Fruit picking robot arm for agricultural robots

Abstract

The utility model discloses a kind of fruit picking mechanical arms of agricultural robots, it is related to fruit picking technical field, including chassis, support column, support platform, the chassis top end is uniformly fixed with support column, and support column top end is fixed with support platform;The support platform bottom end is connected with rotating electrical machine, and the output shaft end of rotating electrical machine is connected with rotating shaft, and the rotating shaft one end is fixed with rotating table, and the rotating table top end both sides are connected with vertical plate, and the vertical plate one side is connected with power motor.The utility model is close to each other by two electric clamping jaws, agricultural fruit is picked, and two clamping rollers are contacted with fruit in picking process, wherein, the fruit picking frame connected with clamping roller one side is supported using support spring, the flexible grip of fruit is realized, instead of traditional rigid picking grip, the damage to fruit is reduced, the quality of fruit is effectively guaranteed, and fruit damage rate is reduced.

Description

Technical Field

[0001] This utility model relates to the field of fruit picking technology, and in particular to a fruit picking robotic arm for agricultural robots. Background Technology

[0002] Global agriculture is facing a severe structural labor shortage. Taking Japan as an example, its agricultural population has an aging rate of 68%, with a shortage of over 300,000 working-age people, directly resulting in fruit harvesting costs accounting for more than 45% of total production costs. China, as the world's largest fruit producer, still relies heavily on manual labor for harvesting, leading to low efficiency. This traditional model not only restricts the expansion of the industry but also results in an annual harvest loss rate of 8%-15% due to labor fluctuations. Against this backdrop, agricultural robotics technology has become a key path to solving the labor shortage and enhancing industry competitiveness. A fruit-harvesting robotic arm for agricultural robots, with announcement number CN221829514U, includes a base. An adjustment mechanism is located on top of the base, and a harvesting mechanism is located on top of the adjustment mechanism. The harvesting mechanism includes a mounting arm mounted on the top of the base. A fixed rod is rotatably connected to one side of the mounting arm, and a support member is fixedly connected to the surface of the fixed rod. This fruit-harvesting robotic arm for agricultural robots, through its harvesting mechanism, can automatically harvest fruit, replacing manual labor and improving harvesting efficiency. It also eliminates the safety hazard of workers climbing ladders to harvest fruit, thus eliminating the need for workers to climb ladders. The adjustment mechanism allows for adjustment of the gripper angle, enabling harvesting of fruit from different angles and improving the convenience of fruit harvesting. When using the above-mentioned existing technology, rigid grippers are used to pick fruits. The rigid grippers are made of hard material and have weak cushioning ability. When gripping, the fruit skin is easily damaged and the internal tissue is damaged due to excessive pressure or uneven distribution. In addition, the rigid gripper has a fixed structure and is difficult to adapt to fruits of different shapes and sizes, which can easily lead to unstable gripping or failure to grip. Therefore, corresponding improvements are needed. Utility Model Content

[0003] The purpose of this invention is to provide a fruit-picking robotic arm for agricultural robots, in order to solve the problem mentioned in the background art that existing fruit-picking robotic arms use rigid picking, which easily causes fruit damage and increases losses.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a fruit-picking robotic arm for agricultural robots, comprising a chassis, support columns, and a support platform, wherein support columns are uniformly fixed to the top of the chassis, and a support platform is fixed to the top of the support columns; The bottom of the support platform is connected to a rotary motor, and the output shaft of the rotary motor is connected to a rotary shaft. A rotating platform is fixed to one end of the rotary shaft. Upright plates are connected to both sides of the top of the rotating platform. A power motor is connected to one side of the upright plate, and two flipping arms are fixed to one end of the power motor. A movable arm is movably connected to one end of the flipping arm, and a rotating arm is movably connected to one end of the movable arm. A support block is connected to one end of the rotating arm, and a connecting column is movably connected to one side of the support block. A picking tray is connected to one end of the connecting column, and a fixing mechanism is provided at the bottom of the picking tray. A wire frame is connected to the bottom of the fixing mechanism, and a collecting net is connected to the bottom of the wire frame. A two-way screw module is connected to one side of the top of the picking tray, and a drive motor is connected to one side of the two-way screw module. Electric grippers are connected to both ends of the outer side of the two-way screw module, and a flexible clamping mechanism is provided on one side of each electric gripper.

[0005] Furthermore, the top of the support platform is provided with an annular limiting groove, and both sides of the bottom end of the rotating platform are connected with guide posts, which slide in the limiting groove.

[0006] Furthermore, multiple reinforcing rods are evenly connected between the flipping arms, and all the reinforcing rods are made of stainless steel.

[0007] Furthermore, the flexible clamping mechanism includes a movable plate, which is movably connected to the top of the electric gripper. One end of the movable plate is movably connected to a fruit picking frame, and both sides of the bottom end of the fruit picking frame are movably connected to clamping rollers. Two support springs are connected between the fruit picking frame and the electric gripper.

[0008] Furthermore, the fruit picking frame is V-shaped, and the clamping rollers are all made of rubber.

[0009] Furthermore, both sides of the top of the mesh frame are fixed with docking blocks, and each docking block has a locking hole at both ends on one side.

[0010] Furthermore, the fixing mechanism includes a fixing block, which is disposed on both sides of the bottom of the picking tray. A right-angle frame is connected to one side of each fixing block, and a power screw is rotatably connected inside each right-angle frame. A moving plate is threaded onto each power screw, and a pin is connected to both ends of one side of each moving plate. One end of each pin extends into the locking hole.

[0011] Compared with the prior art, the beneficial effects of this utility model are: the fruit picking robotic arm of this agricultural robot not only achieves flexible grasping of fruits to avoid accidental injury, but also has the function of fruit receiving, to prevent the fruit from falling accidentally during the picking process. Agricultural fruits are harvested by two electric grippers that come close to each other. During the harvesting process, two gripping rollers contact the fruit. The fruit harvesting frame connected to the gripping rollers is supported by a support spring on one side, which realizes flexible gripping of the fruit, replacing the traditional hard harvesting grippers, reducing damage to the fruit, effectively ensuring the quality of the fruit, and reducing the fruit damage rate. During the fruit harvesting process, a collection net is detachably connected to the bottom of the harvesting tray to prevent the fruit from falling accidentally during the harvesting process, avoid hard collisions, ensure the integrity of the fruit's appearance, and thus improve the commercial value of the fruit. By manually turning the handle, the power screw is rotated. The power screw engages with the threaded connection of the moving plate, which allows the moving plate to move horizontally and drive the insertion post to move synchronously until the insertion post disengages from the locking hole. Then, the net frame is pulled to disengage the connecting block from the fixing block, allowing for convenient assembly and disassembly of the net frame and collection net. This facilitates timely replacement in case of damage and prevents fruit from being missed. Attached Figure Description

[0012] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a partial three-dimensional structural schematic diagram of the present invention; Figure 3 For the present utility model Figure 1 Schematic diagram of the structure at point A; Figure 4 This is a three-dimensional structural diagram of the rotating platform and support platform of this utility model; Figure 5 This is a three-dimensional structural diagram of the harvesting tray and fixing mechanism of this utility model. Figure 6 This is a schematic diagram of the three-dimensional structure of the collection net of this utility model.

[0014] The reference numerals in the diagram are explained as follows: 1. Chassis; 2. Support column; 3. Support platform; 301. Limiting groove; 4. Rotary table; 401. Guide post; 5. Rotary motor; 501. Rotating shaft; 6. Vertical plate; 7. Tilting arm; 701. Reinforcing rod; 8. Power motor; 9. Movable arm; 10. Rotating arm; 11. Support block; 12. Connecting column; 13. Harvesting tray; 14. Drive motor; 15. Lead screw bidirectional module; 16. 17. Electric gripper; 1701. Flexible gripping mechanism; 1702. Movable plate; 1703. Fruit picking rack; 1704. Support spring; 1705. Gripping roller; 18. Frame; 19. Collection net; 1801. Connecting block; 1802. Locking hole; 20. Fixing mechanism; 2001. Fixing block; 2002. Right angle frame; 2003. Power screw; 2004. Moving plate; 2005. Insertion post; 2006. Rotating handle. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, 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, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0016] Please see Figures 1-6 The present invention provides the following technical solution: Example 1: To address the problem of existing technologies lacking fruit-bearing support, leading to accidental fruit drop during the grasping process, the following technical solution is disclosed. Please refer to the following for details. Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6A fruit-harvesting robotic arm for agricultural robots includes a chassis 1, support columns 2, and a support platform 3. Support columns 2 are evenly fixed to the top of the chassis 1, and the support platform 3 is fixed to the top of each support column 2. An annular limiting groove 301 is provided at the top of the support platform 3. Guide posts 401 are connected to both sides of the bottom of a rotating platform 4, and the guide posts 401 slide within the limiting groove 301. A rotary motor 5 is connected to the bottom of the support platform 3, and a rotating shaft 501 is connected to the output shaft of the rotary motor 5. The rotating platform 4 is fixed to one end of the rotating shaft 501. Vertical plates 6 are connected to both sides of the top of the rotating platform 4. A power motor 8 is connected to one side of each vertical plate 6, and the output shaft of the power motor 8 passes through two flipping arms 7. Multiple reinforcing rods 701, all made of stainless steel, are evenly connected between the flipping arms 7. A power motor 8 is movably connected to one end of each flipping arm 7, and a movable arm 9 is movably connected to one end of each movable arm 7. A rotating arm 10 is movably connected to one end of each movable arm 9. One end of arm 10 is connected to a support block 11, and a connecting column 12 is movably connected to one side of the support block 11. One end of the connecting column 12 is connected to a picking tray 13, and a fixing mechanism 20 is provided at the bottom of the picking tray 13. A mesh frame 18 is connected to the bottom of the fixing mechanism 20, and a collecting net 19 is connected to the bottom of the mesh frame 18. Both sides of the top of the mesh frame 18 are fixed with docking blocks 1801, and both ends of one side of the docking blocks 1801 are provided with locking holes 1802. The fixing mechanism 20 includes a fixing block 2001, and the fixing block 2001 is provided on both sides of the bottom of the picking tray 13. A right-angle frame 2002 is connected to one side of the fixing block 2001, and a power screw 2003 is rotatably connected inside the right-angle frame 2002. A moving plate 2004 is threadedly connected to the power screw 2003, and both ends of one side of the moving plate 2004 are connected with insertion posts 2005. One end of each insertion post 2005 extends into the locking hole 1802. In this embodiment, the electric grippers 16, which are close together, work with the flexible clamping mechanism 17 to harvest agricultural fruits. Then, the rotary motor 5 drives the rotating shaft 501 and the rotating table 4 to rotate, causing the guide post 401 to rotate within the limiting groove 301, providing rotational support and guidance for the rotating table 4. The fruit harvesting position is then adjusted. Combined with the power motor 8, the flipping arms 7 are flipped, allowing for further adjustment of the fruit harvesting angle and position, expanding the harvesting range. The flipping arms 7 are supported and connected by multiple steel reinforcing rods 701, improving their height. To ensure the strength of the fruit, during the fruit harvesting process, the collecting net 19 is used to support the fruit and prevent it from falling and being damaged due to accidents. The connecting block 1801 is inserted into the fixing block 2001, and then the rotating handle 2006 is rotated to make the power screw 2003 rotate. The power screw 2003 and the moving plate 2004 are threadedly connected, which in turn makes the moving plate 2004 and the insertion post 2005 move horizontally until the insertion post 2005 is inserted into the locking hole 1802. Then the connecting block 1801 is fixed and limited, and the installation is completed. The disassembly can be achieved by reversing the operation later, which is flexible to use.

[0017] Example 2: This example differs from Example 1. By utilizing the flexible clamping mechanism 17, flexible fruit harvesting can be achieved, avoiding damage to the fruit. Therefore, the following technical solution is disclosed. Please refer to the details. Figure 1 , Figure 2 , Figure 3 , Figure 5 A lead screw bidirectional module 15 is connected to one side of the top of the picking tray 13, and a drive motor 14 is connected to one side of the lead screw bidirectional module 15. Electric grippers 16 are connected to both ends of the outer side of the lead screw bidirectional module 15, and a flexible clamping mechanism 17 is provided on one side of each electric gripper 16. The flexible clamping mechanism 17 includes a movable plate 1701, which is movably connected to the top of the electric gripper 16. A fruit picking frame 1702 is movably connected to one end of the movable plate 1701, and clamping rollers 1704 are movably connected to both sides of the bottom end of the fruit picking frame 1702. Two support springs 1703 are connected between the fruit picking frame 1702 and the electric gripper 16. The fruit picking frame 1702 is V-shaped, and the clamping rollers 1704 are all made of rubber. In this embodiment, during the fruit picking process, the two electric grippers 16 move closer to each other, that is, the two fruit picking frames 1702 move closer to each other. The fruit picking frame 1702 is movably connected to the electric grippers 16 with the movable plate 1701, which can adapt to the picking of fruits of different sizes and shapes. The gripping roller 1704 is made of flexible material, which, together with the support spring 1703, can make the fruit flexible, avoid damaging the fruit during the picking process, and improve the quality of fruit picking.

[0018] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0019] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fruit-picking robotic arm for an agricultural robot, comprising a chassis (1), a support column (2), and a support platform (3), wherein the support column (2) is uniformly fixed at the top of the chassis (1), and the support platform (3) is fixed at the top of the support column (2). Its features are: The bottom end of the support platform (3) is connected to a rotary motor (5), and the output shaft of the rotary motor (5) is connected to a rotary shaft (501). One end of the rotary shaft (501) is fixed to a rotary table (4). Both sides of the top of the rotary table (4) are connected to upright plates (6). One side of the upright plate (6) is connected to a power motor (8), and the power motor (8) Two flipping arms (7) are fixed at one end. A movable arm (9) is movably connected to one end of the flipping arm (7), and a rotating arm (10) is movably connected to one end of the movable arm (9). A support block (11) is connected to one end of the rotating arm (10), and a connecting column (12) is movably connected to one side of the support block (11). A picking tray (13) is connected to one end of the connecting column (12), and a fixing mechanism (20) is provided at the bottom of the picking tray (13). A wire frame (18) is connected to the bottom of the fixing mechanism (20), and a collecting net (19) is connected to the bottom of the wire frame (18). A screw bidirectional module (15) is connected to one side of the top of the picking tray (13), and a drive motor (14) is connected to one side of the screw bidirectional module (15). Electric grippers (16) are connected to both ends of the outer side of the screw bidirectional module (15), and a flexible clamping mechanism (17) is provided on one side of each electric gripper (16).

2. The fruit-picking robotic arm of an agricultural robot according to claim 1, characterized in that: The top of the support platform (3) is provided with an annular limiting groove (301), and the bottom sides of the rotating platform (4) are connected with guide posts (401), and the guide posts (401) slide in the limiting groove (301).

3. The fruit-picking robotic arm of an agricultural robot according to claim 1, characterized in that: Multiple reinforcing rods (701) are evenly connected between the flipping arms (7), and all reinforcing rods (701) are made of stainless steel.

4. The fruit-picking robotic arm of an agricultural robot according to claim 1, characterized in that: The flexible clamping mechanism (17) includes a movable plate (1701), which is movably connected to the top of the electric gripper (16). One end of the movable plate (1701) is movably connected to a fruit picking rack (1702), and both sides of the bottom end of the fruit picking rack (1702) are movably connected to clamping rollers (1704). Two support springs (1703) are connected between the fruit picking rack (1702) and the electric gripper (16).

5. The fruit-picking robotic arm of an agricultural robot according to claim 4, characterized in that: The fruit picking rack (1702) is V-shaped, and the clamping rollers (1704) are all made of rubber.

6. The fruit-picking robotic arm of an agricultural robot according to claim 1, characterized in that: The top two sides of the mesh frame (18) are fixed with docking blocks (1801), and locking holes (1802) are provided at both ends of one side of the docking block (1801).

7. The fruit-picking robotic arm of an agricultural robot according to claim 1, characterized in that: The fixing mechanism (20) includes a fixing block (2001), and the fixing block (2001) is located on both sides of the bottom end of the picking tray (13). A right-angle frame (2002) is connected to one side of the fixing block (2001), and a power screw (2003) is rotatably connected inside the right-angle frame (2002). A moving plate (2004) is threaded onto the power screw (2003), and a plug (2005) is connected to both ends of one side of the moving plate (2004). One end of the plug (2005) extends into the locking hole (1802).

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