Rotary lifting telescopic device of forest fruit picking robot

Abstract

The utility model relates to the technical field of forest fruit picking, and discloses a rotary lifting telescopic device of a forest fruit picking robot, which comprises a mounting platform, a rotary box is arranged at the top of the mounting platform, a vertically through fixing opening is formed in the bottom of the rotary box, and a vertically through mounting opening is formed in the top of the mounting platform corresponding to the fixing opening. Four positioning pins are fixedly mounted at the bottom of the rotary box around the fixing opening, four positioning holes corresponding to the positioning pins are formed in the top of the mounting platform, third connecting blocks are fixedly mounted on the left inner side wall and the right inner side wall of the mounting opening correspondingly, and fixing pressing plates are symmetrically and rotationally mounted on the two third connecting blocks through rotating shafts correspondingly; and the effects of quick dismounting and mounting are achieved, the maintenance efficiency is improved conveniently, and the practicability of the device is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of forest fruit harvesting technology, and in particular to a rotary lifting and telescopic device for a forest fruit harvesting robot. Background Technology

[0002] The forestry and fruit industry has significant economic and ecological benefits. In recent years, with the continuous development of the forestry and fruit industry, it has become an important industry for the development and construction of new rural areas and for farmers to increase their income and become wealthy. The rotary lifting and telescopic device of the fruit picking robot is a core component in the field of agricultural machinery. This device achieves precise picking of fruit trees at different heights and orientations through the coordinated action of rotary, lifting and telescopic mechanisms.

[0003] A search revealed that CN207219438U discloses a rotary lifting and telescopic device for a fruit harvesting robot, comprising a rotary mechanism, a lifting mechanism, and a telescopic mechanism; the rotary mechanism controls the clamping vibration device to rotate around the rotary center and adjusts the orientation of the clamping vibration device; the lifting mechanism is used to adjust the height of the clamping vibration device from the ground; and the telescopic mechanism is used to adjust the distance between the clamping vibration device and the tree trunk.

[0004] The rotary lifting and telescopic device of a fruit-picking robot in the prior art document has a stable structure, a wide range of position adjustment, and a stable and reliable control method. However, the device lacks a structure for quick disassembly and installation between the device and the installation platform, which makes it difficult to improve maintenance efficiency and reduces the practicality of the device.

[0005] Therefore, we propose a rotary lifting and telescopic device for a fruit harvesting robot. Utility Model Content

[0006] The present invention mainly addresses the technical problems existing in the prior art by providing a rotary lifting and telescopic device for a fruit harvesting robot.

[0007] To achieve the above objectives, this utility model adopts the following technical solution: a rotary lifting and telescopic device for a fruit harvesting robot, comprising an installation platform, a rotary box at the top of the installation platform, a vertically penetrating fixing opening at the bottom of the rotary box, an installation opening at the top of the installation platform corresponding to the fixing opening, four positioning pins fixedly installed around the fixing opening at the bottom of the rotary box, four positioning holes corresponding to the positioning pins at the top of the installation platform, third connecting blocks fixedly installed on the left and right inner walls of the installation opening, two fixing pressure plates symmetrically mounted on the two third connecting blocks via a rotating shaft, first connecting blocks fixedly installed at the top of the two fixing pressure plates on their adjacent sides, connecting rods symmetrically mounted on the two first connecting blocks via a rotating shaft, a lifting plate between the two connecting rods, second connecting blocks fixedly installed at the top of the left and right sides of the lifting plate, and the ends of the two connecting rods rotatably mounted on the left and right second connecting blocks via a rotating shaft.

[0008] Furthermore, a turntable bearing is provided on the top of the rotary box. The turntable bearing includes an inner bearing ring and an outer bearing ring. The outer bearing ring is fixedly installed on the top of the rotary box. A rotary base is fixedly installed on the top of the inner bearing ring. A lifting mechanism is provided on the top of the rotary base. A telescopic mechanism is provided on the lifting mechanism. A suspension frame is provided on the right end of the telescopic mechanism.

[0009] Furthermore, a connecting plate is fixedly installed on the inner side wall of the rotary box, a reduction hydraulic motor is fixedly installed at the bottom of the connecting plate, a connecting shaft is rotatably inserted into the connecting plate, the bottom of the connecting shaft is installed at the top output end of the reduction hydraulic motor via a transmission shaft, a transmission gear is fixedly installed at the top of the connecting shaft, and the transmission gear meshes with the inner ring of the bearing.

[0010] Furthermore, a base box is fixedly installed at the bottom of the installation platform, and guide rails are fixedly installed on the left and right inner walls of the base box, respectively. A guide plate is provided between the two guide rails, and the lifting plate is fixedly installed on the top of the guide plate. Guide sliders are fixedly installed at the left and right ends of the guide plate, and the two guide sliders are slidably installed on the left and right guide rails respectively.

[0011] Furthermore, an electric telescopic rod is fixedly inserted into the bottom of the base box, and the telescopic end of the electric telescopic rod is fixedly installed at the bottom of the guide plate.

[0012] Furthermore, warning light strips are fixedly installed on both the front and rear sides of the lifting mechanism.

[0013] This utility model provides a rotary lifting and telescopic device for a fruit harvesting robot. It has the following features:

[0014] Beneficial effects:

[0015] 1. This rotary lifting and telescopic device for a fruit harvesting robot, when in use, involves activating an electric telescopic rod to shorten it. The telescopic end of the electric telescopic rod moves a guide plate, causing the guide plate to slide downwards along a guide rail via a guide slider. The guide plate then moves a lifting plate downwards. The lifting plate, through a first connecting block, a connecting rod, and a second connecting block, causes a fixed pressure plate to rotate around a pivot on a third connecting block until the horizontal portion of the fixed pressure plate is fully rotated above the mounting opening. The rotary box is then lifted upwards, causing the positioning pin at the bottom of the rotary box to slide out of the positioning hole at the top of the mounting platform. When the rotary box needs to be reinstalled on the mounting platform, the positioning pin and the positioning hole are aligned, and the positioning pin is inserted into the positioning hole. Then, the electric telescopic rod is activated to extend it, causing the guide plate to move the lifting plate upwards. The lifting plate, through the first connecting block, the connecting rod, and the second connecting block, causes the horizontal portion of the fixed pressure plate to press against the inner wall of the rotary box bottom, achieving rapid disassembly and installation, improving maintenance efficiency, and effectively enhancing the practicality of the device.

[0016] 2. The rotary lifting and telescopic device of this fruit picking robot, by setting a fixed pressure plate, connecting rod and lifting plate, facilitates the removal of the rotary base equipped with lifting mechanism, telescopic mechanism and suspension frame from the installation platform, thereby improving the convenience during storage and transportation, and further improving the practicality of the device.

[0017] 3. The rotary lifting and telescopic device of this fruit harvesting robot is equipped with warning light strips that illuminate during use, allowing operators to quickly identify the device's specific location, thereby improving work efficiency and enhancing the device's applicability. Attached Figure Description

[0018] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this utility model can be implemented, and therefore have no substantial technical significance.

[0019] Figure 1 This is a sectional view of the overall structure;

[0020] Figure 2 This is a cross-sectional view of the rotary box section.

[0021] Figure 3 This is a sectional view of part of the installation platform structure;

[0022] Figure 4 This is a cross-sectional view of the bottom box section.

[0023] Legend:

[0024] 1. Mounting platform; 2. Rotary base; 3. Lifting mechanism; 4. Warning light strip; 5. Telescopic mechanism; 6. Suspension frame; 7. Electric telescopic rod; 8. Base box; 9. Geared hydraulic motor; 10. Connecting shaft; 11. Transmission gear; 12. Inner ring of bearing; 13. Outer ring of bearing; 14. Connecting plate; 15. Rotary box; 16. Positioning pin; 17. Fixing port; 18. Fixing pressure plate; 19. First connecting block; 20. Connecting rod; 21. Second connecting block; 22. Positioning hole; 23. Mounting port; 24. Lifting plate; 25. Third connecting block; 26. Guide plate; 27. Guide slider; 28. Guide rail. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of this utility model.

[0026] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this utility model and for 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 limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, such as welding, riveting, or bonding; it can also be a detachable connection, such as threaded connection, keyed connection, or pin connection; or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] A rotating, lifting, and telescopic device for a fruit-harvesting robot, such as Figure 1-4As shown, the installation includes an installation platform 1. A rotating box 15 is mounted on the top of the installation platform 1. A vertically penetrating fixing port 17 is opened at the bottom of the rotating box 15. A vertically penetrating installation port 23 is opened on the top of the installation platform 1 corresponding to the fixing port 17. Four positioning pins 16 are fixedly installed around the fixing port 17 at the bottom of the rotating box 15. Four positioning holes 22 are opened on the top of the installation platform 1 corresponding to the positioning pins 16. Third connecting blocks 25 are fixedly installed on the left and right inner walls of the installation ports 23, respectively. Fixed pressure plates 18 are symmetrically mounted on the two third connecting blocks 25 via rotating shafts. First connecting blocks 19 are fixedly installed on the top ends of the two plates 18 that are close to each other. Connecting rods 20 are symmetrically mounted on the two first connecting blocks 19 via rotating shafts. A lifting plate 24 is provided between the two connecting rods 20. Second connecting blocks 21 are fixedly installed on the top ends of the left and right sides of the lifting plate 24. The ends of the two connecting rods 20 that are close to each other are rotatably mounted on the left and right second connecting blocks 21 via rotating shafts. A turntable bearing is provided on the top of the rotary box 15. The turntable bearing includes an inner bearing ring 12 and an outer bearing ring 13. The outer bearing ring 13 is fixedly mounted on the rotary box 15. 5. A rotating base 2 is fixedly installed on the top of the inner ring 12 of the bearing. A lifting mechanism 3 is provided on the top of the rotating base 2. A telescopic mechanism 5 is provided on the lifting mechanism 3. A suspension bracket 6 is provided on the right end of the telescopic mechanism 5. A connecting plate 14 is fixedly installed on the inner wall of the rotating box 15. A reduction hydraulic motor 9 is fixedly installed at the bottom of the connecting plate 14. A connecting shaft 10 is rotatably inserted into the connecting plate 14. The bottom of the connecting shaft 10 is installed at the top output end of the reduction hydraulic motor 9 through a transmission shaft. A transmission gear 11 is fixedly installed on the top of the connecting shaft 10. The transmission gear 11 meshes with the inner ring 12 of the bearing. Next, a base box 8 is fixedly installed at the bottom of the installation platform 1. Guide slide rails 28 are fixedly installed on the left and right inner walls of the base box 8, and a guide plate 26 is set between the two guide slide rails 28. The lifting plate 24 is fixedly installed on the top of the guide plate 26. Guide sliders 27 are fixedly installed at the left and right ends of the guide plate 26, and the two guide sliders 27 are slidably installed on the left and right guide slide rails 28, respectively. An electric telescopic rod 7 is fixedly inserted into the bottom of the base box 8. The telescopic end of the electric telescopic rod 7 is fixedly installed at the bottom of the guide plate 26. Warning light strips 4 are fixedly installed on the front and rear sides of the lifting mechanism 3.

[0029] The working principle of this utility model is as follows: When the device is in use, the electric telescopic rod 7 is activated to shorten. The telescopic end of the electric telescopic rod 7 drives the guide plate 26 to move, causing the guide plate 26 to slide downward along the guide rail 28 via the guide slider 27. The guide plate 26 drives the lifting plate 24 to move downward. The lifting plate 24 drives the fixed pressure plate 18 to rotate around the rotating shaft on the third connecting block 25 through the first connecting block 19, the connecting rod 20, and the second connecting block 21, until the horizontal part of the fixed pressure plate 18 is completely rotated to be directly above the mounting port 23. The rotating box 15 is then lifted upward, so that the fixed pressure plate 18 at the bottom of the rotating box 15 is lifted upward. Positioning pin 16 slides out of positioning hole 22 at the top of mounting platform 1. When the rotary box 15 needs to be reinstalled on mounting platform 1, first align positioning pin 16 and positioning hole 22, insert positioning pin 16 into positioning hole 22, and then start electric telescopic rod 7 to extend, so that guide plate 26 drives lifting plate 24 to move upward. Lifting plate 24 drives fixed pressure plate 18 to press the horizontal part of the fixed pressure plate 18 to press the bottom inner wall of rotary box 15 through first connecting block 19, connecting rod 20 and second connecting block 21, so as to achieve the effect of quick disassembly and installation, which facilitates maintenance efficiency and effectively improves the practicality of the device.

[0030] By setting up a fixed pressure plate 18, a connecting rod 20, and a lifting plate 24, it is easy to remove the rotating base 2, which is equipped with a lifting mechanism 3, a telescopic mechanism 5, and a suspension frame 6, from the installation platform 1, thereby improving the convenience during storage and transportation and further enhancing the practicality of the device.

[0031] By setting up warning light strip 4, which illuminates during use, operators can quickly identify the specific location of the device, thereby improving work efficiency and effectively enhancing the applicability of the device.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A rotary lifting and telescopic device for a fruit harvesting robot, comprising a mounting platform (1), characterized in that: The installation platform (1) is equipped with a rotating box (15) at the top. The rotating box (15) has a vertically penetrating fixing port (17) at the bottom. The installation platform (1) has a vertically penetrating installation port (23) at the top corresponding to the fixing port (17). Four positioning pins (16) are fixedly installed around the fixing port (17) at the bottom of the rotating box (15). The installation platform (1) has four positioning holes (22) at the top corresponding to the positioning pins (16). Third connecting blocks (25) are fixedly installed on the left and right inner walls of the installation port (23). Two of the third connecting blocks (25) are fixedly installed on the inner walls of the installation port (23). Two fixed pressure plates (18) are symmetrically mounted on each other via a rotating shaft. A first connecting block (19) is fixedly mounted on the top of the side of the two fixed pressure plates (18) that are close to each other. A connecting rod (20) is symmetrically mounted on each of the two first connecting blocks (19) via a rotating shaft. A lifting plate (24) is provided between the two connecting rods (20). A second connecting block (21) is fixedly mounted on the top of the left and right sides of the lifting plate (24). The ends of the two connecting rods (20) that are close to each other are respectively mounted on the left and right second connecting blocks (21) via a rotating shaft.

2. The rotary lifting and telescopic device of a fruit harvesting robot according to claim 1, characterized in that: The top of the rotary box (15) is provided with a turntable bearing, which includes an inner bearing ring (12) and an outer bearing ring (13). The outer bearing ring (13) is fixedly installed on the top of the rotary box (15). The top of the inner bearing ring (12) is fixedly installed with a rotary base (2). The top of the rotary base (2) is provided with a lifting mechanism (3). The lifting mechanism (3) is provided with a telescopic mechanism (5). The right end of the telescopic mechanism (5) is provided with a suspension frame (6).

3. The rotary lifting and telescopic device of a fruit harvesting robot according to claim 2, characterized in that: A connecting plate (14) is fixedly installed on the inner side wall of the rotary box (15). A reduction hydraulic motor (9) is fixedly installed at the bottom of the connecting plate (14). A connecting shaft (10) is rotatably inserted on the connecting plate (14). The bottom of the connecting shaft (10) is installed at the top output end of the reduction hydraulic motor (9) through a transmission shaft. A transmission gear (11) is fixedly installed at the top of the connecting shaft (10). The transmission gear (11) and the inner ring (12) of the bearing are meshed and connected.

4. The rotary lifting and telescopic device of a fruit harvesting robot according to claim 1, characterized in that: The installation platform (1) has a base box (8) fixedly installed at the bottom. Guide slide rails (28) are fixedly installed on the left and right inner walls of the base box (8). A guide plate (26) is provided between the two guide slide rails (28). The lifting plate (24) is fixedly installed on the top of the guide plate (26). Guide sliders (27) are fixedly installed at the left and right ends of the guide plate (26). The two guide sliders (27) are slidably installed on the left and right guide slide rails (28).

5. The rotary lifting and telescopic device for a fruit harvesting robot according to claim 4, characterized in that: An electric telescopic rod (7) is fixedly inserted into the bottom of the base box (8), and the telescopic end of the electric telescopic rod (7) is fixedly installed at the bottom of the guide plate (26).

6. The rotary lifting and telescopic device of a fruit harvesting robot according to claim 2, characterized in that: Warning light strips (4) are fixedly installed on the front and rear sides of the lifting mechanism (3).

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