bracket fixedly mounted on the top of the base, an upper bracket is rotatably mounted on the top of the lower bracket, one end of the upper bracket is fixedly mounted on the surface of the mounting plate, and two electric push rods are hinged between the upper bracket and the lower bracket.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The utility model can clamp and fix the fruits in multiple directions through the adjusting part, and can have an auxiliary adsorption effect on the fruits, thereby providing a double fixing effect, and protecting the fruits to the greatest extent when picking the fruits. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the utility model;

[0021] Figure 2 It is a three-dimensional diagram of the local structure of the utility model;

[0022] Figure 3 This is a three-dimensional diagram of the driving member of the present utility model;

[0023] Figure 4 This is a three-dimensional diagram of the adsorption component of the present invention.

[0024] In the figure: 1. Base; 2. Adjusting part; 3. Clamping part; 31. Mounting plate; 32. Plate body; 33. Trough body; 34. Threaded rod; 35. Clamping seat; 30. Driving part; 301. Motor; 302. Spur plate; 303. Gear; 4. Protective plate; 5. Adsorption part; 51. Adsorption seat; 52. Adsorption hole; 53. Cylinder; 54. Sealing piston; 55. Cylinder; 6. Adhesive strip; 7. Slider; 8. Slide groove; 21. Lower bracket; 22. Upper bracket; 23. Electric push rod. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] See also Figure 1-4 The utility model provides a technical solution: a fruit picking robot, comprising:

[0027] Base 1;

[0028] An adjusting member 2 is provided on one side of the base 1;

[0029] A clamping member 3 for picking fruits is provided on one side of the adjusting member 2;

[0030] The clamping member 3 includes a mounting plate 31 disposed on one side of the adjusting member 2. A plate body 32 is fixedly mounted on one side of the mounting plate 31. Three slots 33 are formed inside the plate body 32. Threaded rods 34 are rotatably mounted inside the three slots 33. Clamping seats 35 are threadedly mounted on the surfaces of the three threaded rods 34.

[0031] A driving member 30 for synchronously driving the three clamping seats 35 is provided inside the mounting plate 31 .

[0032] The driving member 30 includes a motor 301 embedded in a mounting plate 31. A toothed disc 302 is mounted on the output end of the motor 301. Gears 303 are fixedly mounted on the surfaces of the three threaded rods 34. One side of the three gears 303 meshes with the teeth on the surface of the toothed disc 302.

[0033] In this embodiment, the starting motor 301 drives the toothed disc 302 to rotate, and the toothed disc 302 drives the three gears 303 to rotate synchronously, thereby controlling the rotation of the three threaded rods 34, and realizing the three clamping seats 35 approaching or moving away from each other, which is the same as clamping and picking fruits. The adjacent sides of the three clamping seats 35 are provided with adhesive strips 6 for protecting the surface of the fruit and enhancing friction. The surface of the fruit will fit on the adsorption seat 51, and the starting cylinder 55 can drive the sealing piston 54 to move in the cylinder 53. Since the sealing piston 54 fits tightly against the inner wall of the cylinder 53, the air in the adsorption hole 52 is sucked away, and one side of the adsorption hole 52 is blocked by the fruit, thereby generating negative pressure to adsorb the fruit.

[0034] The three troughs 33 are all fixedly mounted with a protective plate 4, and the surface of the protective plate 4 is slidably mounted on the inside of the clamping seat 35;

[0035] Specifically, the protective plate 4 is provided to protect the threaded rod 34 and the gear 303 to prevent branches from being inserted into the groove 33 and causing an impact, and to assist the clamping seat 35 in moving more stably.

[0036] A suction member 5 for assisting in the suction of fruit is mounted on one side of the disc body 32. The suction member 5 comprises a suction seat 51 fixedly mounted at the axis of the disc body 32. A suction hole 52 is defined within the suction seat 51. The suction hole 52 is connected to a cylinder 53. A sealing piston 54 is disposed within the cylinder 53. A cylinder 55 connected to the sealing piston 54 is mounted on one side of the disc body 32.

[0037] Furthermore, the surface of the fruit will fit on the adsorption seat 51, and the starting cylinder 55 can drive the sealing piston 54 to move in the cylinder 53. Since the sealing piston 54 fits tightly against the inner wall of the cylinder 53, the air in the adsorption hole 52 is sucked away, and one side of the adsorption hole 52 is blocked by the fruit, thereby generating negative pressure to adsorb the fruit.

[0038] One side of the adsorption seat 51 is provided with an adhesive layer portion, and the adjacent sides of the three clamping seats 35 are all installed with adhesive strips 6;

[0039] The adhesive layer on one side of the adsorption seat 51 can fit more closely to the surface of the fruit, ensuring that the surface of the fruit is blocked at the adsorption hole 52 as much as possible.

[0040] One side of the three clamping seats 35 is integrally machined with a slider 7, and one side of the mounting plate 31 is provided with a slide groove 8 for the slider 7 to slide;

[0041] In order to enhance the stability of the movement of the clamping seat 35 , the movement of the clamping seat 35 will drive the slider 7 to slide and adjust in the sliding groove 8 .

[0042] The adjusting member 2 includes a lower bracket 21 fixedly mounted on the top of the base 1, an upper bracket 22 is rotatably mounted on the top of the lower bracket 21, one end of the upper bracket 22 is fixedly mounted on the surface of the mounting plate 31, and two electric push rods 23 are hinged between the upper bracket 22 and the lower bracket 21;

[0043] It is worth noting that the two electric push rods 23 are synchronous push rods. When the electric push rods 23 are started, the upper bracket 22 is driven to rotate, thereby realizing the rotation of the mounting plate 31.

[0044] The device starts the motor 301 to drive the toothed disc 302 to rotate, and the toothed disc 302 drives the three gears 303 to rotate synchronously, thereby controlling the rotation of the three threaded rods 34 to achieve the three clamping seats 35 approaching or moving away from each other, which is the same as clamping and picking fruits. The adjacent sides of the three clamping seats 35 are provided with adhesive strips 6 for protecting the surface of the fruit and enhancing the friction. The surface of the fruit will fit on the adsorption seat 51. The starting cylinder 55 can drive the sealing piston 54 to move in the cylinder 53. Since the sealing piston 54 fits tightly against the inner wall of the cylinder 53, the air in the adsorption hole 52 is sucked away, and one side of the adsorption hole 52 is blocked by the fruit, thereby generating negative pressure to adsorb the fruit.

[0045] 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 these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fruit picking robot, characterized in that: include: Base (1); An adjusting member (2) is arranged on one side of the base (1); A clamping member (3) for picking fruits is provided on one side of the adjusting member (2); The clamping member (3) comprises a mounting plate (31) arranged on one side of the adjusting member (2), a plate body (32) being fixedly mounted on one side of the mounting plate (31), three slots (33) being provided inside the plate body (32), threaded rods (34) being rotatably mounted inside the three slots (33), and clamping seats (35) being threadedly mounted on the surfaces of the three threaded rods (34); A driving member (30) for synchronously driving the three clamping seats (35) is provided inside the mounting plate (31).

2. The fruit picking robot according to claim 1, characterized in that: The driving member (30) includes a motor (301) embedded in the mounting plate (31), a toothed disc (302) is installed at the output end of the motor (301), and gears (303) are fixedly installed on the surfaces of the three threaded rods (34), and one side of the three gears (303) is meshed with the teeth on the surface of the toothed disc (302).

3. The fruit picking robot according to claim 1, characterized in that: A protective plate (4) is fixedly installed inside each of the three trough bodies (33), and the surface of the protective plate (4) is slidably installed inside the clamping seat (35).

4. The fruit picking robot according to claim 1, characterized in that: An adsorption member (5) for assisting in adsorbing fruit is installed on one side of the disc body (32). The adsorption member (5) comprises an adsorption seat (51) fixedly installed at the axis of the disc body (32). An adsorption hole (52) is provided inside the adsorption seat (51). The adsorption hole (52) is connected to a cylinder (53). A sealing piston (54) is provided inside the cylinder (53). A cylinder (55) connected to the sealing piston (54) is installed on one side of the disc body (32).

5. The fruit picking robot according to claim 4, characterized in that: One side of the adsorption seat (51) is provided with a glue layer portion, and adjacent sides of the three clamping seats (35) are all installed with glue layer strips (6).

6. The fruit picking robot according to claim 5, characterized in that: One side of the three clamping seats (35) is integrally processed with a slider (7), and one side of the mounting plate (31) is provided with a sliding groove (8) for the slider (7) to slide.

7. The fruit picking robot according to claim 1, characterized in that: The adjusting member (2) comprises a lower bracket (21) fixedly mounted on the top of the base (1); an upper bracket (22) is rotatably mounted on the top of the lower bracket (21); one end of the upper bracket (22) is fixedly mounted on the surface of the mounting plate (31); and two electric push rods (23) are hingedly connected between the upper bracket (22) and the lower bracket (21).

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