Fruit and vegetable picking device

Abstract

The utility model discloses a fruit and vegetable picking device which comprises a base plate and a holder. The chassis can linearly run and steer back and forth on the ground; the cradle head is installed on the chassis through the cradle head driving mechanism, the cradle head driving mechanism is used for driving the cradle head to slide left and right and rotate horizontally, the picking manipulator is installed on the cradle head and is eccentric to a rotating shaft when the cradle head rotates horizontally, and the picking manipulator is provided with a clamping jaw capable of being opened, closed and lifted. According to the utility model, the manipulator on the fruit and vegetable picking device can pick fruits and vegetables along the field cage all the time without being influenced by the walking deviation of the picking device.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery and equipment, in particular to a fruit and vegetable picking device. Background Art

[0002] Currently, there are fruit and vegetable picking devices on the market that can walk along the ridges and pick the fruits and vegetables on the ridges through the mechanical arms on them.

[0003] However, since the extension direction of the ridges is not completely straight and is affected by factors such as the terrain, the fruit and vegetable picking device will inevitably have path deviations during its movement. This will cause the manipulator on this type of device to often deviate from the operating line on the ridges when picking along the field cages, and will not be able to completely pick the fruits and vegetables. At this time, although the problem can be solved by turning and moving the fruit and vegetable picking device as a whole on the spot, the ridge width is limited, and the space left for turning and moving is small, making it difficult to achieve this.

[0004] In summary, the problem of how to ensure that the manipulator on the fruit and vegetable picking device can always pick along the field cage without being affected by the walking deviation of the picking device needs to be solved. Utility Model Content

[0005] The purpose of the utility model is to provide a fruit and vegetable picking device, and the technical problem solved is to ensure that the manipulator on the fruit and vegetable picking device can always pick along the field cage without being affected by the walking deviation of the picking device.

[0006] To achieve the above-mentioned purpose, the solution of the present utility model is: a fruit and vegetable picking device, comprising a chassis and a platform;

[0007] The chassis can travel straight forward and backward on the ground and turn;

[0008] The pan-tilt head is installed on the chassis through a pan-tilt head drive mechanism. The pan-tilt head drive mechanism is used to drive the pan-tilt head to slide left and right and rotate horizontally. The picking robot is installed on the pan-tilt head and is eccentric to the rotating shaft when the pan-tilt head rotates horizontally. The picking robot is provided with a clamping claw that can be opened, closed and raised and lowered.

[0009] Furthermore, the chassis includes a frame, a left front wheel, a right front wheel, a left rear wheel, a right rear wheel and a steering system;

[0010] A wheel frame is provided at each of the four corners of the frame, and each wheel frame is pivotally connected to a corresponding position on the frame via a longitudinally extending shaft so as to be able to rotate horizontally.

[0011] The left front wheel, the right front wheel, the left rear wheel and the right rear wheel are each rotated on a corresponding wheel frame and are respectively used to fall on the ground and roll to support the frame;

[0012] The steering system is arranged on the vehicle frame and is connected to each wheel frame in a transmission manner so as to drive each wheel frame to rotate independently in the horizontal direction.

[0013] Furthermore, each wheel frame is provided with a hub motor, and the left front wheel, right front wheel, left rear wheel and right rear wheel are respectively installed on the hub motors of the corresponding wheel frames, and each hub motor is used to drive the corresponding left front wheel, right front wheel, left rear wheel and right rear wheel to actively rotate.

[0014] Furthermore, the pan / tilt drive mechanism includes a sliding seat, a guide rail, a linear drive device and a rotation drive device;

[0015] The sliding seat is installed on the chassis by sliding left and right on the guide rail;

[0016] The linear drive device is installed on the chassis, connected to and drives the sliding seat to slide left and right;

[0017] The pan-tilt head is mounted on the sliding seat for horizontal rotation, and the rotation driving device is mounted on the sliding seat to connect and drive the pan-tilt head for horizontal rotation.

[0018] Furthermore, the linear drive device includes a screw, a screw nut and a linear drive device motor;

[0019] The screw rod extends horizontally to the left and right and is rotatably mounted on the chassis;

[0020] The screw nut is installed on the sliding seat and matches the screw thread;

[0021] The linear drive device motor is connected and drives the lead screw to rotate forward or reverse to drive the sliding seat to slide left and right.

[0022] Further, the rotation drive device includes a rotation drive device motor, a small gear and a large gear;

[0023] The motor of the rotary drive device is fixed on the sliding seat, and the motor shaft of the rotary drive device motor extends longitudinally; the pinion is fixed on the motor shaft of the rotary drive device motor;

[0024] The large gear is fixed to the gimbal, and the axis of the large gear coincides with the rotation axis of the gimbal, and the large gear is meshed with the small gear.

[0025] Furthermore, two picking manipulators are provided on the front side and / or the rear side of the platform, and the clamping claws of the two picking manipulators are arranged opposite to each other on the left and right sides.

[0026] Furthermore, the gripper on the picking robot can also move left and right.

[0027] Furthermore, the grippers on the picking robot can also be flipped longitudinally.

[0028] After adopting the above scheme, the beneficial effect of the utility model is that the chassis can travel straight forward and backward and turn on the ground, the pan-tilt platform is installed on the chassis through the pan-tilt platform driving mechanism, the pan-tilt platform driving mechanism is used to drive the pan-tilt platform to slide left and right and rotate horizontally, the picking robot is installed on the pan-tilt platform, and is eccentric to the rotating shaft when the pan-tilt platform rotates horizontally, and the picking robot is provided with a clamping claw that can be opened and closed and raised and lowered, and then when the driving path of the chassis deviates from the working line of the field ridge, the left and right lateral movement, that is, horizontal rotation of the pan-tilt platform can drive the various robots installed on the pan-tilt platform to return to the working line on the field ridge, which can ensure that during the entire process of the chassis moving forward along the field ridge to operate, the robot always remains on the working line and picks along the field cage without being affected by the walking deviation of the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional diagram of the utility model;

[0030] Figure 2 for Figure 1 A partial enlarged view of point A in the middle;

[0031] Figure 3 A three-dimensional diagram from another perspective of the present invention;

[0032] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0033] Figure 5 It is a top view of the utility model.

[0034] Explanation of the numbers: 1-chassis, 2-pan head, 3-pan head drive mechanism, 4-picking robot, 5-grip, 6-frame, 7-left front wheel, 8-right front wheel, 9-left rear wheel, 10-right rear wheel, 11-steering system, 12-wheel frame, 13-hub motor, 14-sliding seat, 15-guide rail, 18-screw, 19-screw nut, 20-linear drive device motor, 21-rotation drive device motor, 22-small gear, 23-large gear, 24-ridge, 25-steering motor, 26-grip left and right movement linear motor, 27-grip lifting and moving linear motor, 28-grip opening and closing flipping drive mechanism. DETAILED DESCRIPTION

[0035] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] In the claims, specification and the above-mentioned drawings of the present invention, unless otherwise expressly defined, directional words, such as the use of terms such as "center", "transverse", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise" and the like to indicate directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, so they cannot be understood as limiting the specific scope of protection of the present invention.

[0037] A fruit and vegetable picking device, such as Figure 1-5 As shown, it includes a chassis 1 and a platform 2; the chassis 1 can travel straight forward and backward on the ground and turn. The specific structure is not limited and can be any existing wheeled or tracked vehicle chassis 1 structure. The preferred embodiment is given below; the platform 2 is mounted on the chassis 1 via a platform drive mechanism 3. The platform drive mechanism 3 can be any existing structure that can be used to drive the platform 2 to slide left and right and rotate horizontally. The picking robot 4 is mounted on the platform 2 and is eccentric to the rotating axis when the platform rotates horizontally. The picking robot 4 is provided with a clamping claw 5 that can open and close and lift and lower. Therefore, if the chassis 1 deviates from the working line on the ridge 24 during travel, the platform drive mechanism 3 can be used to drive the platform 2 to move left and right and rotate horizontally at any time to compensate for the deviation, so that each picking robot 4 on the platform 2 can always perform the picking operation along the working line on the ridge 24. Of course, the movement of the platform 2 can be controlled by manual operation or automatically controlled by a computer program combined with a position monitoring device. These are conventional technical means in the field and can be configured as needed by those skilled in the art. This will not be described in detail in this embodiment.

[0038] In order to make the chassis have better maneuverability between narrow ridges, it is preferred in this embodiment that the chassis 1 includes a frame 6, a left front wheel 7, a right front wheel 8, a left rear wheel 9, a right rear wheel 10 and a steering system 11; a wheel frame 12 is provided at each corner of the frame 6, and each wheel frame 12 is pivoted to a corresponding position on the frame 6 through a longitudinally extending rotating shaft so as to be able to rotate horizontally; the left front wheel 7, the right front wheel 8, the left rear wheel 9 and the right rear wheel 10 are each rotated on the corresponding wheel frame 12, and are respectively used to fall on the ground and roll to support the frame 6, and then when the corresponding wheel frame 12 rotates, it will drive the corresponding left front wheel 7, right front wheel 8, left rear wheel 9 and right rear wheel 10 to turn; the steering system 11 is provided on the frame 6 and is connected to each wheel frame by transmission. 12, used to drive each wheel frame 12 to rotate independently horizontally. More specifically, in this embodiment, the steering system 11 is provided with a steering motor 25 corresponding to each wheel frame 12, and the corresponding steering motor 25 is transmission-connected to the corresponding wheel frame 12 to drive the wheel frame 12 to rotate, and the rotation of the left front wheel 7, the right front wheel 8, the left rear wheel 9 and the right rear wheel 10 themselves is achieved in the following manner. Each of the wheel frames 12 is provided with a hub motor 13, and the left front wheel 7, the right front wheel 8, the left rear wheel 9 and the right rear wheel 10 are respectively mounted on the hub motor 13 of the corresponding wheel frame 12. Each hub motor 13 is used to drive the corresponding left front wheel 7, the right front wheel 8, the left rear wheel 9 and the right rear wheel 10 to actively rotate, thereby enabling the chassis 1 to travel on the ground.

[0039] In order to make the structure as simple as possible, it is preferred in this embodiment that the pan-tilt drive mechanism 3 includes a sliding seat 14, a guide rail 15, a linear drive device and a rotary drive device; the sliding seat 14 is mounted on the chassis 1 for sliding left and right movement via the guide rail 15; the linear drive device is mounted on the chassis 1, and the linear drive device includes a screw rod 18, a screw rod nut 19 and a linear drive device motor 20; the screw rod 18 extends horizontally left and right and is rotatably mounted on the chassis 1; the screw rod nut 19 is mounted on the sliding seat 14 and is threadedly engaged with the screw rod 18; the linear drive device motor 20 is connected and drives the screw rod 18 to rotate forward or reverse, thereby driving the sliding seat 14 to slide left and right; the pan-tilt 2 is mounted on the sliding seat 14 for horizontal rotation, and the rotary drive device is mounted on the sliding seat 14 On, it is connected and drives the pan-tilt head 2 to rotate horizontally. More specifically, the rotation driving device includes a rotation driving device motor 21, a small gear 22 and a large gear 23; the rotation driving device motor 21 is fixed on the sliding seat 14, and the motor shaft of the rotation driving device motor 21 extends longitudinally; the small gear 22 is fixed on the motor shaft of the rotation driving device motor 21; the large gear 23 is fixed to the pan-tilt head 2, and the axis of the large gear 23 coincides with the rotation axis of the pan-tilt head 2, and the large gear 23 is engaged with the small gear 22, so that when the rotation driving device motor 21 rotates, it can drive the pan-tilt head 2 to rotate horizontally, and the meshing relationship between the large gear 23 and the small gear 22 forms a reduction transmission, so that a rotation driving device motor 21 with smaller power can be used.

[0040] Two picking manipulators 4 are provided on the front and / or rear side of the pan-tilt platform 2, and the grippers 5 of the two picking manipulators 4 are arranged opposite to each other on the left and right sides. Specifically, in this embodiment, two picking manipulators 4 are provided on the front side of the pan-tilt platform 2, and two picking manipulators 4 are provided on the rear side of the pan-tilt platform 2. Each picking manipulator 4 also includes a gripper left and right moving linear motor 26, a gripper lifting and moving linear motor 27, and a gripper opening and closing flipping drive mechanism 28. The gripper left and right moving linear motor 26 is installed on the pan-tilt platform 2, and the gripper lifting and moving linear motor 27 is installed on the gripper left and right moving linear motor 26, and moves left and right under the drive of the gripper left and right moving linear motor 26. The gripper opening and closing flipping drive mechanism 28 is installed on the gripper lifting and moving linear motor 27, and is lifted and lowered under the drive of the gripper lifting and moving linear motor 27. The gripper opening and closing flipping drive mechanism 28 drives the gripper to open and close and flip longitudinally to simulate the two actions of clamping and twisting during manual picking.

[0041] In order to collect the picked crops, a collecting basket (not shown in the drawings) is hung on the chassis 1 within the range that the clamping jaws 5 can cover through displacement, and the clamping jaws 5 put the picked crops into the collecting basket.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the design of this case. Any equivalent changes made based on the key design of this case shall fall within the scope of protection of this case.

Claims

1. A fruit and vegetable picking device, characterized by: It includes a chassis (1) and a pan / tilt platform (2); The chassis (1) is capable of traveling straight ahead and behind on the ground and turning; The platform (2) is mounted on the chassis (1) via a platform drive mechanism (3). The platform drive mechanism (3) is used to drive the platform (2) to slide left and right and rotate horizontally. A picking manipulator (4) is mounted on the platform (2) and is eccentric to a rotating shaft when the platform rotates horizontally. The picking manipulator (4) is provided with a clamping claw (5) that can be opened, closed, and raised and lowered.

2. A fruit and vegetable picking device according to claim 1, characterized in that: The chassis (1) comprises a frame (6), a left front wheel (7), a right front wheel (8), a left rear wheel (9), a right rear wheel (10) and a steering system (11); A wheel frame (12) is provided at each of the four corners of the vehicle frame (6), and each wheel frame (12) is pivotally connected to a corresponding position on the vehicle frame (6) via a longitudinally extending rotating shaft so as to be able to rotate horizontally. The left front wheel (7), the right front wheel (8), the left rear wheel (9) and the right rear wheel (10) are each rotated on a corresponding wheel frame (12) and are respectively used to fall on the ground and roll to support the vehicle frame (6); The steering system (11) is arranged on the vehicle frame (6) and is transmission-connected to each wheel frame (12) for driving each wheel frame (12) to perform independent horizontal rotation.

3. A fruit and vegetable picking device according to claim 2, characterized in that: Each wheel frame (12) is provided with a wheel hub motor (13); the left front wheel (7), the right front wheel (8), the left rear wheel (9) and the right rear wheel (10) are respectively mounted on the wheel hub motor (13) of the corresponding wheel frame (12); each wheel hub motor (13) is used to drive the corresponding left front wheel (7), right front wheel (8), left rear wheel (9) and right rear wheel (10) to rotate actively.

4. The fruit and vegetable picking device according to claim 1, characterized in that: The pan / tilt drive mechanism (3) comprises a sliding seat (14), a guide rail (15), a linear drive device and a rotary drive device; The sliding seat (14) is mounted on the chassis (1) by sliding left and right via the guide rail (15); The linear drive device is mounted on the chassis (1), connected to and drives the sliding seat (14) to slide left and right; The platform (2) is mounted on a sliding seat (14) for horizontal rotation, and a rotation driving device is mounted on the sliding seat (14) for connecting and driving the platform (2) for horizontal rotation.

5. A fruit and vegetable picking device according to claim 4, characterized in that: The linear drive device comprises a screw (18), a screw nut (19) and a linear drive device motor (20); The screw rod (18) extends horizontally to the left and right and is rotatably mounted on the chassis (1); The screw nut (19) is mounted on the sliding seat (14) and is threadably coupled to the screw (18); The linear drive device motor (20) is connected to drive the screw rod (18) to rotate forward or reverse, thereby driving the sliding seat (14) to slide left and right.

6. The fruit and vegetable picking device according to claim 4, characterized in that: The rotary drive device comprises a rotary drive device motor (21), a small gear (22) and a large gear (23); The rotary drive device motor (21) is fixed on the sliding seat (14), and the motor shaft of the rotary drive device motor (21) extends longitudinally; The pinion (22) is fixed on the motor shaft of the rotary drive device motor (21); The large gear (23) is fixed to the platform (2), and the axis of the large gear (23) coincides with the rotation axis of the platform (2), and the large gear (23) is meshed with the small gear (22).

7. The fruit and vegetable picking device according to claim 1, characterized in that: Two picking manipulators (4) are arranged on the front side and / or the rear side of the platform (2), and the clamping claws (5) of the two picking manipulators (4) are arranged opposite to each other on the left and right sides.

8. The fruit and vegetable picking device according to claim 1, characterized in that: The clamping claw (5) on the picking manipulator (4) can also move left and right.

9. The fruit and vegetable picking device according to claim 1, characterized in that: The clamping claw (5) on the picking manipulator (4) can also be turned longitudinally.

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