CN210726043U - Mechanical device for assisting in picking fruits manually - Google Patents

Abstract

The utility model relates to a mechanical device for assisting manual fruit picking, comprising a mobile device and a mechanical arm picking mechanism, and also comprising a turntable mechanism, an up-and-down transport mechanism and a dumping mechanism. The mechanical arm picking mechanism and the turntable mechanism are both arranged on the mounting platform of the mobile device. A plurality of up-and-down transport mechanisms are evenly arranged on the circumference of the turntable mechanism to drive each up-and-down transport mechanism to operate to different workstations. Each up-and-down transport mechanism is respectively provided with a dumping mechanism to drive the dumping mechanism to move up and down. The dumping mechanism is provided with a dumpable fruit basket to receive the fruit picked by the mechanical arm picking mechanism, and when the dumping mechanism moves to the lower part of the up-and-down transport mechanism, the fruit is dumped. The mechanical device not only has a high degree of automation, but also is conducive to protecting the picked fruit, and has a good picking effect.

Description

A mechanical device for assisting manual fruit picking

technical field

The utility model relates to the technical field of agricultural machinery, in particular to a mechanical device for assisting manual fruit picking.

Background technique

Nowadays, with the continuous improvement of modern agricultural production technology, the output of fruits and other crops is also increasing day by day. Although the mechanized operation of fruits can be traced back to the 1960s, there are still great limitations in harvesting soft and fresh fruits due to the easy damage to fruits caused by simple mechanical harvesting. Moreover, fruit harvesting often needs to be carried out selectively. In addition, the market also has high requirements for the freshness of fruits, which requires high timeliness for fruit harvesting. Therefore, it is the best way to solve the above problems by using robots in fruit harvesting to realize the automation and intelligence of fruit harvesting.

Patent CN201811610301 discloses a fruit picking robot, including a mobile platform, a robotic arm, and an end effector. Through the analysis of this robot, it only uses the rotating platform to rotate the mechanical arm to carry out the picking work, which improves the degree of freedom of picking to a certain extent, but it does not set other mechanisms to reduce the gravitational potential energy of the fruit for picking. Patent CN201811448320 discloses a fruit picking robot, which includes a grasping part, an arm part, a lifting part, a rotating part and a moving base. Through the analysis of this robot, although it adds a lifting structure and a rotating platform under the mechanical arm, it does not take into account the transportation of fruits between the upper and lower sides. Patent CN201810874419 discloses a bionic robot for picking fruits, including a walking mechanism, a mechanical arm, and a picking mechanism, but this robot does not have an up and down transport mechanism to transport fruits.

In the prior art, many patented technologies for fruit picking have been disclosed, some of which can achieve unidirectional fruit picking, and some can change the direction to achieve all-round fruit picking. However, the varieties of commercialized pickers currently on the market are relatively simple, expensive and inconvenient to operate. In addition, the existing fruit picking robots start from the mechanical arm to improve the mechanical arm, but there are few mechanical structures to safely transport the fruit from the tree to the ground. Generally, most of them are pipeline mechanisms with built-in air pressure or hydraulic mechanism, but This type of transport mechanism requires a large vehicle body and cannot guarantee that the air pressure provided by the air press can safely transport the fruit under the tree.

SUMMARY OF THE INVENTION

The purpose of the utility model is to provide a mechanical device for assisting manual fruit picking, the mechanical device not only has a high degree of automation, but also is conducive to protecting the picked fruits and has a good picking effect.

In order to achieve the above purpose, the technical scheme adopted by the present utility model is: a mechanical device for assisting manual fruit picking, including a moving device and a mechanical arm picking mechanism, a turntable mechanism, an upper and lower transport mechanism and a dumping mechanism, the robotic arm picking mechanism. The mechanism and the turntable mechanism are both set on the installation platform of the mobile device, and a number of the upper and lower transport mechanisms are evenly distributed along the circumference of the turntable mechanism to drive each of the upper and lower transport mechanisms to run to different stations. A dumping mechanism is respectively provided to drive the dumping mechanism to move up and down. The dumping mechanism is provided with a dumping fruit basket to receive the fruit picked by the mechanical arm picking mechanism, and when the dumping mechanism moves to the lower part of the up and down transport mechanism , pour the fruit.

Further, the robotic arm picking mechanism and the turntable mechanism are respectively arranged at the front and rear of the installation platform, and three upper and lower transport mechanisms are evenly distributed along the circumference of the turntable mechanism. The stations are spaced 120° and the first station faces the robotic arm picking mechanism forward, so that when the moving device moves to the set position, the robotic arm picking mechanism picks the fruit forward and puts it back into the fruit basket of the dumping mechanism.

Further, the moving device is mainly composed of a crawler-type moving mechanism and a mounting platform arranged thereon for mounting the robotic arm picking mechanism and the turntable mechanism.

Further, the robotic arm picking mechanism is mainly composed of a rotating chassis, a robotic arm and an end effector for picking fruits, the rotating chassis is installed on the mobile device, the lower end of the robotic arm is installed on the rotating chassis, and the upper end is installed on the rotating chassis. Install the end effector.

Further, the turntable mechanism includes a steering gear mounting frame, a steering gear and a turntable, the steering gear is fixedly installed on the installation platform through the steering gear mounting frame and threaded fasteners, and the output end of the steering gear is connected to the steering wheel, The rudder plate is connected with the turntable to drive the rudder plate and the turntable to rotate, and the upper and lower transport mechanisms are evenly distributed on the turntable to run to different stations with the turntable.

Further, the up and down transport mechanism includes left and right racks, left and right sliding rails are respectively provided on the left and right racks, and left and right sliding rails that can slide up and down are respectively provided on the left and right sliding rails. Slider, the dumping mechanism spans between the left and right sliders, and is fixedly connected with the front parts of the left and right sliders respectively; the upper and lower parts of the left and right racks are respectively equipped with upper and lower The transmission shaft, each transmission shaft and the frame are all rotatably connected, the left and right ends of the upper and lower transmission shafts are provided with transmission pulleys, and between the upper and lower transmission shafts are provided with left and right transmission pulleys. The right transmission belt, the front side sections of the left and right transmission belts are respectively fixedly connected with the rear parts of the left and right sliders, a motor is installed on the frame, and the output end of the motor is connected with one of the transmission shafts, so as to be driven by the transmission shaft The transmission belt runs, and then drives the slider and the dumping mechanism on it to slide up and down along the slide rail.

Further, the pouring mechanism includes a long U-shaped frame, a double-axis steering gear, a short U-shaped frame and a fruit basket, the middle of the long U-shaped frame is fixedly connected with the upper and lower transport mechanisms, and the rudders at both ends of the double-axis steering gear are fixedly connected. The plate is fixedly connected to the left and right front ends of the long U-shaped frame, and the double-axis steering gear is fixedly connected to the fruit basket through the short U-shaped frame, so as to drive the dumping of the fruit basket through the rotation of the double-axis steering gear.

Further, it also includes a control unit, which is respectively connected with the control end of the moving device, the picking mechanism of the robotic arm, the turntable mechanism, the upper and lower transport mechanism and the dumping mechanism to control the work of each mechanism of the device.

Compared with the prior art, the utility model has the following beneficial effects: a mechanical device for assisting manual fruit picking is provided. The cooperation of the organization has realized the whole process of fruit picking, transportation from high to low, and dumping, which not only has a high degree of automation, but also improves picking efficiency, and can safely transport fruits from high to low. Dumping at different places reduces the possibility of damage to the picked fruits during the collection process, greatly improves the picking effect, and has strong practicability and broad application prospects.

Description of drawings

FIG. 1 is a front view of the structure of the embodiment of the present invention.

FIG. 2 is a top view of the structure of the embodiment of the present invention.

3 is a schematic structural diagram of a turntable mechanism in an embodiment of the present invention.

4 is a structural front view of the upper and lower transport mechanism in the embodiment of the present invention.

5 is a structural side view of the upper and lower transport mechanism in the embodiment of the present invention.

6 is a schematic structural diagram of a pouring mechanism in an embodiment of the present invention.

Detailed ways

The present utility model will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

The utility model provides a mechanical device for assisting manual fruit picking. As shown in FIG. 1 , it includes a moving device, a mechanical arm picking mechanism, a turntable mechanism 3, an upper and lower transport mechanism 4 and a dumping mechanism 5. The robotic arm picking mechanism and The turntable mechanisms 3 are all arranged on the installation platform 2 of the mobile device, and a plurality of the upper and lower transport mechanisms 4 are evenly distributed along the circumference of the turntable mechanism 3 to drive the upper and lower transport mechanisms to operate to different stations, and each upper and lower transport mechanism is transported up and down. The mechanism 4 is respectively provided with a said dumping mechanism 5 to drive the dumping mechanism 5 to move up and down, and the dumping mechanism 5 is provided with a dumping fruit basket to receive the fruit picked by the robotic arm picking mechanism, and serve as the dumping mechanism 5. When moving to the lower part of the upper and lower transport mechanism 4, the fruit is poured.

As shown in FIG. 2 , in this embodiment, the robotic arm picking mechanism and the turntable mechanism 3 are respectively arranged on the front and rear of the installation platform 2 , and the turntable mechanism 3 has three uniformly distributed along the circumference. The upper and lower transport mechanism 4, the three stations of the upper and lower transport mechanism 4 are separated by 120° and the first station is forwardly facing the robotic arm picking mechanism, so that when the mobile device moves to the set position, the robotic arm picking mechanism picks forward Fruit and put back into the fruit basket of the pouring mechanism 5.

Wherein, the moving device is mainly composed of a crawler-type moving mechanism 1 and an installation platform 2 arranged thereon for installing the robotic arm picking mechanism and the turntable mechanism 3 . The robotic arm picking mechanism is mainly composed of a rotating chassis 8, a robotic arm 7 and an end effector 6 for picking fruits. The rotating chassis 8 is mounted on the mobile device, and the lower end of the robotic arm 7 is mounted on the rotating chassis 8. The end effector 6 is installed on the upper end.

As shown in FIG. 3 , the turntable mechanism 3 includes a steering gear mounting frame 103 , a steering gear 111 and a turntable 104 , and the steering gear 111 is fixedly installed on the installation platform 100 via the steering gear mounting frame 103 and threaded fasteners 101 and 102 . The output end of the steering gear 111 is connected to the steering wheel 110, and the steering wheel 110 is connected to the turntable 104 to drive the steering wheel 110 and the turntable 104 to rotate. The turntable 104 is rotated to different stations.

Specifically, the turntable of the turntable mechanism is connected to the 6815 deep groove ball bearing 109 by bolts. The bearing 109 is connected to the splint by bolts, the splint is connected to the steering wheel 110 by bolts, and the steering wheel is connected to the steering gear 111 through the engagement of the internal gear. The steering gear is fixed on the steering gear mounting frame 103 through bolts and studs 101 and 102 , and then fixed on the mounting platform 100 . The steering gear 111 drives the upper and lower transport mechanism 4 to transport the fruit basket to a proper position when the robotic arm picking mechanism picks by controlling the turntable 104 . After the picking is completed, rotate 120°, drive the upper and lower transport mechanism to leave the first station, and let the second upper and lower transport mechanism 4 perform the previous step.

As shown in FIGS. 4 and 5 , the upper and lower transport mechanism 4 includes left and right frames, left and right slide rails 203 are respectively provided on the left and right frames, and left and right slide rails 203 are respectively provided with There are left and right sliders 204 that can slide up and down, and the pouring mechanism 5 is arranged between the left and right sliders 204 and is fixedly connected to the front of the left and right sliders respectively; the left and right racks The upper and lower parts are respectively provided with upper and lower transmission shafts 201, each transmission shaft 201 is connected with the frame in rotation, the left and right ends of the upper and lower transmission shafts are provided with transmission pulleys 202, and the upper and lower transmission shafts are provided with transmission pulleys 202. Left and right transmission belts 216 that cooperate with the transmission pulley 202 are wound between the transmission shafts. The front side sections of the left and right transmission belts 216 are respectively fixedly connected to the rear of the left and right sliders 204. The motor is installed on the frame. The output end of the motor is connected with one of the transmission shafts, so as to drive the transmission belt to run through the transmission shaft, thereby driving the slider and the tilting mechanism on it to slide up and down along the slide rail.

Specifically, the up and down transport mechanism includes an L-shaped frame 200, which is fixed on the turntable 104 by screws, and together with the long U-shaped frame 205 and the H-shaped frame 207 constitute a frame of the up and down transport mechanism. The slide rail 203 is connected to the L-shaped frame 200 and the long U-shaped frame 205 by bolts. The sliding block 204 is connected to the sliding rail 203 . The slider is controlled by a belt transmission mechanism. The transmission shaft 201 is at the upper and lower ends of the H-shaped frame 207, respectively, on which a synchronous toothed pulley 202 is installed, and a synchronous toothed belt 216 is installed on the pulley, thus forming a belt transmission mechanism. , drive the slider to move up and down. Between the synchronous toothed belt and the slider, the front fixed plate 211 of the grooved slider on the slider 204 and the front clamping plate 219 and the rear clamping plate 218 of the synchronous toothed belt are connected by bolts, so that the synchronous toothed belt 216 can drive The slider 204 moves up and down.

As shown in FIG. 6 , the dumping mechanism 5 includes a long U-shaped frame 300 , a double-axis steering gear 303 , a short U-shaped frame 301 and a fruit basket 209 , and the middle of the long U-shaped frame 300 is fixedly connected to the upper and lower transport mechanism 4 . , the rudder discs 302 at both ends of the dual-axis steering gear 303 are fixedly connected to the left and right front ends of the long U-shaped frame 300, and the dual-axis steering gear 303 is fixedly connected to the fruit basket 209 through the short U-shaped frame 301, so as to The dumping of the fruit basket 209 is driven by the rotation of the double-axis steering gear 303 .

Specifically, the long U-shaped frame 300 of the dumping mechanism is connected to the front fixing plate 211 of the slider by bolts, the rudder plate 302 is fixedly connected to the long U-shaped frame 300, the dual-axis steering gear 303 is connected to the rudder plates 302 at both ends, The rear end of the dual-axis steering gear 303 is connected to the short U-shaped frame 301 , and the other end of the short U-shaped frame is connected to the fruit basket 209 , and the fruit basket can be dumped by the rotation of the dual-axis steering gear 303 .

When the turntable 104 of the turntable mechanism transports the upper and lower transport mechanism 4 to the side close to the picking mechanism of the robotic arm, the forward rotation of the transmission shaft 201 of the upper and lower transport mechanism drives the synchronous toothed belt pulley 202 to rotate to drive the synchronous toothed belt 216 to work, and the sliding The front fixing plate 211, the front clamping plate 219 of the synchronous toothed belt and the rear clamping plate 218 of the synchronous toothed belt drive the slider 204 to rise along the slide rail 203, and the slider is connected to the dumping mechanism and the fruit basket on it, and the fruit basket 209 is driven by this method. rise. Similarly, after the picking is completed, the turntable rotates 120°, and the drive shaft 201 is reversed to drive the fruit basket down. After the slider 204 descends along the slide rail 203, the double-axis steering gear 301 rotates to rotate the fruit basket 209 by a certain angle to realize the dumping.

In order to realize the work control of each mechanism of the device, the installation platform 2 is also provided with a control unit, and the control unit is respectively connected with the control ends of the mobile device, the picking mechanism of the robotic arm, the turntable mechanism, the upper and lower transport mechanism and the dumping mechanism, Work with each mechanism of the control device.

The working process of the utility model is as follows: 1) the moving device moves to the set position; 2) the turntable mechanism rotates one of the up and down transport mechanisms to the first station facing the picking mechanism of the robotic arm, and then the up and down transport mechanism drives the dumping mechanism and its The fruit basket on the top rises; 3) The picking mechanism of the robotic arm picks the fruit forward and puts it into the fruit basket of the dumping mechanism; 4) After the picking is full, the turntable mechanism rotates, and the upper and lower transport mechanism is rotated to the first place where the fruit is dumped. Two stations, at the same time, turn the next upper and lower transport mechanism to the first station facing the picking mechanism of the robotic arm; 5) The upper and lower transport mechanism in the second station drives the dumping mechanism and the fruit basket on it to descend, and at the same time, it is in the second station. The up and down transport mechanism of the first station drives the dumping mechanism and the fruit basket on it to rise; 6) The dumping mechanism in the second station rotates to set the angle, and dumps the fruit in the fruit basket into the corresponding position or container; the robotic arm picks The agency picks the fruit and puts it into the fruit basket at the first station; the cycle goes back and forth until the picking work is completed.

The above are the preferred embodiments of the present utility model, all changes made according to the technical solutions of the present utility model, when the resulting functional effects do not exceed the scope of the technical solutions of the present utility model, belong to the protection scope of the present utility model.

Claims (8)

1. a mechanical device for assisting manual picking of fruits, comprises a mobile device and a mechanical arm picking mechanism, it is characterized in that, also comprises a turntable mechanism, an upper and lower transport mechanism and a dumping mechanism, and the robotic arm picking mechanism and the turntable mechanism are all located in the mobile device. On the installation platform of the device, several upper and lower transport mechanisms are evenly distributed along the circumference of the turntable mechanism to drive each upper and lower transport mechanism to run to different stations, and each upper and lower transport mechanism is respectively provided with a said dumping mechanism , to drive the dumping mechanism to move up and down, the dumping mechanism is provided with a dumping fruit basket to receive the fruit picked by the mechanical arm picking mechanism, and when the dumping mechanism moves to the lower part of the upper and lower transport mechanism, the fruit is dumped. 2 . The mechanical device for assisting manual fruit picking according to claim 1 , wherein the picking mechanism of the robotic arm and the turntable mechanism are respectively arranged on the front part and the rear part on the installation platform, and the turntable mechanism There are three upper and lower transport mechanisms evenly distributed along the circumference. The three stations of the upper and lower transport mechanisms are spaced 120° apart and the first station faces the robotic arm picking mechanism, so that when the moving device moves to the set position, the mechanical The arm picking mechanism picks the fruit forward and puts it back into the fruit basket of the dumping mechanism. 3 . The mechanical device for assisting manual fruit picking according to claim 1 , wherein the moving device is mainly composed of a crawler-type moving mechanism and an installation on it for installing a robotic arm picking mechanism and a turntable mechanism. 4 . Platform composition. 4 . The mechanical device for assisting manual fruit picking according to claim 1 , wherein the picking mechanism of the robotic arm is mainly composed of a rotating chassis, a robotic arm and an end effector for picking fruits, and the The rotating chassis is installed on the mobile device, the lower end of the mechanical arm is installed on the rotating chassis, and the upper end is installed with the end effector. 5. The mechanical device for assisting manual fruit picking according to claim 1, wherein the turntable mechanism comprises a steering gear mounting frame, a steering gear and a turntable, and the steering gear is tightened through the steering gear mounting frame and a screw thread. The firmware is fixedly installed on the installation platform, the output end of the steering gear is connected to the steering wheel, the steering wheel is connected to the turntable to drive the steering wheel and the turntable to rotate, and the upper and lower transport mechanisms are evenly distributed on the turntable to follow the turntable. Run to different stations. 6 . The mechanical device for assisting manual fruit picking according to claim 1 , wherein the upper and lower transport mechanisms comprise left and right racks, and left and right slides are respectively provided on the left and right racks. 7 . The left and right slide rails are respectively provided with left and right sliders that can slide up and down, and the dumping mechanism spans between the left and right sliders and is fixed to the front of the left and right sliders respectively The upper and lower parts of the left and right frames are respectively provided with upper and lower transmission shafts, each transmission shaft is connected with the frame in rotation, and the left and right ends of the upper and lower transmission shafts are provided with transmission pulleys , and between the upper and lower transmission shafts, there are left and right transmission belts that cooperate with the transmission pulleys, and the front side sections of the left and right transmission belts are respectively fixedly connected to the rear of the left and right sliders. A motor, the output end of the motor is connected with one of the transmission shafts, so as to drive the transmission belt to run through the transmission shaft, and then drive the slider and the dumping mechanism on it to slide up and down along the slide rail. 7. The mechanical device for assisting manual fruit picking according to claim 1, wherein the pouring mechanism comprises a long U-shaped frame, a biaxial steering gear, a short U-shaped frame and a fruit basket, and the long U-shaped frame The middle part of the frame is fixedly connected with the upper and lower transport mechanisms, the rudder discs at both ends of the double-axis steering gear are fixedly connected with the left and right front ends of the long U-shaped frame, and the double-axis steering gear is connected to the fruit basket through the short U-shaped frame. Fixed connection to drive the dumping of the fruit basket through the rotation of the double-axis steering gear. 8 . The mechanical device for assisting manual fruit picking according to claim 1 , further comprising a control unit, the control unit is respectively associated with the mobile device, the robotic arm picking mechanism, the turntable mechanism, the up-down transport mechanism and the dumping mechanism. 9 . The control end of the mechanism is connected to control the work of each mechanism of the device.

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