Variable vibration litchi picking device

Abstract

The utility model discloses a variable vibration litchi picking device, include: delta parallel mechanism is used for the mobile positioning of litchi picking, variable vibration output mechanism is used for the vibration collection of litchi picking, visual sensor is used for gathering litchi fruit cluster information, control box is used for processing fruit cluster coordinate information and sends control information, wherein, variable vibration output mechanism and visual sensor are installed respectively on the dynamic platform of delta parallel mechanism, and the control box is connected on the fixed platform of delta parallel mechanism, the utility model discloses simple and reliable structure design, convenient to use, and picking positioning is accurate and efficient, and litchi vibration picking efficiency is improved greatly, especially suitable for the vibration collection operation of litchi orchard, and is installed in the field mobile platform, and single operation can realize the vibration collection of most litchi in 1500*2000*200mm range.

Description

Technical Field

[0001] This utility model relates to the technical field of agricultural machinery, and in particular to a variable vibration lychee picking device. Background Technology

[0002] Lychee, a typical seasonal fruit, is mainly harvested between March and July each year. Given its perishable nature and high water and sugar content, harvesting must be completed efficiently within a very short time, followed by proper preservation. Currently, lychee cultivation is often unstructured, resulting in uneven fruit distribution and susceptibility to damage. The harvesting process relies heavily on manual labor, which is costly, time-consuming, and inefficient, especially in hilly areas where lychee grows. Therefore, introducing mechanized harvesting technology to replace traditional manual methods can significantly reduce labor costs and improve harvesting efficiency. Currently, mechanized harvesting uses two methods: direct shearing and vibration harvesting. Direct shearing requires removing stems and leaves after harvesting, while vibration harvesting avoids this additional processing. However, lychee's growth characteristics, including its clustered fruit form and extremely high water content, make it easily damaged during harvesting. Therefore, the existing large-area vibration harvesting technology is not suitable for harvesting cluster-shaped fruits such as lychees, and a more precise harvesting method is needed. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a simple, reliable, easy-to-use, and precise variable vibration lychee picking device. It realizes the movement positioning and vibration harvesting action through the Delta parallel mechanism and the variable vibration output mechanism. Under the guidance of machine vision, it can give full play to the advantages of the Delta parallel mechanism in terms of high precision, low inertia and excellent dynamic performance, and quickly locate the lychee fruit clusters. After positioning, the variable vibration output mechanism performs lychee vibration harvesting.

[0004] To achieve the above objectives, the technical solution provided by this utility model is: a variable vibration lychee picking device, comprising:

[0005] Delta parallel mechanism, used for mobile positioning during lychee harvesting;

[0006] A variable vibration output mechanism for vibratory harvesting of lychees;

[0007] A visual sensor is used to collect information about litchi fruit clusters;

[0008] The control box is used to process the fruit cluster coordinate information and send control information.

[0009] The variable vibration output mechanism and the vision sensor are respectively mounted on the moving platform of the Delta parallel mechanism, and the control box is mounted on the fixed platform of the Delta parallel mechanism.

[0010] Preferably, the Delta parallel mechanism includes a fixed platform, an active arm, a branch arm joint, a driven arm, a moving platform, a reducer, and a servo motor. The fixed platform has three flange surfaces evenly distributed along its circumference, arranged in a rotating array around the center of the fixed platform. A reducer is mounted on each flange surface. One end of the reducer is connected to the servo motor, and the other end is connected to one end of the active arm to drive its rotational movement. The other end of the active arm is hinged to one end of the driven arm via a branch arm joint, and the other end of the driven arm is hinged to the moving platform via a branch arm joint.

[0011] Preferably, the variable vibration output mechanism includes a vibration drive motor, a slide groove, a left connecting rod cover, a right connecting rod cover, a left connecting rod, a right connecting rod, a left slide groove end cover, a right slide groove end cover, a left vibration comb, a right vibration comb, a crankshaft, and a coupling. The vibration drive motor is connected to the crankshaft via the coupling. The slide groove is divided into three sections: left, middle, and right. The middle section is assembled on the crankshaft. Its left and right sections are sliding groove sections located on the left and right sides of the crankshaft and extend horizontally outward perpendicular to the crankshaft. The ends of the left and right sections are open and sealed with detachable left and right slide groove end covers, respectively. Slider blocks are provided on the back of the left and right vibration combs and are respectively embedded in the sliding grooves of the left and right sections to restrict the left and right vibration combs to only move left and right. The left slide groove end cover and the right slide groove end cover can be removed. After the end caps are installed, the left and right vibrating combs can be removed from the left and right ends of the slide groove, respectively. One end of the left and right connecting rods is the vibrating comb connection end, and the other end is the crankshaft connection end. The crankshaft connection end is paired with its respective connecting rod cap and clamped onto the crankshaft by bolts. That is, the crankshaft connection end of the left connecting rod is paired with the left connecting rod cap and clamped onto the crankshaft by bolts, and the crankshaft connection end of the right connecting rod is paired with the right connecting rod cap and clamped onto the crankshaft by bolts. The left connecting rod is located in front of the left vibrating comb, and its crankshaft connection end is fixed to the left vibrating comb by a double-ended stud. The right connecting rod is located in front of the right vibrating comb, and its crankshaft connection end is fixed to the right vibrating comb by a double-ended stud. The left and right connecting rods can rotate coaxially around the corresponding shaft segments of the crankshaft.

[0012] Preferably, the variable vibration output mechanism further includes a paired lower protective half-shell and an upper protective half-shell, which are assembled together by bolts to form a space that can accommodate the coupling. The coupling is enclosed in this space, and the lower protective half-shell and the upper protective half-shell are respectively bolted to the back of the slide groove.

[0013] Preferably, the left and right slide end caps are fixed to the slide grooves with bolts.

[0014] Preferably, the control box includes an industrial computer, a servo driver, and an acrylic housing, wherein the industrial computer and the servo driver are installed inside the acrylic housing, the industrial computer is communicatively connected to the servo driver, the variable vibration output mechanism, and the vision sensor, and the servo driver is communicatively connected to the Delta parallel mechanism.

[0015] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0016] The vibration drive motor of this invention is connected to the crankshaft via a coupling, driving the crankshaft to rotate. The crankshaft then drives the left and right connecting rods, which in turn drive the left and right vibrating combs to reciprocate rapidly left and right on the slide groove. This design allows for precise control of the vibration trajectory, achieving optimal harvesting results. Since vibration requires a high horizontal speed, the crankshaft can convert a small input torque into a large output torque, resulting in high-speed horizontal movement and high torque output. Furthermore, the variable vibration output mechanism is driven by a separate vibration drive mechanism, allowing for fine adjustment of the vibration frequency and amplitude to meet different needs. In summary, this invention features a simple and reliable structural design, is easy to use, and provides precise and efficient harvesting positioning, significantly improving the efficiency of vibratory harvesting of litchi. It is particularly suitable for vibratory harvesting operations in litchi orchards. Installed on a mobile platform in the field, it can achieve vibratory harvesting of most litchi within a range of 1500×2000×200mm in a single operation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a variable vibration lychee picking device.

[0018] Figure 2 This is one of the structural schematic diagrams of a variable vibration output mechanism.

[0019] Figure 3 This is the second schematic diagram of the variable vibration output mechanism.

[0020] Figure 4 This is the third schematic diagram of the variable vibration output mechanism.

[0021] Figure 5 This is a partial structural diagram of a variable vibration output mechanism.

[0022] Figure 6 This is a schematic diagram of the control box. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the implementation of the present invention is not limited thereto.

[0024] like Figures 1 to 6 As shown, this embodiment discloses a variable vibration lychee harvesting device, comprising:

[0025] Delta parallel mechanism 1, used for mobile positioning during lychee harvesting;

[0026] Variable vibration output mechanism 2, used for vibration harvesting of lychees;

[0027] Visual sensor 3 is used to collect information about litchi fruit clusters;

[0028] Control box 4 is used to process the fruit cluster coordinate information and send control information;

[0029] The variable vibration output mechanism 2 and the vision sensor 3 are respectively mounted on the moving platform 105 of the Delta parallel mechanism 1, and the control box 4 is mounted on the fixed platform 101 of the Delta parallel mechanism 1.

[0030] Specifically, the Delta parallel mechanism 1 includes a fixed platform 101, an active arm 102, a branch arm joint 103, a driven arm 104, a moving platform 105, a reducer 106, and a servo motor 107. The fixed platform 101 has three flange surfaces evenly distributed along its circumference. These three flange surfaces are arranged in a rotating array with the center of the fixed platform 101 as the center. A reducer 106 is installed on each flange surface. One end of the reducer 106 is connected to the servo motor 107, and the other end is connected to one end of the active arm 102 to drive the active arm 102 to rotate. The other end of the active arm 102 is hinged to one end of the driven arm 104 through the branch arm joint 103, and the other end of the driven arm 104 is hinged to the moving platform 105 through the branch arm joint 103.

[0031] Specifically, the variable vibration output mechanism 2 includes a lower protective half-shell 201, an upper protective half-shell 202, a vibration drive motor 203, a slide groove 204, a left connecting rod cover 209, a right connecting rod cover 205, a left connecting rod 211, a right connecting rod 206, a left slide groove end cover 213, a right slide groove end cover 207, a left vibration comb 212, a right vibration comb 208, a crankshaft 210, and a coupling 214. The lower protective half-shell 201 and the upper protective half-shell 202 are assembled together by bolts to form a space that can accommodate the coupling 214, and the coupling 214 is enclosed in this space. The lower protective half-shell 201 and the upper protective half-shell 202 are respectively bolted to the back of the slide groove 204. The vibration drive motor 203 is connected to the crankshaft 210 through a coupling 214. The slide groove 204 is divided into three sections: left, middle, and right. The middle section is assembled on the crankshaft 210. Its left and right sections are sliding groove sections, located on the left and right sides of the crankshaft 210, and extending horizontally outward perpendicular to the crankshaft 210. The ends of the left and right sections are open and sealed by bolted left slide groove end cap 213 and right slide groove end cap 207, respectively. The left vibration comb 212 and right vibration comb 203 are also connected to the slide groove 204. Each of the 08 components has a slider on its back, which is embedded in the sliding grooves of the left and right sections respectively, restricting the left vibrating comb 212 and the right vibrating comb 208 to move only left and right. After removing the left slide groove end cover 213 and the right slide groove end cover 207, the left vibrating comb 212 and the right vibrating comb 208 can be removed from the left and right ends of the slide groove 204. One end of the left connecting rod 211 and the right connecting rod 206 is the vibrating comb connecting end, and the other end is the crankshaft connecting end. The crankshaft connecting end is paired with its respective connecting rod cover and fixed to the crankshaft 210 by bolts. That is, the crankshaft connecting end of the left connecting rod 211 and the connecting rod 206 are connected to the crankshaft 210. The left connecting rod cap 209 is paired with and bolted to the crankshaft 210. The crankshaft connecting end of the right connecting rod 206 is paired with the right connecting rod cap 205 and bolted to the crankshaft 210. The left connecting rod 211 is located in front of the left vibrating comb 212, and its crankshaft connecting end is fixed to the left vibrating comb 212 by a double-ended stud. The right connecting rod 206 is located in front of the right vibrating comb 208, and its crankshaft connecting end is fixed to the right vibrating comb 208 by a double-ended stud. The left connecting rod 211 and the right connecting rod 206 can rotate coaxially around the corresponding shaft segments of the crankshaft 210.

[0032] Specifically, the control box 4 includes an industrial computer 401, a servo driver 402, and an acrylic housing 403. The industrial computer 401 and the servo driver 402 are installed inside the acrylic housing 403. The industrial computer 401 is communicatively connected to the servo driver 402, the variable vibration output mechanism 2, and the vision sensor 3, respectively. The servo driver 402 is communicatively connected to the Delta parallel mechanism 1.

[0033] Preferably, the crankshaft 210, left connecting rod 211, right connecting rod 206, driving arm 102, moving platform 105, left vibrating comb 212, and right vibrating comb 208 are all made of aluminum, the driven arm 104 is made of carbon fiber, and the fixed platform 101 is made of 45 steel. The moving platform 105 is hinged to the three driven arms 104 through the branch arm joint 103, and the driven arm 104 is hinged to the driving arm 102 through the branch arm joint 103. The structure is lightweight and facilitates the improvement of movement speed.

[0034] When the work starts, Delta parallel mechanism 1 is in the initial state. The industrial control computer 401 identifies the three-dimensional coordinates of the lychee based on the image information transmitted by the vision sensor 3, and then transmits the motion data to the servo driver 402 to control the servo motor 107, so that the variable vibration output mechanism 2 on the moving platform 105 moves to the coordinates of the first lychee picking. After positioning is completed, the industrial control computer 401 controls the vibration drive motor 203 to move via the coupling 214 and crankshaft 210, driving the left connecting rod 211 and right connecting rod 206 to move. This, in turn, drives the left vibrating comb 212 and right vibrating comb 208 to perform high-frequency reciprocating motion on the slide 204, thus completing the first vibration harvesting operation. Subsequently, the industrial control computer 401 controls the vibration drive motor 203 to stop rotating. Based on the image transmitted back by the vision sensor 3, the industrial control computer 401 determines that the lychees have been fully harvested. Then, the industrial control computer 401 transmits the data to the servo driver 402, controlling the servo motor 107 to move the moving platform 105 to the next position, completing the second vibration harvesting operation. After completing all vibration harvesting operations within the reachable working space, the industrial control computer 401 controls the servo motor 107 to reset the Delta parallel mechanism 1, completing the entire vibration harvesting process.

[0035] The above embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.

Claims

1. A variable vibration lychee harvesting device, characterized in that, include: Delta parallel mechanism (1) is used for mobile positioning during lychee picking; Variable vibration output mechanism (2) is used for vibration harvesting of lychees; A visual sensor (3) is used to collect information about litchi fruit clusters; The control box (4) is used to process the fruit cluster coordinate information and send control information; The variable vibration output mechanism (2) and the vision sensor (3) are respectively installed on the moving platform (105) of the Delta parallel mechanism (1), and the control box (4) is installed on the fixed platform (101) of the Delta parallel mechanism (1).

2. The variable vibration litchi harvesting device according to claim 1, characterized in that, The Delta parallel mechanism (1) includes a fixed platform (101), an active arm (102), a branch arm joint (103), a driven arm (104), a moving platform (105), a reducer (106), and a servo motor (107). The fixed platform (101) has three flange surfaces evenly distributed along its circumference. These three flange surfaces are arranged in a rotating array with the center of the fixed platform (101) as the center. A reducer (106) is installed on each flange surface. One end of the reducer (106) is connected to the servo motor (107), and the other end is connected to one end of the active arm (102) to drive the active arm (102) to rotate. The other end of the active arm (102) is hinged to one end of the driven arm (104) through the branch arm joint (103), and the other end of the driven arm (104) is hinged to the moving platform (105) through the branch arm joint (103).

3. The variable vibration lychee picking device according to claim 1, characterized in that, The variable vibration output mechanism (2) includes a vibration drive motor (203), a slide (204), a left connecting rod cover (209), a right connecting rod cover (205), a left connecting rod (211), a right connecting rod (206), a left slide end cover (213), a right slide end cover (207), a left vibration comb (212), a right vibration comb (208), a crankshaft (210), and a coupling (214); the vibration drive motor (203) is connected to the crankshaft (210) through the coupling (214), and the slide (204) is divided into three sections: left, middle, and right. The middle section is mounted on the crankshaft (210). Its left and right sections are sliding groove sections located on the left and right sides of the crankshaft (210) and extending horizontally outward perpendicular to the crankshaft (210). The ends of the left and right sections are open and sealed by detachable left sliding groove end caps (213) and right sliding groove end caps (207), respectively. The left vibrating comb (212) and the right vibrating comb (208) are both equipped with sliders on their backs, which are embedded in the sliding grooves of the left and right sections, respectively, to restrict the left vibrating comb (212) and the right vibrating comb (208) to only move left and right. The left sliding groove end cap is removed. After the cover (213) and the right slide end cover (207) are installed, the left vibrating comb (212) and the right vibrating comb (208) can be removed from the left and right ends of the slide (204). One end of the left connecting rod (211) and the right connecting rod (206) is the vibrating comb connection end, and the other end is the crankshaft connection end. The crankshaft connection end is paired with its respective connecting rod cover and clamped onto the crankshaft (210) by bolts. That is, the crankshaft connection end of the left connecting rod (211) is paired with the left connecting rod cover (209) and clamped onto the crankshaft (210) by bolts. The crankshaft connection end of the right connecting rod (206) is paired with the right connecting rod cap (205) and is fastened to the crankshaft (210) by bolts. The left connecting rod (211) is located in front of the left vibrating comb (212), and its crankshaft connection end is fastened to the left vibrating comb (212) by a double-ended stud. The right connecting rod (206) is located in front of the right vibrating comb (208), and its crankshaft connection end is fastened to the right vibrating comb (208) by a double-ended stud. The left connecting rod (211) and the right connecting rod (206) can rotate coaxially around the corresponding shaft segments of the crankshaft (210).

4. The variable vibration litchi harvesting device according to claim 3, characterized in that, The variable vibration output mechanism (2) also includes a paired lower protective half-shell (201) and an upper protective half-shell (202). The lower protective half-shell (201) and the upper protective half-shell (202) are assembled together by bolts to form a space that can accommodate the coupling (214). The coupling (214) is enclosed in the space. The lower protective half-shell (201) and the upper protective half-shell (202) are respectively fixed to the back of the slide groove (204) by bolts.

5. A variable vibration litchi harvesting device according to claim 3, characterized in that, The left slide end cap (213) and the right slide end cap (207) are fixed to the slide (204) by bolts.

6. The variable vibration litchi harvesting device according to claim 1, characterized in that, The control box (4) includes an industrial computer (401), a servo driver (402), and an acrylic shell (403). The industrial computer (401) and the servo driver (402) are installed inside the acrylic shell (403). The industrial computer (401) is communicatively connected to the servo driver (402), the variable vibration output mechanism (2), and the vision sensor (3), respectively. The servo driver (402) is communicatively connected to the Delta parallel mechanism (1).

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