Fruit picking robot

Abstract

The utility model belongs to the technical field of fruit picking, and relates to a fruit picking robot which comprises a main body, a motor is fixedly connected to the top of the main body, a second gear is fixedly sleeved on an output shaft of the motor, a first hydraulic cylinder is rotatably connected to the top of the main body, and a third gear is fixedly sleeved on the first hydraulic cylinder. The third gear is meshed with the second gear, a supporting plate is fixedly connected to the top of the output end of the first hydraulic cylinder, scissors are arranged on the supporting plate, a material receiving assembly is arranged at the bottom of the supporting plate, a collecting box is slidably arranged at the top of the main body, and the collecting box is connected with the material receiving assembly through a telescopic pipe. The fruit picking scissors have the advantages that when the scissors are used for picking fruits, the motor is started to drive the second gear to rotate, the second gear drives the third gear to rotate, the first hydraulic cylinder rotates, the scissors rotate, the first hydraulic cylinder is started to push the scissors to move up and down, the angle and height of the scissors can be automatically adjusted, and the workload of workers is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of fruit picking and relates to a fruit picking robot. Background Art

[0002] When people pick fruits like dates and oranges, they often pluck them directly from the trees by hand. This can easily break branches, affecting tree growth and future fruit yields. It can also damage the connection between the fruit and the branch, making it difficult to store and preserve the fruit for a long time. Therefore, a fruit picking robot is needed to automatically pick fruits.

[0003] An automatic citrus picking robot disclosed in Chinese patent CN220511682U includes an adjustment assembly arranged above a base plate near one side of a working box; the adjustment assembly includes an adjustment box fixedly connected to the base plate near one side of the working box, a threaded rod rotatably connected to the inside of the adjustment box through a bearing A, and a threaded barrel threadedly connected to the surface of the threaded rod, and the threaded barrel and the working box are fixedly connected.

[0004] The robot uses two sets of picking blades that move relative to each other and gradually approach each other, severing the stems and picking the fruit. However, before picking, workers need to move the base plate several times to align the blades with the fruit, increasing their workload and making it inconvenient.

[0005] In order to solve the above problems, the utility model proposes a fruit picking robot. Utility Model Content

[0006] In order to solve the problems existing in the background technology, the utility model proposes a fruit picking robot.

[0007] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is as follows: comprising a main body, a motor is fixedly connected to the top of the main body, a second gear is fixedly sleeved on the output shaft of the motor, a first hydraulic cylinder is rotatably connected to the top of the main body, a third gear is fixedly sleeved on the first hydraulic cylinder, and the third gear is meshed with the second gear;

[0008] The top of the output end of the first hydraulic cylinder is fixedly connected to a support plate, on which scissors are provided, the bottom of the support plate is provided with a material receiving assembly, and the top of the main body is slidably provided with a collecting box, which is connected to the material receiving assembly through a telescopic tube.

[0009] Furthermore, the top surface of the main body is provided with two symmetrical grooves, the bottom surface of the collection box is fixedly connected with two slides, the slides are slidably arranged in the corresponding grooves, and the bottom surface of the collection box is slidably matched with the main body.

[0010] Furthermore, a first rack is fixedly connected to one side of the collection box, and the first rack is meshed with the third gear.

[0011] Furthermore, a mounting groove is provided on one side of the support plate, the hinge of the scissors is arranged in the mounting groove, and the two blades of the scissors extend out of the support plate;

[0012] A slide groove is provided on the top surface of the support plate, the slide groove is connected to the mounting groove, and the two handles of the scissors extend into the interior of the slide groove;

[0013] A driving assembly is provided on the top of the support plate, and the driving assembly drives the two blades of the scissors to rotate toward each other or away from each other.

[0014] Furthermore, the driving assembly includes a second hydraulic cylinder, which is fixedly connected to the top of the support plate, and the output end of the second hydraulic cylinder is fixedly connected to the second movable plate, and the first movable plate is fixedly passed through the second movable plate, and the second movable plate is perpendicular to the first movable plate. A protrusion is fixedly connected to the bottom of one end of the second movable plate, and the protrusion is located inside the slide groove. A through hole is opened on the protrusion, and the two handles of the scissors slide through the through hole.

[0015] One side of the two handles of the scissors is fixedly connected with a spring, and the other end of the spring is fixedly connected to the inner wall of the sliding groove.

[0016] Furthermore, the material receiving assembly includes a collecting hopper, two fixed plates are fixedly connected to the bottom surface of the support plate, the collecting hopper is located between the two fixed plates, and both sides of one end of the collecting hopper are fixedly connected to a rotating shaft, which rotates and passes through the corresponding fixed plates respectively, and one end of the rotating shaft away from the collecting hopper is fixedly connected to a first gear; the two blades of the scissors are located directly above the collecting hopper;

[0017] The bottom surface of the first movable plate is fixedly connected with a second rack, and the second rack is meshed with the first gear.

[0018] Furthermore, the telescopic tube is a bellows, one end of the telescopic tube is fixedly connected to the side of the collection bucket, the other end of the telescopic tube is fixedly connected to the side of the collection box, and the ends of the telescopic tube are connected to the collection bucket and the collection box;

[0019] The interior of the collection box is fixedly connected with a mounting plate, on which a plurality of filter holes are evenly opened, and the connection end of the telescopic tube and the collection box is located above the mounting plate.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The fruit picking robot is provided with a first hydraulic cylinder, and the scissors are arranged on the top of the first hydraulic cylinder. When using the scissors to pick fruit, the motor is started to drive the second gear to rotate, and the second gear drives the third gear to rotate, so that the first hydraulic cylinder rotates and the scissors rotate. By starting the first hydraulic cylinder, the scissors can be pushed up and down, and then the angle and height of the scissors can be automatically adjusted, which reduces the workload of the staff and is more convenient to use.

[0022] 2. The fruit picking robot is provided with a collecting bucket, which is rotatably arranged at the bottom of the supporting plate. When the second hydraulic cylinder pulls the second movable plate to move and pushes the two handles of the scissors to rotate through the through holes, the two blades of the scissors rotate toward each other to cut, and at the same time, it drives the second rack to move and drive the first gear to rotate, so that the end of the collecting bucket away from the fixed plate rotates upward, so that the picked fruits fall into the collecting bucket, and then enter the collection box through the telescopic tube, and then the fruits are automatically collected. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0024] Figure 2 This utility model Figure 1 The enlarged structural diagram of the middle part A;

[0025] Figure 3 This is a schematic structural diagram of the telescopic tube in the utility model;

[0026] Figure 4 It is a structural diagram of the scissors in the utility model;

[0027] Figure 5 It is a structural schematic diagram of the second movable plate in the utility model.

[0028] In the figure: 1. Main body; 2. First hydraulic cylinder; 3. Motor; 4. Telescopic tube; 5. Collecting bucket; 6. Support plate; 7. Second hydraulic cylinder; 8. First gear; 9. Collecting box; 10. Mounting plate; 11. Scissors; 12. Binocular camera; 13. First movable plate; 14. Second gear; 15. Third gear; 16. First rack; 17. Spring; 18. Slide; 19. Second rack; 20. Second movable plate; 21. Fixed plate; 22. Groove; 23. Mounting groove. DETAILED DESCRIPTION

[0029] 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.

[0030] like Figure 1-Figure 5 As shown, the technical solution adopted by the present invention is as follows: The fruit picking robot comprises a main body 1, with movable wheels mounted at the four corners of the bottom of the main body 1. A motor 3 is fixedly connected to the top of the main body 1, and a second gear 14 is fixedly mounted on the output shaft of the motor 3. A first hydraulic cylinder 2 is rotatably connected to the top of the main body 1, and a third gear 15 is fixedly mounted on the first hydraulic cylinder 2, meshing with the second gear 14. When the motor 3 is started, the output shaft of the motor 3 rotates the second gear 14, which in turn drives the third gear 15 and the first hydraulic cylinder 2 to rotate.

[0031] The top of the output end of the first hydraulic cylinder 2 is fixedly connected to a support plate 6 , on which a scissors 11 are provided.

[0032] One side of the support plate 6 is provided with a mounting groove 23, and the hinge of the scissors 11 is arranged in the mounting groove 23, and the two blades of the scissors 11 extend out of the outside of the support plate 6. So that the fruit handle of the fruit can be sheared by the two blades of the scissors 11.

[0033] The top surface of the support plate 6 is provided with a chute 18, which is communicated with the mounting groove 23, and the two handles of the scissors 11 extend into the inside of the chute 18. By driving the two handles to rotate, the two blades are rotated.

[0034] A driving assembly is provided on the top of the support plate 6 , and the driving assembly drives the two blades of the scissors 11 to rotate toward each other or away from each other.

[0035] The drive assembly includes a second hydraulic cylinder 7, which is fixedly connected to the top of the support plate 6. The output end of the second hydraulic cylinder 7 is fixedly connected to a second movable plate 20, through which the first movable plate 13 is fixedly inserted, perpendicular to the first movable plate 13. A protrusion is fixedly connected to the bottom of one end of the second movable plate 20. The protrusion is located within the slide 18 and has a through hole formed in the protrusion. The two handles of the scissors 11 slide through the through hole. Because the through hole is fixed in size, the two handles of the scissors 11 can be rotated by moving the through hole.

[0036] One side of the two handles of the scissors 11 is fixedly connected with a spring 17, and the other end of the spring 17 is fixedly connected on the inner wall of the chute 18. When the spring 17 is in the natural state, the two handles of the scissors 11 are in an open state.

[0037] The bottom of the support plate 6 is provided with a material receiving assembly.

[0038] The collection assembly includes a collection hopper 5. Two fixed plates 21 are fixedly connected to the bottom of a support plate 6, with the collection hopper 5 positioned between the two fixed plates 21. A rotating shaft is fixedly connected to each side of one end of the collection hopper 5, rotating through the corresponding fixed plate 21. A first gear 8 is fixedly connected to the end of one of the rotating shafts facing away from the collection hopper 5. The two blades of the scissors 11 are positioned directly above the collection hopper 5, ensuring that the fruit cut by the scissors 11 falls into the collection hopper 5.

[0039] The bottom surface of the first movable plate 13 is fixedly connected with a second rack 19, which is engaged with the first gear 8. When the second rack 19 moves, it drives the first gear 8 to rotate.

[0040] A collecting box 9 is slidably provided on the top of the main body 1 , and the collecting box 9 is connected to the material receiving assembly through a telescopic tube 4 .

[0041] The top surface of the main body 1 is provided with two symmetrical grooves 22. The bottom surface of the collection box 9 is fixedly connected with two slides, which are slidably arranged in the corresponding grooves 22. The bottom surface of the collection box 9 is slidably matched with the main body 1.

[0042] A first rack 16 is fixedly connected to one side of the collection box 9, and the first rack 16 is engaged with the third gear 15. When the third gear 15 rotates, it drives the first rack 16 to move, thereby causing the collection box 9 to slide on the top of the main body 1.

[0043] The telescopic tube 4 is a bellows-shaped tube, allowing it to move along with the support plate 6 when the first hydraulic cylinder 2 drives it. One end of the telescopic tube 4 is fixedly connected to the side of the collection hopper 5, and the other end is fixedly connected to the side of the collection box 9. The ends of the telescopic tube 4 communicate with the collection hopper 5 and the collection box 9, allowing fruit in the collection hopper 5 to pass through the telescopic tube 4 and into the collection box 9.

[0044] A mounting plate 10 is fixedly attached to the interior of the collection box 9, and is evenly distributed with a number of filter holes. The connection end of the telescopic tube 4 to the collection box 9 is located above the mounting plate 10. The filter holes can filter out some impurities on the fruit, making it easier for workers to sort the picked fruit.

[0045] A binocular camera 12 is fixedly mounted on the top of the support plate 6. A controller is provided on the main body 1 and is connected to the binocular camera 12, the first hydraulic cylinder 2, the second hydraulic cylinder 7, and the motor 3. The binocular camera 12 can be used to check the position of the fruit. The controller then controls the first hydraulic cylinder 2 and the motor 3 to adjust the position of the shears 11. Finally, the second hydraulic cylinder 7 is used to make the shears 11 pick the fruit.

[0046] Working principle:

[0047] When picking fruits that are not easily damaged, such as dates and oranges, the motor 3 is started, and the output shaft of the motor 3 drives the second gear 14 to rotate, and the second gear 14 drives the third gear 15 to rotate, so that the first hydraulic cylinder 2 rotates. The support plate 6 rotates, and the scissors 11 rotates in the horizontal direction to adjust the angle of the scissors 11.

[0048] The third gear 15 drives the first rack 16 to move, causing the collection box 9 to slide on the top of the main body 1 .

[0049] Start the first hydraulic cylinder 2, push the support plate 6 to move up and down, drive the scissors 11 to move in the vertical direction, and adjust the height of the scissors 11. When the support plate 6 moves, it will drive the telescopic tube 4 to move together.

[0050] After adjusting the position of the scissors 11, the second hydraulic cylinder 7 is activated, pulling the second movable plate 20 to slide on top of the support plate 6. The second movable plate 20 slides toward the end away from the cutting edge of the scissors 11, causing the through-holes to move over the two handles of the scissors 11. Because the through-holes are fixed in size, they gradually squeeze the two handles of the scissors 11, causing them to rotate toward each other.

[0051] When the handle is rotated, the corresponding spring 17 is stretched, and the two blades of the scissors 11 are driven to rotate at the same time, so that the two blades contact the fruit stem and cut the fruit. The cut fruit will fall into the collecting bucket 5.

[0052] The second movable plate 20 drives the second rack 19 to move, and the second rack 19 drives the first gear 8 to rotate, so that the end of the collecting hopper 5 away from the fixed plate 21 rotates upward. The collecting hopper 5 is tilted, and the fruit rolls into the telescopic tube 4 and finally falls into the collecting box 9.

[0053] After cutting, the second hydraulic cylinder 7 pushes the second movable plate 20 to slide toward the end closest to the cutting edge of the scissors 11. The through hole no longer squeezes the handle of the scissors 11, and the spring 17 pushes the handle to rotate, returning it to its initial position. At the same time, the two cutting edges of the scissors 11 open, and the end of the collecting hopper 5 away from the fixed plate 21 rotates downward.

[0054] After picking is completed, the motor 3 is started, and the output shaft of the motor 3 rotates forward and reverse, which drives the collecting box 9 to slide back and forth on the top of the main body 1, and sieves the fruits on the mounting plate 10 to remove more impurities for subsequent fruit packing.

[0055] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. Fruit picking robot, characterized in that, The invention comprises a main body (1), wherein a motor (3) is fixedly connected to the top of the main body (1), a second gear (14) is fixedly sleeved on the output shaft of the motor (3), a first hydraulic cylinder (2) is rotatably connected to the top of the main body (1), a third gear (15) is fixedly sleeved on the first hydraulic cylinder (2), and the third gear (15) is meshed with the second gear (14); A support plate (6) is fixedly connected to the top of the output end of the first hydraulic cylinder (2), a scissors (11) is provided on the support plate (6), a material receiving assembly is provided at the bottom of the support plate (6), a collecting box (9) is slidably provided on the top of the main body (1), and the collecting box (9) is connected to the material receiving assembly via a telescopic tube (4).

2. The fruit picking robot according to claim 1, characterized in that: The top surface of the main body (1) is provided with two symmetrical grooves (22), and the bottom surface of the collection box (9) is fixedly connected to two slides, which are slidably arranged in the corresponding grooves (22), and the bottom surface of the collection box (9) is slidably matched with the main body (1).

3. The fruit picking robot according to claim 2, characterized in that: A first rack (16) is fixedly connected to one side of the collecting box (9), and the first rack (16) is meshed with the third gear (15).

4. The fruit picking robot according to claim 1, characterized in that: A mounting groove (23) is provided on one side of the support plate (6), a hinge of the scissors (11) is arranged in the mounting groove (23), and two blades of the scissors (11) extend to the outside of the support plate (6); The top surface of the support plate (6) is provided with a slide groove (18), the slide groove (18) is communicated with the mounting groove (23), and the two handles of the scissors (11) extend into the interior of the slide groove (18); A driving assembly is provided on the top of the support plate (6), and the driving assembly drives the two blades of the scissors (11) to rotate toward each other or away from each other.

5. The fruit picking robot according to claim 4, characterized in that: The driving assembly includes a second hydraulic cylinder (7), the second hydraulic cylinder (7) is fixedly connected to the top of the support plate (6), the output end of the second hydraulic cylinder (7) is fixedly connected to the second movable plate (20), the first movable plate (13) is fixedly passed through the second movable plate (20), the second movable plate (20) is perpendicular to the first movable plate (13), a protrusion is fixedly connected to the bottom of one end of the second movable plate (20), the protrusion is located inside the slide groove (18), a through hole is opened on the protrusion, and the two handles of the scissors (11) slide through the through hole; One side of the two handles of the scissors (11) is fixedly connected with a spring (17), and the other end of the spring (17) is fixedly connected to the inner wall of the slide groove (18).

6. The fruit picking robot according to claim 5, characterized in that: The material receiving assembly comprises a collecting hopper (5), the bottom surface of the supporting plate (6) is fixedly connected to two fixing plates (21), the collecting hopper (5) is located between the two fixing plates (21), both sides of one end of the collecting hopper (5) are fixedly connected to rotating shafts, the rotating shafts respectively rotate and penetrate the corresponding fixing plates (21), and one end of the rotating shaft away from the collecting hopper (5) is fixedly connected to a first gear (8); the two blades of the scissors (11) are located directly above the collecting hopper (5); The bottom surface of the first movable plate (13) is fixedly connected to a second rack (19), and the second rack (19) is meshed with the first gear (8).

7. The fruit picking robot according to claim 6, characterized in that: The telescopic tube (4) is a corrugated tube, one end of the telescopic tube (4) is fixedly connected to the side of the collecting bucket (5), the other end of the telescopic tube (4) is fixedly connected to the side of the collecting box (9), and the end of the telescopic tube (4) is in communication with the collecting bucket (5) and the collecting box (9); The interior of the collection box (9) is fixedly connected to a mounting plate (10), on which a plurality of filter holes are evenly arranged. The connection end between the telescopic tube (4) and the collection box (9) is located above the mounting plate (10).

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