Automatic orange picking equipment

Abstract

The utility model discloses an automatic mandarin orange picking equipment, including picking mechanism, first rotating mechanism and elevating mechanism, picking mechanism includes swing mechanism, flexible gripper, pruning mechanism and first driving device, flexible gripper is used for picking mandarin orange, pruning mechanism is located above flexible gripper, and the first rotating mechanism is located above the first rotating mechanism. The first driving device is used for driving the flexible mechanical claw to do telescopic motion in the horizontal direction, the flexible mechanical claw can be driven to pull branches of mandarin oranges into the pruning mechanism, the situation that the pruning mechanism cannot reach the branches is avoided, the swing mechanism is used for driving the flexible mechanical claw to swing upwards or downwards, the pruning mechanism can easily avoid the mandarin oranges, and the pruning efficiency of the mandarin oranges is improved. The first rotating mechanism is used for driving the picking mechanism to rotate with the up-down direction as the axis, the lifting mechanism is used for driving the picking mechanism to move in the up-down direction, and the moving flexibility of the picking mechanism can be improved.

Description

Technical Field

[0001] This utility model relates to the technical field of citrus picking equipment, and in particular to an automatic citrus picking device. Background Technology

[0002] Currently, to improve production efficiency and reduce labor intensity, citrus picking equipment is often used instead of manual picking. Existing citrus picking equipment typically uses mechanical claws to pick the citrus fruits and a pruning mechanism to cut the branches. To avoid the pruning mechanism interfering with the citrus fruits, the mechanical claws are positioned further forward than the pruning mechanism. However, in some cases, the branches are hidden deep, and the pruning mechanism may not be able to reach them. Furthermore, because the mechanical claws and pruning mechanism are fixed together and move together, the pruning mechanism cannot move relative to the mechanical claws. When the citrus fruits are densely packed, the pruning mechanism has difficulty avoiding them, and if it touches other citrus fruits, it may break them. Utility Model Content

[0003] The purpose of this invention is to at least solve one of the technical problems existing in the prior art. To this end, this invention provides an automatic citrus picking device that can drive a flexible mechanical claw to pull the citrus branches into the pruning mechanism, preventing the pruning mechanism from failing to reach the branches. In addition, a swinging mechanism can drive the flexible mechanical claw to swing upwards or downwards, making it easier for the pruning mechanism to avoid the citrus fruits.

[0004] An automatic citrus-picking device according to an embodiment of the present invention includes: a picking mechanism, comprising a swinging mechanism, a flexible mechanical claw, a pruning mechanism, and a first driving device; the flexible mechanical claw is used to pick citrus fruits; the pruning mechanism is used to cut the branches of the citrus fruits; the pruning mechanism is located above the flexible mechanical claw; the first driving device is used to drive the flexible mechanical claw to extend and retract in the horizontal direction; the swinging mechanism is used to drive the flexible mechanical claw to swing upward or downward; a first rotating mechanism is used to drive the picking mechanism to rotate about the vertical direction; and a lifting mechanism is used to drive the picking mechanism to move in the vertical direction.

[0005] The automatic citrus picking device according to the embodiments of this utility model has at least the following beneficial effects: During operation, the lifting mechanism drives the picking mechanism to rise and fall to the corresponding position, and the first rotating mechanism drives the picking mechanism to rotate to the corresponding position, which can improve the movement flexibility of the picking mechanism. When the flexible mechanical claw needs to grab the citrus fruit, the first driving device drives the flexible mechanical claw to extend horizontally, and the flexible mechanical claw grabs the citrus fruit. Then, the first driving device drives the flexible mechanical claw to retract horizontally. It can also be understood that the flexible mechanical claw pulls the citrus fruit outward and pulls the citrus fruit branch into the pruning mechanism. Then, the pruning mechanism cuts the branch, avoiding the pruning mechanism not being able to reach the branch. In addition, the swinging mechanism can drive the flexible mechanical claw to swing upward or downward, so that the pruning mechanism can more easily avoid the citrus fruit.

[0006] According to some embodiments of the present invention, the swing mechanism includes a fixed plate, a hinge shaft, a hinge rod, a first hinge seat, a second hinge seat, and a cylinder. The first hinge seat and the second hinge seat are disposed on the fixed plate. The hinge shaft is horizontally arranged. The pruning mechanism is fixedly connected to the hinge shaft. The hinge shaft is hinged to the first hinge seat. The hinge shaft is fixedly connected to one end of the hinge rod. The output end of the cylinder is hinged to the other end of the hinge rod. The cylinder seat of the cylinder is hinged to the second hinge seat.

[0007] According to some embodiments of the present invention, the first driving device includes a first lead screw motor, a first slider and a slide rail, the first slider is fixedly connected to the slide rail, the first slider moves together with the flexible mechanical claw, and the lead screw of the lead screw motor is threadedly connected to the first slider.

[0008] According to some embodiments of the present invention, the picking mechanism includes a first motor, a connecting plate, and a citrus harvesting basket. The flexible mechanical claw is connected to one side of the connecting plate, and the citrus harvesting basket is connected to the other side of the connecting plate. The connecting plate is connected to the first slider through the first motor, and the first motor is used to drive the connecting plate to rotate in the up-down direction as an axis.

[0009] According to some embodiments of the present invention, the picking mechanism includes a second motor, which drives the flexible mechanical claw to rotate about a horizontal axis.

[0010] According to some embodiments of the present invention, the lifting mechanism includes a lifting frame, a second lead screw motor, and a second slider. The lead screw of the second lead screw motor is threadedly connected to the second slider. The lifting frame is connected to the second slider. The picking mechanism is rotatably connected to the lifting frame. The first rotating mechanism is disposed on the lifting frame. The first rotating mechanism includes a third motor and a first belt mechanism. The third motor drives the picking mechanism to rotate through the first belt mechanism.

[0011] According to some embodiments of the present invention, the automatic citrus picking device includes a second rotating mechanism, a base, and a frame. The frame is rotatably connected to the base. The lifting mechanism is located on the frame. The frame can rotate together with the lifting mechanism, the picking mechanism, and the first rotating mechanism in the up-down direction as an axis. The second rotating mechanism includes a fourth motor and a second belt mechanism. The fourth motor drives the frame to rotate through the second belt mechanism.

[0012] According to some embodiments of the present invention, the pruning mechanism includes a fifth motor, a first pair of scissors, and a second pair of scissors. The first pair of scissors and the second pair of scissors are rotatably connected by gears, and the fifth motor is used to drive the gears to rotate.

[0013] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0015] Figure 1 This is a schematic diagram of the structure of an automatic citrus picking device according to some embodiments of the present invention;

[0016] Figure 2 This is a schematic diagram of the structure of an automatic citrus picking device according to some embodiments of the present invention;

[0017] Figure 3 This is a schematic diagram of the picking mechanism of the automatic citrus picking device according to some embodiments of the present invention;

[0018] Figure 4 This is a schematic diagram of the structure of an automatic citrus picking device according to some embodiments of the present invention;

[0019] Figure 5 This is a schematic diagram of the structure of an automatic citrus picking device according to some embodiments of the present invention;

[0020] Figure 6 This is a schematic diagram of the pruning mechanism of an automatic citrus picking device according to some embodiments of the present invention.

[0021] Figure label:

[0022] 1 citrus fruit, 2 branches;

[0023] 1000 automatic tangerine picking machines;

[0024] Image recognition sensor 100;

[0025] Harvesting mechanism 200, swing mechanism 210, fixed plate 221, hinge shaft 222, hinge rod 223, first hinge seat 224, second hinge seat 225, cylinder 226, flexible mechanical claw 230, pruning mechanism 240, fifth motor 241, first scissors 242, second scissors 243, first lead screw motor 250, first slider 251, slide rail 252, first motor 253, connecting plate 254, orange basket 255, second motor 256;

[0026] The system comprises a first rotating mechanism 300, a third motor 310, a first belt mechanism 320, a first belt 321, a first pulley 322, and a first rotating shaft 323.

[0027] Lifting mechanism 400, lifting frame 410, second lead screw motor 420, second slider 430;

[0028] The second rotating mechanism 500, the fourth motor 510, the second belt mechanism 520, the second belt 521, the second pulley 522, and the second rotating shaft 523;

[0029] Base 600;

[0030] Rack size 700. Detailed Implementation

[0031] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0032] Reference Figure 1 and Figure 2 The diagram shows an automatic citrus-picking device 1000 according to an embodiment of this utility model. The automatic citrus-picking device 1000 includes a picking mechanism 200, a first rotating mechanism 300, and a lifting mechanism 400. The picking mechanism 200 includes a swinging mechanism 210, a flexible mechanical claw 230, a pruning mechanism 240, and a first driving device. The flexible mechanical claw 230 is used to pick citrus fruits, and the pruning mechanism 240 is used to cut the branches of the citrus fruits. The pruning mechanism 240 is located above the flexible mechanical claw 230. The first driving device is used to drive the flexible mechanical claw 230 to perform a horizontal telescopic movement. The swinging mechanism 210 is used to drive the flexible mechanical claw 230 to swing upwards or downwards. The first rotating mechanism 300 is used to drive the picking mechanism 200 to rotate about the vertical axis. The lifting mechanism 400 is used to drive the picking mechanism 200 to move in the vertical direction.

[0033] Specifically, during operation, the lifting mechanism 400 drives the picking mechanism 200 to rise and fall to the corresponding position, and the first rotating mechanism 300 drives the picking mechanism 200 to rotate to the corresponding position, which can improve the flexibility of the picking mechanism 200. When the flexible mechanical claw 230 needs to grab the citrus fruit, the first driving device drives the flexible mechanical claw 230 to extend horizontally, and the flexible mechanical claw 230 grabs the citrus fruit. Then, the first driving device drives the flexible mechanical claw 230 to retract horizontally. It can also be understood that the flexible mechanical claw 230 pulls the citrus fruit outward and pulls the citrus fruit branch into the pruning mechanism 240. Then, the pruning mechanism 240 cuts the branch. The first driving device drives the flexible mechanical claw 230 to perform telescopic movement to avoid the pruning mechanism 240 not being able to reach the branch. In addition, the swing mechanism 210 can drive the flexible mechanical claw 230 to swing upward or downward, so that the pruning mechanism 240 can more easily avoid the citrus fruit.

[0034] Reference Figure 3 As shown, according to some embodiments of the present invention, the swing mechanism 210 includes a fixed plate 221, a hinge shaft 222, a hinge rod 223, a first hinge seat 224, a second hinge seat 225, and a cylinder 226. The first hinge seat 224 and the second hinge seat 225 are disposed on the fixed plate 221. The hinge shaft 222 is horizontally arranged. The pruning mechanism 240 is fixedly connected to the hinge shaft 222. The hinge shaft 222 is hinged to the first hinge seat 224. The hinge shaft 222 is fixedly connected to one end of the hinge rod 223. The output end of the cylinder 226 is hinged to the other end of the hinge rod 223. The cylinder seat 226 of the cylinder 226 is hinged to the second hinge seat 225, forming a connecting rod hinge structure. When the output end of cylinder 226 extends, it drives the hinge rod 223 to move, thereby causing the pruning mechanism 240 to swing downward. When the output end of cylinder 226 retracts, it drives the hinge rod 223 to move, thereby causing the pruning mechanism 240 to swing upward.

[0035] Reference Figure 3 As shown, according to some embodiments of this utility model, the first driving device includes a first lead screw motor 250, a first slider 251, and a slide rail 252. The slide rail 252 is fixed below the fixed plate 221. The first slider 251 is fixedly connected to the slide rail 252. The first slider 251 moves together with the flexible mechanical gripper 230. The lead screw of the lead screw motor is threadedly connected to the first slider 251. Thus, the first driving device drives the flexible mechanical gripper 230 to perform telescopic movement in the horizontal direction.

[0036] Reference Figure 4 and Figure 5As shown, according to some embodiments of this utility model, the harvesting mechanism 200 includes a first motor 253, a connecting plate 254, and a harvesting basket 255. A flexible mechanical claw 230 is connected to one side of the connecting plate 254, and the harvesting basket 255 is connected to the other side of the connecting plate 254. The connecting plate 254 is connected to a first slider 251 via the first motor 253. The first motor 253 is used to drive the connecting plate 254 to rotate around the vertical axis. Specifically, it can rotate 180 degrees, thereby realizing the interchange of the positions of the flexible mechanical claw 230 and the harvesting basket 255, which can improve the user experience. When the number of citrus fruits is small and their positions are relatively sparse, the flexible mechanical claw 230 can be switched to the front to pick the citrus fruits one by one. When the number of citrus fruits is large and their positions are relatively dense, it is not easy to pick the citrus fruits one by one. The harvesting basket 255 can be switched to the front, and the harvesting basket 255 can collect a large bunch of citrus fruits, and then the branches can be cut off manually one by one.

[0037] Reference Figure 3 As shown, according to some embodiments of the present invention, the picking mechanism 200 includes a second motor 256, which is connected to the connecting plate 254. The second motor 256 is used to drive the flexible mechanical claw 230 to rotate around the horizontal axis, so that the flexible mechanical claw 230 moves more flexibly and can be positioned in multiple ways, and can also twist off the remaining branches of the citrus fruit.

[0038] Reference Figure 1 and Figure 2 As shown, according to some embodiments of the present invention, the lifting mechanism 400 includes a lifting frame 410, a second lead screw motor 420, and a second slider 430. The lead screw of the second lead screw motor 420 is threadedly connected to the second slider 430. The lifting frame 410 is connected to the second slider 430. The harvesting mechanism 200 is rotatably connected to the lifting frame 410. A first rotating mechanism 300 is disposed on the lifting frame 410. The lifting frame 410, the first rotating mechanism 300, and the harvesting mechanism 200 rise and fall together. The first rotating mechanism 300 includes a third motor 310 and a first belt mechanism 320. The third motor 310 drives the harvesting mechanism 200 to rotate through the first belt mechanism 320. The first belt mechanism 320 includes a first belt 321, a first pulley 322, and a first rotating shaft 323. The first belt 321 connects the output shaft of the third motor 310 and the first pulley 322. The first pulley 322 is fixedly connected to the first rotating shaft 323. The first rotating shaft 323 is fixedly connected to the fixed plate 221.

[0039] Reference Figure 1 and Figure 2As shown, according to some embodiments of this utility model, the automatic citrus picking device 1000 includes a second rotating mechanism 500, a base 600, and a frame 700. The frame 700 is rotatably connected to the base 600. A lifting mechanism 400 is disposed on the frame 700, enabling the frame 700 to rotate together with the lifting mechanism 400, the picking mechanism 200, and the first rotating mechanism 300 in the up-down direction, thereby further improving the flexibility of the picking mechanism 200. Specifically, the second rotating mechanism 500 includes a fourth motor 510 and a second belt mechanism 520. The fourth motor 510 drives the frame 700 to rotate through the second belt mechanism 520. The second belt mechanism 520 includes a second rotating shaft 523, a second belt 521, and a second pulley 522. The fourth motor 510 is fixedly connected to the frame 700, and drives the second rotating shaft 523 to rotate. The second belt 521 connects the second rotating shaft 523 and the second pulley 522, and the second pulley 522 is fixedly connected to the base 600.

[0040] Reference Figure 6 As shown, according to some embodiments of the present invention, the pruning mechanism 240 includes a fifth motor 241, a first pair of scissors 242 and a second pair of scissors 243. The first pair of scissors 242 and the second pair of scissors 243 are rotatably connected by gears. The fifth motor 241 is used to drive the gears to rotate, thereby causing the first pair of scissors 242 and the second pair of scissors 243 to move closer to each other or further away from each other.

[0041] In some embodiments, refer to Figure 1 As shown, the automatic citrus picking equipment 1000 includes an image recognition sensor 100 and a control device. The image recognition sensor 100 is connected to the frame 700 and is used to identify the position of the citrus fruit. The control device is electrically connected to the image recognition sensor 100, the aforementioned picking mechanism 200, the first rotating mechanism 300, the second rotating mechanism 500, and the lifting mechanism 400. Based on the information fed back by the image recognition sensor 100, the device automatically controls the movement of the aforementioned mechanisms, enabling fully automatic citrus picking without manual operation and further improving citrus picking efficiency.

[0042] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, front, back, inside, outside, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this utility model.

[0043] In the description of this utility model, the use of "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features or the order of the technical features.

[0044] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0045] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, and not to limit it. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present utility model.

Claims

1. An automatic citrus picking device, characterized in that, include: The harvesting mechanism includes a swinging mechanism, a flexible mechanical claw, a pruning mechanism, and a first driving device. The flexible mechanical claw is used to harvest citrus fruits, the pruning mechanism is used to cut the branches of the citrus fruits, the pruning mechanism is located above the flexible mechanical claw, the first driving device is used to drive the flexible mechanical claw to extend and retract in the horizontal direction, and the swinging mechanism is used to drive the flexible mechanical claw to swing upward or downward. The first rotating mechanism is used to drive the picking mechanism to rotate about the up and down direction as an axis; The lifting mechanism is used to drive the picking mechanism to move in the vertical direction.

2. The automatic citrus picking device according to claim 1, characterized in that, The swing mechanism includes a fixed plate, a hinge shaft, a hinge rod, a first hinge seat, a second hinge seat, and a cylinder. The first hinge seat and the second hinge seat are disposed on the fixed plate. The hinge shaft is horizontally arranged. The pruning mechanism is fixedly connected to the hinge shaft. The hinge shaft is hinged to the first hinge seat. The hinge shaft is fixedly connected to one end of the hinge rod. The output end of the cylinder is hinged to the other end of the hinge rod. The cylinder seat of the cylinder is hinged to the second hinge seat.

3. The automatic citrus picking device according to claim 1, characterized in that, The first driving device includes a first lead screw motor, a first slider and a slide rail. The first slider is fixedly connected to the slide rail and moves together with the flexible mechanical gripper. The lead screw of the lead screw motor is threadedly connected to the first slider.

4. The automatic citrus picking device according to claim 3, characterized in that, The harvesting mechanism includes a first motor, a connecting plate, and a harvesting basket. The flexible mechanical claw is connected to one side of the connecting plate, and the harvesting basket is connected to the other side of the connecting plate. The connecting plate is connected to the first slider through the first motor, and the first motor is used to drive the connecting plate to rotate in the up-down direction as an axis.

5. The automatic citrus picking device according to claim 1, characterized in that, The harvesting mechanism includes a second motor, which drives the flexible mechanical claw to rotate around a horizontal axis.

6. The automatic citrus picking device according to claim 1, characterized in that, The lifting mechanism includes a lifting frame, a second lead screw motor, and a second slider. The lead screw of the second lead screw motor is threadedly connected to the second slider. The lifting frame is connected to the second slider. The harvesting mechanism is rotatably connected to the lifting frame. The first rotating mechanism is located on the lifting frame. The first rotating mechanism includes a third motor and a first belt mechanism. The third motor drives the harvesting mechanism to rotate through the first belt mechanism.

7. The automatic citrus picking device according to claim 6, characterized in that, The automatic citrus picking equipment includes a second rotating mechanism, a base, and a frame. The frame is rotatably connected to the base. The lifting mechanism is located on the frame. The frame can rotate together with the lifting mechanism, the picking mechanism, and the first rotating mechanism in the up-down direction as an axis. The second rotating mechanism includes a fourth motor and a second belt mechanism. The fourth motor drives the frame to rotate through the second belt mechanism.

8. The automatic citrus picking device according to claim 1, characterized in that, The pruning mechanism includes a fifth motor, a first pair of shears, and a second pair of shears. The first and second shears are rotatably connected by gears, and the fifth motor is used to drive the gears to rotate.

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