CN216930932U

CN216930932U - Agricultural picking robot

Info

Publication number: CN216930932U
Application number: CN202123326510.2U
Authority: CN
Inventors: 章军
Original assignee: Nanjing Xinxiang Intelligent Technology Co ltd
Current assignee: Nanjing Xinxiang Intelligent Technology Co ltd
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2022-07-12
Anticipated expiration: 2031-12-27

Abstract

The utility model relates to the field of agricultural picking instruments, in particular to an agricultural picking robot, which comprises a connecting rod, wherein the top end of the connecting rod is rotatably connected with a rotating ring, the top end of the rotating ring is fixedly connected with a bearing basin, a clamping mechanism and a cutting mechanism are respectively arranged in the bearing basin, and a rotating mechanism is arranged at the bottom end of the bearing basin. According to the fruit tree branch picking device, the clamping mechanism, the cutting mechanism and the rotating mechanism are arranged, when fruits enter the bearing basin, the bearing basin rotates under the action of the rotating mechanism, the clamping mechanism and the cutting mechanism are opened at the same time, and the branches at the top ends of the fruits are cut while the fruits are fixed, so that the fruits are completely picked without damaging the branches, the branches are protected, and the fruit yield is improved.

Description

Agricultural picking robot

Technical Field

The utility model relates to the field of agricultural picking instruments, in particular to an agricultural picking robot.

Background

The agricultural picking robot can replace manual picking melons and fruits, some planting melons and fruits are large in quantity and use the robot when the melons and fruits are mature, time, manpower, financial resources and the like can be shortened, and along with the development of the prior art, the robot picking technology is more mature, and the use is more convenient.

Prior art, when using agricultural picking machine to pick fruit on the branch, need roll over fruit from the tree down, make the branch stay fruit easily like this on, increase the post processing degree of difficulty, harm fruit tree itself easily simultaneously, reduce the problem of output in the next year.

Based on the above, the utility model designs an agricultural picking robot to solve the problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an agricultural picking robot, which aims to solve the problems that the prior art is provided in the background art, when fruits on branches are picked by using an agricultural picking machine, the fruits need to be folded down from the trees, so that the branches are easy to remain on the fruits, the post-treatment difficulty is increased, the fruit trees are easy to damage, and the yield in the next year is reduced.

In order to achieve the purpose, the utility model provides the following technical scheme: an agricultural picking robot comprises a connecting rod, wherein the top end of the connecting rod is rotatably connected with a rotating ring, the top end of the rotating ring is fixedly connected with a bearing basin, a clamping mechanism and a cutting mechanism are respectively arranged in the bearing basin, and a rotating mechanism is arranged at the bottom end of the bearing basin;

clamping mechanism includes two L shape link, L shape link bottom symmetry fixed connection is on bearing the basin lateral wall, L shape link top is run through and sliding connection has first slide bar, first slide bar tip fixedly connected with arc clamp plate, arc clamp plate sliding connection is on the loading board lateral wall, another tip fixedly connected with slurcam of first slide bar, first reset spring has been cup jointed on the first slide bar surface, fixed connection is on L shape link and slurcam respectively in first reset spring both ends, the slurcam side is provided with pushing mechanism.

Preferably, the pushing mechanism comprises a supporting table, the supporting table is fixedly connected to the surface of the rotating ring, a second sliding rod is symmetrically and slidably connected to the surface of the supporting table, a trapezoidal pushing block is fixedly connected to the top end of the second sliding rod, a second reset spring is sleeved on the surface of the second sliding rod, two ends of the second reset spring are respectively and fixedly connected to the trapezoidal pushing block and the supporting table, induction electromagnetism is fixedly connected to the bottom end of the second sliding rod, an induction coil is wound on the surface of the induction electromagnetism, a magnet plate is arranged at the bottom end of the induction electromagnetism, and the magnet plate is fixedly connected to the surface of the connecting rod.

Preferably, the cutting mechanism includes two threaded rods, the threaded rod rotates to be connected in the inside groove on a supporting bench surface, threaded rod surface symmetry threaded connection has the third slide bar, and the right-hand member is two the common fixedly connected with cutting knife in third slide bar top, the left end two the common fixedly connected with cutting bed in third slide bar top, the equal fixedly connected with gear in threaded rod tip, the meshing of gear bottom has annular rack board, annular rack board fixed connection is on a supporting bench lateral wall.

Preferably, the rotating mechanism comprises a servo motor, the servo motor is fixedly connected to the inner side wall of the top end of the connecting rod, and the end part of an output shaft of the servo motor is fixedly connected to the bottom end of the bearing basin.

Preferably, the end part of the arc-shaped pressing plate is fixedly connected with an arc-shaped rubber plate.

Preferably, the bottom end of the connecting rod is in threaded connection with a handle rod.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the fruit tree pruning machine, the clamping mechanism, the cutting mechanism and the rotating mechanism are arranged, when fruits enter the bearing basin, the bearing basin rotates under the action of the rotating mechanism, meanwhile, the clamping mechanism and the cutting mechanism are opened, and the branches at the top ends of the fruits are cut while the fruits are fixed, so that the fruits are completely picked off in the early stage without damaging the branches, the branches are protected, and the fruit yield is improved.

2. According to the fruit picking device, the arc-shaped rubber plate and the handle rod are arranged, the arc-shaped rubber plate provides elasticity, the fruit surface is prevented from being damaged by excessive pressure of the arc-shaped pressing plate, the height of the connecting rod can be adjusted by the handle rod, fruits with different heights can be picked, and the fruit picking device is convenient to use.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a first schematic view of the overall structure of the present invention;

FIG. 2 is a cross-sectional view of the overall construction of the present invention;

fig. 3 is a view showing the connection between the clamping mechanism and the cutting mechanism in the overall structure of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

the device comprises a connecting rod 1, a rotating ring 2, a bearing basin 3, an L-shaped connecting frame 4, a first sliding rod 5, an arc-shaped pressing plate 6, a pushing plate 7, a first return spring 8, a supporting table 9, a second sliding rod 10, a trapezoidal pushing block 11, a second return spring 12, an induction electromagnet 13, an induction coil 14, a magnet plate 15, a threaded rod 16, a third sliding rod 17, a cutting knife 18, a cutting table 19, a gear 20, an annular rack plate 22, a servo motor 23, an arc-shaped rubber plate 24 and a handle rod 25.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: an agricultural picking robot comprises a connecting rod 1, the top end of the connecting rod 1 is rotatably connected with a rotating ring 2, the top end of the rotating ring 2 is fixedly connected with a bearing basin 3, a clamping mechanism and a cutting mechanism are respectively arranged in the bearing basin 3, the bottom end of the bearing basin 3 is provided with a rotating mechanism, the clamping mechanism comprises two L-shaped connecting frames 4, the bottom ends of the L-shaped connecting frames 4 are symmetrically and fixedly connected on the outer side wall of the bearing basin 3, the top end of the L-shaped connecting frame 4 is penetrated through and slidably connected with a first sliding rod 5, the end part of the first sliding rod 5 is fixedly connected with an arc-shaped pressing plate 6, the arc-shaped pressing plate 6 is slidably connected on the side wall of the bearing plate, the other end part of the first sliding rod 5 is fixedly connected with a pushing plate 7, the surface of the first sliding rod 5 is sleeved with a first reset spring 8, the two ends of the first reset spring 8 are respectively fixedly connected on the L-shaped connecting frame 4 and the pushing plate 7, the side surface of the pushing plate 7 is provided with a pushing mechanism, the pushing mechanism comprises a supporting table 9, the supporting table 9 is fixedly connected to the surface of the rotating ring 2, the surface of the supporting table 9 is symmetrically and slidably connected with a second sliding rod 10, the top end of the second sliding rod 10 is fixedly connected with a trapezoidal pushing block 11, the surface of the second sliding rod 10 is sleeved with a second reset spring 12, two ends of the second reset spring 12 are respectively fixedly connected to the trapezoidal pushing block 11 and the supporting table 9, the bottom end of the second sliding rod 10 is fixedly connected with an induction electromagnet 13, the surface of the induction electromagnet 13 is wound with an induction coil 14, the bottom end of the induction electromagnet 13 is provided with a magnet plate 15, the magnet plate 15 is fixedly connected to the surface of the connecting rod 1, the cutting mechanism comprises two threaded rods 16, the threaded rods 16 are rotatably connected in an inner groove on the surface of the supporting table 9, the right end of the threaded rods 16 is symmetrically and threadedly connected with third sliding rods 17, the top ends of the two third sliding rods 17 are fixedly connected with a cutting knife 18 together, and the top ends of the two third sliding rods 17 at the left end are fixedly connected with a cutting table 19 together, the end parts of the threaded rods 16 are fixedly connected with gears 20, the bottom ends of the gears 20 are meshed with annular rack plates 22, and the annular rack plates 22 are fixedly connected to the outer side wall of the supporting platform 9.

One specific application of this embodiment is: when the fruit peeling machine is used, fruits are firstly placed into the bearing basin 3, then the power supply is switched on, the induction electromagnet 13 is electrified, then under the attraction effect of the magnet plate 15, the second slide bar 10 moves downwards, the second return spring 12 is compressed, the trapezoidal pushing block 11 moves downwards and extrudes the pushing plate 7, the pushing plate 7 drives the first slide bar 5 and the arc-shaped pressing plate 6 to be close to the two sides of the fruits, the fruits in the bearing basin 3 are limited, the output shaft of the servo motor 23 rotates when the power supply is switched on, the bearing basin 3 is driven by the rotating sleeve to rotate together, the supporting platform 9 rotates, the gear 20 is meshed with the annular rack plate 22, under the effect of threaded connection, the third slide bar 17 is mutually close, the cutting knife 18 and the cutting platform 19 are close to cut branches at the top ends of the fruits, and meanwhile, under the rotating effect, the fruits can be quickly peeled off from fruit trees, unable use and draw the mode of dragging to take off fruit from the branch, avoid taking place to make the branch stay on fruit, the increase post processing degree of difficulty, harm the fruit tree itself easily simultaneously, reduce the problem of output in the next year, when fruit is plucked, servo motor 23 reverse rotation, cutting knife 18 and cutting bed 19 reset, power failure afterwards, arc clamp plate 6 resets under the effect of first reset spring 8 and second reset spring 12, prepare for plucking next time, the continuity of plucking is realized.

According to the fruit picker, the end part of the arc-shaped pressing plate 6 is fixedly connected with the arc-shaped rubber plate 24, the bottom end of the connecting rod 1 is in threaded connection with the handle rod 25, the arc-shaped rubber plate 24 provides elasticity, the fruit surface is prevented from being damaged by excessive pressure of the arc-shaped pressing plate 6, the height of the connecting rod 1 can be adjusted by the handle rod 25, fruits with different heights can be picked, and the fruit picker is convenient to use.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the utility model disclosed above are intended to be illustrative only. The preferred embodiments are not exhaustive and do not limit the utility model to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best utilize the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides an agricultural picking robot, includes connecting rod (1), its characterized in that: the top end of the connecting rod (1) is rotatably connected with a rotating ring (2), the top end of the rotating ring (2) is fixedly connected with a bearing basin (3), a clamping mechanism and a cutting mechanism are respectively arranged in the bearing basin (3), and a rotating mechanism is arranged at the bottom end of the bearing basin (3);

clamping mechanism includes two L shape link (4), L shape link (4) bottom symmetry fixed connection is on bearing basin (3) lateral wall, L shape link (4) top is run through and sliding connection has first slide bar (5), first slide bar (5) tip fixedly connected with arc clamp plate (6), arc clamp plate (6) sliding connection is on the loading board lateral wall, another tip fixedly connected with slurcam (7) of first slide bar (5), first reset spring (8) have been cup jointed on first slide bar (5) surface, fixed connection is on L shape link (4) and slurcam (7) respectively in first reset spring (8) both ends, slurcam (7) side is provided with pushing mechanism.

2. An agricultural picking robot as claimed in claim 1, characterised in that: pushing mechanism includes brace table (9), brace table (9) fixed connection is on rotating circle (2) surface, brace table (9) surface symmetry sliding connection has second slide bar (10), trapezoidal piece (11) that promotes of second slide bar (10) top fixedly connected with, second reset spring (12) have been cup jointed on second slide bar (10) surface, second reset spring (12) both ends fixed connection is respectively on trapezoidal piece (11) and brace table (9) that promote, second slide bar (10) bottom fixedly connected with response electromagnetism (13), response electromagnetism (13) surface winding has induction coil (14), response electromagnetism (13) bottom is provided with magnet board (15), magnet board (15) fixed connection is on connecting rod (1) surface.

3. An agricultural picking robot as claimed in claim 1, characterised in that: cutting mechanism includes two threaded rods (16), threaded rod (16) rotate to be connected in the inside groove on brace table (9) surface, threaded rod (16) surface symmetry threaded connection has third slide bar (17), and the right-hand member is two the common fixedly connected with cutting knife (18) in third slide bar (17) top, the left end is two the common fixedly connected with cutting bed (19) in third slide bar (17) top, the equal fixedly connected with gear (20) of threaded rod (16) tip, gear (20) bottom meshing has annular rack board (22), annular rack board (22) fixed connection is on brace table (9) lateral wall.

4. An agricultural picking robot as claimed in claim 1, characterised in that: the rotating mechanism comprises a servo motor (23), the servo motor (23) is fixedly connected to the inner side wall of the top end of the connecting rod (1), and the end part of an output shaft of the servo motor (23) is fixedly connected to the bottom end of the bearing basin (3).

5. An agricultural picking robot as claimed in claim 1, characterised in that: the end part of the arc-shaped pressing plate (6) is fixedly connected with an arc-shaped rubber plate (24).

6. An agricultural picking robot as claimed in claim 1, characterised in that: the bottom end of the connecting rod (1) is in threaded connection with a handle rod (25).