Orange picking manipulator device

Abstract

The utility model discloses an orange picking manipulator device, which relates to the technical field of fruit picking, adopts a working mode of'one fruit with two shears', adopts a three-jaw structure to simulate a manual picking process, shears cut fruit branches for the first time on a mechanical jaw, and meanwhile, a tiny arc section is arranged on a cutter to further prevent slipping during branch shearing. Meanwhile, the whole mechanical claw can adjust the cutting angle of the cutter, the claw-shaped electric push rod can also adjust the cutting height of the cutter, and a cutting mode self-adaptive to various growth conditions is achieved; in the shearing process, the soft claw simulates the fruit stabilizing process, and oranges and tangerines with different sizes are prevented from being damaged and falling off due to the flexible structure of the soft claw; a relatively closed working space is formed by the cylindrical claws in the shearing process, so that the effect that an actuator does not damage adjacent fruits is ensured, and the influence of other branches on the shearing process is also prevented; fruit stems are sheared off through secondary shearing, and finally the fruits roll into the fruit storage frame, so that the fruits are prevented from being damaged due to the fruit stems during storage and transportation.

Description

TECHNICAL FIELD

[0001] The utility model relates to fruit picking technical field more specifically, relate to a kind of citrus picking mechanical hand device. BACKGROUND

[0002] Citrus as one of the fruits with wide planting area in China, has important economic value. Traditional citrus picking mainly relies on manual picking mode, but traditional manual picking mode is not only low in efficiency, high in cost, but also difficult to guarantee picking quality. With the problem of population aging and labor shortage becoming increasingly prominent, automated citrus picking machine becomes an urgent demand. Such machine can reduce artificial dependence, improve picking efficiency and fruit quality.

[0003] Chinese utility model publication No. CN221127994U discloses an intelligent citrus picking robot, comprising a mobile trolley, a multi-dimensional rotating mechanical arm is arranged on the mobile trolley, and a main control box is arranged on the mobile trolley; a mounting seat is arranged at the free end of the mechanical arm, and an identification camera is arranged at the front end of the mounting seat. Two picking clamps for grabbing citrus are symmetrically hinged on the mounting seat, a driving unit matched with the picking clamps is arranged on the mounting seat; a shearing cutter is arranged at the upper end of the two picking clamps, and the shearing cutter shears when the picking clamps grab the citrus.

[0004] Publication No. CN118901402A discloses a citrus picking device for citrus planting, comprising a moving device, a top plate is arranged on the top of the moving device, a fruit picking device is installed on the top plate, a loading box for loading citrus is arranged beside the fruit picking device; the fruit picking device comprises; a scissor type lifting device is fixedly installed on the top plate, a lifting platform is arranged at the top of the scissor type lifting device; a horizontal moving module is installed on the lifting platform, a rotating device is connected to the sliding block of the horizontal moving module; a scissors device is used for picking citrus, the scissors device is connected through a mechanical arm and a rotating device, and the position of the scissors device is adjusted through the scissor type lifting device, the horizontal moving module and the rotating device.

[0005] A citrus picking tool disclosed in CN118947349A includes a long handle and a connecting pipe, a bottom tray located on the upper side of the connecting pipe, a circular plate located on the lower side of the bottom tray, and four springs fixedly connected to the circular plate and the end of the connecting pipe close to each other. The springs can support the bottom tray and provide elastic force. By arranging an adjusting bolt between the bottom tray and the connecting pipe, the flexibility of the picking tool is significantly improved. The position of the connecting pipe can be quickly adjusted according to the different heights and growth conditions of the citrus trees, so as to optimize the picking angle and distance. This design enables the operator to easily reach citrus fruits at different heights without changing his / her position, greatly improving the picking efficiency. In addition, the simple operation of the adjusting bolt makes the adjustment process very convenient, reducing the time waste caused by frequent adjustment of the tool.

[0006] The above technical solution lacks consideration of the actual growth conditions and actual picking methods of citrus fruits. In practice, the sizes of citrus fruits are not necessarily the same. The rigid picking actuators cannot stably grasp the fruits, and the force of such actuators is not easy to control, which may damage the fruits. In addition, the actual growth conditions of citrus fruits may have multiple fruit growth conditions such as "twins". Therefore, it is necessary to consider the damage to adjacent fruits by the actuators, and thus it is necessary to improve the citrus picking device. In view of this, we propose a citrus picking manipulator device. Utility model content

[0007] The utility model aims at overcoming the shortage of prior art, adapting to the actual needs, providing a kind of citrus picking manipulator device to solve the technical problems that current picking actuator cannot stably grasp fruit, and the force of such actuator is not easy to control, which may damage the fruit.

[0008] To solve the above technical problems, the utility model provides the following technical scheme: a kind of citrus picking manipulator device, including mobile trolley, mobile trolley is equipped with fruit storage mechanism, secondary pruning mechanism and rotating base, rotating base is equipped with first support, first support is connected with mechanical arm, and the tail end of mechanical arm is equipped with second support, and second support is equipped with end picking mechanism.

[0009] Preferably, the mobile trolley is provided with a track on both sides to adapt to various geographical environments. The rotating base in the trolley is equipped with a rudder to control the rotation of the first support. The trolley fruit storage mechanism area is provided with a spring assembly and connected to the fruit storage platform to buffer the impact of fruit falling.

[0010] Preferably, the fruit storage mechanism includes a fruit storage frame, and the fruit storage frame is placed with a buffer foam to further buffer the impact of fruit falling and prevent fruit damage. The fruit storage frame is placed on the fruit storage platform as a whole, and the spring assembly is compressed by its gravity to make it stable on the fruit storage platform.

[0011] Preferably, the secondary pruning mechanism comprises a secondary pruning shell, a fixed cutter, a movable cutter, a power platform, a secondary pruning platform, the top of the secondary pruning shell is hemispherical, simulating the outer contour of citrus, a small hole is formed in the center, so that the citrus stem can pass through, a cylindrical space is formed in the bottom, the fixed cutter is fixed on the top of the cylindrical space by bolts, the cutting edge is close to the small hole, the movable cutter is connected to the fixed cutter through a transmission pair, the tail of the movable cutter has an incomplete gear, and the movable cutter rotates with the second driving gear to achieve the purpose of cutting the stem; the whole secondary pruning shell is fixed on the secondary pruning platform through bolts, the power platform is arranged on the platform, a power assembly system with a second driving gear is arranged in the power platform, and a branch throwing channel is arranged in the whole secondary pruning structure and penetrates through the whole mechanism.

[0012] Preferably, the mechanical arm comprises a mechanical front arm, a mechanical middle arm and a mechanical rear arm, the front end of the mechanical front arm is connected to the first support through a rotary pair and controlled to rotate through a first steering wheel; the front end of the mechanical middle arm is connected to the rear end of the mechanical front arm through a rotary pair, the rear end is connected to the front end of the mechanical rear arm through a rotary pair, and the rotation of the mechanical middle arm is controlled through a second steering wheel and a third steering wheel respectively; the mechanical rear arm is provided with an extension rod, the second support is fixed to the tail end of the extension rod, and the extension rod is controlled to extend and retract through a first stepping motor.

[0013] Preferably, the end picking mechanism comprises a mechanical claw, a flexible claw and a cylindrical claw, the inside of the mechanical claw moving support is in a pipeline shape, the tail end is installed on the second support, an actuator bearing is arranged between the two components, a driven wheel is arranged beside the bearing, the first driving gear is controlled through a second stepping motor to control the driven wheel, an electric push rod is arranged on the support shaft, the mechanical claw moving support is pushed to move on the shaft, the mechanical claw moving support is connected to the claw-shaped electric push rod through a support assembly and the support shaft at the same time, soft pairs of mechanical claws and shear pairs of mechanical claws are symmetrically arranged at the tail end of the push rod, the soft pairs of mechanical claws are shorter than the shear pairs of mechanical claws, and the soft pairs of mechanical claws are staggered with the shear pairs of mechanical claws during work, the working surface of the soft pairs of mechanical claws is provided with a cotton cloth layer, the shear pairs of mechanical claws are provided with detachable cutters, and a small arc is formed at the midpoint of the cutter to prevent slipping during work; the cylindrical claw is provided with a mechanical claw movement stroke space, the whole cylindrical claw is fixed to the mechanical claw moving support, and a visual identification camera is arranged on the outside of the cylindrical claw; the flexible claw fixed support is fixed to the front end of a lead screw, a flexible claw moving support is arranged on the lead screw, the whole flexible claw moving support is arranged in the mechanical claw moving support, the rear end is arranged on the second support and driven by a third stepping motor, the flexible claw moving support is connected to a flexible claw support through a support, and the flexible claw support is connected to the flexible claw and the flexible claw fixed support through rotary pairs.

[0014] Compared with the prior art, the utility model has the advantages of:

[0015] The utility model discloses a working mode of " one fruit two shears " is adopted, adopts three claw structure simulation artificial picking process, wherein the soft pair mechanical claw steady branch prevents natural factor influence shearing branch, the pair mechanical claw first shearing fruit branch, and the small arc segment of setting up on the cutter further prevents the slip when shearing branch, and the mechanical claw whole can rotate and adjust cutter shearing angle, and the claw shape electric push rod can also adjust cutter shearing height, reaches the shearing mode of self -adaptation of various growth conditions, in the shearing process, the soft claw simulates the steady fruit process, owing to its flexible structure, has good wrapping and adaptability, avoids the fruit damage and drop of the different size of citrus fruit, in the shearing process, the cylindrical claw forms a relatively closed working space, ensures that the executor does not produce damage to adjacent fruit, also prevents the influence of other branches on the shearing process, after once shearing, carries out secondary shearing in secondary pruning mechanism, shears the fruit stalk, finally rolls into the fruit storage frame, prevents the fruit damage of the existence of fruit stalk when fruit storage and transportation, solves that picking executor can not steady snatch fruit, and the executor such as this strength size is not easy to control, and the problem of easy damage of fruit. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the structural schematic diagram of the utility model;

[0017] Figure 2 It is the partial section schematic diagram of the end picking mechanism in the utility model;

[0018] Figure 3 It is the schematic diagram of the soft claw of the end picking mechanism in the utility model;

[0019] Figure 4 It is the schematic diagram of secondary pruning platform in the utility model;

[0020] Figure 5 It is the schematic diagram of secondary pruning work in the utility model;

[0021] Figure 6 It is the schematic diagram of fruit storage mechanism in the utility model.

[0022] Mark explanation in drawing: 1, mobile trolley;2, fruit storage mechanism;3, secondary pruning mechanism;4, mechanical arm;5, second support;6, end picking mechanism;7, first support;8, rotating base;9, visual identification camera;

[0023] 101, track;

[0024] 201, fruit storage frame;202, buffer foam;203, spring assembly;204, fruit storage platform;

[0025] 301, secondary pruning shell; 302, threaded blind hole; 303, fixed cutter; 304, movable cutter; 305, second driving gear; 306, branch throwing channel; 307, power platform; 308, secondary pruning platform; 309, inclined ramp;

[0026] 4a, mechanical front arm; 4b, mechanical middle arm; 4c, mechanical rear arm; 401, first steering gear; 402, second steering gear; 403, third steering gear; 404, first stepping motor;

[0027] 601, second stepping motor; 602, first driving gear; 603, third stepping motor; 604, lead screw; 605, actuator bearing; 606, driven wheel; 607, electric push rod; 608, cylindrical claw; 609, bracket assembly; 610, claw-shaped electric push rod; 611, soft pair of mechanical claws; 612, shear pair of mechanical claws; 613, detachable cutter; 614, cotton cloth layer; 615, support shaft; 616, soft claw moving support; 617, bracket; 618, soft claw bracket; 619, soft claw fixed support; 620, soft claw; 621, shaft stop ring; 622, mechanical claw moving support. DETAILED DESCRIPTION

[0028] As Figures 1 to 6 shown, the utility model relates to a kind of citrus picking manipulator devices, including moving trolley 1, moving trolley 1, moving trolley 1 bottom is provided with the track 101 of being convenient for moving, track 101 is selected to realize movement of existing technology, and it is equipped with fruit storage mechanism 2, secondary pruning mechanism 3 and rotating base 8, rotating base 8 is equipped with first support 7, first support 7 is connected with mechanical arm 4, and mechanical arm 4 tail end is equipped with second support 5, and second support 5 is equipped with end picking mechanism 6.

[0029] Fruit storage mechanism 2 includes fruit storage frame 201, and buffer foam 202 is placed in fruit storage frame 201, to buffer the impact of fruit falling, prevent fruit damage, and moving trolley 1 fruit storage area is equipped with spring assembly 203 and is connected with fruit storage platform 204, to further buffer the impact of fruit falling, while the descent of fruit storage platform 204 makes the height difference between platform and trolley top, and fruit storage frame 201 can be stably placed.

[0030] The secondary pruning mechanism 3 comprises a secondary pruning shell 301, a fixed cutter 303, a movable cutter 304, a power platform 307, a secondary pruning platform 308, and a branch throwing channel 306 is arranged on one side of the secondary pruning shell 301, the top of the secondary pruning shell 301 is hemispherical, a small hole is arranged in the center of the secondary pruning shell 301, so that the citrus fruit stem can pass through, a cylindrical space is arranged in the bottom of the secondary pruning shell 301, the fixed cutter 303 is fixed on the top of the cylindrical space through bolts, a threaded blind hole 302 is arranged in the secondary pruning shell 301, the blade is close to the small hole, the movable cutter 304 is connected to the fixed cutter 303 through a transmission pair, the tail of the movable cutter 304 is provided with an incomplete gear, and the movable cutter 304 rotates with the second driving gear 305, so that the citrus fruit stem is cut, and the outer side of the secondary pruning shell 301 is further provided with a slope rolling way 309.

[0031] The mechanical arm 4 comprises a mechanical front arm 4a, a mechanical middle arm 4b and a mechanical rear arm 4c, the front end of the mechanical front arm 4a is connected to the first support 7 through a rotating pair, and the rotation of the mechanical front arm 4a is controlled through a first steering engine 401; the front end of the mechanical middle arm 4b is connected to the rear end of the mechanical front arm 4a through a rotating pair, the rear end of the mechanical middle arm 4b is connected to the front end of the mechanical rear arm 4c through a rotating pair, and the rotation of the mechanical middle arm 4b and the mechanical rear arm 4c is controlled through a second steering engine 402 and a third steering engine 403 respectively; the mechanical rear arm 4c is provided with an extension rod, the second support 5 is fixedly connected to the tail end of the extension rod, and a first stepping motor 404 is connected to the other end of the extension rod, so that the extension rod can be controlled to stretch out and draw back through the first stepping motor 404.

[0032] The end picking mechanism 6 includes a mechanical claw, a soft claw 620 and a cylindrical claw 608. The mechanical claw moving support 622 is in a pipe shape inside, is mounted on the second support 5, and a driven wheel 606 is mounted beside an actuator bearing 605. A first driving gear 602 is controlled by a second stepping motor 601 to drive the driven wheel 606. An electric push rod 607 is mounted on a support shaft 615 to move the mechanical claw moving support 622 on the shaft. The mechanical claw moving support 622 is connected to a claw-shaped electric push rod 610 through a bracket assembly 609 and is connected to the support shaft 615 at the same time. An on-shaft stop ring 621 is arranged between the actuator bearing 605 and the support shaft 615. Soft mechanical claws 611 and shearing mechanical claws 612 are symmetrically mounted at the end of the push rod. The soft mechanical claws 611 are shorter than the shearing mechanical claws 612 as a whole, and are staggered with the shearing mechanical claws 612 during work. The working surface of the soft mechanical claws 611 has a cotton layer 614. A detachable cutter 613 is mounted on the shearing mechanical claw 612, and a small arc is opened at the midpoint of the cutter to prevent slipping during work. The cylindrical claw 608 is provided with a mechanical claw movement stroke space, and is integrally connected to the mechanical claw moving support 622. A visual recognition camera 9 is mounted on the outside. The soft claw fixed support 619 is fixed at the front end of the lead screw 604. The lead screw 604 is mounted with a soft claw moving support 616, which is located in the mechanical claw support shaft 615 as a whole. The rear end is mounted on the second support 5 and is driven by the third stepping motor 603. The soft claw moving support 616 is connected to the soft claw bracket 618 through the bracket 617. The soft claw bracket 618 is connected to the soft claw 620 and the soft claw fixed support 619 through a revolute pair.

[0033] The second stepping motor 601, the first driving gear 602, the third stepping motor 603, the lead screw 604, the actuator bearing 605, the driven wheel 606, the electric push rod 607, the cylindrical claw 608, the bracket assembly 609, the claw-shaped electric push rod 610, the soft mechanical claws 611, the shearing mechanical claws 612, the detachable cutter 613, the cotton layer 614, the support shaft 615, the soft claw moving support 616, the bracket 617, the soft claw bracket 618, the soft claw fixed support 619, the soft claw 620, the on-shaft stop ring 621 and the mechanical claw moving support 622 are cooperated.

[0034] Working principle: When the structure works, first of all, the visual recognition camera 9 identifies the position of the citrus fruit, transmits the information into the control system, and according to the length and position of the citrus branches, controls the mechanical arm 4, two push rods, and the second stepping motor 601 to adjust the cutting angle of the cutter. With the help of the cylindrical claw 608, the objects outside the working target are isolated, and after reaching the specified position, the third stepping motor 603 is started to make the lead screw 604 rotate and drive the flexible claw moving support 616 to move upwards, so that the flexible claw 620 completely wraps the fruit. After the work is completed, the electric push rod 607 pushes the mechanical claw moving support 622 to move upwards to start the cutting work. The soft mechanical claw 611 stabilizes the branch after reaching the working position, and the cutting mechanical claw 612 cuts the branch. After cutting is completed, the electric push rod 607 is reset, and the first pruning process is completed.

[0035] Further, in order to realize secondary pruning, in addition to the above-mentioned components, the following components are matched: secondary pruning shell 301, threaded blind hole 302, fixed cutter 303, movable cutter 304, second drive gear 305, branch throwing channel 306, power platform 307, secondary pruning platform 308, and inclined roller way 309.

[0036] Working principle: After the first pruning is completed, the flexible claw 620 continues to hold the fruit, and the end picking mechanism 6 enters the secondary pruning mechanism 3. The outer diameter of the secondary pruning shell 301 is slightly smaller than the inner diameter of the cylindrical claw 608. When the secondary pruning starts, the fruit is pressed against the top spherical contour of the secondary pruning shell 301, and the fruit stem passes through the circular hole. At this time, the power assembly system in the power platform 307 drives the second drive gear 305 to rotate, so that the movable cutter 304 performs secondary cutting work. After cutting is completed, the fruit stem falls back to the ground through the branch throwing channel 306.

[0037] Further, in order to protect the fruit, in addition to the above-mentioned components, the following components are matched: fruit storage frame 201, buffer foam 202, spring assembly 203, and fruit storage platform 204.

[0038] Working principle: After the secondary pruning is completed, the end picking mechanism 6 places the fruit on the inclined roller way 309, and the fruit rolls into the fruit storage frame 201 due to its gravity. The bottom of the fruit storage frame 201 is paved with a layer of buffer foam 202 to prevent damage to the fruit. The fruit storage frame 201 is placed on the fruit storage platform 204, which is connected to the moving trolley 1 through the spring assembly 203. The fruit storage frame 201 is compressed by the spring assembly 203 due to its gravity, so that it is stable on the moving trolley 1. The spring assembly 203 can further buffer the impact of the fruit falling to prevent damage to the fruit.

[0039] The utility model discloses an embodiment discloses the better embodiment, but is not limited to this, and the ordinary skill of the art, the spirit of the utility model is appreciated to the above -mentioned embodiment, and different extension and change are made, but as long as not departing from the spirit of the utility model, all are in the protection range of the utility model.

Claims

1. A citrus picking robot device, characterized by, The utility model provides a kind of fruit picking robot, including mobile trolley (1), which is provided with fruit storage mechanism (2), secondary pruning mechanism (3) and rotating base (8) on the mobile trolley (1), the rotating base (8) is provided with first support (7), the first support (7) is connected with mechanical arm (4), the tail end of the mechanical arm (4) is provided with second support (5), and the end picking mechanism (6) is arranged on the second support (5).

2. The citrus picking hand according to claim 1, wherein The fruit storage mechanism (2) includes a fruit storage frame (201), and a buffer foam (202) is placed in the fruit storage frame (201). The fruit storage area of the mobile trolley (1) is provided with a spring assembly (203) and connected with a fruit storage platform (204). The lowering of the fruit storage platform (204) causes a height difference between the platform and the top of the mobile trolley (1).

3. A citrus picking hand according to claim 2, wherein, The secondary pruning mechanism (3) includes a secondary pruning shell (301), a fixed cutter (303), a movable cutter (304), a power platform (307), and a secondary pruning platform (308). The top of the secondary pruning shell (301) is hemispherical. A small hole is formed in the center of the secondary pruning shell (301). A cylindrical space is formed at the bottom of the secondary pruning shell (301). The fixed cutter (303) is fixed at the top of the cylindrical space by bolts. The movable cutter (304) is connected to the fixed cutter (303) by a transmission pair. The tail ends of the movable cutter (304) and the fixed cutter (303) are provided with second drive gears (305).

4. The citrus picking hand apparatus according to claim 3, wherein The mechanical arm (4) includes a mechanical front arm (4a), a mechanical middle arm (4b), and a mechanical rear arm (4c). The front end of the mechanical front arm (4a) is connected to the first support (7) by a rotary pair. A first steering wheel (401) is arranged between the first support (7) and the mechanical front arm (4a).

5. A citrus picking hand according to claim 4, wherein, The front end of the mechanical middle arm (4b) is connected to the rear end of the mechanical front arm (4a) by a rotary pair. The rear end of the mechanical middle arm (4b) is connected to the front end of the mechanical rear arm (4c) by a rotary pair. A second steering wheel (402) and a third steering wheel (403) are arranged between the mechanical middle arm (4b) and the mechanical rear arm (4c) to control the rotation thereof. The mechanical rear arm (4c) is provided with an extension rod. The end of the extension rod is fixedly connected to the second support (5). The other end of the extension rod is connected to a first stepping motor (404).

6. A citrus picking hand apparatus according to claim 5, wherein, The end picking mechanism (6) comprises a mechanical claw, a soft claw (620) and a cylindrical claw (608), the center of the soft claw (620) is provided with a mechanical claw moving support (622), the inside of the mechanical claw moving support (622) is in a pipeline shape, the end of the mechanical claw moving support (622) is installed on the second support (5), an actuator bearing (605) is installed between the mechanical claw moving support (622) and the second support (5), a driven wheel (606) is installed outside the actuator bearing (605), a first drive gear (602) is engaged outside the driven wheel (606), a second stepper motor (601) is connected at the center of the first drive gear (602), a support shaft (615) is arranged on one side of the actuator bearing (605), an electric push rod (607) is installed on the support shaft (615), a mechanical claw moving support (622) is arranged on one side of the electric push rod (607), a bracket assembly (609) is arranged on the outer periphery of the mechanical claw moving support (622), a claw-shaped electric push rod (610) is connected to the bracket assembly (609) and at the same time connected to the support shaft (615), soft mechanical claws (611) and shearing mechanical claws (612) are symmetrically installed at the end of the claw-shaped electric push rod (610), the soft mechanical claws (611) are shorter than the shearing mechanical claws (612) as a whole.

7. A citrus picking hand apparatus according to claim 6, wherein, A detachable cutter (613) is installed on the shearing mechanical claw (612), a micro arc is opened at the midpoint of the detachable cutter (613), the cylindrical claw (608) is integrally fixed on the mechanical claw moving support (622), and a visual recognition camera (9) is installed outside the cylindrical claw (608).

8. A citrus picking hand apparatus according to claim 7, wherein, A lead screw (604) is arranged at the center of the cylindrical claw (608), a soft claw fixed support (619) is arranged at the front end of the lead screw (604), a soft claw moving support (616) is installed on the lead screw (604), the lead screw (604) is in the mechanical claw moving support (622), and a third stepper motor (603) is installed at the rear end of the lead screw (604) and on the second support (5).

9. A citrus picking hand apparatus according to claim 8, wherein, A bracket (617) and a soft claw bracket (618) are arranged on the outer periphery of the soft claw moving support (616), the soft claw bracket (618) is connected to the soft claw (620) and the soft claw fixed support (619) through a revolute pair respectively.

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