Evodia fruit picking machine

Abstract

The utility model relates to agricultural machinery and equipment technical field discloses a kind of evodia rutaecarpa harvesting machines, including mobile car body, two storage boxes, two lifting plates, lifting adjustment assembly, two multi-degree-of-freedom mechanical arms, two mounting seats, two shearing parts, two adaptive adjustment components one, two adaptive adjustment components two, two identification cameras, two hanging baskets, control panel and auxiliary turnover component;The storage box is fixedly installed at the both sides of mobile car body, the both sides of mobile car body are all provided with sliding slot, two lifting plates are slidably installed in corresponding sliding slot respectively, the lifting adjustment assembly is arranged in two sliding slots and is connected with two lifting plates, and two multi-degree-of-freedom mechanical arms are respectively arranged on corresponding lifting plate.The utility model has the following advantages and effects: it can effectively improve the evodia rutaecarpa harvesting efficiency, while greatly reducing the labor intensity of manual operation.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery and equipment technology, and in particular to a harvester for Evodia rutaecarpa. Background Technology

[0002] As an important traditional Chinese medicine, the harvesting efficiency and fruit integrity of Evodia rutaecarpa directly affect economic benefits and the quality of the medicinal material. Traditional harvesting of Evodia rutaecarpa mainly relies on manual picking by hand with shears, which has problems such as low efficiency, high labor intensity, and easy damage to the fruit due to manual pulling or collision. With the rise in labor costs and the growth in demand for large-scale planting, mechanized harvesting equipment has gradually become the direction of industry development. However, existing Evodia rutaecarpa harvesting machinery generally suffers from defects such as unreasonable structural design and low degree of automation: some equipment has difficulty in accurately identifying the fruit position, resulting in low cutting efficiency; some equipment lacks an effective structure for fruit receiving and transfer, which easily causes the fruit to fall, pile up, or be damaged; in addition, existing equipment is insufficient in terms of adaptability to plants at different heights and fruit cushioning protection, and cannot meet the needs of complex terrain and diverse planting scenarios.

[0003] Therefore, this utility model proposes an Evodia rutaecarpa harvesting machine to solve the above problems.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0005] The purpose of this invention is to provide a harvesting machine for Evodia rutaecarpa, which has the following effects.

[0006] The above-mentioned technical objective of this utility model is achieved through the following technical solution: a Wu Zhu Yu harvesting machine, including a mobile vehicle body, two storage boxes, two lifting plates, a lifting adjustment component, two multi-degree-of-freedom robotic arms, two mounting bases, two shearing parts, two adaptive adjustment components one, two adaptive adjustment components two, two recognition cameras, two hanging baskets, a control panel, and an auxiliary flipping component.

[0007] The storage boxes are fixedly installed on both sides of the mobile vehicle body. Slide grooves are provided on both sides of the mobile vehicle body. Two lifting plates are slidably installed in their respective slide grooves. The lifting adjustment components are located in the two slide grooves and connected to the two lifting plates. Two multi-degree-of-freedom robotic arms are respectively installed on their respective lifting plates. Two mounting seats are respectively fixedly installed on the free ends of the corresponding multi-degree-of-freedom robotic arms. Two shearing parts are detachably installed on their respective mounting seats. Two adaptive adjustment components one and two adaptive adjustment components two are respectively installed on their respective mounting seats. Two hanging baskets and two recognition cameras are respectively installed on their respective adaptive adjustment components one and two. The auxiliary flipping component is installed on the two storage boxes. The control panel is located on the mobile vehicle body.

[0008] The present invention is further configured such that: the lifting adjustment assembly includes two adjusting motors, two lead screws and four guide rods; two guide rods are fixedly installed in each of the two slide grooves; the two lifting plates are slidably connected to the corresponding two guide rods; lead screws are rotatably installed in each of the two slide grooves; the two lead screws are threadedly connected to the corresponding lifting plates; two adjusting motors are fixedly installed on the top side of the moving vehicle body; the output shafts of the two adjusting motors are axially fixedly connected to the corresponding lead screws.

[0009] By adopting the above technical solution, the height of the lifting platform can be adjusted separately as needed.

[0010] A further feature of this invention is that the adaptive adjustment component includes a rotating ring, a fixed rod, and two support rods. The rotating ring is rotatably mounted on the mounting base, and two support rods arranged parallel to each other are hinged on the rotating ring. The same fixed rod is radially fixedly mounted on the two support rods, and the fixed rod is rotatably mounted on the hanging basket.

[0011] By adopting the above technical solution, the top opening of the hanging basket can always be kept facing upward when the multi-degree-of-freedom robotic arm controls the movement of the mounting base. This not only effectively receives the Evodia rutaecarpa fruits cut by the shearing part, but also prevents the Evodia rutaecarpa fruits in the hanging basket from spilling out during the movement of the multi-degree-of-freedom robotic arm.

[0012] A further feature of this invention is that the adaptive adjustment component two includes a rotating ring two and a counterweight block. The rotating ring two is rotatably mounted on the mounting base. The recognition camera is fixedly mounted on the rotating ring two and oriented towards the shearing part. A counterweight block with a weight greater than that of the recognition camera is fixedly mounted on the rotating ring two at a position symmetrical to the recognition camera.

[0013] By adopting the above technical solution, it is possible to always control the recognition camera to be located on the side of the mounting base away from the hanging basket, even when the mounting base is in a non-vertical state during movement.

[0014] A further feature of this invention is that the front side of the storage box has an installation opening, a storage box with an open top is slidably installed inside the storage box, and the front side of the storage box extends into the installation opening and is fixedly installed with a handle.

[0015] By adopting the above technical solution, it is convenient to collect the Evodia rutaecarpa fruits that have entered the storage box, and at the same time, it is convenient to quickly remove the harvested Evodia rutaecarpa fruits from the storage box.

[0016] A further feature of this invention is that the auxiliary flipping assembly includes two support bases, each of the two storage boxes has a support base fixedly installed on its top, the top sides of the two support bases are cylindrical, and the bottom sides of the two hanging baskets have grooves that are adapted to the top of the support bases.

[0017] By adopting the above technical solution, after the basket is secured to the support seat by the groove, the multi-degree-of-freedom robotic arm can be used to control the basket to tilt toward the moving vehicle, thereby facilitating the auxiliary flipping and unloading action of the basket.

[0018] A further feature of this invention is that the top of the storage box is open, and multiple semi-rigid rods are fixedly installed on the inner wall of the storage box on the side away from the mobile vehicle body.

[0019] By adopting the above technical solution, a cushioning effect can be provided when the Evodia rutaecarpa fruits in the hanging basket are poured into the storage box.

[0020] A further feature of this invention is that the ends of the multiple semi-rigid rods facing the moving vehicle body are all inclined downwards, and the multiple semi-rigid rods located in the same storage box are arranged in parallel to each other.

[0021] By adopting the above technical solution, the fruit of Evodia rutaecarpa can be guided to flow.

[0022] A further feature of this invention is that the semi-rigid rod is made of silicone.

[0023] By adopting the above technical solution, damage to Evodia rutaecarpa fruits can be avoided when they are impacted.

[0024] A further feature of this invention is that a connecting seat is fixedly installed on the shearing part, and the connecting seat is connected to the mounting seat by bolts.

[0025] By adopting the above technical solution, it is convenient to disassemble and assemble the shearing part.

[0026] The beneficial effects of this utility model are:

[0027] This Evodia rutaecarpa harvester features a rationally designed structure. Through the coordination of a multi-degree-of-freedom robotic arm, a shearing unit, and a recognition camera, it achieves precise shearing and efficient collection of Evodia rutaecarpa fruits. The hanging basket and adaptive adjustment component facilitate the timely receipt of the fruits cut by the shearing unit. An auxiliary flipping component, working in conjunction with the multi-degree-of-freedom robotic arm, pours the fruits into a collection box, effectively improving fruit transfer efficiency and reducing the need for manual intervention. The adaptive adjustment component allows for adaptive adjustment of the recognition camera's position, effectively mitigating potential adverse effects from the multi-degree-of-freedom robotic arm's movements. Furthermore, the semi-rigid rod material and tilting design inside the collection box further optimize the fruit's cushioning and flow guidance performance, reducing the possibility of damage during transfer from the hanging basket to the collection box. Overall, this invention improves harvesting efficiency while maintaining fruit integrity and equipment practicality, providing a reliable solution for Evodia rutaecarpa harvesting operations. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in 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.

[0029] Figure 1 This is a three-dimensional structural schematic diagram of an Evodia rutaecarpa harvester proposed in this utility model;

[0030] Figure 2 This is a partial three-dimensional structural schematic diagram of the present invention;

[0031] Figure 3 for Figure 2 A schematic diagram of the structure of part A;

[0032] Figure 4 This is a structural schematic diagram of the storage box, mounting port, and support base proposed in this utility model.

[0033] Figure 5 This is a structural diagram of the storage box and handle portion proposed in this utility model;

[0034] Figure 6 This is a schematic diagram of the hanging basket, adaptive adjustment component 1, and groove portion proposed in this utility model;

[0035] Figure 7 This is a schematic diagram of the shearing part and the connecting seat part proposed in this utility model.

[0036] In the diagram: 1. Moving vehicle body; 2. Lifting plate; 201. Adjusting motor; 202. Lead screw; 203. Guide rod; 21. Multi-degree-of-freedom robotic arm; 22. Mounting base; 3. Shearing section; 31. Connecting seat; 4. Hanging basket; 41. Support rod; 42. Rotating ring one; 5. Recognition camera; 51. Rotating ring two; 52. Counterweight; 6. Storage box; 601. Semi-rigid rod; 61. Storage box; 7. Support base; 8. Control panel. Detailed Implementation

[0037] The technical solution of this utility model will now be clearly and completely described with reference to specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0038] Reference Figure 1-7 A harvester for Evodia rutaecarpa includes a mobile vehicle body 1, two storage boxes 6, two lifting plates 2, two multi-degree-of-freedom robotic arms 21, two mounting bases 22, two shearing sections 3, two recognition cameras 5, a control panel 8, and two hanging baskets 4.

[0039] The storage box 6 is fixedly installed on both sides of the mobile vehicle body 1. Slide grooves are provided on both sides of the mobile vehicle body 1. Two lifting plates 2 are slidably installed in the corresponding slide grooves. Two multi-degree-of-freedom robotic arms 21 are respectively set on the corresponding lifting plates 2. Two guide rods 203 are fixedly installed in each of the two slide grooves. The two lifting plates 2 are slidably connected to the corresponding two guide rods 203. Screws 202 are rotatably installed in each of the two slide grooves. The two screws 202 are threadedly connected to the corresponding lifting plates 2. Two adjusting motors 201 are fixedly installed on the top side of the mobile vehicle body 1. The output shafts of the two adjusting motors 201 are axially fixedly connected to the corresponding screws 202, which can adjust the height of the lifting plates 2 as needed.

[0040] Two mounting bases 22 are fixedly installed on the free ends of the corresponding multi-degree-of-freedom robotic arms 21, and two connecting bases 31 are fixedly installed on the two shearing parts 3. The two connecting bases 31 are connected to the corresponding mounting bases 22 by bolts, which facilitates the disassembly and assembly of the shearing parts 3.

[0041] A rotating ring 42 is rotatably mounted on the mounting base 22. Two parallel support rods 41 are hinged to the rotating ring 42. The same fixed rod is radially fixed on the two support rods 41. The fixed rod is rotatably mounted on the hanging basket 4. When the multi-degree-of-freedom robotic arm 21 controls the movement of the mounting base 22, the top opening of the hanging basket 4 can always be kept in an upward state. This not only effectively receives the Evodia rutaecarpa fruit cut by the shearing part 3, but also prevents the Evodia rutaecarpa fruit in the hanging basket 4 from spilling during the movement of the multi-degree-of-freedom robotic arm 21.

[0042] A rotating ring 51 is rotatably mounted on the mounting base 22. The identification camera 5 is fixedly mounted on the rotating ring 51 and is set towards the shearing part 3. A counterweight 52 with a weight greater than that of the identification camera 5 is fixedly mounted on the rotating ring 51 at a position symmetrical to the identification camera 5. This ensures that the identification camera 5 can always be controlled to be located on the side of the mounting base 22 away from the hanging basket 4 when the mounting base 22 is in a non-vertical state during movement.

[0043] The top of each of the two storage boxes 6 is fixedly installed with a support base 7. The top side of each of the two support bases 7 is cylindrical. The bottom side of each of the two hanging baskets 4 is provided with a groove that matches the top of the support base 7. After the hanging basket 4 is locked onto the support base 7 through the groove, the multi-degree-of-freedom robotic arm 21 can be used to control the hanging basket 4 to tilt towards the moving vehicle 1, thereby facilitating the auxiliary flipping and unloading action of the hanging basket 4.

[0044] The control panel 8 is mounted on the mobile vehicle body 1, and the adjustment motor 201, the recognition camera 5, the shearing part 3 and the multi-degree-of-freedom robotic arm 21 are all controlled through the control panel 8.

[0045] Specifically, in order to facilitate the collection of Evodia rutaecarpa fruits inside the storage box 6, and to facilitate the quick removal of the harvested Evodia rutaecarpa fruits from the storage box 6, an installation opening is provided on the front side of the storage box 6. A storage box 61 with an open top is slidably installed inside the storage box 6, and the front side of the storage box 61 extends into the installation opening and is fixedly installed with a handle.

[0046] Specifically, in order to provide a cushioning effect when the Evodia rutaecarpa fruit in the hanging basket 4 is poured into the storage box 6, and to provide a guiding effect for the Evodia rutaecarpa fruit, and to prevent the Evodia rutaecarpa fruit from being damaged when it hits the semi-rigid rod 601, the top of the storage box 6 is set open, and multiple semi-rigid rods 601 are fixedly installed on the inner wall of the side of the storage box 6 away from the mobile vehicle body 1. The ends of the multiple semi-rigid rods 601 facing the mobile vehicle body 1 are all inclined downwards, and the multiple semi-rigid rods 601 located in the same storage box 6 are arranged parallel to each other. The material of the semi-rigid rods 601 is silicone.

[0047] The circuits, electronic components, and modular mechanisms involved, as well as the control of the motor, recognition camera, shearing unit, and multi-degree-of-freedom robotic arm via the control panel, all employ existing technologies that can be fully implemented by those skilled in the art, and need no further explanation. The content protected by this application does not involve any improvement to the software, circuits, or methods.

[0048] Working principle: When the power is turned on and the control panel 8 is activated, the control panel 8 controls the operation of the adjustment motor 201. The output shaft of the adjustment motor 201 drives the lead screw 202 to rotate. The lead screw 202 drives the lifting plate 2 to slide up and down along the guide rod 203, thereby adjusting the height of the multi-degree-of-freedom robotic arm 21. The multi-degree-of-freedom robotic arm 21 moves to the target position according to the preset program or real-time operation instructions. At the same time, the recognition camera 5 is used to accurately locate the Evodia rutaecarpa fruit.

[0049] Subsequently, the control panel 8 sends a signal to control the shearing part 3 to operate. The shearing part 3 completes the shearing of the Evodia fruit through the cooperation of the connecting seat 31 and the mounting seat 22. Since the hanging basket 4 always keeps its top opening facing upward and located below the shearing part 3 under the action of the support rod 41, the rotating ring 42 and the fixing rod, the sheared fruit can fall directly into the hanging basket 4, ensuring that the fruit will not spill.

[0050] Once the basket 4 is full, the multi-degree-of-freedom robotic arm 21 moves it above the support base 7. The groove on the bottom side of the basket 4 fits into the top of the support base 7. Then, the multi-degree-of-freedom robotic arm 21 controls the basket 4 to tilt towards the moving vehicle 1, thereby cooperating to complete the unloading action. The fruit falls into the storage box 61 through the top opening of the storage box 6. The semi-rigid rod 601 provides cushioning and guidance during the falling of the fruit, and its silicone material effectively prevents the fruit from being damaged.

[0051] After the operation is completed, pull the handle to take out the storage box 61 from the installation port, quickly collect the harvested Evodia rutaecarpa fruits. The whole harvesting process is efficient and convenient, significantly reducing manual intervention, improving harvesting efficiency and ensuring the integrity of the fruits.

[0052] The above provides a detailed description of the Evodia rutaecarpa harvesting machine provided by this utility model. Specific embodiments have been used to illustrate the principle and implementation of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core idea of ​​this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principle of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A harvester for Evodia rutaecarpa, characterized in that, It includes a mobile vehicle body (1), two storage boxes (6), two lifting plates (2), a lifting adjustment assembly, two multi-degree-of-freedom robotic arms (21), two mounting bases (22), two shearing parts (3), two adaptive adjustment assembly one, two adaptive adjustment assembly two, two recognition cameras (5), two hanging baskets (4), a control panel (8), and an auxiliary flipping assembly; The storage box (6) is fixedly installed on both sides of the mobile vehicle body (1). The mobile vehicle body (1) has a sliding groove on both sides. The two lifting plates (2) are slidably installed in the corresponding sliding grooves. The lifting adjustment component is set in the two sliding grooves and connected to the two lifting plates (2). The two multi-degree-of-freedom robotic arms (21) are respectively set on the corresponding lifting plates (2). The two mounting seats (22) are respectively fixedly installed on the free ends of the corresponding multi-degree-of-freedom robotic arms (21). The two shearing parts (3) are respectively detachably installed on the corresponding mounting seats (22). The two adaptive adjustment components one and two adaptive adjustment components two are respectively set on the corresponding mounting seats (22). The two hanging baskets (4) and the two recognition cameras (5) are respectively set on the corresponding adaptive adjustment components one and adaptive adjustment components two. The auxiliary flipping component is set on the two storage boxes (6). The control panel (8) is set on the mobile vehicle body (1).

2. The Evodia rutaecarpa harvester according to claim 1, characterized in that: The lifting and adjusting assembly includes two adjusting motors (201), two lead screws (202), and four guide rods (203). Two guide rods (203) are fixedly installed in each of the two sliding grooves. The two lifting plates (2) are slidably connected to the corresponding two guide rods (203). Lead screws (202) are rotatably installed in each of the two sliding grooves. The two lead screws (202) are threadedly connected to the corresponding lifting plates (2). Two adjusting motors (201) are fixedly installed on the top side of the moving vehicle body (1). The output shafts of the two adjusting motors (201) are axially fixedly connected to the corresponding lead screws (202).

3. The Evodia rutaecarpa harvester according to claim 1, characterized in that: The adaptive adjustment component includes a rotating ring (42), a fixed rod, and two support rods (41). The rotating ring (42) is rotatably mounted on the mounting base (22). Two support rods (41) are hinged on the rotating ring (42) and are arranged in parallel to each other. The same fixed rod is radially fixed on the two support rods (41). The fixed rod is rotatably mounted on the hanging basket (4).

4. The Evodia rutaecarpa harvester according to claim 1, characterized in that: The adaptive adjustment component two includes a rotating ring two (51) and a counterweight (52). The rotating ring two (51) is rotatably mounted on the mounting base (22). The recognition camera (5) is fixedly mounted on the rotating ring two (51) and is set towards the shearing part (3). A counterweight (52) with a weight greater than that of the recognition camera (5) is fixedly mounted on the rotating ring two (51) at a position symmetrical to that of the recognition camera (5).

5. The Evodia rutaecarpa harvester according to claim 1, characterized in that: The storage box (6) has an installation opening on the front side. A storage box (61) with an open top is slidably installed inside the storage box (6), and the front side of the storage box (61) extends into the installation opening and is fixedly installed with a handle.

6. The Evodia rutaecarpa harvester according to claim 1, characterized in that: The auxiliary flipping assembly includes two support bases (7). The top of each of the two storage boxes (6) is fixedly installed with a support base (7). The top side of each of the two support bases (7) is cylindrical. The bottom side of each of the two hanging baskets (4) is provided with a groove that matches the top of the support base (7).

7. The Evodia rutaecarpa harvester according to claim 1, characterized in that: The top of the storage box (6) is open, and multiple semi-rigid rods (601) are fixedly installed on the inner wall of the storage box (6) away from the mobile vehicle body (1).

8. The Evodia rutaecarpa harvester according to claim 7, characterized in that: Multiple semi-rigid rods (601) are inclined downward toward one end of the moving vehicle body (1), and multiple semi-rigid rods (601) located in the same storage box (6) are arranged in parallel to each other.

9. The Evodia rutaecarpa harvester according to claim 7, characterized in that: The semi-rigid rod (601) is made of silicone.

10. A harvester for Evodia rutaecarpa according to claim 1, characterized in that: A connecting seat (31) is fixedly installed on the shearing part (3), and the connecting seat (31) is connected to the mounting seat (22) by bolts.

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