CN-117796230-B - Eggplant picking device

CN117796230BCN 117796230 BCN117796230 BCN 117796230BCN-117796230-B

Abstract

The invention relates to an eggplant picking device, which belongs to the technical field of eggplant picking, and comprises a clamping assembly, a scissor assembly, a transverse moving frame assembly, a lifting frame assembly, a turnover assembly and a reversing assembly, wherein the turnover assembly comprises a sliding seat, a camera used for identifying eggplants is arranged on the sliding seat, the reversing assembly comprises a second worm wheel rotationally connected to the sliding seat, a connecting seat fixed to the sliding seat, a second worm rotationally connected to the connecting seat and meshed with the second worm wheel, a reversing motor arranged on the connecting seat and used for driving the second worm to rotate, a rack fixed on the second worm, and both the clamping assembly and the scissor assembly are arranged on the rack. The picking device can adjust the distribution relation of the clamping assembly and the scissor assembly, and can cope with eggplants with different growth vigor. Moreover, eggplants in planting areas at two sides of the corridor can be picked respectively, and one more picking device is not needed.

Inventors

CAI ZHONGMING
QI ZHENNING
ZHU LIBO
HE JINGXIAN
Mei Zhehao

Assignees

河海大学

Dates

Publication Date: 20260508
Application Date: 20240131

Claims (5)

1. The eggplant picking device comprises a clamping assembly and a scissor assembly and is characterized by further comprising a traversing rack assembly, a lifting rack assembly, a turnover assembly and a reversing assembly, wherein the traversing rack assembly is used for driving the turnover assembly and the reversing assembly to horizontally move; The overturning assembly comprises a sliding seat, wherein a camera for identifying eggplants is arranged on the sliding seat; the inversion assembly includes: The second worm wheel is rotationally connected to the sliding seat; The connecting seat is fixed on the sliding seat; The second worm is rotationally connected to the connecting seat and meshed with the second worm wheel; The reversing motor is arranged on the connecting seat and used for driving the second worm to rotate; the rack is fixed on the second worm, the clamping assembly and the scissor assembly are both arranged on the rack, and the overturning assembly comprises: a support frame; The mounting seat is fixed on the support frame; the first worm is rotationally connected to the mounting seat; The first worm wheel is rotationally connected to the support frame and meshed with the first worm; The overturning motor is arranged on the mounting seat and used for driving the first worm to rotate; The fixed seat is fixed on the first worm wheel, and the sliding seat is arranged on the fixed seat in a relatively sliding manner; the second threaded rod is rotationally connected to the fixed seat and is in threaded connection with the sliding seat; and the transverse moving motor is arranged on the fixed seat and used for driving the second threaded rod to rotate.
2. Eggplant harvesting device as claimed in claim 1, wherein the clamping assembly or the scissor assembly each comprises: The first moving block is movably clamped on the rack and can move along the length direction of the rack; the first displacement motor is arranged on the first moving block; the first displacement motor drives the first displacement gear to rotate; the clamping block is fixed on the first moving block; The clamping screw is rotationally connected to the clamping block; The clamping motor is used for driving the clamping screw rod to rotate; The two clamping parts are respectively and rotatably connected to the clamping blocks; the driving block is movably clamped on the first moving block and moves along the axis of the clamping screw; and two ends of the first connecting rod are respectively and rotatably connected to the clamping part and the driving block.
3. An eggplant harvesting device as claimed in claim 1, wherein the traversing carriage assembly comprises: the stand is erected on the ground; the two connecting wheels are positioned at two ends of the vertical frame and are rotationally connected to the vertical frame; The belt is sleeved on the two connecting wheels at the same time and meshed with the connecting wheels; The transverse moving frame is movably clamped on the vertical frame and fixedly connected with one side of the belt; the walking motor is arranged on the vertical frame and used for driving one of the connecting wheels to rotate.
4. An eggplant harvesting device as claimed in claim 3, wherein the crane assembly comprises: the lifting plate is movably clamped on the mounting frame and can vertically move along the mounting frame; The two first threaded rods are rotatably connected to the mounting frame and are in threaded connection with the lifting plate; the two gears are respectively sleeved and fixed on the corresponding first threaded rods; The chain is sleeved on the two gears at the same time and meshed with the two gears; and the lifting motor is arranged on the mounting frame and used for driving one of the first threaded rods to rotate.
5. Eggplant harvesting device as claimed in claim 4, wherein the mounting frame is provided with a collection frame assembly comprising: the collecting frame is fixed on the mounting frame and is provided with an opening; the opening plate is hinged on the collecting frame; The driving rod is rotationally connected to the collecting frame; the sliding block is movably clamped on the collecting frame and can move along the axis of the driving rod, and is in threaded connection with the driving rod; One end of the second connecting rod is rotationally connected with the opening and closing plate, the other end is rotationally connected with the sliding block; And the opening and closing motor is arranged on the collecting frame and used for enabling the driving rod to rotate.

Description

Eggplant picking device Technical Field The invention belongs to the field of fruit picking devices, and particularly relates to an eggplant picking device. Background Application publication number CN116830901a discloses an intelligent eggplant picking mechanical device. The intelligent eggplant picking mechanical device comprises a multi-degree-of-freedom mechanical arm, a shearing device and a clamping device, wherein the shearing device and the clamping device are arranged on the mechanical arm. When the device is used for picking, the device has several disadvantages: 1. The shearing device and the clamping device in the prior art are arranged up and down, and the growth posture of the eggplant which can be dealt with is that the stem of the eggplant is necessarily up and the fruit is down. In nature, most eggplants are presented according to the above-described growth poses. However, there are also few eggplants, the stems of which and the fruits of which grow in a horizontal, oblique direction (the fruits are at an acute angle to the ground, rather than perpendicular to the ground). The eggplant with the posture cannot be sheared by the shearing device and the clamping device which are arranged one above the other in the prior art. 2. The spacing between the shearing device and the clamping device cannot be changed, and for some eggplants with lengths smaller than the spacing between the shearing device and the clamping device, shearing cannot be performed. Disclosure of Invention The eggplant picking device can be used for coping with eggplants growing horizontally and eggplants growing vertically, and can be used for adjusting the spacing between the shearing part and the clamping part. The eggplant picking device comprises a clamping assembly, a scissor assembly, a traversing rack assembly, a lifting frame assembly, a turnover assembly and a reversing assembly, wherein the traversing rack assembly is used for driving the turnover assembly and the reversing assembly to horizontally move, the lifting frame assembly is used for driving the turnover assembly and the reversing assembly to lift, the turnover assembly is used for driving the reversing assembly to rotate, the traversing rack assembly is connected with the lifting frame assembly through a mounting frame, the turnover assembly comprises a sliding seat, a camera used for identifying eggplants is mounted on the sliding seat, the reversing assembly comprises a second worm wheel, the second worm wheel is rotatably connected to the sliding seat, a connecting seat is fixed to the sliding seat, a second worm rod is rotatably connected to the connecting seat and meshed with the second worm wheel, a reversing motor is mounted on the connecting seat and used for driving the second worm rod to rotate, a rack is fixed to the second worm rod, and the clamping assembly and the scissor assembly are mounted on the rack. The turnover assembly comprises a support frame, a mounting seat, a first worm wheel, a turnover motor, a fixing seat, a second threaded rod, a traversing motor and a second threaded rod, wherein the mounting seat is fixed on the support frame, the first worm is connected to the mounting seat in a rotating mode, the first worm wheel is connected to the support frame in a rotating mode, the first worm wheel is meshed with the first worm, the turnover motor is mounted on the mounting seat and used for driving the first worm to rotate, the fixing seat is fixed on the first worm wheel, the sliding seat is arranged on the fixing seat in a sliding mode relatively, the second threaded rod is connected to the fixing seat in a rotating mode and connected with the sliding seat in a threaded mode, and the traversing motor is mounted on the fixing seat and used for driving the second threaded rod to rotate. The clamping assembly and the scissor assembly can be rotated 180 degrees by the flipping assembly. After the clamping assembly and the scissor assembly rotate 180 degrees, the clamping assembly and the scissor assembly are turned upside down, and then the distribution positions of the clamping assembly and the scissor assembly are adjusted through the reversing assembly. The turnover assembly arranged enables the clamping assembly and the scissor assembly to rotate 180 degrees, and two adjacent planting areas can be collected respectively. The clamping assembly or the scissors assembly comprises a first moving block, a first displacement motor, a first displacement gear, a clamping screw, a clamping motor, a driving block and a connecting rod, wherein the first moving block is movably clamped on a rack and can move along the length direction of the rack, the first displacement motor is arranged on the first moving block and meshed with the rack, the first displacement motor drives the first displacement gear to rotate, the clamping block is fixed on the first moving block, the clamping screw is rotationally connected to the clamping block, the clam