Terminal fine adjustment mechanism of litchi picking machine

Abstract

This utility model provides an end-effector fine-tuning mechanism for a lychee harvesting machine, including a housing, a connecting plate fixed inside the housing, a steering structure disposed inside the housing, a buffer structure for cushioning impacts on the device, disposed on one side of the longitudinal rotating frame, a connecting plate disposed on one side of the buffer structure, and a mounting plate disposed on one side of the connecting plate. This utility model utilizes a first drive motor to drive a worm gear to rotate, thereby adjusting the vertical angle of the actuator on the longitudinal rotating frame. A second drive motor drives the rotating frame to rotate horizontally around a support frame, causing the actuator to rotate horizontally. This achieves multi-angle adjustment functionality, allowing the end-effector to flexibly adapt to different growth orientations of lychees, optimizing the harvesting posture, avoiding obstruction from complex branches and leaves, reducing interference with branches and leaves during harvesting, lowering fruit damage rates, and further ensuring the stability of harvesting quality.

Description

Technical Field

[0001] This utility model relates to the field of harvesting robot technology, and in particular to an end-effector fine-tuning mechanism for a lychee harvesting machine. Background Technology

[0002] Because lychee grow in an unstructured environment, the fruit has a variety of shapes and is easily obstructed by branches and leaves. When the robotic arm carrying the end effector approaches the target, it is easy to cause misalignment or interference due to positioning deviation. Therefore, an end effector fine-tuning mechanism is set up to precisely adjust the angle and position of the actuator to adapt it to the fruit's growth posture, align it with the fruit stem and avoid interference from branches and leaves. Together with gripping and cutting components, it can achieve efficient harvesting and ensure harvesting quality and success rate.

[0003] A search revealed Chinese patent publication number CN207992828U, which discloses an end-effector fine-tuning mechanism for a lychee harvesting machine. The mechanism includes a mounting base connectable to the harvesting machine, a support rod connected to the mounting base, and a first adjusting rod extending outwards from the mounting base. The end of the first adjusting rod is connected to a second adjusting rod connected to the cutting tool of the lychee harvesting machine. The first and second adjusting rods are hinged together, and the second adjusting rod is slidably mounted on the support rod. This invention provides a compact and easy-to-use end-effector fine-tuning mechanism that improves the positioning accuracy of the cutter on the lychee fruit, thereby increasing harvesting efficiency. It features low cost, high efficiency, and strong applicability.

[0004] The aforementioned patent has the following shortcomings: Because the existing device can only complete limited oscillation and linear displacement during use, it is not convenient to achieve flexible adjustment of angles in multiple dimensions and all directions. As a result, when facing lychee fruits with different growth orientations, such as tilted, hanging, or horizontal growth, or when it is necessary to avoid complex branch and leaf layouts to adjust the picking direction, it is difficult to quickly and accurately adapt to the target posture, and it is difficult to precisely adjust the cutting angle of the cutting tool as needed. This affects the accurate alignment of the fruit stem in different positions, ultimately reducing the success rate of picking and limiting the adaptability of the device in diverse picking scenarios.

[0005] To address this, a fine-tuning mechanism for the end of a lychee harvesting machine is proposed. Utility Model Content

[0006] In view of this, the present invention aims to provide an end-effector fine-tuning mechanism for a lychee harvesting machine to solve or alleviate the technical problems existing in the prior art, and at least provide a beneficial alternative.

[0007] The technical solution of this utility model embodiment is implemented as follows: a fine-tuning mechanism at the end of a lychee picking machine, including a housing, and further comprising:

[0008] The connecting plate is fixed inside the outer casing;

[0009] A steering structure is disposed inside the housing. The steering structure includes a support frame fixed inside the housing. A transverse rotating frame is rotatably connected to the outer side of the support frame. A worm gear is rotatably connected to the inner side of one side of the transverse rotating frame. A longitudinal rotating frame is rotatably connected to the outer side of one side of the transverse rotating frame and fixedly connected to the rotating end of the worm gear. A transmission assembly is disposed on one side inside the housing.

[0010] A buffer structure for cushioning the impact of collisions on the device is installed on one side of the longitudinal rotating frame;

[0011] A connecting plate is disposed on one side of the buffer structure, and a mounting plate is disposed on one side of the connecting plate;

[0012] A quick-change structure for rapidly replacing the mounting plate is installed between the connecting plate and the mounting plate.

[0013] In some embodiments: the transmission assembly includes a second drive motor fixed to the bottom of the interior of the housing, a third gear fixed to the output shaft end of the second drive motor, a fourth gear meshing with the third gear fixed to the bottom of the transverse rotating frame, a worm gear meshing with a worm wheel rotatably connected inside the support frame, a first drive motor fixed to the top of the interior of the housing, a first gear fixed to the output shaft end of the first drive motor, and a second gear meshing with the first gear fixed to the top of the worm gear.

[0014] In some embodiments: the rotating end of the worm gear extends to the outside of the support frame and passes through the transverse rotating frame to connect with the second gear, and the rotating shaft of the fourth gear is connected to the rotating shaft of the transverse rotating frame.

[0015] In some embodiments: the quick-change structure includes a mounting sleeve fixed to one side of the connecting plate, a movable plate slidably connected inside the mounting sleeve, a connecting piece rotatably connected inside the movable plate, a fixing pin rotatably connected to the mounting sleeve on one side of the connecting piece, insert plates fixedly connected to the mounting plate on both sides inside the mounting sleeve, pin grooves matching the fixing pins being opened inside the insert plates, and a screw rod rotatably connected to the movable plate being threaded to the bottom end inside the mounting sleeve.

[0016] In some embodiments: the fixing pins are symmetrically distributed on the vertical center line of the mounting sleeve, and the fixing pins and the pin slots form a plug-in connection.

[0017] In some embodiments: the top cross-section of the insert plate is L-shaped, and slots matching the insert plate are provided on both sides inside the mounting sleeve.

[0018] In some embodiments: the buffer structure includes a flip plate fixed to one side of the longitudinal rotating frame, a connecting rod that is fixedly connected to a connecting plate is slidably connected inside the flip plate, an adjusting bolt is threaded to the end of the connecting rod away from the connecting plate, a buffer spring is fixed to the side of the flip plate near the connecting plate, and a rubber seat connected to the connecting plate is fixed to the side of the buffer spring.

[0019] In some embodiments: the buffer springs are provided in four sets, and the four sets of buffer springs are arranged in a rectangular pattern on one side of the flip plate.

[0020] The present invention has the following advantages due to the adoption of the above technical solution:

[0021] 1. A fine-tuning mechanism at the end of a lychee harvesting machine, wherein a first drive motor drives a worm gear to rotate, thereby adjusting the vertical angle of the actuator by a longitudinal rotating frame; and a second drive motor drives the rotating frame to rotate horizontally around a support frame, thereby rotating the actuator horizontally. This enables the device to perform multi-angle adjustment, allowing the end effector to flexibly adapt to different growth orientations of lychees, optimize the harvesting posture, avoid obstruction by complex branches and leaves, reduce interference with branches and leaves during harvesting, lower the fruit damage rate, and further ensure the stability of harvesting quality.

[0022] 2. A fine-tuning mechanism at the end of a lychee harvesting machine, by rotating a screw, allows a moving plate to pull a fixing pin out of the pin groove of an insert plate via a connecting piece, so that the old mounting plate can be removed along with the insert plate for replacement. This realizes the actuator quick-change function of the device, which can quickly switch between different types of actuators without complicated operations, adapt to different harvesting needs, and reduce the need for multiple dedicated harvesting equipment.

[0023] 3. A fine-tuning mechanism at the end of a lychee harvesting machine, which absorbs the impact force generated by a collision by elastic deformation caused by compression of a buffer spring, followed by further buffering of vibration by a rubber seat, thus preventing the collision force from being directly transmitted to the steering structure or the robotic arm. This realizes the collision buffering function of the device, buffering the force of accidental collisions with branches and trunks, preventing damage to fruit tree branches and fruits, and reducing the impact of collisions on the robotic arm and end effector.

[0024] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application 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 of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0027] Figure 2 In this utility model Figure 1 Another structural diagram from a different angle;

[0028] Figure 3 A three-dimensional cross-sectional structural diagram of the steering structure provided by this utility model;

[0029] Figure 4 A three-dimensional cross-sectional structural diagram of the quick-change structure provided by this utility model;

[0030] Figure 5 This is a three-dimensional cross-sectional structural diagram of the buffer structure provided by this utility model.

[0031] Figure label:

[0032] 1-Outer shell, 2-Connecting disc, 3-Steering structure, 301-First drive motor, 302-First gear, 303-Second gear, 304-Worm, 305-Worm wheel, 306-Longitudinal rotating frame, 307-Second drive motor, 308-Third gear, 309-Fourth gear, 310-Transverse rotating frame, 311-Support frame, 4-Buffer structure, 401-Adjusting bolt, 402-Connecting rod, 403-Rubber seat, 404-Buffer spring, 405-Flip plate, 5-Mounting plate, 6-Quick change structure, 601-Mounting sleeve, 602-Moving plate, 603-Fixing pin, 604-Connecting piece, 605-Pin groove, 606-Insertion plate, 607-Screw, 7-Connecting plate. Detailed Implementation

[0033] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0034] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0036] Example 1:

[0037] like Figures 1 to 5 As shown, a fine-tuning mechanism for the end of a lychee harvesting machine includes a housing 1, and further includes:

[0038] Connecting plate 2 is fixed inside the outer casing 1;

[0039] Steering structure 3 is disposed inside the housing 1. Steering structure 3 includes a support frame 311 fixed inside the housing 1. A transverse rotating frame 310 is rotatably connected to the outer side of the support frame 311. A worm gear 305 is rotatably connected to the inner side of one side of the transverse rotating frame 310. A longitudinal rotating frame 306 fixedly connected to the rotating end of the worm gear 305 is rotatably connected to the outer side of one side of the transverse rotating frame 310. A transmission component is disposed on one side inside the housing 1.

[0040] The buffer structure 4, used to buffer the impact of collisions on the device, is set on one side of the longitudinal rotating frame 306.

[0041] A connecting plate 7 is provided on one side of the buffer structure 4, and a mounting plate 5 is provided on one side of the connecting plate 7;

[0042] A quick-change structure 6 for quickly replacing the mounting plate 5 is disposed between the connecting plate 7 and the mounting plate 5.

[0043] In this embodiment, the device is installed at the end of the lychee picking machine by passing bolts through the pre-drilled mounting holes on the surface of the connecting plate 2, the mounting plate 5 is connected to the picking actuator, the picking actuator is quickly installed and removed using the quick-change structure 6, the outer shell 1 provides installation and protection space for the steering structure 3, and the direction of the picking actuator can be adjusted using the steering structure 3.

[0044] like Figures 1 to 3As shown, the transmission assembly includes a second drive motor 307 fixed inside the bottom of the housing 1. A third gear 308 is fixed to the output shaft end of the second drive motor 307. A fourth gear 309 meshing with the third gear 308 is fixed to the bottom of the transverse rotating frame 310. A worm 304 meshing with a worm wheel 305 is rotatably connected inside the support frame 311. A first drive motor 301 is fixed to the top inside the housing 1. A first gear 302 is fixed to the output shaft end of the first drive motor 301. A second gear 303 meshing with the first gear 302 is fixed to the top of the worm 304. The rotating end of the top of the worm 304 extends to the outside of the support frame 311 and passes through the transverse rotating frame 310 to connect with the second gear 303. The rotation shaft of the fourth gear 309 is connected to the rotation shaft of the transverse rotating frame 310.

[0045] In this embodiment, when it is necessary to adjust the attitude of the end effector to align with the lychee stem, the first drive motor 301 is activated, causing the first gear 302 to mesh and drive the second gear 303 to rotate. The second gear 303 then drives the worm 304 to rotate, which in turn drives the worm wheel 305 to rotate. The worm wheel 305 then drives the longitudinal rotating frame 306 to rotate, thus achieving vertical angle adjustment of the actuator. The second drive motor 307 is then activated, causing the third gear 308 to mesh and drive the fourth gear 309 to rotate. The fourth gear 309 then drives the transverse rotating frame 310 to rotate horizontally around the support frame 311, achieving horizontal rotation adjustment of the actuator. Simultaneously, as the transverse rotating frame 310 rotates, the first drive motor 301 drives the worm 304 to rotate synchronously with it, ensuring that the worm 304 and worm wheel 305 remain engaged and do not affect vertical angle adjustment.

[0046] Example 2:

[0047] A fine-tuning mechanism at the end of a lychee harvesting machine is provided in this embodiment, which is improved upon embodiment 1 by the following improvements: Figure 4 As shown, the quick-change structure 6 includes a mounting sleeve 601 fixed to one side of the connecting plate 7. A movable plate 602 is slidably connected inside the mounting sleeve 601. A connecting piece 604 is rotatably connected inside the movable plate 602. A fixing pin 603 slidably connected to the mounting sleeve 601 is rotatably connected to one side of the connecting piece 604. Insert plates 606 fixedly connected to the mounting plate 5 are inserted into both sides inside the mounting sleeve 601. The insert plates 606 have pin grooves 605 that match the fixing pins 603 inside. A screw 607 rotatably connected to the movable plate 602 is threaded to the bottom end inside the mounting sleeve 601. The fixing pins 603 are symmetrically distributed on the vertical center line of the mounting sleeve 601. The fixing pins 603 and the pin grooves 605 form a plug-in connection. The top view cross-section of the insert plate 606 is an "L" shaped structure. Slots matching the insert plates 606 are opened on both sides inside the mounting sleeve 601.

[0048] In this embodiment, when it is necessary to replace different types of end effectors, the screw 607 is rotated to drive the moving plate 602 to slide inside the mounting sleeve 601. At the same time, the moving plate 602 pulls the fixing pin 603 out of the pin groove 605 of the insert plate 606 via the connecting piece 604. The old mounting plate 5, together with the insert plate 606, is taken out of the slot of the mounting sleeve 601. Then, the insert plate 606 of the mounting plate 5 with the new actuator is inserted into the slot. The screw 607 is rotated in the opposite direction to make the fixing pin 603 re-insert into the pin groove 605 and lock it in place. This completes the quick replacement of the actuator, which reduces the time for replacing the actuator to a certain extent and improves the adaptability of the mechanism to different harvesting needs.

[0049] like Figure 5 As shown, the buffer structure 4 includes a flip plate 405 fixed to one side of the longitudinal rotating frame 306. A connecting rod 402, which is fixedly connected to the connecting plate 7, is slidably connected inside the flip plate 405. An adjusting bolt 401 is threadedly connected to the end of the connecting rod 402 away from the connecting plate 7. A buffer spring 404 is fixed to the side of the flip plate 405 near the connecting plate 7. A rubber seat 403, which is connected to the connecting plate 7, is fixed to one side of the buffer spring 404. Four sets of buffer springs 404 are provided, and the four sets of buffer springs 404 are arranged in a rectangular shape on one side of the flip plate 405.

[0050] In this embodiment, when the robotic arm moves the mechanism close to the lychee tree, it slides inside the flipping plate 405 via the connecting rod 402. At the same time, the buffer spring 404 is compressed and undergoes elastic deformation to absorb the impact force generated by the collision. Then, the rubber seat 403 further buffers the vibration, preventing the collision force from being directly transmitted to the steering structure 3 or the robotic arm. This reduces the possibility of damage to branches, leaves, and fruits due to the collision, and also reduces the risk of wear and tear on internal components due to the impact. To a certain extent, this ensures the safety during the harvesting process and the service life of the mechanism.

[0051] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this utility model, and these should all be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A fine-tuning mechanism at the end of a lychee harvesting machine, comprising a housing (1), characterized in that, Also includes: Connecting plate (2) is fixed inside the outer casing (1); A steering structure (3) is disposed inside the outer shell (1). The steering structure (3) includes a support frame (311) fixed inside the outer shell (1). A transverse rotating frame (310) is rotatably connected to the outer side of the support frame (311). A worm gear (305) is rotatably connected to the inner side of one side of the transverse rotating frame (310). A longitudinal rotating frame (306) is rotatably connected to the rotating end of the worm gear (305) and a transmission assembly is disposed on one side inside the outer shell (1). A buffer structure (4) for buffering the impact of collisions on the device is provided on one side of the longitudinal rotating frame (306); A connecting plate (7) is provided on one side of the buffer structure (4), and a mounting plate (5) is provided on one side of the connecting plate (7); A quick-change structure (6) for quickly replacing the mounting plate (5) is provided between the connecting plate (7) and the mounting plate (5).

2. The end-effector fine-tuning mechanism of a lychee harvesting machine according to claim 1, characterized in that: The transmission assembly includes a second drive motor (307) fixed at the bottom of the inside of the housing (1), a third gear (308) fixed at the output shaft end of the second drive motor (307), a fourth gear (309) meshing with the third gear (308) fixed at the bottom of the transverse rotating frame (310), a worm (304) meshing with the worm wheel (305) rotatably connected inside the support frame (311), a first drive motor (301) fixed at the top of the inside of the housing (1), a first gear (302) fixed at the output shaft end of the first drive motor (301), and a second gear (303) meshing with the first gear (302) fixed at the top of the worm (304).

3. The end-effector fine-tuning mechanism of a lychee harvesting machine according to claim 2, characterized in that: The rotating end of the worm (304) extends to the outside of the support frame (311) and passes through the transverse rotating frame (310) to connect with the second gear (303). The rotating shaft of the fourth gear (309) is connected to the rotating shaft of the transverse rotating frame (310).

4. The end-effector fine-tuning mechanism of a lychee harvesting machine according to claim 1, characterized in that: The quick-change structure (6) includes a mounting sleeve (601) fixed to one side of the connecting plate (7). A movable plate (602) is slidably connected inside the mounting sleeve (601). A connecting piece (604) is rotatably connected inside the movable plate (602). A fixing pin (603) that is slidably connected to the mounting sleeve (601) is rotatably connected to one side of the connecting piece (604). Insert plates (606) that are fixedly connected to the mounting plate (5) are inserted into both sides inside the mounting sleeve (601). A pin groove (605) that matches the fixing pin (603) is opened inside the insert plate (606). A screw (607) that is rotatably connected to the movable plate (602) is threaded to the bottom end inside the mounting sleeve (601).

5. The end-effector fine-tuning mechanism of a lychee harvesting machine according to claim 4, characterized in that: The fixing pins (603) are symmetrically distributed on the vertical center line of the mounting sleeve (601), and the fixing pins (603) and the pin grooves (605) form a plug-in connection.

6. The end-effector fine-tuning mechanism of a lychee harvesting machine according to claim 4, characterized in that: The top view cross-section of the insert plate (606) is L-shaped, and the two sides inside the mounting sleeve (601) are provided with slots that match the insert plate (606).

7. The end-effector fine-tuning mechanism of a lychee harvesting machine according to claim 1, characterized in that: The buffer structure (4) includes a flip plate (405) fixed to one side of the longitudinal rotating frame (306). The flip plate (405) is slidably connected to a connecting rod (402) that is fixedly connected to the connecting plate (7). The end of the connecting rod (402) away from the connecting plate (7) is threaded with an adjusting bolt (401). A buffer spring (404) is fixed to the side of the flip plate (405) close to the connecting plate (7). A rubber seat (403) connected to the connecting plate (7) is fixed to one side of the buffer spring (404).

8. The end-effector fine-tuning mechanism of a lychee harvesting machine according to claim 7, characterized in that: The buffer springs (404) are provided in four sets, and the four sets of buffer springs (404) are arranged in a rectangular shape on one side of the flip plate (405).

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