Picking mechanism for fruit picking robot

Abstract

The utility model relates to the technical field of fruit picking robots, and discloses a picking mechanism for a fruit picking robot, which comprises a connecting shaft, the outer surface of the upper end of the connecting shaft is fixedly connected with a base, the outer surface of the upper end of the base is fixedly connected with a clamping and picking assembly, and the outer surface of the middle part of the base is fixedly connected with a connecting plate. A stand column and a tray are fixedly connected to the outer surface of the upper end of the connecting plate, and the stand column is located on the outer surface of the lower end of the tray. When the device is used, by arranging the clamping and picking assembly, a fruit can be conveniently and rapidly clamped and cut off from a fruit tree, and operation is convenient and rapid; according to the crawler-type fruit picking robot, the crawler-type fruit picking robot does not damage the surfaces of fruits in the picking process, fruit stems are reserved, it is ensured that the picked fruits can be kept fresh for a long time, meanwhile, people can conveniently pick different types of fruits, the applicability of the crawler-type fruit picking robot is further improved, and a better use prospect can be brought.

Description

Technical Field

[0001] This utility model relates to the field of fruit picking robot technology, specifically a fruit picking mechanism for a fruit picking robot. Background Technology

[0002] Tracked fruit-picking robots are automated devices primarily used to perform harvesting tasks in specific environments. They integrate high-precision robotic arms, advanced sensors, and intelligent control systems to achieve automated, precise, and efficient sampling processes. The harvesting robot consists of a robotic arm, a walking mechanism, a hydraulic drive system, and a microcontroller control system. The robotic arm comprises a rotary table, a column, an upper arm, a lower arm, and a harvesting claw. The entire robotic arm has five degrees of freedom. Using the robotic arm, the harvesting claw moves to the fruit, clamps it, and twists off the fruit stem to complete the harvest. Then, the above actions are repeated.

[0003] However, it still has some drawbacks. For example, the existing tracked fruit picking robots all use picking claws to pick the fruit from the tree by clamping and twisting. This not only damages the surface of the fruit and is only suitable for fruits with high firmness, but also leaves the fruit with a stem in order to keep the fruit tree fresh for a long time. When encountering fruit trees with thick stems, it is difficult to twist them off, resulting in poor applicability.

[0004] To address the aforementioned issues, this application proposes a fruit-picking robot with a picking mechanism. Utility Model Content

[0005] The purpose of this utility model is to provide a fruit-picking mechanism for a fruit-picking robot, in order to solve the problems mentioned in the background art regarding the picking methods of existing tracked fruit-picking robots, most of which involve clamping and then twisting to pick the fruit from the tree. This not only damages the surface of the fruit and is only suitable for fruits with high hardness, but also leaves the fruit with a stem in order to maintain the freshness of the tree for a long time during the picking process. When encountering fruit trees with thick stems, it is difficult to twist them off, resulting in poor applicability.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a fruit picking robot picking mechanism, including a connecting shaft, a base fixedly connected to the upper outer surface of the connecting shaft, a clamping picking component fixedly connected to the upper outer surface of the base, a connecting plate fixedly connected to the outer surface of the center of the base, a column and a tray fixedly connected to the upper outer surface of the connecting plate, and the column being located on the lower outer surface of the tray, and a threaded rod fixedly connected to the lower outer surface of the connecting shaft.

[0007] Preferably, the clamping and picking assembly includes a square column, a groove, a connecting rod, a cutting blade, a first connecting block, a second connecting block, an electric telescopic rod, and a clamping block. There are two sets of the cutting blade and the clamping block. There are four sets of the square column, the groove, the connecting rod, the first connecting block, the second connecting block, and the electric telescopic rod. The square column is fixedly connected to the upper outer surface of the base. A groove is formed on the upper outer surface of the square column. A connecting rod is movably connected to the upper outer surface of the groove, and the connecting rod is located in the inner surface of the groove.

[0008] Preferably, the upper outer surfaces of the two sets of connecting rods are fixedly connected with cutting blades, and the upper outer surfaces of the other two sets of connecting rods are fixedly connected with clamping blocks, and the cutting blades and clamping blocks are not on the same horizontal line.

[0009] Preferably, a first connecting block is fixedly connected to the lower outer surface of the connecting rod, and a second connecting block is movably connected to the lower outer surface of the first connecting block.

[0010] Preferably, an electric telescopic rod is fixedly connected to the lower outer surface of the second connecting block, and the other outer surface of the electric telescopic rod is fixedly connected to the upper outer surface of the connecting plate.

[0011] Preferably, a support column is fixedly connected to the upper outer surface of the base, and a camera is fixedly connected to the upper outer surface of the support column.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] This invention utilizes a specially designed clamping and harvesting assembly. First, an electric telescopic rod is activated, causing the clamping blocks and cutting blades to converge towards the center. The two sets of clamping blocks hold the fruit stem, and then the two sets of cutting blades cut above the clamped area, detaching the fruit from the tree. This allows for quick and easy fruit clamping and removal from the tree, ensuring convenient and efficient operation. It prevents damage to the fruit surface during harvesting, preserves the stem, and maintains the freshness of the harvested fruit for an extended period. Furthermore, it facilitates the harvesting of various types of fruit, further enhancing the applicability of the tracked fruit harvesting robot. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the harvesting mechanism for a fruit-harvesting robot according to the present invention;

[0015] Figure 2 This is a schematic diagram of the structure of the cutting blade in the picking component of the fruit picking robot according to the present invention;

[0016] Figure 3This is a schematic diagram of the structure of the electric telescopic rod in the picking mechanism of a fruit picking robot according to the present invention;

[0017] Figure 4 This is a partial enlarged view of the picking mechanism A in the fruit picking robot of this utility model.

[0018] In the diagram: 1. Connecting shaft; 2. Base; 3. Clamping and picking component; 4. Support column; 5. Camera; 6. Connecting plate; 7. Column; 8. Tray; 9. Threaded rod; 10. Square column; 11. Groove; 12. Connecting rod; 13. Cutting blade; 14. Connecting block one; 15. Connecting block two; 16. Electric telescopic rod; 17. Clamping block. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] Please see Figures 1-4 This utility model provides a technical solution: a fruit picking mechanism for a fruit picking robot, including a connecting shaft 1. A base 2 is fixedly connected to the upper outer surface of the connecting shaft 1. A clamping picking component 3 is fixedly connected to the upper outer surface of the base 2. A connecting plate 6 is fixedly connected to the outer surface of the center of the base 2. A column 7 and a tray 8 are fixedly connected to the upper outer surface of the connecting plate 6, and the column 7 is located on the lower outer surface of the tray 8. A threaded rod 9 is fixedly connected to the lower outer surface of the connecting shaft 1. The threaded rod 9 allows the connecting shaft 1 to be easily installed on the robotic arm of a tracked picking robot.

[0021] In this embodiment, as Figures 2-4As shown, the clamping and picking assembly 3 includes a square column 10, a groove 11, a connecting rod 12, a cutting blade 13, a first connecting block 14, a second connecting block 15, an electric telescopic rod 16, and a clamping block 17. There are two sets of the cutting blade 13 and the clamping block 17. The number of the square column 10, groove 11, connecting rod 12, first connecting block 14, second connecting block 15, and electric telescopic rod 16 are all four sets. The square column 10 is fixedly connected to the upper outer surface of the base 2. A groove 11 is formed on the upper outer surface of the column 10. A connecting rod 12 is movably connected to the upper outer surface of the groove 11, and the connecting rod 12 is located in the inner surface of the groove 11. The groove 11 allows for easy movable connection of the cutting blade 13 and the clamping block 17 to the square column 10. The upper outer surfaces of two sets of connecting rods 12 are fixedly connected to the cutting blade 13, and the upper outer surfaces of the other two sets of connecting rods 12 are fixedly connected to the clamping block 17. Blocks 17 are not on the same horizontal line. By using the cutting blade 13 and clamping block 17, the fruit stem can be retained when picking the fruit. Connecting block 14 is fixedly connected to the lower outer surface of the connecting rod 12. Connecting block 2 15 is movably connected to the lower outer surface of connecting block 14. Electric telescopic rod 16 can be installed on the lower outer surface of the connecting rod 12 through connecting block 14. Electric telescopic rod 16 is fixedly connected to the lower outer surface of connecting block 2 15, and the other outer surface of electric telescopic rod 16 is fixedly connected to the upper outer surface of connecting plate 6. Electric telescopic rod 16 allows us to easily drive the cutting blade 13 and clamping block 17 to perform cutting and clamping actions. Support column 4 is fixedly connected to the upper outer surface of the base 2. Camera 5 is fixedly connected to the upper outer surface of support column 4. Camera 5 allows us to accurately observe the position of the fruit and accurately cut the fruit during the picking process.

[0022] Working principle:

[0023] A fruit-picking robot uses a picking mechanism that, when picking fruit, first activates an electric telescopic rod 16 via a clamping and picking component 3. Under the action of the electric telescopic rod 16, the clamping blocks 17 and the cutting blades 13 are driven to close together in the middle. The fruit stem is clamped by the two sets of clamping blocks 17, and then the two sets of cutting blades 13 cut the fruit above the clamping point by cutting it off the tree. This allows for quick and easy clamping and cutting of fruit from the tree, making the operation convenient and fast. It prevents damage to the fruit surface during the picking process, preserves the stem, and ensures that the picked fruit can stay fresh for a long time. It also facilitates the picking of different types of fruit, improving the applicability of the tracked fruit-picking robot.

[0024] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

Claims

1. A fruit-picking robot harvesting mechanism, comprising a connecting shaft (1), characterized in that: A base (2) is fixedly connected to the upper outer surface of the connecting shaft (1). A clamping and picking component (3) is fixedly connected to the upper outer surface of the base (2). A connecting plate (6) is fixedly connected to the outer surface of the center of the base (2). A column (7) and a tray (8) are fixedly connected to the upper outer surface of the connecting plate (6). The column (7) is located on the lower outer surface of the tray (8). A threaded rod (9) is fixedly connected to the lower outer surface of the connecting shaft (1).

2. The fruit-picking robot harvesting mechanism according to claim 1, characterized in that: The clamping and picking assembly (3) includes a square column (10), a groove (11), a connecting rod (12), a cutting blade (13), a connecting block one (14), a connecting block two (15), an electric telescopic rod (16), and a clamping block (17). The cutting blade (13) and the clamping block (17) are in two sets. The square column (10), the groove (11), the connecting rod (12), the connecting block one (14), the connecting block two (15), and the electric telescopic rod (16) are in four sets. The square column (10) is fixedly connected to the upper outer surface of the base (2). The upper outer surface of the square column (10) is provided with a groove (11). The upper outer surface of the groove (11) is movably connected to the connecting rod (12), and the connecting rod (12) is located in the inner surface of the groove (11).

3. The fruit-picking robot harvesting mechanism according to claim 2, characterized in that: Cutting blades (13) are fixedly connected to the upper outer surfaces of the two sets of connecting rods (12), and clamping blocks (17) are fixedly connected to the upper outer surfaces of the other two sets of connecting rods (12), and the cutting blades (13) and clamping blocks (17) are not on the same horizontal line.

4. The fruit-picking robot harvesting mechanism according to claim 2, characterized in that: A connecting block one (14) is fixedly connected to the lower outer surface of the connecting rod (12), and a connecting block two (15) is movably connected to the lower outer surface of the connecting block one (14).

5. The fruit-picking mechanism for a fruit-picking robot according to claim 2, characterized in that: An electric telescopic rod (16) is fixedly connected to the lower outer surface of the connecting block 2 (15), and the other outer surface of the electric telescopic rod (16) is fixedly connected to the upper outer surface of the connecting plate (6).

6. The fruit-picking mechanism for a fruit-picking robot according to claim 1, characterized in that: A support column (4) is fixedly connected to the upper outer surface of the base (2), and a camera (5) is fixedly connected to the upper outer surface of the support column (4).

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