Passion fruit harvesting robot

Abstract

This utility model discloses a passion fruit harvesting robot, including a vehicle body with legs fixedly mounted on all four sides of its outer surface. A mounting frame is fixedly mounted at the lower end of each leg. A first servo motor is fixedly mounted on the inner center of the mounting frame via a mounting base. A drive wheel is movably mounted on the output shaft of the first servo motor via a coupling. A harvesting mechanism for picking the fruit is mounted on the upper end of the vehicle body. The harvesting mechanism includes a multi-axis robotic arm, a functional compartment, a first gripper assembly, and a second gripper assembly. The multi-axis robotic arm is mounted on one side of the upper end of the vehicle body, and a functional compartment is fixedly mounted on one end of the multi-axis robotic arm. This utility model has good performance. The material receiving mechanism at the lower end of the robotic arm reduces the reciprocating steps of the robotic arm, allowing it to release the passion fruit directly after harvesting, thus greatly improving the harvesting efficiency of this device.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a passion fruit harvesting robotic arm. Background Technology

[0002] In existing passion fruit harvesting technologies, there are two main types: manual harvesting and mechanized intelligent harvesting. Passion fruit harvesting machinery is mainly used for harvesting passion fruit. It can effectively reduce the difficulty and workload of manual harvesting of passion fruit, improve harvesting efficiency, and at the same time avoid the damage that manual harvesting may cause to the fruit.

[0003] In existing technologies, such harvesting robotic arms typically require the following steps: the robotic arm needs to harvest once, place the fruit into a storage box, and then harvest again. This results in low overall work efficiency. Therefore, an improved passion fruit harvesting robotic arm is needed to address this issue. Utility Model Content

[0004] The purpose of this invention is to provide a passion fruit harvesting robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a passion fruit harvesting robot, comprising a vehicle body, with legs fixedly mounted on all four sides of the outer surface of the vehicle body; a mounting frame fixedly mounted at the lower end of each leg; a first servo motor fixedly mounted on the inner center of the mounting frame via a mounting seat; a drive wheel movably mounted on the output shaft of the first servo motor via a coupling; and a harvesting mechanism for harvesting fruit mounted on the upper end of the vehicle body, the harvesting mechanism comprising a multi-axis robotic arm, a functional compartment, a first gripper assembly, and a second gripper assembly. A multi-axis robotic arm is provided on one side of the upper part of the body. A functional compartment is fixedly provided at one end of the multi-axis robotic arm. A first gripper assembly is movably provided on one side of the surface of the functional compartment via a rotating shaft. A second gripper assembly is provided on one side of the surface of the functional compartment via a rotating shaft. A material receiving mechanism is provided at the lower end of the functional compartment. The material receiving mechanism includes a connecting rod, a material receiving frame, and an elastic hose. A connecting rod is movably provided on one side of the lower end of the functional compartment via a rotating shaft. A material receiving frame is fixedly provided at one end of the connecting rod. An elastic hose is fixedly provided in the middle of the lower end of the material receiving frame.

[0006] Preferably, a second servo motor is provided inside the functional compartment. The power output shaft of the second servo motor is connected to the power input shaft of the first gripper assembly. The second servo motor can drive the first gripper assembly and the second gripper assembly to close or open with each other to harvest the fruit.

[0007] Preferably, a third servo motor is fixedly installed on the lower surface of the functional compartment. The power output shaft of the third servo motor is connected to the rotating shaft where the connecting rod is located. The third servo motor can drive the connecting rod to flip downward, thereby allowing the receiving frame to rotate and fold downward. At some picking angles, this can not obstruct the clamping and picking work of the first gripper assembly and the second gripper assembly.

[0008] Preferably, the upper part of the vehicle body is provided with a fixing groove, and a storage frame is movably engaged inside the fixing groove. The storage frame can be used to conveniently collect the fruits picked by the device, and the storage frame can be removed and replaced at any time.

[0009] Preferably, a bracket is fixedly provided on one side of the surface of the fixing groove, and the upper end of the bracket is fixedly connected to the elastic hose. The other end of the elastic hose is fixed by the bracket so that the fruit that slides down through the elastic hose can accurately slide into the storage box.

[0010] Compared with the prior art, the beneficial effects of this utility model are:

[0011] 1. With this invention, the harvested fruit does not require a multi-axis robotic arm to rotate and place it into the storage box. Instead, the fruit is simply relaxed and falls into the receiving box. The fruit can then slide down into the storage box under the guidance of the receiving box and the elastic hose. This reduces the reciprocating steps of the robotic arm, allowing the robotic arm to release the passion fruit directly after harvesting it, thus greatly improving the harvesting efficiency of this device.

[0012] 2. This utility model can drive the connecting rod to flip downwards via a third servo motor, thereby allowing the receiving frame to rotate and fold downwards. At certain picking angles, this does not obstruct the clamping and picking work of the first gripper assembly and the second gripper assembly, thus further improving the effectiveness of this device. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the passion fruit harvesting robot of this utility model;

[0014] Figure 2 This is a side view of the passion fruit harvesting robot of this utility model;

[0015] Figure 3 This is a bottom view of the passion fruit harvesting robot of this utility model;

[0016] Figure 4 This is a view showing the installation position of the second servo motor in the passion fruit harvesting robot of this utility model.

[0017] In the diagram: 1. Vehicle body; 2. Support legs; 3. Mounting frame; 4. First servo motor; 5. Drive wheel; 6. Multi-axis robotic arm; 7. Functional compartment; 8. First gripper assembly; 9. Second gripper assembly; 10. Connecting rod; 11. Receiving frame; 12. Flexible hose; 13. Second servo motor; 14. Third servo motor; 15. Fixing slot; 16. Storage frame; 17. Bracket. Detailed Implementation

[0018] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Please see Figure 1-4 This utility model provides a technical solution: a passion fruit harvesting robot, including a vehicle body 1, with legs 2 fixedly installed around the outer surface of the vehicle body 1; a mounting frame 3 is fixedly installed at the lower end of each leg 2; a first servo motor 4 is fixedly installed in the middle of the inner side of the mounting frame 3 via a mounting base, and a drive wheel 5 is movably installed at the output shaft end of the first servo motor 4 via a coupling; a harvesting mechanism for harvesting fruit is installed at the upper end of the vehicle body 1, the harvesting mechanism including a multi-axis robotic arm 6, a functional compartment 7, a first gripper assembly 8, and a second gripper assembly 9; and multiple... A multi-axis robotic arm 6 has a functional compartment 7 fixedly mounted at one end. A first gripper assembly 8 is movably mounted on one side of the surface of the functional compartment 7 via a rotating shaft. A second gripper assembly 9 is mounted on one side of the surface of the functional compartment 7 via a rotating shaft. A material receiving mechanism is provided at the lower end of the functional compartment 7. The material receiving mechanism includes a connecting rod 10, a material receiving frame 11, and an elastic hose 12. The connecting rod 10 is movably mounted on one side of the lower end of the functional compartment 7 via a rotating shaft. A material receiving frame 11 is fixedly mounted at one end of the connecting rod 10. An elastic hose 12 is fixedly mounted at the lower middle part of the material receiving frame 11.

[0020] The functional compartment 7 is equipped with a second servo motor 13. The power output shaft of the second servo motor 13 is connected to the power input shaft of the first gripper assembly 8. The second servo motor 13 can drive the first gripper assembly 8 and the second gripper assembly 9 to close or open with each other to pick the fruit.

[0021] The lower surface of the functional compartment 7 is fixedly provided with a third servo motor 14. The power output shaft of the third servo motor 14 is connected to the rotating shaft where the connecting rod 10 is located. The third servo motor 14 can drive the connecting rod 10 to flip downward, thereby allowing the receiving frame 11 to rotate and fold downward. At some picking angles, it can not hinder the clamping and picking work of the first gripper assembly 8 and the second gripper assembly 9.

[0022] The upper end of the vehicle body 1 is provided with a fixing groove 15, and a storage frame 16 is movably engaged inside the fixing groove 15. The storage frame 16 can be used to conveniently collect the fruits picked by the device, and the storage frame 16 can be removed and replaced at any time.

[0023] A bracket 17 is fixedly installed on one side of the surface of the fixing groove 15. The upper end of the bracket 17 is fixedly connected to the elastic hose 12. The other end of the elastic hose 12 is fixed by the bracket 17 so that the fruit that slides down through the elastic hose 12 can accurately slide into the storage frame 16.

[0024] Working principle: When using this device, the second servo motor 13 can drive the first gripper assembly 8 and the second gripper assembly 9 to close or open with each other to pick the fruit. After picking, the fruit does not need to be placed into the storage box by the multi-axis robotic arm 6. It can be directly released to let the fruit fall into the receiving box 11. Then, the fruit can slide into the storage box under the guidance of the receiving box 11 and the elastic hose 12. This can reduce the back-and-forth steps of the robotic arm, so that the robotic arm can release the passion fruit directly after picking it. This can greatly improve the picking efficiency of this device.

[0025] Furthermore, when this device is in use, the third servo motor 14 can drive the connecting rod 10 to flip downwards, thereby allowing the receiving frame 11 to rotate and fold downwards. At certain picking angles, this will not obstruct the clamping and picking work of the first gripper assembly 8 and the second gripper assembly 9, thus further improving the effectiveness of this device.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A passion fruit harvesting robot, comprising a vehicle body (1), characterized in that: The outer surface of the vehicle body (1) is fixedly provided with support legs (2) on all four sides; the lower end of the support legs (2) is fixedly provided with a mounting bracket (3); the middle of the inner side of the mounting bracket (3) is fixedly provided with a first servo motor (4) through a mounting seat, and the output shaft end of the first servo motor (4) is movably provided with a drive wheel (5) through a coupling. The upper end of the vehicle body (1) is provided with a picking mechanism for picking fruits. The picking mechanism includes a multi-axis robotic arm (6), a functional compartment (7), a first gripper assembly (8), and a second gripper assembly (9). The upper side of the vehicle body (1) is provided with a multi-axis robotic arm (6). A functional compartment (7) is fixedly provided at one end. A first gripper assembly (8) is movably provided on one side of the surface of the functional compartment (7) via a rotating shaft. A second gripper assembly (9) is provided on one side of the surface of the functional compartment (7) via a rotating shaft. A receiving mechanism is provided at the lower end of the functional compartment (7). The receiving mechanism includes a connecting rod (10), a receiving frame (11), and an elastic hose (12). A connecting rod (10) is movably provided on one side of the lower end of the functional compartment (7) via a rotating shaft. A receiving frame (11) is fixedly provided at one end of the connecting rod (10). An elastic hose (12) is fixedly provided at the middle of the lower end of the receiving frame (11).

2. The passion fruit harvesting robot according to claim 1, characterized in that: The functional compartment (7) is equipped with a second servo motor (13), and the power output shaft of the second servo motor (13) is connected to the power input shaft of the first gripper assembly (8).

3. The passion fruit harvesting robot according to claim 1, characterized in that: The lower surface of the functional compartment (7) is fixedly provided with a third servo motor (14), and the power output shaft of the third servo motor (14) is connected to the rotating shaft where the connecting rod (10) is located.

4. The passion fruit harvesting robot according to claim 1, characterized in that: The upper end of the vehicle body (1) is provided with a fixing groove (15), and a storage frame (16) is movably engaged inside the fixing groove (15).

5. The passion fruit harvesting robot according to claim 4, characterized in that: A bracket (17) is fixedly installed on one side of the surface of the fixing groove (15), and the upper end of the bracket (17) is fixedly connected to the elastic hose (12).

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