Pneumatic driving mechanical claw for picking blueberries

Abstract

The utility model discloses a pneumatic driving mechanical claw for picking blueberries. Comprising a bearing box, supporting blocks fixedly connected to the two sides of the bearing box, a U-shaped block rotationally installed at the ends, close to each other, of the two supporting blocks, a picking box fixedly connected to the inner wall of the U-shaped block, fixing arms fixedly connected to the two sides of the picking box, a second fixing rod fixedly connected between the two fixing arms in a penetrating mode, and an air cylinder hinged to the end, close to the second fixing rod, of the bearing box. The fixed seat is fixedly connected to an output shaft of the air cylinder; the bearing block is fixedly connected to one end, far away from the second fixed rod, of the bearing box; multiple openings are formed in the end, away from the bearing box, of the picking box, the side wall of the second fixing rod is sleeved with the fixing base, cutting grooves distributed at equal intervals are formed in the half part, away from the bearing box, of the lower end of the U-shaped block in a penetrating mode, and multiple cutting bent knives distributed at equal intervals are fixedly connected to the lower portion of the end, away from the bearing box, of the U-shaped block. The blueberry picking and collecting device has the advantages that the blueberries can be picked and collected in batches, and the picking efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to fruit and vegetable picking mechanical technical field, concretely is blueberry picking uses pneumatic drive mechanical claw. BACKGROUND

[0002] Blueberry fruit is tender and juicy, needs to avoid extrusion injury in the picking process, in the existing picking mode, artificial picking efficiency is low, and the labor intensity is big, and it is difficult to meet the demand of large-scale production, and the traditional mechanical claw adopts rigid structure design, and is easy to cause mechanical damage to blueberry in the grabbing process, leading to the decline of fruit quality, and the reduction of commodity value, and it is difficult to use the pneumatic drive mechanical claw to pick and collect the batch of blueberries in the prior art, and the picking efficiency cannot be improved, and further improvement is needed. UTILITY MODEL CONTENTS

[0003] The utility model discloses a blueberry picking pneumatic drive mechanical claw, which can pick and collect the batch of blueberries and improve the picking efficiency, solving the problems in the prior art.

[0004] To achieve the above object, the utility model provides the following technical scheme:

[0005] The blueberry picking pneumatic drive mechanical claw comprises a bearing box, supporting blocks fixed on the two sides of the bearing box, a U-shaped block rotatably installed at the end of the two supporting blocks close to each other, a picking box fixed to the inner wall of the U-shaped block, fixed arms fixed to the two sides of the picking box, a second fixed rod fixed between the two fixed arms in a penetrating manner, a cylinder hingedly connected to the end of the bearing box close to the second fixed rod, a fixed seat fixed to the output shaft of the cylinder and a bearing block fixed to the end of the bearing box away from the second fixed rod.

[0006] A plurality of openings are formed at the end of the picking box away from the bearing box, the fixed seat is sleeved on the side wall of the second fixed rod, a cutting groove is formed at the lower end of the U-shaped block away from the bearing box, and a plurality of cutting curved knives are fixed to the lower part of the end of the U-shaped block away from the bearing box.

[0007] The bearing box is provided with a control assembly, the lower end of the picking box is provided with a collection assembly, the lower end of the bearing box is provided with a moving assembly, the upper end of the bearing box is provided with a traction assembly, the two sides of the picking box are provided with auxiliary walking assemblies, and the upper end of the bearing block is provided with a camera assembly.

[0008] Preferably, a groove is formed at the upper end of the bearing box, and the control assembly comprises a battery fixed to the bottom surface of the inner wall of the groove, an air compressor and a controller.

[0009] It is worth noting that: the control assembly provides stable and reliable power supply through the battery, supports long-time continuous operation, can reduce the charging frequency, the air compressor is used as a pneumatic driving source, outputs uniform air pressure, drives the cylinder to realize accurate extension and retraction movement, ensures the stable opening and closing of the mechanical claw, avoids impact damage to the blueberry fruit, the controller integrates intelligent management, can be programmed or remotely controlled, coordinates the picking action sequence, realizes automatic operation, greatly reduces manual intervention and labor intensity.

[0010] Preferably, the collecting assembly includes a fixed frame fixedly connected to the lower end of the picking box, a magic tape rough surface fixedly connected to the lower part of the inner wall of the fixed frame, and a loading bag arranged in the fixed frame. The upper end side wall of the loading bag is fixedly connected with a magic tape hook surface, and the magic tape hook surface and the magic tape rough surface are adhered to each other.

[0011] It is worth noting that: the collecting assembly uses magic tape hook surface and rough surface to adhere and fix the loading bag, realizes quick installation and disassembly, when the loading bag is full of blueberries, the operator can easily replace a new bag without interrupting the picking process, significantly reducing the fruit processing time.

[0012] Preferably, the moving assembly includes a plurality of supports fixedly connected to the lower end of the carrying box, a first fixed rod fixedly connected to the inner wall of the plurality of supports, and a first roller rotatably installed at both ends of the first fixed rod.

[0013] It is worth noting that: the moving assembly forms a stable base through the supports and the first fixed rod, the first roller is made of wear-resistant material and rotates flexibly, making the mechanical claw easy to move and position in the field, adapting to uneven terrain and reducing operation resistance. This design improves the mobility and adaptability of the mechanical claw, facilitates quick transfer between different blueberry plants, and shortens the picking interval time.

[0014] Preferably, the traction assembly includes a top plate fixedly connected to the upper end of the plurality of picking boxes, a hinge seat fixedly connected to the upper end of the top plate, and a rotating block rotatably installed on the inner wall of both sides of the hinge seat. A hole body is formed through the upper end of the rotating block.

[0015] It is worth noting that: the traction assembly realizes multi-degree-of-freedom rotation through the hinge design of the hinge seat and the rotating block, which facilitates quick connection with external traction equipment (such as tractors or automated platforms), enhances the cooperative working capacity of the mechanical claw, and the hole body is used to fix the traction rope or hook, ensuring firm connection and avoiding the risk of falling off.

[0016] Preferably, the auxiliary walking assembly includes fixed columns fixedly connected to both sides of the picking box, a rotating arm rotatably installed on the side wall of the fixed column, and a second roller rotatably installed on one side of the rotating arm.

[0017] It is worth noting that: the auxiliary walking assembly is connected through the rotation of the fixed column and the rotating arm, so that the second roller can adapt to the change of the terrain, provide additional support and balance, prevent the picking box from tilting or shaking during movement, reduce the damage of fruits caused by vibration, the second roller is made of light material, the rolling resistance is small, the auxiliary main moving assembly improves the overall mobility, especially in narrow or rugged areas, the passability is enhanced.

[0018] Preferably, the camera assembly comprises a vertical block fixed to the upper end of the bearing block and a camera fixed to the side wall of the vertical block.

[0019] It is worth noting that: the camera assembly captures images of the picking area in real time through the camera, which is convenient for the staff to observe.

[0020] Preferably, the picking box is provided with a blocking assembly for discharging at one end close to the bearing box, the blocking assembly comprises a discharging slot penetratingly arranged at one end of the picking box close to the bearing box, two electromagnets fixed to the inner wall of the picking box close to the bearing box, a limiting column fixed to the inner wall of the picking box close to the bearing box, an iron block slidingly arranged in the inner wall of the discharging slot and an ear plate fixed to the upper end of the iron block, the inner wall of the ear plate and the side wall of the limiting column are matched, and the upper end of the iron block and the lower end of the electromagnet are matched.

[0021] It is worth noting that: the blocking assembly controls the adsorption and release of the iron block through the electromagnet, when it is necessary to clean the inside of the picking box, the electromagnet is turned off to cancel the adsorption of the iron block, and the iron block is taken out from the discharging slot, so that the inside of the picking box can be conveniently cleaned.

[0022] Compared with the prior art, the utility model has the advantages that:

[0023] 1、The utility model discloses a picking box is provided with a cutting assembly, the cutting assembly comprises a fixed seat, a U -shaped block, a cutting curved knife and a supporting block, the fixed seat is fixedly connected with the bearing box, the U -shaped block is fixedly connected with the fixed seat, the cutting curved knife is fixedly connected with the U -shaped block, and the supporting block is fixedly connected with the bearing box, the fixed seat is driven along the second fixed rod by the cylinder, drives the U -shaped block and the picking box to rotate around the supporting block, makes the cutting curved knife accurate cutting into blueberry fruit stem, realizes batch picking, simultaneously, the multiple openings of the picking box front end are arranged, and the fruit is allowed to enter the box in order, and the stability of the pneumatic drive is combined, effectively avoids extrusion and impact damage, can guarantee the integrity of the fruit, the battery and the air compressor in the control assembly provide stable power, and the controller coordinates the action sequence, realizes automatic operation, greatly reduces the manual labor intensity, satisfies the demand of large -scale production;

[0024] 2、The collecting assembly adopts magic tape to fix the containing bag, is convenient for quick replacement, the moving assembly and the auxiliary walking assembly adapt to the terrain through the roller, improve the mobility and stability of the mechanical claw, reduce the vibration damage of the fruit, the traction assembly is convenient for connecting external equipment, enhances the collaborative work ability, the camera assembly monitors the picking process in real time, improves the positioning accuracy, and each part works together to realize the assembly line operation of blueberry from picking to collecting, and the efficiency is improved significantly;

[0025] 3、The blocking assembly controls the iron block to open and close the discharge chute through the electromagnet, the iron block is designed to be detachable, the inside of the picking box is convenient to clean, and maintenance is convenient. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 A three-dimensional structure schematic view of the utility model is shown;

[0027] Figure 2 A three-dimensional structure schematic view of the cutting bending knife of the utility model is shown;

[0028] Figure 3 A three-dimensional structure schematic view of the control assembly of the utility model is shown;

[0029] Figure 4 A three-dimensional structure schematic view of the moving assembly and the collecting assembly of the utility model is shown;

[0030] Figure 5 A three-dimensional structure schematic view of the auxiliary walking assembly of the utility model is shown;

[0031] Figure 6 A three-dimensional structure schematic view of the camera assembly of the utility model is shown;

[0032] Figure 7 A three-dimensional structure schematic view of the blocking assembly of the utility model is shown.

[0033] The figure mark: 1, the bearing box; 101, the support; 102, the first fixed rod; 103, the first roller; 2, the supporting block; 3, the air cylinder; 4, the U-shaped block; 5, the picking box; 501, the fixed frame; 502, the bearing bag; 6, the fixed arm; 7, the second fixed rod; 8, the fixed seat; 9, the bearing block; 901, the vertical block; 902, the camera; 10, the cutting groove; 11, the cutting bending knife; 12, the battery; 13, the air compressor; 14, the controller; 15, the top plate; 16, the hinge seat; 17, the rotating block; 18, the fixed column; 19, the rotating arm; 20, the second roller; 21, the discharge chute; 22, the electromagnet; 23, the limiting column; 24, the iron block; 25, the ear plate. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0035] In order to solve the problem that it is difficult to use the pneumatic driving mechanical claw to pick up the blueberries in batches in the prior art, and the picking efficiency cannot be improved, the following technical scheme is given. Please refer to Figures 1-7 ;

[0036] In the embodiment, specifically: the recess is formed in the upper end of the bearing box 1, and the control assembly comprises a storage battery 12, an air compressor 13 and a controller 14 which are fixed to the inner wall bottom surface of the recess.

[0037] A plurality of openings are formed in the end of the picking box 5 away from the bearing box 1, the fixing seat 8 is sleeved on the side wall of the second fixing rod 7, the lower end of the U-shaped block 4 away from the bearing box 1 is penetrated with equidistantly distributed cutting grooves 10, and the lower part of the end of the U-shaped block 4 away from the bearing box 1 is fixed with a plurality of equidistantly distributed cutting curved knives 11.

[0038] The bearing box 1 is provided with a control assembly, the lower end of the picking box 5 is provided with a collecting assembly, the lower end of the bearing box 1 is provided with a moving assembly, the upper end of the bearing box 1 is provided with a traction assembly, the two sides of the picking box 5 are provided with auxiliary walking assemblies, and the upper end of the bearing block 9 is provided with a camera assembly.

[0039] In use, the traction assembly is connected with an external power machine, the power machine is started to pull the device, or the power machine is connected to the bearing block 9 to push the bearing block 9, so that the movement of the device is realized, the moving assembly and the auxiliary walking assembly contact the ground to assist the movement of the picking box 5, when the blueberries need to be picked, the cylinder 3 is started to move the fixing seat 8, drive the second fixing rod 7 and the fixed arm 6 to move, so that the picking box 5 rotates along the hinge point of the support block 2, the cutting curved knives 11 and the cutting grooves 10 pass through the blueberry branches and move due to the retraction of the output shaft of the cylinder 3 into the cylinder body, so that the blueberries on the blueberry branches are cut or pulled into the U-shaped block 4, the rapid collection of the blueberries is realized, and part of the blueberries can fall into the collecting assembly.

[0040] In the embodiment, specifically: the recess is formed in the upper end of the bearing box 1, and the control assembly comprises a storage battery 12, an air compressor 13 and a controller 14 which are fixed to the inner wall bottom surface of the recess.

[0041] In the embodiment, specifically: the collecting assembly comprises a fixed frame 501 which is penetratedly fixed to the lower end of the picking box 5, a magic tape rough surface which is fixed to the lower part of the inner wall of the fixed frame 501, and a loading bag 502 which is arranged in the fixed frame 501, the upper end side wall of the loading bag 502 is fixed with a magic tape hook surface, and the magic tape hook surface and the magic tape rough surface are adhered to each other.

[0042] In this embodiment, specifically: the moving assembly includes a plurality of supports 101 fixed to the lower end of the carrying box 1, a first fixed rod 102 fixed to the inner wall of the plurality of supports 101, and a first roller 103 rotatably installed at both ends of the first fixed rod 102.

[0043] In this embodiment, specifically: the traction assembly includes a top plate 15 fixed to the upper end of the plurality of picking boxes 5, a hinge base 16 fixed to the upper end of the top plate 15, and a rotating block 17 rotatably installed on the inner wall of both sides of the hinge base 16, and a hole body is formed through the upper end of the rotating block 17.

[0044] In this embodiment, specifically: the auxiliary walking assembly includes a fixed column 18 fixed to both sides of the picking box 5, a rotating arm 19 rotatably installed on the side wall of the fixed column 18, and a second roller 20 rotatably installed on one side of the rotating arm 19.

[0045] In this embodiment, specifically: the camera assembly includes a vertical block 901 fixed to the upper end of the carrying block 9, and a camera 902 fixed to the side wall of the vertical block 901.

[0046] Embodiment 2: On the basis of embodiment 1, the utility model provides a technical scheme: the picking box 5 is provided with a blocking assembly for discharging at one end close to the carrying box 1, the blocking assembly includes a discharge slot 21 formed through the one end of the picking box 5 close to the carrying box 1, two electromagnets 22 fixed to the inner wall of the picking box 5 close to the one end of the carrying box 1, a limiting column 23 fixed to the inner wall of the picking box 5 close to the one end of the carrying box 1, an iron block 24 slidingly arranged on the inner wall of the discharge slot 21, and an ear plate 25 fixed to the upper end of the iron block 24, the inner wall of the ear plate 25 and the side wall of the limiting column 23 are attached, and the upper end of the iron block 24 and the lower end of the electromagnet 22 are attached.

[0047] The blocking assembly controls the movement of the iron block 24 through the electromagnet 22, can realize the opening and closing of the discharge slot 21, facilitates the cleaning of the inside of the picking box 5, and is convenient to maintain.

[0048] Working principle: first, connect the external power machinery through the hinge base 16 and the rotating block 17 in the traction assembly, or directly push the carrying block 9, so that the whole device moves;

[0049] During the movement, the first roller 103 in the moving assembly and the second roller 20 in the auxiliary walking assembly contact the ground, ensuring smooth travel;

[0050] When blueberries need to be picked, the controller 14 starts the air compressor 13 and the air cylinder 3, the output shaft of the air cylinder 3 drives the fixed seat 8 to move, the fixed seat 8 drives the second fixed rod 7 and the fixed arm 6, so that the picking box 5 rotates around the hinge point of the support block 2;

[0051] At this time, the cutting curved knife 11 and the cutting groove 10 at the lower end of the U-shaped block 4 are inserted into the blueberry branches, and as the output shaft of the cylinder 3 is retracted, the cutting curved knife 11 performs cutting or pulling action, separates the blueberries from the branches and falls into the U-shaped block 4;

[0052] Part of the blueberries fall into the containing bag 502 in the collecting assembly through the opening at the lower end of the picking box 5, and the containing bag 502 is fixed on the fixed frame 501 through the magic tape hook surface and the magic tape wool surface;

[0053] In addition, the camera 902 in the camera assembly can monitor the picking process in real time.

[0054] When cleaning, the electromagnet 22 in the blocking assembly is powered off, the iron block 24 can slide in the discharge chute 21, realize the opening and closing of the discharge chute 21, facilitate the cleaning of the inside of the picking box 5, and the whole working process is supported by the battery 12 in the control assembly, which ensures the continuous operation of the equipment.

[0055] It should be noted that in this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0056] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application.

Claims

1. A pneumatic driven mechanical claw for picking blueberries, characterized in that: The utility model provides a kind of picking device, including bearing box (1), the support block (2) of being fixed to the both sides of bearing box (1), the U-shaped block (4) of being rotatably installed to two support blocks (2) mutually close one end, the picking box (5) of being fixed to the inner wall of U-shaped block (4), the fixed arm (6) of being fixed to the both sides of picking box (5), the second fixed rod (7) of being fixed to between two fixed arms (6) in a through manner, the cylinder (3) of being hinged to bearing box (1) close to second fixed rod (7) one end, the fixed seat (8) of being fixed to the output shaft of cylinder (3) and the bearing block (9) of being fixed to the end of bearing box (1) away from second fixed rod (7). Picking box (5) is away from the end of bearing box (1) and is equipped with multiple openings, fixed seat (8) is sleeved on the side wall of second fixed rod (7), the lower end of U-shaped block (4) is away from the half part of bearing box (1) and is equipped with equidistantly distributed cutting groove (10) in a through manner, and the lower part of the end of U-shaped block (4) away from bearing box (1) is fixed with equidistantly distributed multiple cutting curved knives (11). Bearing box (1) is equipped with control assembly in, picking box (5) lower end is equipped with collection assembly, bearing box (1) lower end is equipped with moving assembly, bearing box (1) upper end is equipped with traction assembly, picking box (5) both sides are equipped with auxiliary walking assembly, and bearing block (9) upper end is equipped with camera assembly.

2. The blueberry picking pneumatic driven mechanical claw according to claim 1, characterized in that: The upper end of bearing box (1) is equipped with recess, and control assembly includes battery (12) being fixed to the bottom surface of the inner wall of recess, air compressor (13) and controller (14).

3. The blueberry picking pneumatic driven mechanical claw according to claim 1, characterized in that: Collection assembly includes fixed frame (501) being fixed to the lower end of picking box (5) in a through manner, magic tape rough surface being fixed to the lower part of the inner wall of fixed frame (501) and loading bag (502) being arranged in fixed frame (501), and the upper end side wall of loading bag (502) is fixed with magic tape hook surface, and magic tape hook surface and magic tape rough surface are mutually bonded.

4. The blueberry picking pneumatic driven mechanical claw according to claim 1, characterized in that: Moving assembly includes multiple supports (101) being fixed to the lower end of bearing box (1), first fixed rod (102) being fixed to the inner wall of multiple supports (101) and first roller (103) being rotatably installed to the both ends of first fixed rod (102).

5. The blueberry picking pneumatic driven mechanical claw according to claim 1, characterized in that: Traction assembly includes top plate (15) being fixed to the upper end of multiple picking box (5), hinge seat (16) being fixed to the upper end of top plate (15) and rotating block (17) being rotatably installed to the inner wall of both sides of hinge seat (16), and hole body is equipped in the upper end of rotating block (17) in a through manner.

6. The pneumatic driven mechanical gripper for blueberry picking according to claim 1, characterized in that: Auxiliary walking assembly includes fixed column (18) being fixed to the both sides of picking box (5), rotating arm (19) being rotatably installed to the side wall of fixed column (18) and second roller (20) being rotatably installed to one side of rotating arm (19).

7. The blueberry picking pneumatic driven mechanical claw according to claim 1, characterized in that: Camera assembly includes vertical block (901) being fixed to the upper end of bearing block (9) and camera (902) being fixed to the side wall of vertical block (901).

8. The blueberry picking pneumatic driven mechanical claw according to claim 1, characterized in that: The picking box (5) is further provided with a blocking assembly for discharging at one end close to the bearing box (1), the blocking assembly comprises a discharging slot (21) penetratingly arranged at one end of the picking box (5) close to the bearing box (1), two electromagnets (22) fixedly connected to the inner wall of the picking box (5) at one end close to the bearing box (1), a limiting column (23) fixedly connected to the inner wall of the picking box (5) at one end close to the bearing box (1), an iron block (24) slidingly arranged on the inner wall of the discharging slot (21), and an ear plate (25) fixedly connected to the upper end of the iron block (24), the inner wall of the ear plate (25) is in abutment with the side wall of the limiting column (23), and the upper end of the iron block (24) is in abutment with the lower end of the electromagnet (22).

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