Intelligent picking device facilitating impurity removal

Abstract

The utility model discloses an intelligent picking device convenient for impurity removal, which relates to the technical field of picking, and comprises a mobile vehicle body, an intelligent mechanical arm, a support plate, an L-shaped rod, a fixed lantern ring, a collecting cylinder, a pruning assembly and a wind direction adjusting assembly, an intelligent probe and a center control box are installed on the movable vehicle body, a center control unit is arranged in the center control box, the intelligent mechanical arm is fixedly installed on the movable vehicle body, the supporting plate is fixed to the output end of the intelligent mechanical arm, and the two L-shaped rods are symmetrically arranged and fixed to the two sides of the supporting plate correspondingly. The fixing lantern ring is fixed to the lower ends of the two L-shaped rods, the collecting barrel is fixed to the inner wall of the fixing lantern ring, the pruning assembly is arranged on the supporting plate, and the wind direction adjusting assembly is arranged between the pruning assembly and the collecting barrel.

Description

Technical Field

[0001] This utility model relates to the field of harvesting technology, specifically to an intelligent harvesting device that facilitates the removal of impurities. Background Technology

[0002] During fruit harvesting, manual harvesting often requires bending over or climbing with the help of ladders. Therefore, fruit harvesting is not only a labor-intensive and time-consuming operation, but also a dangerous one.

[0003] Existing smart harvesting vehicles can solve the above problems. However, when smart harvesting vehicles prune branches, some branches and leaves inevitably droop, resulting in many branches and leaves mixed in with the collection box, occupying collection space and reducing the effective space utilization of the fruit, thus reducing harvesting efficiency.

[0004] Therefore, it is necessary to invent an intelligent harvesting device that facilitates the removal of impurities to solve the above problems. Utility Model Content

[0005] To address the aforementioned problems, this invention provides an intelligent harvesting device that facilitates the removal of impurities, thus solving the problem of reduced effective space utilization of the fruit caused by cutting off excess branches and leaves during the pruning process.

[0006] The technical solution adopted by this utility model is as follows: it includes a mobile vehicle body, an intelligent robotic arm, a support plate, L-shaped rods, a fixing collar, a collection cylinder, a pruning assembly, and a wind direction adjustment assembly; the mobile vehicle body is equipped with an intelligent probe and a central control box, the central control box contains a central control unit, the intelligent robotic arm is fixedly installed on the mobile vehicle body, the support plate is fixed to the output end of the intelligent robotic arm, two L-shaped rods are symmetrically arranged and fixed on both sides of the support plate, the fixing collar is fixed to the lower end of the two L-shaped rods, the collection cylinder is fixed to the inner wall of the fixing collar, the pruning assembly is set on the support plate, and the wind direction adjustment assembly is set between the pruning assembly and the collection cylinder.

[0007] Furthermore, preferably, the pruning assembly includes an electro-hydraulic rod, a fixed block, a movable plate, a transmission rod, and a shearing blade; the electro-hydraulic rod is fixedly mounted on the support plate, and an extension rod is fixed on the output shaft of the electro-hydraulic rod; the fixed block is fixed on the support plate, and the extension rod is slidably disposed within the fixed block; the movable plate is fixed at the end of the extension rod away from the electro-hydraulic rod; two transmission rods are symmetrically arranged; two shearing blades are symmetrically arranged, one end of which is hinged to the fixed block, and the middle part of which is hinged to the transmission rod; one end of the transmission rod is hinged to the middle part of the shearing blade, and the other end is hinged to the movable plate.

[0008] Furthermore, as a preferred embodiment, the wind direction adjustment component includes a guide cylinder, a sliding rod, a guide ring, a connecting shaft, a guide tube, a sliding column, and a ball sleeve; the guide cylinder is fixed to the support plate, and the extension rod slides through the upper two side walls of the guide cylinder; the sliding rod is slidably disposed inside the guide cylinder; the guide ring is fixed to the lower end of the sliding rod and is coaxially disposed with the collection cylinder; the upper circumference of the collection cylinder has multiple clearance grooves; multiple connecting shafts are configured and fixed to the side walls of the multiple clearance grooves; multiple guide tubes are configured and rotatably disposed on the multiple connecting shafts; a sliding groove is opened in the guide tube at one end away from each other; multiple sliding columns are configured and slidably disposed through the multiple sliding grooves; multiple ball sleeves are configured and fixed to the ends of the multiple sliding columns away from the sliding grooves; multiple spherical grooves are opened on the inner wall of the guide ring, and multiple ball sleeves are slidably disposed in the multiple spherical grooves; an air hole is opened in the guide tube, and a miniature air pump is installed in the air hole, with the output end of the miniature air pump facing the inside of the collection cylinder.

[0009] Furthermore, as a preferred embodiment, the wind direction adjustment component also includes a linkage rod, with an internal groove provided in the lower end of the middle section of the extension rod, one end of the linkage rod being hinged to the left side wall of the internal groove, and the other end of the linkage rod being hinged to the slide rod.

[0010] Advantages of this utility model:

[0011] By using the shearing component and the wind direction adjustment component, when pruning and harvesting the root branches of the fruit, the hanging leaves can be blown up, thereby preventing the leaves above the branches from being cut along with the branches. This avoids excess branches and leaves being mixed with the harvested fruit, reduces the space occupied by debris, increases the effective utilization rate of fruit space, and thus improves harvesting efficiency.

[0012] In addition to the objectives, features, and advantages described above, this utility model has other objectives, features, and advantages. The present utility model will now be described in further detail with reference to the figures. Attached Figure Description

[0013] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the pruning component structure of this utility model;

[0016] Figure 3 This is a schematic diagram of the wind direction adjustment component of this utility model;

[0017] Figure 4 This is a front view structural diagram of the guide cylinder of this utility model.

[0018] Reference numerals: 1. Moving vehicle body; 2. Intelligent robotic arm; 3. Support plate; 4. L-shaped rod; 5. Fixing collar; 6. Collection cylinder; 7. Pruning assembly; 8. Wind direction adjustment assembly; 11. Intelligent probe; 12. Central control box; 71. Electro-hydraulic rod; 711. Extension rod; 72. Fixing block; 73. Moving plate; 74. Transmission rod; 75. Shearing blade; 81. Guide cylinder; 82. Sliding rod; 83. Guide ring; 84. Guide tube; 85. Sliding column; 86. Ball sleeve; 87. Linkage rod; 712. Internal groove. Detailed Implementation

[0019] 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 the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0020] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship 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 limitations on this utility model.

[0021] refer to Figures 1 to 4 A smart harvesting device for easy impurity removal includes a mobile vehicle body 1, a smart robotic arm 2, a support plate 3, L-shaped rods 4, a fixing collar 5, a collection cylinder 6, a pruning assembly 7, and a wind direction adjustment assembly 8. The mobile vehicle body 1 is equipped with a smart probe 11 and a central control box 12, which contains a central control unit. The smart robotic arm 2 is fixedly mounted on the mobile vehicle body 1. The support plate 3 is fixed to the output end of the smart robotic arm 2. Two L-shaped rods 4 are symmetrically arranged and fixed to both sides of the support plate 3. The fixing collar 5 is fixed to the lower ends of the two L-shaped rods 4. The collection cylinder 6 is fixed to the inner wall of the fixing collar 5. The pruning assembly 7 is disposed on the support plate 3. The wind direction adjustment assembly 8 is disposed between the pruning assembly 7 and the collection cylinder 6.

[0022] It should be explained that the intelligent probe 11 can accurately detect the specific location of the fruit and then feed it back to the central control unit. Therefore, the central control unit can control the mobile vehicle 1 to move autonomously to the vicinity of the picking location, and at the same time control the intelligent robotic arm 2 to drive the pruning component 7 to be placed on both sides of the upper branch of the fruit, so that the collection tube 6 is located directly below the fruit to be picked.

[0023] The intelligent probe 11 is equipped with a controller that senses the shape and color of the fruit and an image collector. The intelligent probe 11 can analyze and process the images received by the image collector through the internal controller to determine the specific location of the fruit to be picked, and then transmit the location information to the central control unit for location picking.

[0024] In one embodiment of this utility model, the pruning assembly 7 includes an electric hydraulic rod 71, a fixed block 72, a movable plate 73, a transmission rod 74, and a shearing blade 75. The electric hydraulic rod 71 is fixedly mounted on the support plate 3, and an extension rod 711 is fixed on the output shaft of the electric hydraulic rod 71. The fixed block 72 is fixed on the support plate 3, and the extension rod 711 is slidably disposed within the fixed block 72. The movable plate 73 is fixed at the end of the extension rod 711 away from the electric hydraulic rod 71. Two transmission rods 74 are symmetrically arranged, and two shearing blades 75 are symmetrically arranged. One end of the transmission rod 74 is hinged to the fixed block 72, and its middle part is hinged to the transmission rod 74. One end of the transmission rod 74 is hinged to the middle part of the shearing blade 75, and the other end is hinged to the movable plate 73.

[0025] In other words, when it is time to harvest the fruit, the central control unit controls the expansion of the electro-hydraulic rod 71, so that the moving plate 73 will drive the two shearing blades 75 to move closer to each other through the two transmission rods 74, thus cutting the branches at the top of the fruit and completing the harvesting work.

[0026] In one embodiment of this utility model, the wind direction adjustment component 8 includes a guide cylinder 81, a sliding rod 82, a guide ring 83, a connecting shaft, a guide tube 84, a sliding column 85, and a ball sleeve 86. The guide cylinder 81 is fixed on the support plate 3, and the extension rod 711 slides through the upper two side walls of the guide cylinder 81. The sliding rod 82 is slidably disposed inside the guide cylinder 81. The guide ring 83 is fixed to the lower end of the sliding rod 82 and is coaxially disposed with the collecting cylinder 6. The upper circumference of the collecting cylinder 6 is provided with multiple clearance grooves, and multiple connecting shafts are provided, each fixed to the side wall of a multiple clearance groove. The guide tubes 84 are configured in multiple ways, each rotatably mounted on a plurality of connecting shafts. Each guide tube 84 has a groove at one end away from the others. Multiple sliding columns 85 are configured and slidably pass through the multiple grooves. Multiple ball sleeves 86 are configured and fixed to the ends of the multiple sliding columns 85 away from the grooves. Multiple spherical grooves are circumferentially formed on the inner wall of the guide ring 83. Multiple ball sleeves 86 are slidably disposed in the multiple spherical grooves. Air holes are formed in the guide tubes 84, and a miniature air pump is installed in the air holes. The output end of the miniature air pump faces the inside of the collecting cylinder 6.

[0027] Please see Figure 3 When the guide ring 83 moves downward, the inner wall of the spherical groove will drive the ball sleeve 86 to move downward, thereby driving the guide tube 84 to rotate downward around the connecting axis through the sliding column 85. Therefore, the gas output direction of multiple guide tubes 84 will rotate upward synchronously. Similarly, when the guide ring 83 moves upward from bottom to top, the gas output direction of multiple guide tubes 84 will move downward synchronously.

[0028] In one embodiment of the present invention, the wind direction adjustment component 8 further includes a linkage rod 87, and an internal groove 712 is provided in the lower end of the middle section of the extension rod 711. One end of the linkage rod 87 is hinged to the left side wall of the internal groove 712, and the other end of the linkage rod 87 is hinged to the slide rod 82.

[0029] Please see Figures 3 to 4 When harvesting is required, the shearing blades 75 are placed on both sides of the branch to be cut. At this time, the electric hydraulic rod 71 is pneumatically expanded, and the two shearing blades 75 gradually approach the branch. During the period when the two shearing blades 75 begin to approach each other, the extension rod 711 will drive the sliding rod 82 to move rapidly downward through the linkage rod 87. The sliding rod 82 will move rapidly downward through the guide ring 83. Therefore, the output end of the guide tube 84 quickly faces upward, so that multiple guide tubes 84 can blow up the hanging branches and leaves. At this time, the two shearing blades 75 approach each other to prevent the fruit from being blown up, while the leaves will be blown to the top of the shearing blades 75, thereby preventing the branches and leaves above the branch to be cut from being cut along with the branch. This avoids excess leaves being mixed in with the harvested fruit, reduces the space occupied by debris, increases the effective utilization rate of fruit space, and thus improves harvesting efficiency.

[0030] Furthermore, when the electro-hydraulic rod 71 is in the retracted state, the output ends of the multiple guide tubes 84 face into the collection cylinder 6, thus enabling the removal of dust adhering to the surface of the fruit in the collection cylinder 6.

[0031] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A smart picking device for facilitating the removal of impurities, characterized in that, The system includes a mobile vehicle body (1), an intelligent robotic arm (2), a support plate (3), an L-shaped rod (4), a fixing collar (5), a collection cylinder (6), a pruning assembly (7), and a wind direction adjustment assembly (8). The mobile vehicle body (1) is equipped with an intelligent probe (11) and a central control box (12). The central control box (12) contains a central control unit. The intelligent robotic arm (2) is fixedly installed on the mobile vehicle body (1). The support plate (3) is fixed at the output end of the intelligent robotic arm (2). There are two L-shaped rods (4) symmetrically arranged and fixed on both sides of the support plate (3). The fixing collar (5) is fixed at the lower end of the two L-shaped rods (4). The collection cylinder (6) is fixed on the inner wall of the fixing collar (5). The pruning assembly (7) is set on the support plate (3). The wind direction adjustment assembly (8) is set between the pruning assembly (7) and the collection cylinder (6).

2. The smart picking device of claim 1, wherein, The pruning assembly (7) includes an electric hydraulic rod (71), a fixed block (72), a movable plate (73), a transmission rod (74), and a shearing blade (75). The electric hydraulic rod (71) is fixedly installed on the support plate (3), and an extension rod (711) is fixed on the output shaft of the electric hydraulic rod (71). The fixed block (72) is fixed on the support plate (3), and the extension rod (711) slides through the fixed block (72). The movable plate (73) is fixed at the end of the extension rod (711) away from the electric hydraulic rod (71). There are two symmetrically arranged transmission rods (74) and two symmetrically arranged shearing blades (75). One end of the shearing blade is hinged to the fixed block (72), and its middle part is hinged to the transmission rod (74). One end of the transmission rod (74) is hinged to the middle part of the shearing blade (75), and the other end is hinged to the movable plate (73).

3. The smart picking device of claim 2, wherein, The wind direction adjustment assembly (8) includes a guide cylinder (81), a slide rod (82), a guide ring (83), a connecting shaft, a guide tube (84), a slide column (85), and a ball sleeve (86). The guide cylinder (81) is fixed on the support plate (3), and the extension rod (711) slides through the upper two side walls of the guide cylinder (81). The slide rod (82) is slidably disposed inside the guide cylinder (81). The guide ring (83) is fixed at the lower end of the slide rod (82), and the guide ring (83) is coaxially disposed with the collection cylinder (6). The upper circumference of the collection cylinder (6) is provided with multiple clearance grooves. The connecting shaft is provided with multiple grooves, which are respectively fixed in the multiple clearance grooves. On the side wall, there are multiple guide tubes (84), which are respectively mounted and rotatably mounted on multiple connecting shafts. Each guide tube (84) has a groove in its opposite end. There are multiple sliding columns (85), which are respectively slidably mounted through multiple grooves. There are multiple ball sleeves (86), which are respectively fixed to the opposite end of multiple sliding columns (85) away from the grooves. The inner wall of the guide ring (83) has multiple spherical grooves. Multiple ball sleeves (86) are respectively slidably mounted in multiple spherical grooves. There are air holes in the guide tubes (84), and a micro air pump is installed in the air holes. The output end of the micro air pump faces the inside of the collection cylinder (6).

4. The smart picking device of claim 3, wherein, The wind direction adjustment component (8) also includes a linkage rod (87). The lower end of the middle section of the extension rod (711) is provided with an internal groove (712). One end of the linkage rod (87) is hinged to the left side wall of the internal groove (712), and the other end of the linkage rod (87) is hinged to the slide rod (82).

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