Agricultural picking machine device

Abstract

The utility model belongs to the technical field of agricultural picking, disclose a kind of applicable agricultural picking machine equipment, including bearing bin, bearing bin is installed on mobile device, and the top of bearing bin is detachably installed with loading bin;Symmetrically be provided with rotating base on bearing bin, and hinged mounting is provided with adjusting arm on rotating base, and the end of adjusting arm away from rotating base is installed with end effector by hinged seat, and the cavity of bearing bin top is compatible with the outer surface of loading bin, and loading bin is provided with two groups of lugs integrally formed and symmetrically arranged, two groups of lugs are placed on the top of bearing bin, and extend out of bearing bin, form loading and unloading convex edge, and rotating base is driven by driving motor.The utility model is by using flexible bionic claw, convex texture increases friction and the design of screw precision control, can effectively solve the problem of fruit damage caused by traditional rigid gripper, especially suitable for high-value fragile crops, reduce picking loss rate, can significantly improve the safety and adaptability of grabbing.

Description

Technical Field

[0001] This utility model relates to the field of agricultural harvesting technology, and in particular to a machine or equipment suitable for agricultural harvesting. Background Technology

[0002] Agricultural harvesting machinery and equipment refers to specialized agricultural machinery devices that use mechanical structures, sensors, intelligent control systems, and other technologies to automatically identify, locate, harvest, and collect crops (such as fruits, vegetables, tea, and flowers). Their core objective is to replace traditional manual harvesting through automated or semi-automated operation, thereby improving work efficiency and reducing labor intensity.

[0003] Traditional agricultural harvesting equipment has the following problems:

[0004] 1) Poor adaptability of gripping mechanism: Conventional end effectors use rigid grippers, which lack flexible buffering and friction adjustment functions, and are prone to causing damage to the fruit skin, especially to fragile crops such as strawberries and tomatoes.

[0005] 2) Low modularity: Existing equipment often adopts an integrated structure, resulting in high maintenance costs. Therefore, we propose a new type of agricultural harvesting machinery. Utility Model Content

[0006] In view of the problems of poor adaptability of the grasping mechanism and low degree of modularity of the existing agricultural harvesting equipment, this utility model is proposed.

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0008] An agricultural harvesting machine includes a carrying chamber, which is mounted on a mobile device, and a loading chamber is detachably mounted on the top of the carrying chamber.

[0009] A rotating base is symmetrically arranged on the bearing chamber. An adjusting arm is hinged on the rotating base. An end effector is mounted on the end of the adjusting arm away from the rotating base through a hinged seat.

[0010] As a technical solution for agricultural harvesting machinery and equipment according to the present utility model, the cavity at the top of the bearing chamber is adapted to the outer surface of the loading chamber, and the loading chamber has two sets of convex plates integrally formed and symmetrically arranged. The two sets of convex plates rest on the top of the bearing chamber and extend out of the bearing chamber to form loading and unloading convex edges.

[0011] As a technical solution for agricultural harvesting machinery and equipment according to the present invention, the rotating base is driven by a drive motor and can drive the adjusting arm to rotate horizontally.

[0012] As a technical solution for agricultural harvesting machinery and equipment described in this utility model, the adjusting arm is a multi-section angle-adjustable structure, and the angle is controlled by a stepper motor.

[0013] As a technical solution for agricultural harvesting machinery and equipment according to the present utility model, the end effector includes an assembly frame, which is mounted on the adjusting arm via the hinge seat. A servo motor is mounted on the assembly frame, and a lead screw is vertically and rotatably mounted on the assembly frame. The output shaft of the servo motor is connected to one end of the lead screw. A grid-shaped moving frame is threadedly connected to the outer surface of the lead screw, and a bionic claw is hinged on the grid-shaped moving frame.

[0014] As a technical solution for agricultural harvesting machinery and equipment described in this utility model, the bionic claw has a claw head at its end, the surface of the claw head is covered with a flexible material, and the inner side is distributed with raised textures to increase gripping friction.

[0015] As a technical solution for agricultural harvesting machinery and equipment according to the present invention, wherein: the end of the lead screw away from the servo motor is provided with a stop cap for limiting the movement and preventing the grid moving frame from detaching.

[0016] As a technical solution for agricultural harvesting machinery and equipment described in this utility model, the mobile device is a wheeled or tracked agricultural robot chassis, and the load-bearing compartment is fixed to the chassis support by bolts.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects:

[0018] 1. This utility model, by adopting a flexible bionic claw, raised texture to increase friction and screw precision control design, can effectively solve the problem of fruit damage caused by traditional rigid claws. It is especially suitable for high-value and fragile crops, reduces the harvesting loss rate, and can significantly improve the gripping safety and adaptability.

[0019] 2. This utility model, by adopting a detachable loading compartment and a multi-degree-of-freedom adjustable arm design, enables rapid maintenance and replacement, while expanding the working space of the robotic arm. Combined with a universal chassis adaptation design, it can further reduce equipment deployment costs and improve the scene adaptability of agricultural robots. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the 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. Among them:

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0022] Figure 2 This is a schematic diagram of the separate structure of the bearing compartment and loading compartment of this utility model.

[0023] Figure 3 This is a schematic diagram of the end effector structure of this utility model.

[0024] Figure 4 For the present utility model Figure 3 Enlarged structural diagram at point A in the middle.

[0025] Explanation of reference numerals in the attached figures:

[0026] In the diagram: 1. Bearing chamber; 2. Loading chamber; 201. Protruding plate; 3. Rotating base; 4. Adjusting arm; 5. End effector; 501. Assembly frame; 502. Servo motor; 503. Lead screw; 504. Stop cap; 505. Grid moving frame; 506. Bionic claw; 5061. Claw head; 5062. Raised texture. Detailed Implementation

[0027] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0028] Reference Figures 1-4 The present invention provides an agricultural harvesting machine, which includes a carrying chamber 1, which is mounted on a mobile device. A loading chamber 2 is detachably mounted on the top of the carrying chamber 1. In application, the carrying chamber 2 and the loading chamber 1 are detachably connected to facilitate the replacement or cleaning of the container.

[0029] A rotating base 3 is symmetrically arranged on the bearing bin 1. An adjusting arm 4 is hinged on the rotating base 3. An end effector 5 is installed at the end of the adjusting arm 4 away from the rotating base 3 through a hinge seat. In application, the hinge structure between the rotating base 3 and the adjusting arm 4 enables multi-degree-of-freedom movement, adapting to complex farmland environments. At the same time, the end effector 5, installed through the hinge seat, can adjust the gripping angle and expand the harvesting range.

[0030] Reference Figure 1 and Figure 2 The cavity at the top of the bearing chamber 1 is adapted to the outer surface of the loading chamber 2. The loading chamber 2 has two sets of convex plates 201 that are integrally formed and symmetrically arranged. The two sets of convex plates 201 rest on the top of the bearing chamber 1 and extend out of the bearing chamber 1 to form a loading and unloading flange. In application, the design of the convex plates 201 and the loading and unloading flange simplifies the disassembly and assembly process of the loading chamber 2, reduces maintenance time costs, and improves the continuity of operation.

[0031] Reference Figure 1 and Figure 2 The rotating base 3 is driven by a drive motor and can drive the adjusting arm 4 to rotate horizontally. In application, the drive motor controls the horizontal rotation of the rotating base 3 to expand the horizontal working range of the harvesting robot arm, reduce the frequency of chassis movement, and improve efficiency.

[0032] Reference Figure 1 and Figure 2 The adjusting arm 4 is a multi-section angle-adjustable structure, and the angle adjustment is controlled by a stepper motor. In application, the multi-section angle-adjustable arm 4, together with the stepper motor, can flexibly extend and retract in the vertical direction and accurately position the fruit (especially suitable for crops with varying heights).

[0033] Reference Figure 1 , Figure 3 as well as Figure 4 The end effector 5 includes an assembly frame 501, which is mounted on the adjusting arm 4 via a hinged seat. A servo motor 502 is mounted on the assembly frame 501, and a lead screw 503 is vertically and rotatably mounted on the assembly frame 501. The output shaft of the servo motor 502 is connected to one end of the lead screw 503. A grid-shaped moving frame 505 is threadedly connected to the outer surface of the lead screw 503. A bionic claw 506 is hingedly mounted on the grid-shaped moving frame 505. In application, the lead screw 503 drives and controls the grid-shaped moving frame 505, which enables the smooth opening and closing of the bionic claw 506 and avoids rigid impact.

[0034] Reference Figure 3 and Figure 4 The bionic claw 506 has a claw head 5061 at its end. The surface of the claw head 5061 is covered with a flexible material, and the inner side is distributed with raised textures 5062 to increase gripping friction. In application, the claw head 5061 is covered with a flexible material and designed with raised textures 5062 to increase friction and buffer pressure, reducing the risk of damage to the skin of fragile fruits such as strawberries and tomatoes.

[0035] Reference Figure 3 and Figure 4 The end of the lead screw 503 away from the servo motor 502 is provided with a stop cap 504 for limiting the movement and preventing the grid moving frame 505 from coming off. In application, the stop cap 504 prevents it from coming off to ensure gripping stability.

[0036] Reference Figure 1 and Figure 2 The mobile device is a wheeled or tracked agricultural robot chassis. The carrying compartment 1 is fixed to the chassis support by bolts. In application, it is compatible with wheeled / tracked chassis and can be quickly installed by bolt fixing to adapt to different farm terrains and robot platforms.

[0037] The working principle of this utility model is as follows: By assembling the loading bin 2 onto the carrying bin 1 and moving it to the target crop area, the rotating base 3 rotates horizontally, and the multi-section adjusting arm 4 adjusts the pitch angle so that the end effector 5 is aligned with the fruit. The robotic arm moves to a position above the fruit and pauses. Then, the servo motor 502 is started. At this time, the output shaft of the servo motor 502 drives the lead screw 503 to rotate. The lead screw 503 pushes the grid moving frame 505 to move, and the bionic claw 506 opens. At the same time, the claw head 5061 wraps around the fruit, and the raised texture 5062 increases the adhesion. After the bionic claw 506 closes, the lead screw 503 retracts in the opposite direction, lifting the fruit. The robotic arm then moves the fruit above the loading bin 2, and the bionic claw 506 opens to release the fruit. The above process is repeated until the loading bin 2 is full. Once the loading bin 2 is full, the loading bin 2 can be disassembled to transfer the fruit, and the empty bin can be replaced to continue the operation.

[0038] This invention provides a type of agricultural harvesting machinery. By employing a flexible bionic claw 506, raised texture 5062 to increase friction, and a lead screw 503 for precise control, it can effectively solve the problem of fruit damage caused by traditional rigid claws. It is especially suitable for high-value and fragile crops, reduces harvesting loss rate, and can significantly improve gripping safety and adaptability.

[0039] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A type of agricultural harvesting machinery, characterized in that: Includes a carrying compartment (1), which is installed on a mobile device, and a loading compartment (2) is detachably installed on the top of the carrying compartment (1). A rotating base (3) is symmetrically arranged on the bearing chamber (1). An adjusting arm (4) is hinged on the rotating base (3). An end effector (5) is installed on the end of the adjusting arm (4) away from the rotating base (3) through a hinge seat.

2. The agricultural harvesting machinery and equipment according to claim 1, characterized in that: The cavity at the top of the bearing chamber (1) is adapted to the outer surface of the loading chamber (2). The loading chamber (2) has two sets of integrally formed and symmetrically arranged protrusions (201). The two sets of protrusions (201) rest on the top of the bearing chamber (1) and extend out of the bearing chamber (1) to form loading and unloading protrusions.

3. The agricultural harvesting machinery and equipment according to claim 1, characterized in that: The rotating base (3) is driven by a drive motor and can drive the adjusting arm (4) to rotate horizontally.

4. The agricultural harvesting machinery and equipment according to claim 1, characterized in that: The adjusting arm (4) is a multi-section angle-adjustable structure, and the angle is controlled by a stepper motor.

5. The agricultural harvesting machinery and equipment according to claim 1, characterized in that: The end effector (5) includes an assembly frame (501), which is mounted on the adjusting arm (4) via the hinge seat. A servo motor (502) is mounted on the assembly frame (501), and a lead screw (503) is vertically and rotatably mounted on the assembly frame (501). The output shaft of the servo motor (502) is connected to one end of the lead screw (503). A grid-shaped moving frame (505) is threadedly connected to the outer surface of the lead screw (503), and a bionic claw (506) is hinged on the grid-shaped moving frame (505).

6. The agricultural harvesting machinery and equipment according to claim 5, characterized in that: The bionic claw (506) has a claw head (5061) at its end. The surface of the claw head (5061) is covered with a flexible material, and the inner side is distributed with raised textures (5062) to increase gripping friction.

7. The agricultural harvesting machinery and equipment according to claim 5, characterized in that: The end of the lead screw (503) away from the servo motor (502) is provided with a stop cap (504) for limiting the movement, to prevent the grid moving frame (505) from coming off.

8. The agricultural harvesting machinery and equipment according to claim 1, characterized in that: The mobile device is a wheeled or tracked agricultural robot chassis, and the carrying compartment (1) is fixed to the chassis support by bolts.

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