CN-121970604-A - Durian picking machine based on hydrogen power unmanned aerial vehicle

CN121970604ACN 121970604 ACN121970604 ACN 121970604ACN-121970604-A

Abstract

The invention discloses a durian picking machine based on a hydrogen-powered unmanned aerial vehicle, which comprises a hydrogen-powered unmanned aerial vehicle body, wherein a machine body fixing mechanism is arranged below the machine body of the hydrogen-powered unmanned aerial vehicle body, the machine bodies positioned at two sides of the machine body fixing mechanism are respectively provided with a shearing clamping duplex mechanism for shearing and clamping fruit handles and a clamping auxiliary mechanism for assisting the shearing clamping duplex mechanism to clamp the fruit handles secondarily through mechanical arms, and the shearing clamping duplex mechanism comprises a cutter holder, a shearing cutter set hinged to the bottom end of the cutter holder, a clamping assembly arranged beside the shearing cutter set and used for clamping the fruit handles when the shearing cutter set shears the fruit handles, and a driving mechanism capable of simultaneously driving the shearing cutter set and the clamping assembly to synchronously operate.

Inventors

WU HUI
YANG JIAXIANG
FENG SHENG
CAI SHUO
Nie Zhongzhen
FENG ZENGMING

Assignees

芜湖学院

Dates

Publication Date: 20260505
Application Date: 20260330

Claims (8)

1. The durian picking machine based on the hydrogen power unmanned aerial vehicle comprises a hydrogen power unmanned aerial vehicle body (1) and is characterized in that a body fixing mechanism (2) capable of inhabiting the hydrogen power unmanned aerial vehicle body (1) on a trunk is arranged below a body of the hydrogen power unmanned aerial vehicle body (1), and the bodies positioned on two sides of the body fixing mechanism (2) are respectively provided with a shearing clamping duplex mechanism (4) for shearing and clamping fruit stalks and a clamping auxiliary mechanism (5) for assisting the shearing clamping duplex mechanism (4) to secondarily clamp the durian fruit stalks through mechanical arms (3); The shearing and clamping duplex mechanism (4) comprises a cutter holder (401), a shearing cutter group (402) hinged to the bottom end of the cutter holder (401), a clamping assembly (403) which is arranged on the cutter holder (401) beside the shearing cutter group (402) and matched with the shearing cutter group (402) to clamp a fruit handle in the process of shearing the fruit handle, and a driving mechanism (404) which can simultaneously drive the shearing cutter group (402) and the clamping assembly (403) to synchronously operate.
2. The durian picking machine based on a hydrogen powered unmanned aerial vehicle according to claim 1, wherein the scissor cutter set (402) comprises a first blade (4021) and a second blade (4022), the clamping assembly (403) comprises a first clamping seat (4031), a second clamping seat (4032) and a clamping piece (4033), wherein, The utility model discloses a fruit handle cutting machine, including arm (3) and arm (3), arm (3) free end is vertical is provided with blade holder (401), the bottom of blade holder (401) articulates and is provided with cooperation use in order to cut and be a blade (4021) and No. two blade (4022) of X shape to the fruit handle, is located respectively blade (4021) and No. two blade (4022) are sideways blade holder (401) bottom symmetry be provided with rather than cooperation use in order to carry out centre gripping fixed and be a holder (4031) and No. two holder (4032) of X shape to the fruit handle in the shearing process, and the inside of both is provided with a row of clamping piece (4033) that can follow each uncovered and cooperate use through coupling mechanism telescopically respectively.
3. The durian picking machine based on the hydrogen power unmanned aerial vehicle according to claim 2, wherein the driving mechanism (404) comprises a screw rod II (4041), a slide seat II (4042), a connecting rod I (4043), a connecting rod II (4044), a connecting rod III (4045) and a connecting rod IV (4046), wherein, The end part of the mechanical arm (3) is fixedly provided with a mounting seat, the bottom end of the mounting seat is fixedly provided with a tool apron (401) in parallel through a plurality of fixing rods, a second lead screw (4041) is vertically and rotatably arranged between the mounting seat and the tool apron (401) between the plurality of fixing rods, a second sliding seat (4042) capable of moving along the shaft body of the mechanical arm is fixedly arranged on the second sliding seat (4011) in a threaded manner, through holes for all the fixing rods to pass through are respectively and vertically arranged on the second sliding seat (4042), two groups of linkage pieces connected with a scissor cutter group (402) and a clamping assembly (403) are respectively and symmetrically arranged on two sides of the first connecting rod (4043), each group of linkage pieces comprises a first connecting rod (4043), a second connecting rod (4044), a third connecting rod (4045) and a fourth connecting rod (4046), One end of a connecting rod (4043) and one end of a connecting rod (4045) of each group of linkage piece are hinged above a sliding seat (4042) II, the other ends of the connecting rod (4043) and the connecting rod (4045) II are respectively correspondingly hinged with a connecting rod (4044) II and a connecting rod (4046) II, the middle parts of the connecting rod (4046) II are hinged with the connecting rod (4044) II, the free end of the connecting rod (4046) II is fixed on a blade (4021) II or a clamping seat (4031) II, and the free end of the connecting rod (4044) II is fixed on a blade (4022) II or a clamping seat (4032) II.
4. The durian picking machine based on a hydrogen powered unmanned aerial vehicle according to claim 3, wherein the connecting mechanism comprises a connecting plate (10), a hinge pin (11) and a number two spring (12), wherein, The inside activity of a holder (4031) or No. two holder (4032) is provided with and articulates in proper order by a plurality of connecting plate (10) through hinge pin (11) head and tail and constitutes in order to be used for supporting a row support piece of holder (4033), a row the top of holder (4033) is followed respectively the uncovered of a holder (4031) or No. two holder (4032) stretches out, and every the bottom of connecting plate (10) is all spaced and vertical fixed be provided with a plurality of No. two springs (12), and the bottom of every No. two spring (12) is all fixed in the bottom of a holder (4031) or No. two holder (4032), and be located on the lateral wall of support piece both ends respectively partly inwards sunken form two guide runner (13), and two hinge pin (11) at support piece both ends respectively level slidable set up in two guide runner (13).
5. The durian picking machine based on the hydrogen power unmanned aerial vehicle according to claim 3, wherein the connecting mechanism comprises a positioning rod (14) and a third spring (15), wherein, The clamping device is characterized in that a row of locating rods (14) matched with a row of clamping pieces (4033) are vertically and fixedly arranged at the bottom end inside a first clamping seat (4031) or a second clamping seat (4032), the bottom ends of the clamping pieces (4033) are partially recessed inwards to form sliding cavities which are slidably connected with a row of locating rods (14), the clamping pieces (4033) are slidably sleeved on the locating rods (14) through the respective sliding cavities, a third spring (15) is sleeved on each locating rod (14), and two ends of each third spring (15) are respectively fixed on the bottom ends of the first clamping seat (4031) or the second clamping seat (4032) and the bottom ends of the clamping pieces (4033).
6. The durian picking machine based on the hydrogen power unmanned aerial vehicle according to claim 1, wherein the clamping auxiliary mechanism (5) comprises a clamp base (501), a force application plate (502), a barb fixing plate (503) and barbs (504), wherein, The other bottom of arm (3) is equipped with anchor clamps base (501), one side activity of anchor clamps base (501) is provided with can be towards anchor clamps base (501) pivoted application of force board (502) interval and movably are provided with two sliding plate (6) on anchor clamps base (501) towards application of force board (502), and articulate respectively between the two and be provided with two barb fixed plates (503), the adjacent end of two barb fixed plates (503) is also articulated together, evenly fixed being provided with multirow barb (504) on every barb fixed plate (503) towards application of force board (502), at least one barb fixed plate (503) is close to two barb fixed plate (503) adjacent bottom at least the fixed guide bar (7) that can vertically follow the inside of anchor clamps base (501) wears out, the cover is equipped with spring (8) on guide bar (7), the both ends of spring (8) are fixed respectively on the outer wall of guide bar (7) and anchor clamps base (501).
7. The durian picking machine based on the hydrogen power unmanned aerial vehicle according to claim 1, wherein the machine body fixing mechanism (2) comprises a clamping jaw stepping motor (201), a base (202), a connecting rod group, a clamping jaw screw (208), a thread fixing block (207) and clamping jaws (209), wherein, The utility model discloses a hydrogen power unmanned aerial vehicle, including base (201) and clamping jaw screw (208), base (201) level is fixed under hydrogen power unmanned aerial vehicle body (1), the vertical fixed clamping jaw stepper motor (201) that is provided with in upper end of base (201), clamping jaw stepper motor (201) output is fixed to be provided with square drive head (212), clamping jaw screw (208) top offer with guide slot (213) that square drive head (212) cooperation was used, clamping jaw screw (208) pass through this guide slot (213) with square drive head (212) movably assemble together, the below of base (201) through two fixed plates (206) level fixed be provided with clamping jaw screw (208) threaded connection's screw thread fixed block (207) together, clamping jaw screw (208) bottom pass through tapered roller bearing (211) level fixed be provided with rather than intermediate junction piece (205) that rotate to be connected, intermediate junction piece (205) both sides are provided with multiunit (209) through the symmetry hinge respectively.
8. The durian picking machine based on a hydrogen powered unmanned aerial vehicle according to claim 7, wherein the linkage comprises a jaw link a (203), a jaw link b (204) and a jaw link c (210), wherein, Two ends of the top of each clamping jaw (208) in a triangular structure are hinged to the fixed plate (206) through a clamping jaw connecting rod a (203) and a clamping jaw connecting rod b (204), two sides of the middle connecting piece (205) are respectively provided with a clamping jaw connecting rod c (210) in an interval and inclined hinge mode, and the other end of each clamping jaw connecting rod c (210) is hinged to the middle of the corresponding clamping jaw connecting rod b (204).

Description

Durian picking machine based on hydrogen power unmanned aerial vehicle Technical Field The invention relates to the field of fruit picking equipment, in particular to a durian picking machine based on a hydrogen power unmanned aerial vehicle. Background Unmanned machinery, abbreviated as "unmanned aerial vehicle", abbreviated as UAV in english, is a device that is operated by a radio remote control device and a self-contained program control means, or is operated autonomously, either entirely or intermittently, by an on-board computer, including unmanned aerial vehicles, unmanned vehicles, robotic dogs, and the like. Unmanned aerial vehicles have now been applied to fields such as aerial photography, agriculture, plant protection, electric power inspection, film and television photography, etc. In recent years, with the rapid development of durian markets, the traditional manual durian picking method has hardly met the market demands. Through retrieving, chinese patent application number is "CN202321452390.7", a durian picking machine based on hydrogen power unmanned aerial vehicle is disclosed, including mounting platform, track running gear is installed to mounting platform lower extreme, mounting platform upper end rotates and is connected with the mounting panel, rotating electrical machines is installed to the mounting platform lower extreme, the output shaft of rotating electrical machines runs through mounting platform and is connected with the mounting panel transmission, flexible arm is installed to the mounting panel upper end, clamping jaw cylinder is installed to flexible arm end, clamping jaw cylinder upper end fixed mounting has the fixed station, the fixed station is installed towards clamping jaw cylinder one side first electric telescopic handle, miniature motor is installed to first electric telescopic handle end, rotary blade is installed to miniature motor output, collection mechanism is installed to mounting platform upper end. The prior art has the following problems in the use process: In the prior art, durian is clamped through clamping jaws in the using process and sheared off from branches through a shearing mechanism, and because durian is directly clamped by clamping jaw cylinders, durian can be easily clamped if the clamping force is too large, and if the clamping force is too small, durian can fall to the ground from the clamping cylinders to cause the problem of falling injury. Therefore, the invention provides a durian picking machine based on a hydrogen power unmanned aerial vehicle, which can not only cut fruit stalks of durian through a cutting and clamping duplex mechanism in the use process so as to enable the durian to be separated from a trunk, but also hug the fruit stalks of durian to catch the cut durian, so as to prevent the cut durian from falling on the ground from the tree to damage pulp. Disclosure of Invention According to the technical problem, the durian is clamped by the clamping jaws in the using process and sheared off from branches by the shearing mechanism, and the durian is easily clamped by the clamping jaw cylinder when the clamping force is too large, and the durian falls to the ground from the clamping cylinder when the clamping force is too small, so that the problem of falling injury is solved, and the durian picking machine based on the hydrogen power unmanned aerial vehicle can be provided. In order to achieve the aim, the durian picking machine based on the hydrogen power unmanned aerial vehicle comprises a hydrogen power unmanned aerial vehicle body, wherein a body fixing mechanism capable of inhabiting the hydrogen power unmanned aerial vehicle body on a trunk is arranged below a body of the hydrogen power unmanned aerial vehicle body, and a shearing clamping duplex mechanism for shearing and clamping fruit stalks and a clamping auxiliary mechanism for assisting the shearing clamping duplex mechanism to secondarily clamp the durian fruit stalks are arranged on the bodies positioned on two sides of the body fixing mechanism through mechanical arms respectively; The shearing and clamping duplex mechanism comprises a cutter seat, a shearing type cutter group hinged to the bottom end of the cutter seat, a clamping assembly and a driving mechanism, wherein the clamping assembly is arranged on the cutter seat beside the shearing type cutter group and matched with the shearing type cutter group to clamp a fruit handle in the process of shearing the fruit handle, and the driving mechanism can drive the shearing type cutter group and the clamping assembly to synchronously operate. Preferably, the scissor cutter set comprises a first blade and a second blade, the clamping assembly comprises a first clamping seat, a second clamping seat and a clamping piece, wherein, The free end of arm is vertical to be provided with the blade holder, the bottom of blade holder articulates and is provided with the cooperation and uses and cut and be the blade and No.