A fruit and vegetable picking robot

Abstract

The utility model discloses a kind of fruit and vegetable picking robots, including vehicle body, the picking arm for picking fruit and vegetable is arranged on vehicle body, the tail end of vehicle body is provided with recess, vehicle body is fixedly connected with the fruit and vegetable bearing mechanism matched with recess, fruit and vegetable bearing mechanism includes a pair of vertical connecting columns, a pair of vertical connecting columns are fixedly connected in the two sides of recess, vertical connecting column is slidably connected with the support arm for supporting storage frame on, support arm is slidably connected on vertical connecting column, one end surface of vertical connecting column is provided with T-shaped limit slot, vertical connecting column is slidably connected with the slider matched with T-shaped limit slot. Compared with prior art, a kind of fruit and vegetable picking robots of the utility model, it can be convenient to take down the frame of full load fruit and vegetable, reduce the human input in the process of taking down fruit and vegetable frame, reduce labor cost, a person can also operate, not easy to cause delay due to few people, it is favorable to improve the picking efficiency of fruit and vegetable picking robot.

Description

Technical Field

[0001] This utility model belongs to the field of harvesting equipment technology, specifically relating to a fruit and vegetable harvesting robot. Background Technology

[0002] With the rapid development of agricultural technology, fruit and vegetable harvesting robots have become increasingly important in the field of agricultural machinery. Most existing harvesting robots still rely on manual labor for unloading, especially when the fruit and vegetables are heavily loaded, requiring multiple workers to move the crates. When harvesting large quantities of fruit and vegetables at once, two or more people are responsible for unloading one harvesting robot, leading to increased labor costs. Insufficient manpower can easily cause delays, thus reducing the harvesting efficiency of the robots.

[0003] 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

[0004] The purpose of this utility model is to provide a fruit and vegetable harvesting robot that can solve the technical problems mentioned in the background art.

[0005] To achieve the above objectives, the technical solution provided by a specific embodiment of this utility model is as follows:

[0006] A fruit and vegetable harvesting robot includes a vehicle body with a harvesting arm for harvesting fruits and vegetables. A groove is provided at the rear end of the vehicle body. A fruit and vegetable carrying mechanism that matches the groove is fixedly connected to the vehicle body. The fruit and vegetable carrying mechanism includes a pair of vertical connecting columns, which are fixedly connected to both sides of the groove. A support arm for supporting a storage frame is slidably connected to the vertical connecting columns, and the support arm is slidably connected to the vertical connecting columns.

[0007] In one or more embodiments of this utility model, a T-shaped limiting groove is provided on one end face of the vertical connecting column, a slider matching the T-shaped limiting groove is slidably connected on the vertical connecting column, the slider and the support arm are integrally formed, a sliding groove matching the T-shaped limiting groove is provided on the opposite surfaces of the pair of vertical connecting columns, and a second transverse connecting rod is fixedly connected between the pair of sliders.

[0008] In one or more embodiments of this utility model, a bearing is fixedly connected to the middle of the second transverse connecting rod, and a first transverse connecting rod is fixedly connected between a pair of vertical connecting columns. The first transverse connecting rod has a threaded hole that matches the bearing, and a threaded rod that matches the threaded hole is threadedly connected to the first transverse connecting rod. One end of the threaded rod passes through the bearing, and a limiting protrusion is fixedly connected to the end of the threaded rod near the bearing. A handwheel is fixedly connected to the end of the threaded rod away from the limiting protrusion.

[0009] In one or more embodiments of this utility model, a U-shaped component is fixedly connected to one of the support arms, a cylindrical shaft is fixedly connected to the U-shaped component, a connecting plate is rotatably connected to the cylindrical shaft, and a baffle is fixedly connected to the connecting plate.

[0010] In one or more embodiments of this utility model, a plug is fixedly connected to one end of the baffle away from the connecting plate, a first slot matching the plug is opened on the other support arm, a second through hole is opened on the plug, a second slot matching the second through hole is opened on the support arm, and a pin matching the second through hole is inserted into the support arm.

[0011] In one or more embodiments of this utility model, the upper end of the storage frame is fixedly connected with a protruding edge, the baffle is provided with a second bearing groove that matches the protruding edge, and the support arm is provided with a first bearing groove that matches the protruding edge.

[0012] In one or more embodiments of this utility model, a protruding edge is fixedly connected to the upper end of the storage frame, and a second bearing groove matching the protruding edge is provided on the baffle.

[0013] In one or more embodiments of this utility model, the lower end of the storage frame is fixedly connected with casters.

[0014] In one or more embodiments of this utility model, a control box is further included, which is fixedly connected to the vehicle body and is used to control the harvesting arm.

[0015] In one or more embodiments of this utility model, a camera that matches the harvesting arm is fixedly connected to the vehicle body.

[0016] Compared with existing technologies, the fruit and vegetable harvesting robot of this utility model can easily remove the baskets full of fruits and vegetables, reduce the human input in the process of removing the baskets, reduce labor costs, and can be operated by one person. It is not easy to cause delays due to a lack of manpower, which helps to improve the harvesting efficiency of the fruit and vegetable harvesting robot. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a fruit and vegetable harvesting robot according to one embodiment of the present invention. Figure 1 ;

[0019] Figure 2 This is a schematic diagram of the structure of a fruit and vegetable harvesting robot according to one embodiment of the present invention. Figure 2 ;

[0020] Figure 3 for Figure 2 Schematic diagram of the structure at point A in the middle;

[0021] Figure 4 This is an exploded view of a fruit and vegetable harvesting robot according to one embodiment of the present invention;

[0022] Figure 5 for Figure 4 Schematic diagram of the structure at point B.

[0023] Explanation of key figure labels:

[0024] 1. Vehicle body; 101. Groove; 2. Control box; 3. Camera; 4. Harvesting arm; 5. Fruit and vegetable carrying mechanism; 6. Vertical connecting column; 601. T-shaped limiting groove; 602. Slide groove; 7. First transverse connecting rod; 701. Threaded hole; 8. Slider; 9. Support arm; 901. First carrying groove; 902. First slot; 903. Second slot; 10. Second transverse connecting rod; 11. Bearing; 12. Threaded rod; 1201. Limiting protrusion; 13. Handwheel; 14. Baffle; 1401. Second carrying groove; 15. U-shaped part; 16. Cylindrical shaft; 17. Connecting plate; 18. First through hole; 19. Pin; 20. Insert block; 2001. Second through hole; 21. Storage frame; 2101. Protruding edge; 22. Universal wheel. Detailed Implementation

[0025] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0026] like Figure 1 As shown, a fruit and vegetable harvesting robot according to one embodiment of this utility model includes a vehicle body 1, on which a harvesting arm 4 for harvesting fruits and vegetables is installed, with the harvesting arm 4 located near the middle of the vehicle body 1. A control box 2 and a camera 3 are also fixedly connected to one side of the vehicle body 1. The camera 3 is used to collect environmental information and transmit the collected information to the control box 2. The control box 2 analyzes the collected environmental information, obtains results, and issues harvesting instructions based on the results. The control box 2 transmits the harvesting instructions to the harvesting arm 4, which then performs the harvesting action.

[0027] like Figure 1 As shown, a groove 101 is provided at the rear end of the vehicle body 1, that is, the groove 101 is located at the end of the vehicle body 1 away from the control box 2. A fruit and vegetable carrying mechanism 5 that matches the groove 101 is fixedly connected to the vehicle body 1. The fruit and vegetable carrying mechanism 5 can carry the storage frame 21, and the fruit and vegetable carrying mechanism 5 can raise and lower the storage frame 21. A universal wheel 22 is also fixedly connected to the lower end of the storage frame 21. When the fruit and vegetable carrying mechanism 5 descends, the universal wheel 22 contacts the ground, and then the universal wheel 22 is separated from the fruit and vegetable carrying mechanism 5, so that the fruits and vegetables can be unloaded from the fruit and vegetable picking robot. When the fruit and vegetable carrying mechanism 5 rises, the universal wheel 22 loses contact with the ground, and the fruit and vegetable picking robot moves with the universal wheel 22.

[0028] like Figures 1-2 As shown, the vertical connecting column 6 includes a pair of vertical connecting columns 6, which are fixedly connected to both sides of the groove 101. The outer walls of the vertical connecting columns 6 are in contact with the side walls and bottom wall of the groove 101, respectively, and are fixed by welding. A T-shaped limiting groove 601 is provided on the end face of the vertical connecting column 6 away from the control box 2. A slider 8 that matches the T-shaped limiting groove 601 is slidably connected to the vertical connecting column 6. The slider 8 is I-shaped, and a support arm 9 is fixedly connected to the slider 8. The support arm 9 is used to support the storage frame 21. The support arm 9 is slidably connected to the T-shaped limiting groove 601 through the slider 8.

[0029] like Figures 1-2As shown, each of the two vertical connecting columns 6 has a sliding groove 602 that matches the T-shaped limiting groove 601 on its opposite surface. A second horizontal connecting rod 10 that matches the sliding groove 602 is fixedly connected between the two sliders 8. The sliders 8 can be moved up and down by moving the second horizontal connecting rod 10.

[0030] like Figures 1-2 As shown, a bearing 11 is fixedly connected to the middle of the second transverse connecting rod 10, and a first transverse connecting rod 7 is fixedly connected between a pair of vertical connecting columns 6. The first transverse connecting rod 7 has a threaded hole 701 that matches the bearing 11. A threaded rod 12 that matches the threaded hole 701 is threadedly connected to the first transverse connecting rod 7. One end of the threaded rod 12 passes through the bearing 11. A limiting protrusion 1201 is fixedly connected to the end of the threaded rod 12 near the bearing 11, and a handwheel 13 is fixedly connected to the end of the threaded rod 12 away from the limiting protrusion 1201. When the handwheel 13 is rotated, the threaded hole 701 is threadedly connected to the threaded rod 12, and the bearing 11 is rotatably connected to the threaded rod 12, so as to move the second transverse connecting rod 10 up and down, forcing the second transverse connecting rod 10 to slide up and down in the slide groove 602. The second transverse connecting rod 10 carries the slider 8 and the support arm 9 to slide up and down.

[0031] When the second horizontal connecting rod 10 descends to a certain extent, the storage frame 21 contacts the ground. In this state, only one person is needed to move the storage frame 21 to the end away from the control box 2. There is no need for manual lifting of the storage frame 21, thus saving manpower. It can be operated by one person and is relatively convenient.

[0032] like Figures 1-5 As shown, a U-shaped component 15 is fixedly connected to one of the support arms 9, and a cylindrical shaft 16 is fixedly connected to the U-shaped component 15. The connecting plate 17 is rotatably connected to the cylindrical shaft 16 through the first through hole 18. A baffle 14 is fixedly connected to the connecting plate 17. The baffle 14 can block the opening formed between the two support arms 9, so that the storage frame 21 is not easily dropped when the fruit and vegetable picking robot moves, thus limiting the position of the storage frame 21.

[0033] like Figures 1-4As shown, a plug 20 is fixedly connected to one end of the baffle 14 away from the connecting plate 17. A first slot 902 matching the plug 20 is provided on the other support arm 9. A second through hole 2001 is provided on the plug 20. A second slot 903 matching the second through hole 2001 is provided on the support arm 9. A pin 19 matching the second through hole 2001 is inserted into the support arm 9. That is, when both ends of the baffle 14 are in contact with the pin 19, the plug 20 is inserted into the first bearing groove 901. The pin 19 locks the plug 20 and the support arm 9, thus limiting the position of the baffle 14. In this state, even if an outward pulling force is applied to the storage frame 21, the storage frame 21 will not detach from the support arm 9.

[0034] like Figures 1-3 As shown, a raised edge 2101 is fixedly connected to the upper end of the storage frame 21. A second bearing groove 1401 matching the raised edge 2101 is provided on the baffle 14, and a first bearing groove 901 matching the raised edge 2101 is provided on the support arm 9. Through the cooperation of the second bearing groove 1401, the first bearing groove 901 and the raised edge 2101, the storage frame 21 can be placed on the support arm 9 and the baffle 14, and is not easy to fall off.

[0035] Specifically, such as Figures 1-3 As shown, the lower end of the storage box 21 is fixedly connected to a caster wheel 22. When the support arm 9 descends to a certain extent, the caster wheel 22 contacts the ground, and the person can manually pull the storage box 21 outward, saving the effort of taking out fruits and vegetables and making the operation convenient.

[0036] When using the fruit and vegetable harvesting robot, the baffle 14 needs to be opened first, and the protruding edge 2101 on the storage frame 21 needs to be placed on the first bearing groove 901. Then, the baffle 14 needs to be rotated so that the insert 20 is inserted into the first slot 902, and the support arm 9 and the baffle 14 are locked by the pin 19. Then, the handwheel 13 is rotated, and the threaded rod 12 moves upward along with the threaded hole 701. The second transverse connecting rod 10 moves upward along with the slider 8, and the slider 8 moves upward along with the support arm 9, forcing the lower end of the storage frame 21 to lose contact with the ground. In this state, the storage frame 21 is completely carried by the vehicle body 1.

[0037] When the storage box 21 is full, first turn the handwheel 13. The handwheel 13 engages with the threaded hole 701, causing the second transverse connecting rod 10 to move downwards. The second transverse connecting rod 10 then moves the slider 8 downwards, which in turn moves the support arm 9 and the storage box 21 downwards until the caster wheel 22 contacts the ground. Then, turn the handwheel 13 again to force the support arm 9 downwards a short distance, causing the protrusion 2101 to lose contact with the first bearing groove 901. Then, remove the pin 19, rotate the baffle 14, and pull the storage box 21 outwards.

[0038] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0039] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A fruit and vegetable picking robot comprising a vehicle body on which a picking arm for picking fruit and vegetables is provided, characterized in that, The rear end of the vehicle body has a groove, and a fruit and vegetable carrying mechanism that matches the groove is fixedly connected to the vehicle body. The fruit and vegetable carrying mechanism includes: A pair of vertical connecting columns are fixedly connected to both sides of the groove. Support arms for supporting the storage frame are slidably connected to the vertical connecting columns. The support arms are slidably connected to the vertical connecting columns.

2. The fruit and vegetable picking robot according to claim 1, characterized in that, A T-shaped limiting groove is provided on one end face of the vertical connecting column, and a slider that matches the T-shaped limiting groove is slidably connected to the vertical connecting column. The slider and the support arm are integrally formed. The opposing surfaces of the pair of vertical connecting columns are provided with sliding grooves that match the T-shaped limiting grooves, and a second transverse connecting rod is fixedly connected between the pair of sliders.

3. The fruit and vegetable harvesting robot according to claim 2, characterized in that, A bearing is fixedly connected to the middle of the second transverse connecting rod. A first transverse connecting rod is fixedly connected between a pair of vertical connecting columns. A threaded hole matching the bearing is opened on the first transverse connecting rod. A threaded rod matching the threaded hole is threadedly connected to the first transverse connecting rod. One end of the threaded rod passes through the bearing. A limiting protrusion is fixedly connected to the end of the threaded rod near the bearing. A handwheel is fixedly connected to the end of the threaded rod away from the limiting protrusion.

4. The fruit and vegetable picking robot according to claim 1, characterized in that, One of the support arms is fixedly connected to a U-shaped component, a cylindrical shaft is fixedly connected to the U-shaped component, a connecting plate is rotatably connected to the cylindrical shaft, and a baffle is fixedly connected to the connecting plate.

5. A fruit and vegetable harvesting robot according to claim 4, characterized in that, The end of the baffle away from the connecting plate is fixedly connected to a plug block, and the other support arm is provided with a first slot that matches the plug block. The plug block is provided with a second through hole, and the support arm is provided with a second slot that matches the second through hole. A pin that matches the second through hole is inserted into the support arm.

6. The fruit and vegetable picking robot according to claim 5, characterized in that, The upper end of the storage frame is fixedly connected to a protruding edge, the baffle is provided with a second bearing groove that matches the protruding edge, and the support arm is provided with a first bearing groove that matches the protruding edge.

7. The fruit and vegetable picking robot according to claim 6, characterized in that, The upper end of the storage frame is fixedly connected to a protruding edge, and a second bearing groove matching the protruding edge is provided on the baffle.

8. The fruit and vegetable picking robot according to claim 1, characterized in that, The lower end of the storage frame is fixedly connected to casters.

9. A fruit and vegetable harvesting robot according to claim 1, characterized in that, It also includes a control box, which is fixedly connected to the vehicle body and is used to control the harvesting arm.

10. A fruit and vegetable harvesting robot according to claim 9, characterized in that, A camera that matches the harvesting arm is fixedly connected to the vehicle body.

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