Rotatable picking machine
By introducing components such as gripping blocks, buffer blocks, and buffer airbags into the tracked harvesting robot, the problems of buffering and shock absorption during the harvesting process are solved, the harvesting efficiency and stability are improved, the workload is reduced, and it is suitable for fruit and vegetable harvesting tasks.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- JILIN AGRICULTURAL UNIV
- Filing Date
- 2025-03-07
- Publication Date
- 2026-05-29
AI Technical Summary
Existing tracked harvesting robots lack cushioning and shock absorption during fruit and vegetable harvesting, leading to an increase in the workload for workers. Furthermore, the robotic arms are difficult to adapt to the different growth conditions of fruits and vegetables, affecting harvesting efficiency and stability.
A rotatable harvesting machine was designed. The machine uses a clamping block, a buffer block, a squeezing rod, and a pushing rod in a fixed clamping device to provide clamping and shock absorption. The buffer block and buffer airbag reduce the robot's vibration, enhance the sensing and monitoring functions, and improve the operational stability.
It achieves stability and flexibility in fruit and vegetable harvesting, reduces the workload of staff, and improves the service life and adaptability of the equipment, making it suitable for agricultural and other harvesting tasks.
Smart Images
Figure CN224290766U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the technical field of harvesting robots, and in particular relates to a rotatable harvesting mechanical device. Background Technology
[0002] Currently, harvesting fruits and vegetables in greenhouses still largely relies on manual labor, using simple tools. However, with the development of agriculture, the planting area of greenhouse vegetables is expanding, and relying solely on manual labor not only reduces work efficiency but also consumes a large amount of manpower. Tracked transport vehicles are often used for short-distance material loading and transportation because they have a high load capacity, stable operation, comprehensive work capabilities, and are small in size and flexible in movement, allowing them to operate in confined spaces without being limited by space constraints. Robotic arms are generally used on factory assembly lines. Robotic arms can receive instructions and accurately position themselves at a specific point in three-dimensional (or two-dimensional) space to perform operations. Therefore, the mechanical claws on robotic arms can also be used for picking fruits and vegetables. Since fruits and vegetables vary in growth conditions, size, and height, a tracked harvesting robot is needed that is flexible and covers a large area.
[0003] A rotatable harvesting robot (Publication No.: CN 218417406 U) according to a formula includes a tracked chassis and a robotic arm. The bottom end of the robotic arm is rotatably connected to one side of the tracked chassis. A first joint motor, a second joint motor, and a robotic claw are sequentially connected to the top end of the robotic arm. The first joint motor drives the robotic claw to rotate up and down in a vertical plane, and the second joint motor drives the robotic claw to rotate left and right in a horizontal plane. A connecting shaft is provided between the second joint motor and the robotic claw. The robotic claw includes a connecting block at its front end. One end of the connecting shaft is connected to the second joint motor, and the other end is connected to the connecting block. A rotary motor is connected to the connecting block. The output shaft of the rotary motor is connected to a first driving gear, and a first driven gear is connected to the connecting shaft. The first driving gear and the first driven gear mesh with each other, and the rotary motor drives the connecting shaft to rotate. This utility model aims to provide a tracked harvesting robot that can harvest fruits and vegetables flexibly and over a large harvesting range. In the above application, the interaction of components such as the first and second driving gears makes it difficult to achieve the effects of buffering and shock absorption, increasing the workload of the workers, and needs to be improved. Utility Model Content
[0004] The purpose of this invention is to provide a rotatable harvesting machine. Through the cooperation of components such as clamping blocks, buffer blocks, squeezing rods, and pushing rods inside the clamping device, the machine clamps the target object and provides a certain vibration reduction effect through the buffer blocks to prevent damage to the basket. It also provides a more stable operating platform and enhances sensing and monitoring functions, reducing the workload and burden of workers, making it more suitable for agricultural and other harvesting tasks, and solving existing problems.
[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:
[0006] This utility model relates to a rotatable harvesting machine, comprising a battery body and a stabilizing plate. The side of the battery body is fixedly connected to the side of the stabilizing plate. A track is provided on the side of the battery body. A fixing plate is fixedly connected to the side of the battery body. A robotic arm is rotatably connected to the top of the fixing plate. A clamping device is provided on the top of the battery body. The clamping device includes a fixing frame. A placement platform is slidably connected to the top of the fixing frame. A pressing rod is fixedly connected to the side of the placement platform. A connecting plate is fixedly connected to the side of the fixing frame. A pushing rod passes through the top of the connecting plate. One end of the pushing rod is slidably connected to the top of the connecting plate. A stabilizing plate is fixedly connected to the side of the stabilizing plate. A toggle rod passes through the side of the stabilizing plate. One end of the toggle rod is slidably connected to the side of the stabilizing plate. A push plate is fixedly connected to one end of the toggle rod. A rotating rod is rotatably connected to the side of the fixing frame. A clamping block is fixedly connected to the circumferential surface of the rotating rod.
[0007] Furthermore, a buffer block is fixedly connected to the inner wall of the clamping block, one end of the pushing rod is on the displacement trajectory of the squeezing rod, and one end of the actuating rod is on the displacement trajectory of the pushing rod. This design can clamp the target object and provide a certain shock absorption effect through the buffer block to prevent damage to the target object.
[0008] Furthermore, a spring is fixedly connected to the circumferential surface of the push rod, and the end of the spring away from the push rod is fixedly connected to the top of the connecting plate. A torsion spring is fixedly connected to the circumferential surface of the actuating rod, and the end of the torsion spring away from the actuating rod is fixedly connected to the side of the stabilizing plate. This design increases the smoothness of the device, reduces the shaking of the device, and reduces the operation.
[0009] Furthermore, a buffer device is provided on the side of the placement platform. The buffer device includes a pressure rod, one end of which is fixedly connected to the side of the placement platform. A buffer rod is fixedly connected to the bottom of the placement platform. A buffer airbag is fixedly connected to the top of the battery body. Buffer cotton is fixedly connected to the side of the placement platform. The side of the buffer cotton has slots. This design is intended to reduce robot vibration, provide more stable operation, and reduce collisions and friction between structures.
[0010] Furthermore, the top of the buffer airbag is located on the displacement trajectory of the pressure rod, and a wear-resistant pad is fixedly connected to the top of the buffer airbag. This design improves the service life of the device and reduces the wear of the device.
[0011] Furthermore, the buffer rod is fixedly connected to the pressure rod via a placement platform, and the wear-resistant pad is fixedly connected to the battery body via a buffer airbag. This design makes the structure of the device compact and dense, increases the stability of the device, and reduces operational errors caused by instability.
[0012] Furthermore, a sensor disk is rotatably connected to the side of the robotic arm, a sensor monitoring head is fixedly connected to the top of the sensor disk, a sensor block is fixedly connected to the side of the sensor disk, a cutter is fixedly connected to the top of the sensor block, and a fruit claw is fixedly connected to the side of the sensor block. This design can be used to detect the position, state, and shape of the target object, thereby providing a more intelligent harvesting operation.
[0013] Furthermore, there are two fruit claws, which are symmetrical about each other along the central axis of the sensing block. The sensing block is rotatably connected to the robotic arm through a sensing disk. This design can better adapt to target objects of different sizes and shapes, and improve the robot's versatility and adaptability.
[0014] This utility model has the following beneficial effects:
[0015] 1. This utility model achieves the clamping of the target object by cooperating with the clamping block, buffer block, squeezing rod and pushing rod inside the clamping device. The buffer block provides a certain shock absorption effect to prevent damage to the basket. It provides a more stable operating platform and enhances the sensing and monitoring functions, reducing the workload and burden of the staff, making it more suitable for agricultural and other harvesting tasks.
[0016] 2. This utility model achieves the reduction of robot vibration and provides more stable operation by using the buffer rod, buffer airbag and buffer cotton and other components inside the buffer device in cooperation. It also reduces collisions between objects, enabling the robot to carry out picking work smoothly, and reduces wear and tear on the device, thus improving the service life of the device.
[0017] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description
[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 This is a three-dimensional structural diagram of a rotatable harvesting machine according to the present invention.
[0020] Figure 2 This is a three-dimensional appearance structural diagram of the robotic arm of a rotatable harvesting machine according to the present invention.
[0021] Figure 3 This is a three-dimensional enlarged structural diagram of the placement platform of a rotatable harvesting mechanical device according to the present invention;
[0022] Figure 4 This is a three-dimensional enlarged structural diagram of the push rod of a rotatable harvesting mechanical device according to this utility model;
[0023] Figure 5 This is a three-dimensional enlarged structural diagram of the clamping block of a rotatable harvesting mechanical device according to this utility model;
[0024] Figure 6 This is a three-dimensional magnified structural diagram of the battery body of a rotatable harvesting mechanical device according to this utility model.
[0025] The attached diagram lists the components represented by each number as follows:
[0026] 1. Battery body; 2. Stabilizing plate; 3. Track; 4. Fixing plate; 5. Robotic arm; 6. Fixing device; 61. Fixing frame; 62. Placement platform; 63. Extrusion rod; 64. Connecting plate; 65. Push rod; 66. Stabilizing plate; 67. Actuating rod; 68. Push plate; 69. Clamping block; 610. Buffer block; 611. Spring; 612. Torsion spring; 613. Rotating rod; 7. Buffer device; 71. Pressure rod; 72. Buffer rod; 73. Buffer airbag; 74. Buffer cotton; 75. Groove; 76. Wear-resistant pad; 8. Induction plate; 9. Induction monitoring head; 10. Induction block; 11. Cutter; 12. Fruit claw. Detailed Implementation
[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.
[0028] Please see Figure 1-6This utility model relates to a rotatable harvesting machine, comprising a battery body 1 and a stabilizing plate 2. The side of the battery body 1 is fixedly connected to the side of the stabilizing plate 2. A track 3 is provided on the side of the battery body 1. A fixing plate 4 is fixedly connected to the side of the battery body 1. A robotic arm 5 is rotatably connected to the top of the fixing plate 4. A clamping device 6 is provided on the top of the battery body 1. The clamping device 6 includes a fixing frame 61. A placement platform 62 is slidably connected to the top of the fixing frame 61. A pressing rod 63 is fixedly connected to the side of the placement platform 62. A connecting plate 64 is fixedly connected to the side of the frame 61. A push rod 65 passes through the top of the connecting plate 64. One end of the push rod 65 is slidably connected to the top of the connecting plate 64. A stabilizing plate 66 is fixedly connected to the side of the stabilizing plate 2. A toggle rod 67 passes through the side of the stabilizing plate 66. One end of the toggle rod 67 is slidably connected to the side of the stabilizing plate 66. A push plate 68 is fixedly connected to one end of the wave rod 67. A rotating rod 613 is rotatably connected to the side of the fixed frame 61. A clamping block 69 is fixedly connected to the circumferential surface of the rotating rod 613.
[0029] A buffer block 610 is fixedly connected to the inner wall of the clamping block 69. One end of the push rod 65 is on the displacement trajectory of the squeezing rod 63, and one end of the toggle rod 67 is on the displacement trajectory of the push rod 65. This design can clamp the target object and provide a certain shock absorption effect through the buffer block to prevent damage to the target object.
[0030] A spring 611 is fixedly connected to the circumferential surface of the push rod 65. The end of the spring 611 away from the push rod 65 is fixedly connected to the top of the connecting plate 64. A torsion spring 612 is fixedly connected to the circumferential surface of the toggle rod 67. The end of the torsion spring 612 away from the toggle rod 67 is fixedly connected to the side of the stabilizing plate 66. This design increases the smoothness of the device, reduces the shaking of the device, and reduces the operation.
[0031] A buffer device 7 is provided on the side of the placement platform 62. The buffer device includes a pressure rod 71, one end of which is fixedly connected to the side of the placement platform 62. A buffer rod 72 is fixedly connected to the bottom of the placement platform 62. A buffer airbag 73 is fixedly connected to the top of the battery body 1. A buffer cotton 74 is fixedly connected to the side of the placement platform 62. A slot 75 is opened on the side of the buffer cotton 74. This design is to reduce the vibration of the robot, provide more stable operation, and reduce collisions and friction between structures.
[0032] The top of the buffer airbag 73 is located on the displacement trajectory of the pressure rod 71, and a wear-resistant pad 76 is fixedly connected to the top of the buffer airbag 73. This design improves the service life of the device and reduces the wear of the device.
[0033] The buffer rod 72 is fixedly connected to the pressure rod 71 via the placement platform 62, and the wear-resistant pad 76 is fixedly connected to the battery body 1 via the buffer airbag 73. This design makes the structure of the device compact and dense, increases the stability of the device, and reduces operational errors caused by instability.
[0034] The robotic arm 5 is rotatably connected to a sensor disk 8, and a sensor monitoring head 9 is fixedly connected to the top of the sensor disk 8. A sensor block 10 is fixedly connected to the side of the sensor disk 8, and a cutter 11 is fixedly connected to the top of the sensor block 10. A fruit claw 12 is fixedly connected to the side of the sensor block 10. This design can be used to detect the position, state and shape of the target object, thereby providing a more intelligent picking operation.
[0035] There are two fruit claws 12, which are symmetrical about each other along the central axis of the sensing block 10. The sensing block 10 is rotatably connected to the robotic arm 5 through the sensing disk 8. This design can better adapt to target objects of different sizes and shapes, and improve the robot's versatility and adaptability.
[0036] A specific application of this embodiment is as follows: In use, the fruit basket is placed above the placement platform 62, and then the fruit is picked up by the fruit claw 12 and placed into the fruit basket. As the weight of the fruit basket increases, the placement platform 62 is subjected to a force from the fruit basket and moves downward. When the placement platform 62 moves downward, it drives the side pressing rod 63 to move downward. When the pressing rod 63 moves downward, it presses against the lower pushing rod 65. The pushing rod 65 is subjected to a force from the pressing rod 63 and moves downward. When the pushing rod 65 moves downward, it presses against the lower actuating rod 67. The actuating rod 67 is subjected to a force from the pushing rod 65 and moves downward. When the lever 67 moves outward, it causes the bottom of the push plate 68 to rotate outward. When the bottom of the push plate 68 rotates outward, the top of the push plate 68 rotates inward. When the push plate 68 moves inward, it causes the clamping block 69 to move inward as well. When the clamping block 69 moves inward, it clamps the fruit basket in place. At the same time, when the placement platform 62 moves down, it causes the pressure rod 71 to move down. When the pressure rod 71 moves down, it presses the buffer air bladder 73 below. The buffer air bladder 73 is compressed by the pressure rod 71, and the gas inside the buffer air bladder 73 is compressed to the surroundings, which slows down the speed of the placement platform 62.
[0037] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0038] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.
Claims
1. A rotatable harvesting machine, comprising a battery body (1) and a stabilizing plate (2), characterized in that: The side of the battery body (1) is fixedly connected to the side of the stabilizing plate (2). The side of the battery body (1) is provided with a track (3). The side of the battery body (1) is fixedly connected with a fixing plate (4). The top of the fixing plate (4) is rotatably connected with a robotic arm (5). The top of the battery body (1) is provided with a clamping device (6). The clamping device (6) includes a fixed frame (61), a placement platform (62) is slidably connected to the top of the fixed frame (61), a pressing rod (63) is fixedly connected to the side of the placement platform (62), a connecting plate (64) is fixedly connected to the side of the fixed frame (61), a pushing rod (65) passes through the top of the connecting plate (64), one end of the pushing rod (65) is slidably connected to the top of the connecting plate (64), a stabilizing plate (66) is fixedly connected to the side of the stabilizing plate (2), a toggle rod (67) passes through the side of the stabilizing plate (66), one end of the toggle rod (67) is slidably connected to the side of the stabilizing plate (66), a push plate (68) is fixedly connected to one end of the toggle rod (67), a rotating rod (613) is rotatably connected to the side of the fixed frame (61), and a clamping block (69) is fixedly connected to the circumferential surface of the rotating rod (613).
2. The rotatable harvesting machinery according to claim 1, characterized in that, A buffer block (610) is fixedly connected to the inner wall of the clamping block (69), one end of the push rod (65) is on the displacement trajectory of the squeezing rod (63), and one end of the actuating rod (67) is on the displacement trajectory of the push rod (65).
3. The rotatable harvesting machinery according to claim 2, characterized in that, A spring (611) is fixedly connected to the circumferential surface of the push rod (65). The end of the spring (611) away from the push rod (65) is fixedly connected to the top of the connecting plate (64). A torsion spring (612) is fixedly connected to the circumferential surface of the actuating rod (67). The end of the torsion spring (612) away from the actuating rod (67) is fixedly connected to the side of the stabilizing plate (66).
4. The rotatable harvesting machinery according to claim 3, characterized in that, A buffer device (7) is provided on the side of the placement platform (62). The buffer device includes a pressure rod (71). One end of the pressure rod (71) is fixedly connected to the side of the placement platform (62). A buffer rod (72) is fixedly connected to the bottom of the placement platform (62). A buffer airbag (73) is fixedly connected to the top of the battery body (1). A buffer cotton (74) is fixedly connected to the side of the placement platform (62). A groove (75) is opened on the side of the buffer cotton (74).
5. A rotatable harvesting machine according to claim 4, characterized in that, The top of the buffer airbag (73) is located on the displacement trajectory of the pressure rod (71), and a wear-resistant pad (76) is fixedly connected to the top of the buffer airbag (73).
6. The rotatable harvesting machinery according to claim 5, characterized in that, The buffer rod (72) is fixedly connected to the pressure rod (71) via the placement platform (62), and the wear-resistant pad (76) is fixedly connected to the battery body (1) via the buffer airbag (73).
7. A rotatable harvesting machine according to claim 6, characterized in that, The robotic arm (5) is rotatably connected to a sensor disk (8), the top of the sensor disk (8) is fixedly connected to a sensor monitoring head (9), the side of the sensor disk (8) is fixedly connected to a sensor block (10), the top of the sensor block (10) is fixedly connected to a cutter (11), and the side of the sensor block (10) is fixedly connected to a fruit claw (12).
8. A rotatable harvesting machine according to claim 7, characterized in that, There are two fruit claws (12), which are symmetrical about each other along the central axis of the sensing block (10). The sensing block (10) is rotatably connected to the robotic arm (5) through the sensing disk (8).