A fruit collection device

Abstract

The utility model discloses a fruit collecting device, specifically at fruit collecting technical field. Fruit collecting device, include: base, install mechanical arm subassembly on the base, the top of base is provided with conveying subassembly for conveying fruit, mechanical arm subassembly is connected with conveying subassembly and is used for adjusting the height and inclination angle of conveying subassembly, the top of conveying subassembly is provided with the material receiving subassembly for receiving fruit, the perpendicular projection of material receiving subassembly with conveying subassembly is vertical, the fruit that gathers in material receiving subassembly can be conveyed to conveying subassembly. The fruit collecting device provided by the utility model has the advantages of high collecting efficiency, reducing fruit damage and flexible adjustment.

Description

Technical Field

[0001] This utility model relates to the field of fruit collection technology, and in particular to a fruit collection device. Background Technology

[0002] With the continuous improvement of agricultural mechanization, automation and semi-automation technologies in fruit harvesting are receiving increasing attention. In large-scale citrus orchards (such as oranges), how to efficiently and without damage collect picked or naturally fallen fruit has become a key issue. Traditional fruit collection relies heavily on manual picking or simple collection tools, which is not only inefficient and labor-intensive, but also prone to causing damage to the fruit during the collection process, affecting fruit quality and economic benefits.

[0003] Currently, some fruit collection devices exist on the market, such as conveyor belts or collection baskets with fixed angles. However, these devices typically have the following shortcomings: First, their receiving and conveying structures are often relatively fixed, making it difficult to flexibly adjust the height and angle, and thus unable to adapt to different tree canopy heights, terrain undulations, or different harvesting methods (such as picking from high places and collecting from low places); second, when multiple fruits are picked simultaneously or consecutively, traditional collection devices struggle to effectively receive and transport them in an orderly manner, easily leading to fruit accumulation, rolling, or even damage; furthermore, when transporting fruit at an angle, the lack of effective restraint measures means that the fruit may slide or collide during transport, increasing the risk of breakage.

[0004] Therefore, it is necessary to provide a fruit collection device to solve the above-mentioned technical problems. Utility Model Content

[0005] In view of the above situation and to overcome the defects of the existing technology, this utility model provides a fruit collecting device with high collection efficiency, reduced fruit damage, and flexible adjustment.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A fruit collecting device includes a base on which a robotic arm assembly is mounted. Above the base is a conveying assembly for transporting fruit. The robotic arm assembly is connected to the conveying assembly to adjust the height and tilt angle of the conveying assembly. Above the conveying assembly is a receiving assembly for receiving fruit. The vertical projection of the receiving assembly onto the conveying assembly is perpendicular. Fruit collected in the receiving assembly can be transported onto the conveying assembly.

[0007] Preferably, the receiving assembly includes a Y-axis belt conveyor, and a receiving hopper is fixed above and around the periphery of the Y-axis belt conveyor, with a discharge port on one side of the receiving hopper.

[0008] Preferably, baffles are fixed on both sides of the discharge port.

[0009] Preferably, the receiving hopper is equipped with a baffle plate for guiding the fruit to concentrate at the discharge port. The baffle plate includes an upper plate and a side plate, and the side plate is inclined.

[0010] Preferably, the conveying assembly includes an X-axis belt conveyor located below the Y-axis belt conveyor, on which spacers are evenly installed.

[0011] Preferably, two mounting plates are fixed on the frame of the Y-axis belt conveyor, and the two mounting plates are rotatably connected to the two sides of the frame of the X-axis belt conveyor. The bottom of the two mounting plates is fixed with the same counterweight, and the weight of the counterweight is greater than the weight of the receiving component and the fruit inside it.

[0012] Preferably, the robotic arm assembly includes a first hydraulic cylinder horizontally fixed on a base and a second hydraulic cylinder vertically fixed on the base; a first movable block is fixed on the output shaft of the first hydraulic cylinder, and a first connecting rod is rotatably mounted on the upper end of the first movable block, the top end of the first connecting rod being rotatably connected to the frame of the X-axis conveyor belt; a second movable block is fixed on the output shaft of the second hydraulic cylinder, and a second connecting rod is provided on one side of the second movable block, the two ends of the second connecting rod being rotatably connected to the second movable block and the extension rod of the X-axis conveyor belt frame respectively through fixed shafts; a fixed shaft fixed along the Y-axis direction on the first connecting rod and the two ends of the fixed shaft on the second movable block are connected through two hinge rods, and the hinge rods are rotatably connected to both fixed shafts.

[0013] Preferably, a retractable conveying pipe is provided below the end of the conveying assembly.

[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) This utility model forms a wide receiving area by setting a long receiving component in the Y-axis direction, which can simultaneously or continuously receive fruits falling from multiple picking points above, realizing a "one-to-many" efficient collection mode and greatly improving collection efficiency. (2) The receiving component and the conveying component of this utility model are arranged vertically, and through the cooperation of the discharge port, baffle and irregularly shaped blocking plate, the fruit scattered in the receiving hopper can be guided, gathered and transferred in an orderly manner to the X-axis belt conveyor. (3) The partition plate on the conveying assembly of this utility model plays an effective role in limiting the fruit. Even in the inclined conveying state, it can prevent the fruit from rolling, colliding and piling up, thereby significantly reducing the damage to the fruit during collection and conveying and ensuring the quality of the fruit. (4) The receiving component of this utility model is hinged to the conveying component through the mounting plate and the counterweight block. The weight of the counterweight block is greater than that of the fully loaded receiving component design, so that the receiving component can automatically maintain a horizontal posture under the action of gravity torque regardless of whether the entire conveying component is in a horizontal, upward or downward state, ensuring that the receiving hopper is always in the best receiving angle. Even if fruit hits the side wall, the device can remain stable and will not easily deflect, which greatly improves the reliability and stability of receiving. (5) This utility model uses a mechanical arm assembly composed of hydraulic cylinders and linkage mechanism to drive the conveying assembly, realizing flexible adjustment of the height and tilt angle of the conveying assembly. This not only allows the receiving assembly to adapt to the fruit tree picking needs of different heights, but also allows it to adapt to different terrains by adjusting the overall posture. In addition, by controlling the two hydraulic cylinders in combination, the receiving assembly can be finely adjusted in front of and behind the horizontal plane while keeping the conveying assembly horizontal, thus expanding the effective working range after a single positioning and enhancing the terrain adaptability of the device. Attached Figure Description

[0015] Figure 1 A schematic diagram of the structure of the fruit collecting device provided by this utility model; Figure 2 A schematic diagram of the structure of the fruit collecting device provided by this utility model; Figure 3 for Figure 1 The diagram shows the structure of the conveying component and the receiving component in the fruit collection device. Figure 4 for Figure 1 The diagram shows the structure of the receiving component in the fruit collection device. Figure 5 for Figure 1 An exploded view of the receiving component in the fruit collection device shown. Figure 6 for Figure 1 A three-dimensional structural diagram of the baffle plate in the fruit collecting device shown; Figure 7 for Figure 1 A top view of the baffle plate in the fruit collection device shown. Figure 8 for Figure 1 A side view of the baffle plate in the fruit collecting device shown.

[0016] The corresponding names of the reference numerals in the attached drawings are as follows: 1. Base; 2. Conveying assembly; 3. Receiving assembly; 4. X-axis belt conveyor; 5. Spare plate; 6. Y-axis belt conveyor; 7. Receiving hopper; 8. Discharge port; 9. Baffle; 10. Blocking plate; 101. Upper plate; 102. Side plate; 11. Mounting plate; 12. Counterweight; 13. Extension rod; 14. First hydraulic cylinder; 15. First moving block; 16. First connecting rod; 17. Second hydraulic cylinder; 18. Second moving block; 19. Second connecting rod; 20. Hinge rod; 21. Conveying pipe. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments. The embodiments of the present invention include, but are not limited to, the following embodiments.

[0018] This application can be used to collect oranges, but is not limited to the collection of other fruits. Oranges are used as an example below.

[0019] like Figure 1-8 As shown, the fruit collecting device provided by this utility model includes: a base 1, on which a robotic arm assembly is mounted; a conveying assembly 2 for conveying fruit is disposed above the base 1; the robotic arm assembly is connected to the conveying assembly 2 for adjusting the height and tilt angle of the conveying assembly 2; a receiving assembly 3 for receiving fruit is disposed above the conveying assembly 2, and the vertical projection of the receiving assembly 3 is perpendicular to that of the conveying assembly 2. Oranges collected in the receiving assembly 3 are conveyed onto the conveying assembly 2.

[0020] The receiving assembly 3 is longer along the Y-axis, accommodating multiple picking blades positioned along the Y-axis above. When multiple oranges are picked simultaneously or consecutively, the fruit falls directly onto the receiving assembly 3, achieving the goal of collecting multiple fruits at once. Specifically, the receiving assembly 3 includes a Y-axis belt conveyor 6, with a receiving hopper 7 fixed above and around the periphery of the Y-axis belt conveyor 6. The picked oranges fall directly into or are guided by the receiving hopper 7 onto the Y-axis belt conveyor 6. A discharge port 8 is provided on one side of the receiving hopper 7. The Y-axis belt conveyor 6 transports the oranges to the discharge port 8, and they fall onto the conveying assembly 2 through the discharge port 8, thus ensuring that the collected oranges are transported in an orderly manner.

[0021] Furthermore, baffles 9 are fixed on both sides of the discharge port 8. The baffles 9 are designed to ensure that the oranges fall stably onto the conveying assembly 2.

[0022] Furthermore, a baffle plate 10 is fixed inside the receiving hopper 7. The baffle plate 10 is an irregularly shaped plate, and its main purpose is to guide the oranges to concentrate at the discharge port 8 so that the oranges fall onto the conveying assembly 2. The baffle plate 10 is composed of an upper plate 101 and a side plate 102. Figure 7In the middle, the side plate 102 is set at an angle. This design, together with the Y-axis belt conveyor 6, is more conducive to material discharge. When the Y-axis belt conveyor 6 drives the orange, after the orange comes into contact with the side plate 102, the orange will move towards the discharge port 8 under the action of the angle of the side plate 102, thus making it easier to discharge. Figure 8 In the middle, points b, c, and d of the upper plate 101 are all higher than point a, while point a is attached to the discharge port 8. This ensures that oranges falling on the upper plate 101 will roll down the upper plate to the discharge port 8, thus facilitating unloading.

[0023] The conveying assembly 2 includes an X-axis conveyor 4 located below the Y-axis conveyor 6. Spacers 5 are evenly installed on the X-axis conveyor 4. The spacers 5 limit the movement of the oranges, ensuring they can only move between two spacers 5. This allows the oranges to be smoothly conveyed to the designated location even when the conveying assembly 2 is tilted. It is important to emphasize that while this device can collect fruit in various states, the conveying assembly 2 primarily operates in three states: (1) Horizontal state, that is, the conveying component 2 is in a horizontal position (e.g. Figure 1 (as shown) (2) Downward tilting state, that is, one end of the material receiving component 3 is at the bottom and the other end (the discharge end) is at the top; (3) The upward tilt state means that one end of the material receiving component 3 is at a high position and the other end (the discharge end) is at a low position.

[0024] Two mounting plates 11 are fixed on the frame of the Y-axis belt conveyor 6. The two mounting plates 11 are rotatably connected to the two sides of the frame of the X-axis belt conveyor 4. The bottom of the two mounting plates 11 is fixed with the same counterweight 12. The weight of the counterweight 12 is greater than the weight of the receiving assembly 3 and the weight of the oranges inside it. In this way, no matter what state the conveying assembly 2 is in, the receiving hopper 7 on the receiving assembly 3 can be in the optimal horizontal receiving state. Even if a few oranges hit the side of the receiving hopper 7 during receiving, the entire receiving assembly 3 will not easily deflect under the action of the counterweight 12, thus ensuring the stable receiving of the receiving assembly 3.

[0025] A conveying pipe 21 is provided at the lower end of the conveying component 2. The conveying pipe 21 is made of a retractable rubber tube and is used to convey the oranges conveyed by the conveying component 2 to the subsequent collection device.

[0026] The robotic arm assembly includes a first hydraulic cylinder 14 horizontally fixed to a base 1 and a second hydraulic cylinder 17 vertically fixed to the base 1. A first movable block 15 is fixed to the output shaft of the first hydraulic cylinder 14, and the first hydraulic cylinder 14 drives the first movable block 15 to move in the X-axis direction. A first connecting rod 16 is rotatably mounted on the upper end of the first movable block 15, and the top end of the first connecting rod 16 is rotatably connected to the frame of the X-axis conveyor belt 2. A second movable block 18 is fixed to the output shaft of the second hydraulic cylinder 17, and the second hydraulic cylinder 17 drives the second movable block 18 to move in the X-axis direction. Block 18 moves in the Y-axis direction. A second connecting rod 19 is provided on one side of the second moving block 18. Fixed shafts are rotatably mounted at both ends of the second connecting rod 19. The lower fixed shaft is fixedly connected to the second moving block 18, and the upper fixed shaft is fixed to the two extension rods 13 of the X-axis belt conveyor 2 frame. A fixed shaft is fixedly mounted on the first connecting rod 16 along the Y-axis direction. The two ends of the fixed shaft on the first connecting rod 16 and the fixed shaft on the second moving block 18 are connected by two hinge rods 20. The hinge rods 20 are rotatably connected to both fixed shafts. By adjusting the first hydraulic cylinder 14 and the second hydraulic cylinder 17, the conveying assembly 2 can be adjusted to a horizontal, upward tilted, and downward tilted state, so that the receiving assembly 3 can be raised or lowered, thereby realizing the collection of oranges at different heights. At the same time, within a certain height range, while keeping the conveying assembly 2 horizontal, the receiving assembly 3 can be raised or lowered. However, in this case, the receiving assembly 3 can move forward or backward a certain distance along the X-axis direction, for example: Figure 1 As shown, when the first hydraulic cylinder 14 extends to the right, the second hydraulic cylinder 17 extends downward, so that the conveying component 2 can remain in a horizontal state, but its overall height with the receiving component 3 is reduced, and at the same time the receiving component 3 moves forward a certain distance, thus realizing the front and rear position adjustment of the receiving component 3.

[0027] Similarly, the hydraulic cylinder in this application can be replaced with a pneumatic cylinder, a lead screw, etc., and the robotic arm adopts a linkage structure similar to that of an excavator arm.

Claims

1. A fruit collecting device, comprising a base (1), characterized in that: A robotic arm assembly is installed on the base (1), and a conveying assembly (2) for conveying fruit is provided above the base (1). The robotic arm assembly is connected to the conveying assembly (2) to adjust the height and tilt angle of the conveying assembly (2). A receiving assembly (3) for receiving fruit is provided above the conveying assembly (2). The vertical projection of the receiving assembly (3) and the conveying assembly (2) is perpendicular. The fruit collected in the receiving assembly (3) can be conveyed to the conveying assembly (2).

2. The fruit collecting device according to claim 1, characterized in that: The receiving assembly (3) includes a Y-axis belt conveyor (6), and a receiving hopper (7) is fixed above the periphery of the Y-axis belt conveyor (6). A discharge port (8) is provided on one side of the receiving hopper (7).

3. The fruit collecting device according to claim 2, characterized in that: Both sides of the discharge port (8) are fixed with baffles (9).

4. The fruit collecting device according to claim 2, characterized in that: The receiving hopper (7) is fixed with a baffle plate (10) for guiding the fruit to concentrate at the discharge port (8). The baffle plate (10) includes an upper plate (101) and a side plate (102), and the side plate (102) is inclined.

5. The fruit collecting device according to claim 2, characterized in that: The conveying assembly (2) includes an X-axis belt conveyor (4) located below the Y-axis belt conveyor (6), on which spacers (5) are evenly installed.

6. The fruit collecting device according to claim 5, characterized in that: Two mounting plates (11) are fixed on the frame of the Y-axis belt conveyor (6). The two mounting plates (11) are rotatably connected to the two sides of the frame of the X-axis belt conveyor (4). The bottom of the two mounting plates (11) is fixed with the same counterweight (12). The weight of the counterweight (12) is greater than the weight of the receiving component (3) and the weight of the fruit inside it.

7. The fruit collecting device according to claim 6, characterized in that: The robotic arm assembly includes a first hydraulic cylinder (14) fixed horizontally on a base (1) and a second hydraulic cylinder (17) fixed vertically on a base (1); a first moving block (15) is fixed on the output shaft of the first hydraulic cylinder (14), and a first connecting rod (16) is rotatably mounted on the upper end of the first moving block (15), and the top end of the first connecting rod (16) is rotatably connected to the frame of the X-axis conveyor (4); a second moving block (18) is fixed on the output shaft of the second hydraulic cylinder (17), and a second connecting rod (19) is provided on one side of the second moving block (18), and the two ends of the second connecting rod (19) are rotatably connected to the second moving block (18) and the extension rod (13) of the X-axis conveyor (4) frame respectively through fixed shafts; the fixed shaft fixed along the Y-axis direction on the first connecting rod (16) is connected to the two ends of the fixed shaft on the second moving block (18) through two hinge rods (20), and the hinge rods (20) are rotatably connected to both fixed shafts.

8. The fruit collecting device according to any one of claims 1-7, characterized in that: A retractable conveying pipe (21) is provided below the end of the conveying assembly (2).

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