Transportation robot for citrus harvesting

Abstract

The transportation robot comprises a picking vehicle, the picking vehicle is provided with a front vehicle frame, the front vehicle frame is hinged to a loading arm through a connecting piece, the loading arm is connected with a small arm, a storage basket is installed on the small arm, and the storage basket is formed by combining an inner shell and an outer shell arranged on the outer side of the inner shell; and a damping frame is arranged in the inner shell. According to the utility model, the damping frame provided with the rubber protection layer in a sticking manner is additionally arranged, and the damping sleeve is matched for use, so that the probability of damage during citrus picking is reduced. The multiple sets of damping sleeves made of rubber materials are evenly distributed on the outer wall of the inner shell to wrap the inner shell, when the inner shell is stressed, vibration energy is absorbed through the damping sleeves, then vibration is effectively reduced, the influence of vibration on the storage basket and oranges in the storage basket is reduced, and the quality of orange products is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to fruit picking technical field, especially relate to the transport robot for citrus harvesting. BACKGROUND

[0002] The existing citrus harvesting is mostly harvested by artificial or by small picking instrument. Artificial harvesting has the defects of large labor quantity and low efficiency.

[0003] And the existing small picking instrument lacks fruit storage equipment, which causes the fruit skin to be easily damaged during picking, and the damaged fruit can only be sold at a lower grade or discarded, resulting in reduced income of fruit farmers and a large amount of waste.

[0004] Therefore, how to solve the defects in the prior art has become one of the problems to be solved in the fruit picking technical field. SUMMARY

[0005] In view of the problems in the background art, the utility model provides a transport robot for citrus harvesting, which comprises a picking vehicle, the picking vehicle is provided with a front frame, the front frame is hingedly connected with a loading arm through a connecting piece, the loading arm is connected with a small arm, a storage basket is installed on the small arm, and the storage basket and the small arm are detachably connected; a connecting piece is arranged on the front frame, and a telescopic arm is hingedly connected through the connecting piece, a picking mechanical claw is installed at the front end of the telescopic arm, the storage basket is composed of an inner shell and an outer shell arranged outside the inner shell, a damping frame is arranged inside the inner shell, the damping frame is fixedly installed on the inner wall of the inner shell through fastening screws, and a plurality of through holes for passing citrus are arranged on the damping frame; a rubber protective layer is fixedly attached on the outer wall of the damping frame by means of adhesion or other fixing connection; a ventilation hole is formed in the bottom end face of the inner shell.

[0006] A detachable discharge hopper is arranged at the opening end of the storage basket, the discharge hopper comprises a discharge cylinder, the discharge cylinder is arranged in an arc shape, the discharge cylinder and the discharge hopper are integrally arranged, and rubber pads are attached on the inner walls.

[0007] Optionally, at least one groove for accommodating the extension of the positioning clamping block is formed in the side wall of the discharge hopper, and the connection between the storage basket and the discharge cylinder is achieved by clamping connection.

[0008] The positioning clamping block is welded on the side wall of the outer shell of the storage basket.

[0009] Optionally, a containing cavity is arranged between the inner shell and the outer shell, and at least one set of shock-absorbing sleeves is arranged in the cavity, the shock-absorbing sleeves are arranged in multiple sets and are uniformly distributed on the outer wall of the inner shell and are fixedly installed on the mounting plate arranged on the outer wall of the inner shell through fastening bolts.

[0010] Optionally, the shock-absorbing sleeves are made of rubber material.

[0011] Optionally, positioning holes are formed in the mounting plate, the outer shell and the lower hopper, and the fastening members are threadedly connected in the positioning holes.

[0012] Optionally, a door is hingedly installed on the side wall of the receiving basket away from the position of the positioning clamping blocks, positioning clamping plates are arranged on the two side walls of the door, a plurality of positioning columns are uniformly distributed on the positioning clamping plates, the positioning columns are integrally arranged with the positioning clamping plates, a plurality of positioning clamping blocks are arranged on the positioning columns and are uniformly distributed along the longitudinal direction of the positioning columns and are arranged at an inclination, and the inclination angle is 12.5°.

[0013] Optionally, positioning grooves are formed in the frame at the position close to the door, the positioning clamping plates extend into the positioning grooves, and a plurality of positioning clamping grooves are formed in the inner wall of the positioning grooves and are used in cooperation with the positioning clamping blocks for clamping connection.

[0014] A tensioning column is arranged on the frame, a tensioning groove is arranged on the inner wall of the door, the tensioning groove wraps the tensioning column, and the tensioning column is closely attached to the inner wall of the tensioning groove.

[0015] In summary, the beneficial effects of the utility model are as follows:

[0016] The utility model discloses a shock-absorbing frame with a rubber protection layer is additionally arranged, and the shock-absorbing sleeves are used in cooperation to reduce the probability of damage when citrus fruits are picked. A plurality of shock-absorbing sleeves made of rubber material are uniformly distributed on the outer wall of the inner shell, the inner shell is wrapped, when force is borne, the shock-absorbing sleeves absorb vibration energy, thereby effectively reducing vibration, so that the influence of vibration on the receiving basket and the citrus fruits in the receiving basket is reduced, and the quality of citrus products is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a whole structure schematic view of an embodiment of the utility model for a transport robot for picking citrus fruits.

[0018] Figure 2 It is an explosion view of part of the structure of an embodiment of the utility model for a transport robot for picking citrus fruits.

[0019] Figure 3 It is another direction schematic view of part of the structure of an embodiment of the utility model for a transport robot for picking citrus fruits.

[0020] Figure 4 It is the storage basket door opening schematic view of one embodiment of the transport robot for citrus harvesting of the utility model;

[0021] Figure 5 The utility model Figure 4 The structure enlarged view of A position in the middle;

[0022] Figure 6 It is the inner shell and shock absorbing sleeve assembly drawing of one embodiment of the transport robot for citrus harvesting of the utility model.

[0023] Reference signs:

[0024] 1, picking car;2, front frame;3, big arm;4, connecting piece;5, telescopic arm;6, loading arm;7, picking mechanical claw;

[0025] 8, storage basket;081, lower discharge cylinder;082, lower discharge hopper;083, groove body;084, positioning hole;085, outer shell;086, positioning clamping block;087, fastener;088, door;

[0026] 9, small arm;

[0027] 10, air hole;12, positioning clamping plate;13, positioning column;14, positioning clamping groove;15, frame;16, tensioning column;17, tensioning groove;18, inner shell;19, shock absorbing frame;20, through hole;21, fastening bolt;22, mounting plate;23, shock absorbing sleeve. Specific embodiments

[0028] In order to make the purpose, technical scheme and advantage of the utility model more clear, the utility model is further detailed below by combining with the drawings and specific embodiments. Although the example embodiments are disclosed in the drawings, it should be understood that the utility model can be realized in various forms and should not be limited by the embodiments described here. On the contrary, these embodiments are provided to facilitate a thorough understanding of the utility model and to convey the complete concept of the utility model to those skilled in the art.

[0029] In the description of the specification, the description of the terms "certain embodiments", "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the specification and the features of different embodiments or examples, without contradiction.

[0030] In the present utility model, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance; the term "a plurality of" refers to two or more than two, unless otherwise explicitly limited. The terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, "connection" can be fixed connection, or detachable connection, or integrally connected; "connected" can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present utility model can be understood according to the specific circumstances.

[0031] Please refer to Figures 1-5 As shown in the figure, the embodiment provides a transport robot for citrus picking, which comprises a picking vehicle 1, the picking vehicle 1 is provided with a front frame 2, the front frame 2 is hinged to a loading arm 6 through a connecting piece, and the loading arm 6 is connected to a small arm 9, and a receiving basket 8 is installed on the small arm 9, and the receiving basket 8 and the small arm 9 are detachably connected; the picking vehicle 1 is also provided with a rear inclined frame, the weight of the rear inclined frame is much greater than the weight of the front frame 2, and the rear inclined frame moves backward, thereby ensuring the overall stability of the picking vehicle.

[0032] Further, the loading arm 6 adopts a bent arm design, thereby ensuring that the maximum unloading height reaches 3m, while shortening the overall length of the picking vehicle by 50cm, and the loading arm 9 and the front frame 2 move backward by 330mm.

[0033] Further, the front frame 2 is provided with a connecting piece 4, and a telescopic arm 5 is hinged through the connecting piece 4, the telescopic arm 5 is provided with a picking mechanical claw 7 at the front end, the telescopic arm 5 is driven by a hydraulic cylinder, and the picking mechanical claw is a common citrus / apple picking mechanical claw in the market.

[0034] The existing small picking device lacks a fruit storage device, which causes the fruit skin to be easily damaged during picking, and the damaged fruit can only be sold at a lower grade or discarded, resulting in reduced income for fruit farmers and a large amount of waste. In order to solve the above technical problems, please refer to Figures 1-5 As shown in the figure, the storage basket 8 is composed of an inner shell 18 and an outer shell 085 arranged outside the inner shell 18, and the open end of the storage basket 8 is provided with a detachable hopper 082, which includes a hopper cylinder 081 arranged in an arc shape, and the hopper cylinder 081 is integrally arranged with the hopper 082, and the inner wall is attached with a rubber pad.

[0035] The present application file prolongs the height of the hopper cylinder, which can effectively guide the citrus into the inside of the storage basket 8 without damaging the outer surface of the citrus.

[0036] After the citrus is picked and put into the storage basket, due to the gravity and impact force of the falling citrus, the hopper may be damaged after a long time of use, so the hopper with the hopper cylinder is detachably connected with the storage basket 8. Further, at least one group of grooves 083 for accommodating the extension of the positioning block 086 are provided on the side wall of the hopper 082, and are connected by clamping, thereby realizing the connection between the storage basket 8 and the hopper cylinder 081.

[0037] The positioning block 086 is welded on the side wall of the outer shell 085 of the storage basket 8.

[0038] Further, the inner shell 18 and the outer shell 085 are provided with an accommodation cavity, and at least one group of shock absorbing sleeves 23 are arranged in the cavity, the shock absorbing sleeves 23 are arranged in multiple groups and uniformly distributed on the outer wall of the inner shell 18, and are fixedly installed on the mounting plate 22 arranged on the outer wall of the inner shell 18 by fastening bolts 21.

[0039] Further, the shock absorbing sleeves are made of rubber material.

[0040] In this embodiment, the shock absorbing sleeves made of rubber material are uniformly distributed on the outer wall of the inner shell, which wraps the inner shell. When stressed, the shock absorbing sleeves absorb vibration energy, thereby effectively reducing vibration, reducing the influence of vibration on the storage basket and the citrus inside, and improving the quality of citrus products.

[0041] Further, the mounting plate, the outer shell 085 and the lower hopper 082 are all provided with positioning holes 084, and the fasteners 087 are screwed into the positioning holes 084.

[0042] Further, the door 088 is hingedly mounted on the side wall of the receiving basket 8 away from the position of the positioning block 086, so that the door 088 is opened from the side of the receiving basket for inspection and unloading.

[0043] Further, the positioning clamping plates 12 are arranged on the two side walls of the door 088, and a plurality of positioning columns 13 are evenly arranged on the positioning clamping plates 12, the positioning columns 13 are integrally arranged with the positioning clamping plates 12, and a plurality of positioning blocks are arranged on the positioning columns 13 and are arranged in an inclined manner along the longitudinal direction of the positioning columns 13, and the inclination angle is 12.5°.

[0044] Further, the positioning slots are arranged on the frame 15 at the position close to the door 088, and a plurality of positioning grooves are arranged on the inner wall of the positioning slots and are used in cooperation with the positioning blocks for clamping connection.

[0045] Further, the tensioning columns 16 are arranged on the frame 15, the tensioning grooves 17 are arranged on the inner wall of the door 088, the tensioning grooves 17 wrap the tensioning columns 16, and the tensioning columns 16 are closely attached to the inner wall of the tensioning grooves 17. Further, the damping frame 19 is arranged in the inner housing 18, the damping frame 19 is fixedly arranged on the inner wall of the inner housing 18 by fastening screws, and a plurality of through holes 20 for passing the citrus fruits are arranged on the damping frame 19.

[0046] Further, the rubber protective layer is fixedly attached to the outer wall of the damping frame 19 by pasting or other fixing connection methods; and the air permeable holes 10 are arranged on the bottom end surface of the inner housing 18.

[0047] In the embodiment, the citrus fruits pass through the through holes 20 and enter the cavity of the inner housing for storage.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application, and all should be covered in the scope of the claims of the present application.

Claims

1. A transport robot for citrus harvesting, characterized in that, The system includes a picking cart with a front frame. The front frame is hinged to a loading arm via a connector, and the loading arm is connected to a forearm. A storage basket is mounted on the forearm, and the storage basket is detachably connected to the forearm. The front frame has a connector that hinges to a telescopic arm. A picking claw is mounted at the front end of the telescopic arm. The storage basket is composed of an inner shell and an outer shell located outside the inner shell. A shock-absorbing frame is installed inside the inner shell and is fixed to the inner wall of the inner shell with fastening screws. The shock-absorbing frame has multiple through holes for the oranges to pass through. A rubber protective layer is adhered to the outer wall of the shock-absorbing frame. Ventilation holes are provided on the bottom end face of the inner shell. The storage basket has a detachable feeding hopper at the opening end. The feeding hopper includes a feeding cylinder, which is arc-shaped and integrally formed with the feeding hopper. Both cylinders have rubber pads attached to their inner walls.

2. The transport robot for citrus harvesting according to claim 1, characterized in that, The side wall of the hopper is provided with at least one set of slots for accommodating the insertion of the positioning block, and the slots are engaged to connect the storage basket and the discharge cylinder. The positioning block is welded to the side wall of the outer shell of the storage basket.

3. The transport robot for citrus harvesting according to claim 1, characterized in that, A receiving cavity is provided between the inner shell and the outer shell, and at least one set of shock-absorbing sleeves is provided inside the cavity. Multiple sets of shock-absorbing sleeves are provided and are evenly distributed on the outer wall of the inner shell. They are fixedly installed on the mounting plate provided on the outer wall of the inner shell by fastening bolts.

4. The transport robot for citrus harvesting according to claim 3, characterized in that, The shock-absorbing sleeve is made of rubber material.

5. The transport robot for citrus harvesting according to claim 3, characterized in that, The mounting plate, the outer shell, and the hopper are all provided with positioning holes, and fasteners are connected to the positioning holes by internal threads.

6. The transport robot for citrus harvesting according to claim 2, characterized in that, A door is hinged to the side wall of the storage basket located away from the position of the positioning block; both sides of the door are provided with positioning plates, and the positioning plates are provided with multiple sets of evenly distributed positioning posts. The positioning posts are integrated with the positioning plates, and the positioning posts are provided with multiple sets of inclined positioning blocks evenly distributed along their longitudinal direction, with an inclination angle of 12.5°.

7. The transport robot for citrus harvesting according to claim 6, characterized in that, A positioning groove is provided on the frame at the position where it is attached to the door, into which the positioning plate can be inserted. The inner wall of the positioning groove is provided with multiple sets of positioning slots that cooperate with the positioning block for engaging connection. The frame is provided with tensioning columns, and the inner wall of the door is provided with tensioning grooves. The tensioning grooves wrap around the tensioning columns, and the tensioning columns are in close contact with the inner wall of the tensioning grooves.

Images