A harvesting robot with easy-to-change shear blades

Abstract

This utility model provides a harvesting robot with easily replaceable shearing blades, belonging to the technical field of harvesting robot technology. It addresses the problem that in existing harvesting robots, when blades wear or become damaged due to prolonged use, replacement often requires tools to disassemble bolts before the blades can be replaced, a cumbersome process that affects overall work efficiency. The new design includes a drive motor fixedly mounted inside the robot body; a drive gear rotatably connected to the inside of the robot body and fixedly connected to the upper end of the drive motor's output shaft; and two connecting rack and pinion sliders, both slidably connected to the upper end of the robot body, both meshing with the drive gear. This design enables rapid replacement of harvesting shearing blades, enhances the stability and practicality of the equipment, provides convenient operation, and effectively improves overall work efficiency.

Description

Technical Field

[0001] This utility model belongs to the technical field of harvesting robot, and more specifically, it relates to a harvesting robot with easy-to-change shearing blades. Background Technology

[0002] A harvesting robot is a mechanical device specifically designed for use in agriculture to automatically harvest crops. It is widely used in agricultural production such as fruit and vegetable cultivation and horticulture. The harvesting robot captures images of the fruit through a camera, and the system uses image recognition technology to analyze and judge the fruit to identify its ripeness. Once the fruit is confirmed to be ripe, the robot will cut off the stem, thus completing the automated harvesting process.

[0003] According to application number CN202120120990.8, a fruit-harvesting robot includes an upper sleeve, one end of which is slidably connected to a lower sleeve. A rotating shaft is rotatably connected to the upper sleeve, and connecting plates are symmetrically fixedly fitted on the outer wall of the rotating shaft. The same robot is fixedly connected to one side of the two connecting plates that are close to each other. A long connecting rod is rotatably connected to one side of the robot, and a handle is rotatably connected to one side of the lower sleeve. The long connecting rod and the handle are connected to the same steel wire rope. An adjustment component for adjusting the rotation angle of the robot is provided on the upper sleeve. This utility model has a simple structure and can adjust the angle of the first sleeve, solving the problem of the relative difficulty of harvesting fruit between branches, thereby improving harvesting efficiency and providing convenience for fruit growers.

[0004] Based on the above, in the current harvesting robot, the fruit cutting blade is usually fixed to the robot by bolts. However, when the blade is worn or damaged due to long-term use, it is often necessary to use tools to remove the bolts before the blade can be replaced. The operation process is cumbersome and affects the overall work efficiency. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides a harvesting robot that facilitates the replacement of shearing blades, thus resolving the existing issues.

[0006] The purpose and function of this utility model, which provides a harvesting robot with easily replaceable shearing blades, are achieved through the following specific technical means:

[0007] A harvesting robot with easily replaceable shearing blades includes a robot body, a drive motor, a drive gear, a connecting rack and pinion slider, fruit clamps, shearing protrusions, a clamping mechanism, and a quick-change shearing mechanism. The drive motor is fixedly mounted on the inner side of the robot body. The drive gear is rotatably connected to the inner side of the robot body and fixedly connected to the upper end of the drive motor's output shaft. Two connecting rack and pinion sliders are provided, both slidably connected to the upper end of the robot body, and both mesh with the drive gear. Two fruit clamps are provided, each fixedly connected to the outer side of one of the connecting rack and pinion sliders. Two shearing protrusions are provided, each fixedly connected to the outer side of one of the fruit clamps. The clamping mechanism is located on the inner side of the fruit clamps. The quick-change shearing mechanism is located on the inner side of the shearing protrusions.

[0008] Furthermore, the clamping mechanism includes: clamping springs and clamping plates; there are two clamping springs, which are respectively fixedly connected to the inner sides of the two fruit clamping plates; there are two clamping plates, which are respectively slidably connected to the inner sides of the two fruit clamping plates, and respectively fixedly connected to the outer sides of the two clamping springs.

[0009] Furthermore, the clamping mechanism also includes: guide rods and guide grooves; the guide rods are provided in two sets, and the two sets of guide rods are respectively fixedly connected to the inner side of the two fruit clamping plates; the guide grooves are provided in two sets, and the two sets of guide grooves are respectively opened inside the two clamping plates, and the guide grooves are slidably connected to the guide rods.

[0010] Furthermore, the quick-change shearing mechanism includes: mounting grooves, picking shearing blades, and fixed sliders; two mounting grooves are provided, each located inside the two shearing protrusions; two picking shearing blades are provided, each slidably connected to the inner side of the two mounting grooves; two fixed sliders are provided, each fixedly connected to the outer side of the two picking shearing blades, and each fixed slider is slidably connected to the two mounting grooves.

[0011] Furthermore, the quick-change shearing mechanism also includes: a limiting groove, a quick-change pressing block, a limiting connecting rod, and a limiting compression spring; there are two limiting grooves, each located on the outer side of one of the two picking shearing blades; there are two quick-change pressing blocks, each slidably connected to the inner side of one of the two shearing protrusions; there are two limiting connecting rods, each slidably connected to the inner side of one of the two shearing protrusions, and each fixedly connected to the outer side of one of the two quick-change pressing blocks, and each inserted into the inner side of one of the two limiting grooves; there are two sets of limiting compression springs, each with one end fixedly connected to the outer side of one of the two limiting connecting rods, and the other end fixedly connected to the inner side of one of the two shearing protrusions.

[0012] Furthermore, the quick-change shearing mechanism also includes: a fixed frame, a limiting hole, and a limiting rod; two fixed frames are provided, and the two fixed frames are respectively fixedly connected to the outer side of the two shearing protrusions; two limiting holes are provided, and the two limiting holes are respectively opened on the inner side of the two quick-change pressing blocks; two limiting rods are provided, and the two limiting rods are respectively slidably connected to the inner side of the two fixed frames, and the two limiting rods are respectively inserted into the inner side of the two limiting holes.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] This invention utilizes a clamping mechanism to hold the fruit stem. When the drive motor starts, the drive gear meshes with the connecting rack and pinion slider, causing the fruit clamping plate to slide. The fruit clamping plate further moves the clamping plate, and under the action of the clamping spring, it holds the fruit stem, effectively preventing the fruit from falling off and causing damage, thus ensuring harvesting quality. The quick-change cutting mechanism enables rapid replacement of the harvesting cutting blades. During operation, simply pull the limiting rod to disengage it from the limiting hole, then press the quick-change pressing block. Its sliding motion causes the limiting connecting rod to disengage from the limiting groove, allowing the harvesting cutting blades to be removed for replacement. The limiting rod effectively prevents the robotic arm from accidentally touching the quick-change pressing block during operation, improving the stability of the equipment. The design is simple, improving maintenance and work efficiency. Through the above mechanisms, not only is the fruit stem clamping function achieved, ensuring the safety and quality of the harvesting process, but the quick-change cutting blades also enhance the stability and practicality of the equipment, making operation convenient and effectively improving overall work efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of the present invention.

[0016] Figure 2 This is a schematic diagram of the drive gear of this utility model.

[0017] Figure 3 This is a schematic diagram of the structure of the rack and pinion slider of this utility model.

[0018] Figure 4 This is a structural schematic diagram of the disassembled clamping plate of this utility model.

[0019] Figure 5 This is a schematic diagram of the clamping spring of this utility model.

[0020] Figure 6 This is a cross-sectional structural diagram of the fruit clamp of this utility model.

[0021] Figure 7 This is a schematic diagram of the structure of the picking and shearing blade of this utility model.

[0022] Figure 8 This is a schematic diagram of the limiting groove of this utility model.

[0023] Figure 9 This is a utility model Figure 6 Enlarged structural diagram of part A in the middle

[0024] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0025] 1. Robotic arm body; 2. Drive motor; 3. Drive gear; 4. Connecting rack and pinion slider; 5. Fruit clamping plate; 501. Clamping spring; 502. Guide rod; 6. Shearing protrusion; 601. Mounting groove; 602. Fixing frame; 7. Clamping plate; 701. Guide groove; 8. Harvesting shearing blade; 801. Fixing slider; 802. Limiting groove; 9. Quick-change pressing block; 901. Limiting connecting rod; 902. Limiting compression spring; 903. Limiting hole; 10. Limiting insertion rod. Detailed Implementation

[0026] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples.

[0027] Example 1:

[0028] As attached Figures 1-6 As shown:

[0029] This utility model provides a harvesting robot with easy-to-change shearing blades, including a robot body 1, a drive motor 2, a drive gear 3, a connecting rack and pinion slider 4, fruit clamping plates 5, shearing protrusions 6, a clamping mechanism, and a quick-change shearing mechanism; the drive motor 2 is fixedly installed on the inner side of the robot body 1; the drive gear 3 is rotatably connected to the inner side of the robot body 1 and fixedly connected to the upper end of the output shaft of the drive motor 2; there are two connecting rack and pinion sliders 4, both of which are slidably connected to the upper end of the robot body 1 and mesh with the drive gear 3; there are two fruit clamping plates 5, which are respectively fixedly connected to the outer side of the two connecting rack and pinion sliders 4; there are two shearing protrusions 6, which are respectively fixedly connected to the outer side of the two fruit clamping plates 5; the clamping mechanism is located on the inner side of the fruit clamping plates 5; and the quick-change shearing mechanism is located on the inner side of the shearing protrusions 6.

[0030] The clamping mechanism includes: clamping springs 501, guide rods 502, clamping plates 7, and guide grooves 701; two clamping springs 501 are provided, and the two clamping springs 501 are respectively fixedly connected to the inner side of the two fruit clamping plates 5; two sets of guide rods 502 are provided, and the two sets of guide rods 502 are respectively fixedly connected to the inner side of the two fruit clamping plates 5; two clamping plates 7 are provided, and the two clamping plates 7 are respectively slidably connected to the inner side of the two fruit clamping plates 5, and the two clamping plates 7 are respectively fixedly connected to the outer side of the two clamping springs 501; two sets of guide grooves 701 are provided, and the two sets of guide grooves 701 are respectively opened inside the two clamping plates 7, and the guide grooves 701 are slidably connected to the guide rods 502.

[0031] The specific usage and function of this embodiment: When the drive motor 2 starts, it will drive the fruit clamping plate 5 to slide through the meshing action of the drive gear 3 and the connecting rack and pinion slider 4. The sliding of the fruit clamping plate 5 will drive the clamping plate 7 to slide, so that the clamping plate 7 clamps the fruit stem under the action of the clamping spring 501.

[0032] Example 2:

[0033] Based on Example 1, such as Figures 7-9As shown, the quick-change shearing mechanism includes: mounting grooves 601, fixing frames 602, picking shearing blades 8, fixing sliders 801, limiting grooves 802, quick-change pressing blocks 9, limiting connecting rods 901, limiting compression springs 902, limiting holes 903, and limiting inserts 10; Two mounting grooves 601 are provided, each located inside the two shearing protrusions 6; Two fixing frames 602 are provided, each fixedly connected to the outside of the two shearing protrusions 6; Two picking shearing blades 8 are provided, each slidably connected to the inside of the two mounting grooves 601; Two fixing sliders 801 are provided, each fixedly connected to the outside of the two picking shearing blades 8, and slidably connected to the two mounting grooves 601; Two limiting grooves 802 are provided, each located on the outside of the two picking shearing blades 8; quick-change... Two pressing blocks 9 are provided, and the two quick-change pressing blocks 9 are slidably connected to the inner sides of the two shearing protrusions 6 respectively; two limiting connecting rods 901 are provided, and the two limiting connecting rods 901 are slidably connected to the inner sides of the two shearing protrusions 6 respectively, and the two limiting connecting rods 901 are fixedly connected to the outer sides of the two quick-change pressing blocks 9 respectively, and the two limiting connecting rods 901 are inserted into the inner sides of the two limiting grooves 802 respectively; two sets of limiting compression springs 902 are provided, and the two sets of limiting compression springs 9 One end of each of the two limit connecting rods 901 is fixedly connected to the outside of the two limit compression springs 902, and the other end of each of the two limit compression springs 902 is fixedly connected to the inside of the two shearing protrusions 6. There are two limit holes 903, which are respectively opened on the inside of the two quick-change pressing blocks 9. There are two limit inserts 10, which are respectively slidably connected to the inside of the two fixing brackets 602, and respectively inserted into the inside of the two limit holes 903.

[0034] The specific usage and function of this embodiment are as follows: By pulling the limiting rod 10, the limiting rod 10 is disengaged from the limiting hole 903. At this time, the quick-change pressing block 9 can be pressed. The sliding of the quick-change pressing block 9 will drive the limiting connecting rod 901 to disengage from the limiting groove 802. Then, the picking and shearing blade 8 can be pulled to disassemble it. The setting of the limiting rod 10 can prevent the branches from pressing the quick-change pressing block 9 when the robot is working, thus improving the stability of the equipment.

[0035] The following points should be noted in this article:

[0036] 1. The accompanying drawings of this utility model embodiment only involve the structure involved in this utility model embodiment; other structures can refer to general designs.

[0037] 2. Where there is no conflict, the embodiments of this utility model and the features in the embodiments can be combined with each other to obtain new embodiments.

[0038] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model embodiment should be included within the protection scope of this embodiment. Therefore, the protection scope of this utility model embodiment should be determined by the protection scope of the claims.

Claims

1. A harvesting robot with easily replaceable shearing blades, comprising a robot body (1), a drive motor (2), a drive gear (3), a connecting rack and pinion slider (4), a fruit clamping plate (5), a shearing protrusion (6), a clamping mechanism, and a quick-change shearing mechanism; the drive motor (2) is fixedly installed on the inner side of the robot body (1); the drive gear (3) is rotatably connected to the inner side of the robot body (1), and the drive gear (3) is fixedly connected to the upper end of the output shaft of the drive motor (2); two connecting rack and pinion sliders (4) are provided, both connecting rack and pinion sliders (4) are slidably connected to the upper end of the robot body (1), and both connecting rack and pinion sliders (4) are meshed with the drive gear (3); characterized in that: Two fruit clamps (5) are provided, and the two fruit clamps (5) are respectively fixedly connected to the outside of the two connecting rack sliders (4); two shearing protrusions (6) are provided, and the two shearing protrusions (6) are respectively fixedly connected to the outside of the two fruit clamps (5); the clamping mechanism is provided on the inside of the fruit clamps (5); the shearing quick-change mechanism is provided on the inside of the shearing protrusions (6).

2. The picking manipulator with replaceable shear blades as recited in claim 1, wherein: The clamping mechanism includes: clamping springs (501) and clamping plates (7); there are two clamping springs (501), which are fixedly connected to the inner sides of the two fruit clamping plates (5); there are two clamping plates (7), which are slidably connected to the inner sides of the two fruit clamping plates (5) and fixedly connected to the outer sides of the two clamping springs (501).

3. The picking manipulator with replaceable shear blades of claim 2 wherein: The clamping mechanism further includes: guide rods (502) and guide grooves (701); the guide rods (502) are provided in two sets, and the two sets of guide rods (502) are respectively fixedly connected to the inner side of the two fruit clamping plates (5); the guide grooves (701) are provided in two sets, and the two sets of guide grooves (701) are respectively opened inside the two clamping plates (7), and the guide grooves (701) are slidably connected to the guide rods (502).

4. The picking manipulator with replaceable shear blades of claim 1 wherein: The quick-change shearing mechanism includes: mounting grooves (601), picking shearing blades (8), and fixed sliders (801); there are two mounting grooves (601), which are respectively opened on the inner side of two shearing protrusions (6); there are two picking shearing blades (8), which are respectively slidably connected to the inner side of the two mounting grooves (601); there are two fixed sliders (801), which are respectively fixedly connected to the outer side of the two picking shearing blades (8), and the two fixed sliders (801) are respectively slidably connected to the two mounting grooves (601).

5. The picking manipulator with replaceable shear blades of claim 4 wherein: The quick-change shearing mechanism further includes: a limiting groove (802), a quick-change pressing block (9), a limiting connecting rod (901), and a limiting compression spring (902); two limiting grooves (802) are provided, and the two limiting grooves (802) are respectively opened on the outer side of the two picking shearing blades (8); two quick-change pressing blocks (9) are provided, and the two quick-change pressing blocks (9) are respectively slidably connected to the inner side of the two shearing protrusions (6); two limiting connecting rods (901) are provided, and the two limiting connecting rods (901) are respectively The sliding connection is on the inner side of the two shearing protrusions (6), and the two limiting connecting rods (901) are respectively fixedly connected to the outer side of the two quick-change pressing blocks (9). The two limiting connecting rods (901) are respectively inserted into the inner side of the two limiting grooves (802). The limiting compression springs (902) are provided in two sets. One end of the two sets of limiting compression springs (902) is respectively fixedly connected to the outer side of the two limiting connecting rods (901), and the other end of the two sets of limiting compression springs (902) is respectively fixedly connected to the inner side of the two shearing protrusions (6).

6. The picking manipulator with replaceable shear blades of claim 5 wherein: The shearing quick-change mechanism further includes: a fixed frame (602), a limiting hole (903), and a limiting rod (10); there are two fixed frames (602), which are fixedly connected to the outside of the two shearing protrusions (6); there are two limiting holes (903), which are opened on the inside of the two quick-change pressing blocks (9); there are two limiting rods (10), which are slidably connected to the inside of the two fixed frames (602), and the two limiting rods (10) are inserted into the inside of the two limiting holes (903).

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