Intelligent passion fruit picking machine

Abstract

The utility model discloses an intelligent passion fruit picking machine which comprises a machine frame, a passion fruit pneumatic picking mechanical arm, a direct current motor, a driving device, a supporting base, a passion fruit frame containing box, a left side crawler belt, a right side crawler belt and supporting wheels. The pneumatic passion fruit picking mechanical arm is fixed to the center of the supporting base, the rack is fixed to the lower portion of the supporting base, the crawler belt and the transmission wheel are fixed to the two sides of the rack, the direct current motor and the driving device of the direct current motor are fixed between the rack and the crawler belt and the supporting wheel, and the direct current motor is partially located in the rack. Driving wheels of the driving devices are meshed with the inner sides of the tracks. The pneumatic picking suction cup is adopted, the pneumatic picking suction cup has excellent fruit shape adaptability and is quite convenient to install and relatively low in price, and the gravity remote sensing device is arranged between the passion fruit frame containing box and the supporting base, so that the fruit picking automation degree is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural automation and robotics, in particular to an intelligent passion fruit picking machine. Background Art

[0002] Modern, automated agricultural production is a trend. With the continued advancement of agricultural mechanization and rising labor costs, a variety of intelligent agricultural machinery has emerged in the agricultural sector. Fruit-picking robots are one such example. They can replace manual fruit picking, improving efficiency and quality while reducing manual labor. Based on traditional picking robots, a multifunctional robot has been designed that utilizes pneumatic suction cups to harvest passion fruit, specifically targeting the unique characteristics of passion fruit.

[0003] Domestic harvesting robots generally use two different methods: gripping and shearing. These robots are primarily driven by a trolley at the bottom, which can be either wheeled or tracked. China's late start in robotic harvesting technology, coupled with the fading demographic dividend and the rapidly increasing labor shortage, has become a bottleneck restricting agricultural development, particularly in the labor-intensive fruit and vegetable industry. This has transformed robotic harvesting technology from a foresighted study into a practical need. However, after over 20 years of research on fruit and vegetable harvesting robots, few suitable robots have been released, and there is a lack of mature, commercially viable products. Specifically, in the field of intelligent passion fruit harvesting robots, no mature robot is currently available on the market. Plantations generally rely on manual harvesting, and intelligent passion fruit harvesting technology is not yet fully mature. Utility Model Content

[0004] In order to improve the problems mentioned in the above background technology that traditional passion fruit picking relies on manual labor, is inefficient and labor-intensive, the utility model proposes an intelligent passion fruit picking machine, which aims to improve picking efficiency and fruit quality and reduce labor costs.

[0005] The technical solution for achieving the purpose of this utility model is:

[0006] A passion fruit picking robot system includes a passion fruit pneumatic picking robot arm, a passion fruit frame placement box, a DC motor and a drive device, a support base, a crawler track, and support wheels, wherein:

[0007] The passion fruit frame placement box is fixed to the front top of the support base, the passion fruit pneumatic picking robot arm is fixed to the center of the support base, the frame is fixed to the bottom of the support base, the crawler and the drive wheel are fixed on both sides of the frame, the DC motor and its drive device are fixed between the frame and the crawler and the support wheel, wherein the DC motor part is located inside the frame, and the drive wheel of the drive device is engaged with the inner side of the crawler.

[0008] In a further solution, the intelligent passion fruit picking machine, the frame consists of a left support wheel mounting shaft, a right support wheel mounting shaft, a boat-shaped shell, a pair of long load-bearing shafts, a pair of short load-bearing shafts, a pair of large drive wheel axle fixings, a pair of small drive wheel axle fixings, a left front telescopic rod, a right front telescopic rod, an adjusting bolt, and a chassis.

[0009] The inside of the boat-shaped shell has many sheets of metal used to maintain the fuselage structure, which are fixed together by welding.

[0010] The long and short load-bearing shafts are attached to the top of the bottom of the ship-shaped shell and pass through the shell. They are fixed together by welding and are centrally symmetrical with the ship-shaped shell. Among them, the two long load-bearing shafts are located in front of the two short load-bearing shafts.

[0011] The chassis is located on the upper rear side of the boat-shaped shell and is fixed by welding.

[0012] The left and right support wheel mounting shafts are composed of two long aluminum profiles, three short aluminum profiles, five longer hollow sleeves and two shorter hollow sleeves. The three short aluminum profiles are fixed to the inner side of the two long aluminum profiles by welding. The five longer hollow sleeves are distributed under the long aluminum profiles through a welded array. The two shorter hollow sleeves are respectively welded to the long aluminum profile, and the hollow directions of the hollow sleeves and the aluminum profiles are consistent.

[0013] The large and small driving wheel axle fixings are both "L"-shaped, and are distributed opposite each other on both sides of the frame. The lower parts of the large and small "L"-shaped fixings are welded and fixed to the outside of the short load-bearing shaft and the support wheel mounting shaft respectively, and the openings in the two are on the same horizontal line.

[0014] The left front telescopic rod and the right front telescopic rod are fixed in front of the front long load-bearing shaft through adjusting bolts and hexagonal nuts, and a part of the front telescopic rod is located inside the aluminum profile.

[0015] In a further embodiment, the intelligent passion fruit picking machine includes a pneumatic passion fruit picking robot arm comprising a base for securing the robot arm, a main body comprising four arms, five shafts, and an end-processor with a suction cup. The arms are connected by shafts, allowing the robot arm to simulate the operation of a human arm. The end-processor with the suction cup, in conjunction with an air pump, can pick passion fruit by suction.

[0016] In a further embodiment, the intelligent passion fruit picking machine, the DC motor and the drive device include an output hollow shaft, a bearing sleeve, a DC motor, a drive shaft, a drive wheel, a bearing with a diamond seat, a bolt-fastened shaft end retaining ring, and a shaft sleeve.

[0017] The DC motor is fixed to the inner end of the driving wheel shaft using a bearing sleeve, an output hollow shaft, a hexagonal bolt and nut, a bolt-tightening shaft end retaining ring, and a flat key. The bottom of the cylindrical part of the DC motor is directly opposite the rear of the frame and perpendicular to the horizontal plane.

[0018] The driving wheel is fixed to the outer side of the driving wheel shaft by using a shaft sleeve, a hexagonal bolt and a flat key, so that the driving wheel and the driving wheel shaft are centrally symmetrical.

[0019] The diamond seat bearing is fixed to the small driving wheel shaft fixing piece on the outside of the support wheel mounting shaft by using a hexagonal head bolt, a bolt-tightening shaft end retaining ring, and a hexagonal head bolt nut to fix the driving wheel shaft and prevent it from slipping.

[0020] In a further solution, the intelligent passion fruit picking machine, the support base is approximately a thin plate, which is fixed on the top of the boat-shaped frame by bolts, nuts, and spring washers, and is used to support the passion fruit frame placement box and the passion fruit pneumatic picking robotic arm.

[0021] In a further solution, the intelligent passion fruit picking machine, the passion fruit frame placement box is an open square metal frame, which is fixed to the front top of the support base using hexagonal bolts, nuts, and spring washers, and can just hold one passion fruit frame.

[0022] In a further embodiment, the intelligent passion fruit picking machine includes the left and right crawler tracks and support wheels each comprising a rubber crawler track and six support wheels, wherein:

[0023] The wheel rods of the five support wheels on the same side respectively pass through the five longer hollow sleeves welded below the support wheel mounting shaft, and the wheel rods of the remaining support wheels pass through the sleeve below the front telescopic rod.

[0024] The rubber tracks are mounted on the drive wheel and six support wheels.

[0025] Compared with the existing technology, the beneficial effects of this utility model are:

[0026] Pneumatic picking suction cups are used. Pneumatic suction cups have excellent adaptability to fruit shapes, are very easy to install, and are relatively inexpensive.

[0027] Automatically returns to a specific location for loading and unloading. A gravity remote sensing device is installed between the passion fruit rack and the support base. When the pressure on the sensor reaches a predetermined value, the robot returns to the collection point to unload the fruit, which can greatly improve the degree of automation of fruit picking.

[0028] The picking robot uses tracks to walk and is equipped with a front telescopic rod buffer mechanism, which can adapt to various complex terrains and reduce the damage to the tracks and transmission mechanism in the event of severe collisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is an axonometric diagram of the overall structure of an embodiment of the utility model;

[0030] Figure 2 This is a schematic diagram of the frame structure design of an embodiment of the utility model;

[0031] Figure 3 This is a schematic diagram of the structure of a passion fruit pneumatic picking robot arm according to an embodiment of the present invention;

[0032] Figure 4 This is a schematic structural diagram of a DC motor and a drive device according to an embodiment of the present utility model;

[0033] Figure 5 This is a schematic diagram of an axial cut of a DC motor and a drive device according to an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of the support base structure of an embodiment of the utility model;

[0035] Figure 7 This is a schematic diagram of the passion fruit frame placement box structure according to an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the crawler and support wheel structure of an embodiment of the utility model;

[0037] Figure: 1. Frame 1-1. Chassis 1-2. Boat-shaped housing 1-3. Front telescopic rod 1-4. Adjustment bolt 1-5. Long bearing shaft 1-6. Support wheel mounting shaft 1-7. Small drive wheel shaft fixing 1-8. Short bearing shaft 1-9. Large drive wheel shaft fixing 2. Passion fruit pneumatic harvesting robot arm 2-1. Base for fixing the robot arm 2-2. Axis 1 2-3. Axis 2 2-4. Axis 3 2-5. Axis 4 2-6. Axis 5 2- 7. Pneumatic Suction Cup 2-8. Arm 4 2-9. Arm 3 2-10. Arm 2 2-11. Arm 1 3. DC Motor and Drive 3-1. Diamond-Shaped Bearing 3-2. Drive Wheel 3-3. DC Motor 3-4. Bearing Sleeve 3-5. Output Hollow Shaft 3-6. Drive Wheel Shaft 3-7. Shaft Sleeve 4. Support Base 5. Passion Fruit Frame Storage Box 6. Tracks and Support Wheels 6-1. Rubber Track 6-2. Support Wheel DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to the accompanying drawings. Example

[0039] Referring to Figures 1-8, an intelligent passion fruit picking machine includes a frame 1, a passion fruit pneumatic picking robot arm 2, a DC motor and drive device 3, a support base 4, a passion fruit frame placement box 5, a crawler and support wheels 6.

[0040] The support base 4 is located in front of the rear chassis of the rack 1, and the two are centrally symmetrical.

[0041] The passion fruit pneumatic picking robot arm 2 is fixed at an off-center position of the support base 4.

[0042] The passion fruit frame placement box 5 is fixed to the front side of the passion fruit pneumatic picking mechanical arm 2.

[0043] Specifically, the frame 1 is composed of a chassis 1-1, a boat-shaped shell 1-2, a front telescopic rod 1-3, an adjusting bolt 1-4, a long load-bearing shaft 1-5, a support wheel mounting shaft 1-6, a small drive wheel shaft fixing part 1-7, a short load-bearing shaft 1-8, and a large drive wheel shaft fixing part 1-9. There are many sheet metals on the inner side of the boat-shaped shell 1-2 for maintaining the fuselage structure, and these sheet metals are fixed together by welding. The long and short load-bearing shafts 1-5 and 1-8 are both attached to the upper part of the bottom of the boat-shaped shell 1-2 and pass through the shell. They are fixed together by welding and are centrally symmetrical with the boat-shaped shell 1-2. The two long load-bearing shafts 1-5 are located in front of the two short load-bearing shafts 1-8. The chassis 1-1 is located on the upper rear side of the boat-shaped shell 1-2 and is fixed by welding. Each of the left and right support wheel mounting shafts 1-6 consists of two long aluminum profiles, three short aluminum profiles, five longer hollow sleeves, and two shorter hollow sleeves. The three short aluminum profiles are welded to the inside of the two long aluminum profiles. The five longer hollow sleeves are welded in an array below the long aluminum profiles. The two shorter hollow sleeves are welded to the long aluminum profiles, with the hollows of the sleeves and the aluminum profiles oriented in the same direction. The large and small drive wheel axle mounting brackets 1-9 and 1-7 are both L-shaped and located opposite each other on either side of the frame 1. The lower portions of the large and small L-shaped mounting brackets are welded to the outside of the short load-bearing shaft 1-8 and the support wheel mounting shaft 1-6, respectively, with the openings in each bracket aligned horizontally. The front telescopic rods 1-3 on each side are secured to the front of the long front load-bearing shaft 1-5 with adjusting bolts 1-4 and hexagonal nuts. The front telescopic rods 1-3 are partially located inside the aluminum profiles.

[0044] Specifically, the passion fruit pneumatic picking robot arm includes a base for securing the robot arm. The main body includes a base 2-1 for securing the robot arm, axis 1 2-2, axis 2-3, axis 3 2-4, axis 4 2-5, axis 5 2-6, arm 4 2-8, arm 3 2-9, arm 2 2-10, arm 1 2-11, and an end-processor 2-7 with a suction cup. The arms are connected by axes, allowing the robot arm to simulate the operation of a human arm. The end-processor with the suction cup, combined with an air pump, can pick passion fruit by suction.

[0045] Specifically, the DC motor and drive device 3 includes a diamond-shaped seat bearing 3-1, a drive wheel 3-2, a DC motor 3-3, a bearing sleeve 3-4, an output hollow shaft 3-5, a drive wheel shaft 3-6, and a sleeve 3-7. The DC motor 3-3 is secured to the inner end of the drive wheel shaft 3-6 using the bearing sleeve 3-4, the output hollow shaft 3-5, a hexagonal bolt and nut, a bolt-fastened shaft end retaining ring, and a flat key, with the cylindrical portion of the DC motor 3-3 facing the rear. The drive wheel 3-2 is secured to the outer side of the drive wheel shaft 3-6 using the sleeve 3-7, a hexagonal bolt, and a flat key, so that the drive wheel 3-2 and the drive wheel shaft 3-6 are centrally symmetrical. The diamond-shaped seat bearing 3-1 is secured to the small drive wheel shaft fixing member 1-7 on the outer side of the support wheel mounting shaft 1-6 using a hexagonal bolt, a bolt-fastened shaft end retaining ring, and a hexagonal bolt and nut, securing the drive wheel shaft 3-6 to prevent slippage.

[0046] The support base 4 is approximately a thin plate, which is fixed on the top of the boat-shaped frame 1 by bolts, nuts, and spring washers, and is used to support the passion fruit frame placement box 5 and the passion fruit pneumatic picking robot arm 2.

[0047] Specifically, the passion fruit frame placement box 5 is an open square metal frame, which is fixed to the front top of the support base 4 using hexagonal bolts, nuts, and spring washers, and can just hold one passion fruit frame.

[0048] In a further embodiment, the left and right tracks and support wheels 6 each include a rubber track 6-1 and six support wheels 6-2. The wheel rods of the five support wheels 6-2 on one side pass through five longer hollow sleeves welded below the support wheel mounting shaft 1-6, while the wheel rod of the remaining support wheel passes through the sleeve below the front telescopic rod 1-3. Each rubber track 6-1 is mounted on the drive wheel 3-2 and the six support wheels 6-2.

[0049] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An intelligent passion fruit picking machine, characterized by: Including rack , passion fruit pneumatic picking robot arm, DC motor and drive device, support base, passion fruit frame placement box, left and right crawler tracks and support wheels, including: The passion fruit frame placement box is fixed to the front top of the support base, the passion fruit pneumatic picking robot arm is fixed to the center of the support base, the frame is fixed to the bottom of the support base, the crawler and the drive wheel are fixed on both sides of the frame, the DC motor and its drive device are fixed between the frame and the crawler and the support wheel, wherein the DC motor part is located inside the frame, and the drive wheel of the drive device is engaged with the inner side of the crawler.

2. The intelligent passion fruit picking machine according to claim 1 is characterized in that: The frame is composed of a left support wheel mounting shaft, a right support wheel mounting shaft, a boat-shaped shell, a pair of long load-bearing shafts, a pair of short load-bearing shafts, a pair of large drive wheel shaft fixing parts, a pair of small drive wheel shaft fixing parts, a left front telescopic rod, a right front telescopic rod, an adjusting bolt and a chassis; wherein: The inner side of the boat-shaped shell is provided with sheet metal for maintaining the fuselage structure, and the sheet metals are fixed together by welding; The long and short load-bearing shafts are attached to the top of the bottom of the ship-shaped shell and pass through the shell. They are fixed together by welding and are centrally symmetrical with the ship-shaped shell. The two long load-bearing shafts are located in front of the two short load-bearing shafts. The chassis is located on the upper rear side of the boat-shaped shell and is fixed by welding; The left and right support wheel mounting shafts are respectively composed of a long aluminum profile, a short aluminum profile, a long hollow sleeve, and a short hollow sleeve. The short aluminum profile is fixed to the inner side of the long aluminum profile by welding, and the long hollow sleeve is distributed below the long aluminum profile by welding. The short hollow sleeve is welded to the long aluminum profile, and the hollow direction of the hollow sleeve and the aluminum profile are consistent. The large and small drive wheel shaft fixing parts are respectively "L"-shaped, and the two are distributed oppositely on both sides of the frame. The lower parts of the large and small "L"-shaped fixing parts are welded and fixed to the outside of the short load-bearing shaft and the support wheel mounting shaft respectively, and the openings in the two parts are on the same horizontal line; The left front telescopic rod and the right front telescopic rod are fixed in front of the front long load-bearing shaft through adjusting bolts and hexagonal nuts, and a part of the front telescopic rod is located inside the aluminum profile.

3. The intelligent passion fruit picking machine according to claim 1 is characterized in that: The passion fruit pneumatic picking robot arm includes a base for fixing the robot arm, multiple arm rods, multiple shafts, and an end processor with a suction cup, wherein: the arm rods are connected by shafts respectively, so that the robot arm simulates the operation of an ordinary person's arm, and the end processor with the suction cup cooperates with an air pump to use the suction force of the suction cup to absorb the passion fruit.

4. The intelligent passion fruit picking machine according to claim 1 is characterized in that: The DC motor and drive device include an output hollow shaft, a bearing sleeve, a DC motor, a drive shaft, a drive wheel, a bearing with a diamond seat, a bolt-fastened shaft end retaining ring and a shaft sleeve, wherein: The DC motor is fixed to the inner end of the driving wheel shaft through a bearing sleeve, an output hollow shaft, bolts and nuts, a bolt-tightening shaft end retaining ring, and a flat key. The bottom of the cylindrical part of the DC motor is facing the rear of the frame and is perpendicular to the horizontal plane. The driving wheel is fixed to the outer side of the driving wheel shaft by using a bushing, bolts and a flat key, so that the driving wheel and the driving wheel shaft are centrally symmetrical; The diamond seat bearing is fixed to the small driving wheel shaft fixing piece outside the support wheel mounting shaft by using a hexagonal head bolt, a bolt-tightening shaft end retaining ring, and bolts and nuts to fix the driving wheel shaft.

5. The intelligent passion fruit picking machine according to claim 1 is characterized in that: The support base is fixed on the top of the boat-shaped frame by bolts, nuts and spring washers, and is used to support the passion fruit frame placement box and the passion fruit pneumatic picking mechanical arm.

6. The intelligent passion fruit picking machine according to claim 1, characterized in that: The passion fruit frame placement box is an open square metal frame, which is fixed to the front end top of the support base using bolts, nuts and spring washers.

7. The intelligent passion fruit picking machine according to claim 1 is characterized in that: The left and right crawler tracks and support wheels respectively include a rubber crawler track and six support wheels, wherein: The wheel rods of the five support wheels on the same side pass through the five longer hollow sleeves welded below the support wheel mounting shaft, and the wheel rods of the remaining support wheels pass through the sleeve below the front telescopic rod; The rubber tracks are respectively mounted on the driving wheel and the six supporting wheels.

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