Double-joint litchi picking device

Abstract

The double-joint litchi picking device comprises a supporting rod, a driving mechanism, an upper mechanical arm, more than two telescopic structures, more than two expansion surfaces and a connector, the upper mechanical arm is fixedly installed on the supporting rod, the connector is arranged in the upper mechanical arm, and the connector is connected with the upper mechanical arm in a sliding mode; the expansion faces are arranged in the circumferential direction of the upper mechanical arm, the expansion faces are in driving connection with the connector through the telescopic structures, the expansion faces correspond to the telescopic structures one to one, and the driving mechanism is in driving connection with the connector. According to the device, the functions of picking litchis and removing shades are achieved, and the problem of fruit leakage is effectively solved.

Description

Technical Field

[0001] The utility model relates to a double-joint litchi picking device, belonging to the technical field of picking. Background Art

[0002] China is the world's largest lychee producer, holding a significant position in both production and cultivated area. In recent years, both production area and yield have remained relatively stable globally, with some growth. High lychee yields directly contribute to the economic benefits of growers. The fruit has a short harvesting period after ripening, typically requiring harvesting within a few days of ripening. Otherwise, it will overripen, resulting in a decrease in moisture content, browning of the skin, and a poor taste. Mechanical equipment is currently in use for lychee harvesting, but the problem of partially or fully obscured lychee fruit by branches and leaves, preventing accurate harvesting, has yet to be effectively addressed.

[0003] The technology proposed in patent publication number CN 1166865454 A, which uses a nozzle to blow away obstructions, can effectively remove obstructions caused by leaves, but it is less effective against thick branches. If this problem is not optimized and solved, the resulting "fruit leakage" phenomenon will continue to cause economic losses and waste human resources. Utility Model Content

[0004] Purpose of the utility model: In order to solve the problem of "leaking fruits" caused by thick branches blocking the litchi during picking, the utility model provides a double-joint litchi picking device.

[0005] Technical solution: To achieve the above purpose, the technical solution adopted by this utility model is:

[0006] A double-joint lychee picking device includes a support rod, a drive mechanism, an upper robotic arm, two or more telescopic structures, two or more extension surfaces, and a connector. The upper robotic arm is fixedly mounted on the support rod, the connector is arranged in the upper robotic arm, and the connector is slidingly connected to the upper robotic arm; the extension surface is arranged along the circumference of the upper robotic arm, and the extension surface is drive-connected to the connector through the telescopic structure, and the extension surface corresponds to the telescopic structure one-to-one, and the drive mechanism is drive-connected to the connector.

[0007] Preferably: the telescopic structure includes a first connecting rod, a second connecting rod, and a rocker, one end of the first connecting rod is rotatably connected to the extension surface via a rotating shaft, and the other end of the first connecting rod is rotatably connected to the upper robotic arm via a rotating shaft; the second connecting rod is rotatably connected to the upper robotic arm via a rotating shaft, one end of the second connecting rod is rotatably connected to the extension surface via a rotating shaft, the other end of the second connecting rod is rotatably connected to one end of the rocker via a rotating shaft, and the other end of the rocker is rotatably connected to the connector via a rotating shaft.

[0008] Preferably, a sliding rod is provided in the upper mechanical arm, a through hole is provided on the connector, the connector is sleeved on the sliding rod through the through hole, and the through hole is slidably connected to the sliding rod.

[0009] Preferably, a return spring is further included, wherein the return spring is sleeved on the slide rod, and the return spring sleeve is located between the connector and the upper mechanical arm.

[0010] Preferably: a first axial hole 1 is provided at one end of the first connecting rod, and a first axial hole 2 is provided at the other end of the first connecting rod; a first connecting rod support 1 is provided on the extension surface, and a first connecting rod support 2 is provided on the upper robotic arm, the first axial hole 1 is rotatably connected to the first connecting rod support 1 through a rotating shaft, and the first axial hole 2 is rotatably connected to the first connecting rod support 2 through a rotating shaft.

[0011] Preferably: a second axial hole 1 is provided at one end of the second connecting rod, a second axial hole 2 is provided at the other end of the second connecting rod, a second axial hole 3 is provided in the middle of the second connecting rod, a second connecting rod support 1 is provided on the extension surface, a second connecting rod support 2 and a mechanical arm through hole are provided on the upper mechanical arm, one end of the second connecting rod provided with the second axial hole 1 passes through the mechanical arm through hole and extends to the outside of the upper mechanical arm, and the second axial hole 1 is rotatably connected to the second connecting rod support 1 through a rotating shaft, and the second axial hole 3 is rotatably connected to the second connecting rod support 2 through a rotating shaft.

[0012] Preferably, a limiter is provided on the slide bar.

[0013] Preferably: one end of the rocker is provided with a rocker hole 1, and the other end is provided with a rocker hole 2, the connector is provided with a rocker support, the rocker hole 1 is rotatably connected to the second shaft hole 2 through a rotating shaft, and the rocker hole 2 is rotatably connected to the rocker support through a rotating shaft.

[0014] Preferably, the driving mechanism is a pull rod, which is connected to a connector; or the driving mechanism is a pull rope, which is connected to a connector.

[0015] Preferably, the extension surfaces are evenly arranged along the circumference of the upper robotic arm.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The utility model is provided with an upper mechanical arm, two or more telescopic structures, two or more expansion surfaces, and a connector. The connector is slidably connected to the upper mechanical arm, the expansion surface is arranged along the circumference of the upper mechanical arm, and the expansion surface is driven and connected to the connector via the telescopic structure. The expansion surface and the telescopic structure have a one-to-one correspondence. The drive mechanism is driven and connected to the connector. The expansion surface is opened and closed by driving the telescopic structure. When picking, the expansion surface is opened by driving the telescopic structure, and contacts and pushes the branch out to achieve the de-obstruction function. The expansion surface is then aligned with the lychee to be picked, and the expansion surface is closed by driving the telescopic structure to pick the lychee. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of a double-jointed litchi picking device according to an embodiment of the present utility model.

[0019] Figure 2 This is a top view of the double-jointed litchi picking device.

[0020] Figure 3 for Figure 2 AA section view in.

[0021] Figure 4 Schematic diagram of the expansion surface from contraction to expansion, where the dotted line represents the contraction state of the expansion surface.

[0022] Figure 5 Schematic diagram of the extended surface structure.

[0023] Figure 6 This is the left view of the extended surface.

[0024] Figure 7 This is a top view of the extended surface.

[0025] Figure 8 for Figure 7 BB section view in.

[0026] Figure 9 Schematic diagram of the first connecting rod structure.

[0027] Figure 10 Schematic diagram of the second connecting rod structure.

[0028] Figure 11 It is the right view of the second connecting rod structure.

[0029] Figure 12 A schematic diagram of the connector structure.

[0030] Figure 13 This is the left side view of the connector.

[0031] Figure 14 This is the right side view of the connector.

[0032] Figure 15 for Figure 14 CC section view in.

[0033] Figure 16 Schematic diagram of the rocker structure.

[0034] Figure 17 Schematic diagram of the upper robotic arm structure.

[0035] Figure 18 This is a bottom view of the upper robotic arm.

[0036] Figure 19 This is the left view of the upper robotic arm.

[0037] Figure 20 for Figure 14 DD section view in. DETAILED DESCRIPTION

[0038] The present invention is further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, modifications of various equivalent forms of the present invention made by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0039] The utility model designs a double-jointed litchi picking device. Figure 1-20 As shown, it includes a support rod, a driving mechanism, an upper robotic arm 1, two or more telescopic structures, two or more expansion surfaces 2, and a connector 5. The upper robotic arm 1 is fixedly mounted on the support rod, the connector 5 is arranged in the upper robotic arm 1, and the connector 5 is slidably connected to the upper robotic arm 1; the expansion surface 2 is arranged along the circumference of the upper robotic arm 1, as shown in FIG. Figure 1 As shown, the number of the extension surfaces 2 is four. In another embodiment, the number of the extension surfaces 2 is two. The extension surfaces 2 are evenly arranged along the circumference of the upper robotic arm 1. The extension surfaces 2 are drivingly connected to the connector 5 via a telescopic structure, and the extension surfaces 2 correspond to the telescopic structure one-to-one. The driving mechanism is drivingly connected to the connector 5.

[0040] like Figure 4 As shown, the telescopic structure includes a first connecting rod 3, a second connecting rod 4, and a rocker 6. One end of the first connecting rod 3 is rotatably connected to the expansion surface 2 via a rotating shaft, and the other end of the first connecting rod 3 is rotatably connected to the upper mechanical arm 1 via a rotating shaft; the second connecting rod 4 is rotatably connected to the upper mechanical arm 1 via a rotating shaft, one end of the second connecting rod 4 is rotatably connected to the expansion surface 2 via a rotating shaft, the other end of the second connecting rod 4 is rotatably connected to one end of the rocker 6 via a rotating shaft, and the other end of the rocker 6 is rotatably connected to the connector 5 via a rotating shaft. Figure 17-20As shown, a slide bar 14 is provided in the upper arm 1, and a through hole 52 is provided on the connector 5. The connector 5 is sleeved on the slide bar 14 through the through hole 52, and the through hole 52 is slidably connected to the slide bar 14. A limiter 15 is provided on the slide bar 14.

[0041] like Figure 4 As shown, the extension surface 2, the first link 3, the second link 4, and the upper robotic arm 1 constitute a parallelogram-like mechanism, and the connector 5 and the rocker 6 serve as driving connectors. When the connector 5 moves to the right along the slide bar 14 through the driving mechanism, the connector 5 pushes the rocker 6 to move to the right. Since the rocker 6 is rotationally connected to the second link 4, the rocker 6 drives the second link 4 to rotate counterclockwise around the rotating shaft connecting the second link 4 and the upper robotic arm 1, and then the other end of the second link 4 drives the extension surface 2 to rotate counterclockwise around the rotating shaft connecting the second link 4 and the upper robotic arm 1, thereby realizing the opening of the extension surface 2, until the connector 5 slides to the limiter 15 and is blocked by the limiter 15. At this time, the extension surface 2 is opened to the maximum position. When closing is required, the driving mechanism and the driving connector 5 move to the left along the slide bar 14, and the connector 5 pushes the rocker 6 to move to the left. Since the rocker 6 is rotationally connected to the second link 4, the rocker 6 drives the second link 4 to rotate clockwise around the rotating shaft connecting the second link 4 and the upper robotic arm 1, and then the other end of the second link 4 drives the extension surface 2 to rotate clockwise around the rotating shaft connecting the second link 4 and the upper robotic arm 1, thereby realizing the closing of the extension surface 2.

[0042] The system also includes a return spring, which is sleeved on the slide bar 14 and positioned between the connector 5 and the upper robotic arm 1. When the expansion surface 2 is open, the connector 5 pushes the rocker 6 to the right, deforming the return spring. When the expansion surface 2 is closed, the drive mechanism is disconnected from the drive connector 5. The return spring resets, causing the drive connector 5 to push the rocker 6 to the left, closing the expansion surface 2.

[0043] like Figure 4 and 9 As shown, one end of the first connecting rod 3 is provided with a first axial hole 1 31, and the other end of the first connecting rod 3 is provided with a first axial hole 2 32; a first connecting rod support 1 21 is provided on the extended surface 2, and a first connecting rod support 2 11 is provided on the upper robotic arm 1, the first axial hole 1 31 is rotatably connected to the first connecting rod support 1 21 through a rotating shaft, and the first axial hole 2 32 is rotatably connected to the first connecting rod support 2 11 through a rotating shaft.

[0044] like Figure 4 ,like Figure 10 ,like Figure 11As shown, one end of the second connecting rod 4 is provided with a second axial hole 41, the other end of the second connecting rod 4 is provided with a second axial hole 2 42, the middle of the second connecting rod 4 is provided with a second axial hole 3 43, the second connecting rod support 1 22 is on the extension surface 2, the upper robotic arm 1 is provided with a second connecting rod support 2 12 and a robotic arm through hole 13, one end of the second connecting rod 4 provided with the second axial hole 41 passes through the robotic arm through hole 13 and extends to the outside of the upper robotic arm 1, and the second axial hole 41 is rotatably connected to the second connecting rod support 1 22 through a rotating shaft, and the second axial hole 3 43 is rotatably connected to the second connecting rod support 2 12 through a rotating shaft.

[0045] like Figure 13-15 As described above, the connector 5 is provided with a rocker support 51 and a through hole 52 , the connector 5 is sleeved on the slide bar 14 through the through hole 52 , and the through hole 52 is slidably connected to the slide bar 14 .

[0046] like Figure 16 As shown, one end of the rocker 6 is provided with a rocker hole 1 61, and the other end is provided with a rocker hole 2 62. The connector 5 is provided with a rocker support 51. The rocker hole 1 61 is rotatably connected to the second shaft hole 2 42 via a rotating shaft, and the rocker hole 2 62 is rotatably connected to the rocker support 51 via a rotating shaft.

[0047] The driving mechanism is a pull rod, which is connected to the connector 5 ; or the driving mechanism is a pull rope, which is connected to the connector 5 .

[0048] To pick the lychees, hold the support rod and point the upper robotic arm 1 at the area where the lychees are found. When the lychees are obscured by branches (leaves), pull the lever (pull rope) with your other hand, causing the expansion surface 2 to open, pushing away the obstructing branches (leaves) and exposing the lychees. Then, align the center of expansion surface 2 with the lychees and release the lever (pull rope). Under the action of the return spring, expansion surface 2 closes, clamping the lychees. Rotate the support rod to remove the lychees.

[0049] When picking lychees, the utility model drives the telescopic structure to open the expansion surface, contact the tree branches and push the branches out to achieve the function of removing the obstruction. Then the expansion surface is aligned with the lychees to be picked, and the telescopic structure is driven to close the expansion surface to pick the lychees.

[0050] This utility model utilizes a four-sided flexible extension structure with the upper robotic arm as the central axis. This axis serves as the axis of motion, with four points dividing the circle around the axis serving as the starting points. Each starting point has a telescopic rod structure, and the output end of the telescopic rod is connected to a claw-like structure made of flexible material. This structure can contact and push out branches, thereby achieving the obstruction removal function.

[0051] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A double-jointed litchi picking device, characterized by: The invention comprises a support rod, a driving mechanism, an upper mechanical arm (1), two or more telescopic structures, two or more extension surfaces (2), and a connector (5); the upper mechanical arm (1) is fixedly mounted on the support rod; the connector (5) is arranged in the upper mechanical arm (1), and the connector (5) is slidably connected to the upper mechanical arm (1); the extension surface (2) is arranged along the circumference of the upper mechanical arm (1), and the extension surface (2) is drive-connected to the connector (5) through the telescopic structure, and the extension surface (2) corresponds to the telescopic structure one-to-one; the driving mechanism is drive-connected to the connector (5).

2. The double-jointed litchi picking device according to claim 1, characterized in that: The telescopic structure comprises a first connecting rod (3), a second connecting rod (4), and a rocker (6); one end of the first connecting rod (3) is rotatably connected to the expansion surface (2) via a rotating shaft, and the other end of the first connecting rod (3) is rotatably connected to the upper mechanical arm (1) via a rotating shaft; the second connecting rod (4) is rotatably connected to the upper mechanical arm (1) via a rotating shaft, one end of the second connecting rod (4) is rotatably connected to the expansion surface (2) via a rotating shaft, the other end of the second connecting rod (4) is rotatably connected to one end of the rocker (6) via a rotating shaft, and the other end of the rocker (6) is rotatably connected to the connector (5) via a rotating shaft.

3. The double-jointed litchi picking device according to claim 2, characterized in that: A slide bar (14) is provided in the upper mechanical arm (1), a through hole (52) is provided on the connector (5), the connector (5) is sleeved on the slide bar (14) through the through hole (52), and the through hole (52) is slidably connected to the slide bar (14).

4. The double-jointed litchi picking device according to claim 3, characterized in that: It also includes a return spring, which is sleeved on the slide bar (14), and the return spring sleeve is located between the connector (5) and the upper mechanical arm (1).

5. The double-jointed litchi picking device according to claim 4, characterized in that: One end of the first connecting rod (3) is provided with a first axial hole 1 (31), and the other end of the first connecting rod (3) is provided with a first axial hole 2 (32); a first connecting rod support 1 (21) is provided on the extended surface (2), and a first connecting rod support 2 (11) is provided on the upper mechanical arm (1); the first axial hole 1 (31) and the first connecting rod support 1 (21) are rotatably connected via a rotating shaft, and the first axial hole 2 (32) and the first connecting rod support 2 (11) are rotatably connected via a rotating shaft.

6. The double-jointed litchi picking device according to claim 5, characterized in that: One end of the second connecting rod (4) is provided with a second axial hole 1 (41), the other end of the second connecting rod (4) is provided with a second axial hole 2 (42), the middle of the second connecting rod (4) is provided with a second axial hole 3 (43), the second connecting rod support 1 (22) is on the expansion surface (2), the second connecting rod support 2 (12) and the mechanical arm through hole (13) are provided on the upper mechanical arm (1), one end of the second connecting rod (4) provided with the second axial hole 1 (41) passes through the mechanical arm through hole (13) and extends out of the outside of the upper mechanical arm (1), and the second axial hole 1 (41) and the second connecting rod support 1 (22) are rotatably connected through a rotating shaft, and the second axial hole 3 (43) and the second connecting rod support 2 (12) are rotatably connected through a rotating shaft.

7. The double-jointed litchi picking device according to claim 6, characterized in that: One end of the rocker (6) is provided with a rocker hole 1 (61), and the other end is provided with a rocker hole 2 (62). The connector (5) is provided with a rocker support (51). The rocker hole 1 (61) is rotatably connected to the second shaft hole 2 (42) via a rotating shaft, and the rocker hole 2 (62) is rotatably connected to the rocker support (51) via a rotating shaft.

8. The double-jointed litchi picking device according to claim 7, characterized in that: A limiter (15) is provided on the slide bar (14).

9. The double-jointed litchi picking device according to claim 8, characterized in that: The driving mechanism is a pull rod, which is connected to the connector (5); or the driving mechanism is a pull rope, which is connected to the connector (5).

10. The double-jointed litchi picking device according to claim 9, characterized in that: The expansion surface (2) is evenly arranged along the circumference of the upper mechanical arm (1).

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