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CN-224205761-U - Fruit and vegetable picking mechanism and picking robot

CN224205761UCN 224205761 UCN224205761 UCN 224205761UCN-224205761-U

Abstract

The utility model discloses a fruit and vegetable picking mechanism and a picking robot, belongs to the field of agricultural mechanical equipment, and aims to solve the contradiction between mechanical arm strength and self weight. The fruit and vegetable picking mechanism comprises a first supporting component, a second driving device, a second connecting component, a third driving device, a third transmission component, a third rotating swing arm and a fourth clamping component used for picking, wherein the second driving device is arranged on the first supporting component and can provide support for the second driving device, and an output shaft of the second driving device is connected with the second connecting component and can drive the second connecting component to rotate relative to the first supporting component. According to the fruit and vegetable picking mechanism, the driving part is arranged close to the base, and the base is used for providing corresponding support, so that not only is the output load of the driving device effectively reduced, but also the weight of the working part of the mechanical arm is reduced, and the weight of the mechanical arm is enabled to be possible.

Inventors

  • LIU ZIHONG
  • YAO JINFENG

Assignees

  • 西南科技大学

Dates

Publication Date
20260508
Application Date
20250321

Claims (10)

  1. 1. The fruit and vegetable picking mechanism is characterized by comprising a first supporting component, a second driving device, a second connecting component, a third driving device, a third transmission component, a third rotating swing arm and a fourth clamping component for picking; The second driving device is arranged on the first supporting component, the first supporting component can provide support for the second driving device, an output shaft of the second driving device is connected with the second connecting component, and the second driving device can drive the second connecting component to rotate relative to the first supporting component; The third driving device is connected with the second connecting component, and the second connecting component can provide support for the third driving device; The third driving device is positioned at one end, close to the second driving device, of the second connecting assembly, the third rotating shaft is arranged at the other end of the second driving device, the third rotating shaft is rotationally connected with the second connecting assembly and can rotate relative to the second connecting assembly, and the third rotating swing arm is fixedly connected with the third rotating shaft and can drive the third rotating swing arm to synchronously rotate; The third driving wheel is arranged on an output shaft of the third driving device and can drive the third driving wheel to rotate, the third driven wheel is arranged on the third rotating shaft and is fixedly connected with the third rotating shaft, the third transmission belt is arranged on the third driving wheel and the third driven wheel, and the third driving device sequentially passes through the third driving wheel, the third transmission belt, the third driven wheel and the third rotating shaft and can drive the third rotating swing arm to rotate; The fourth clamping assembly is connected with the third rotating swing arm, and the third rotating swing arm can provide support for the fourth clamping assembly.
  2. 2. The fruit and vegetable picking mechanism according to claim 1, wherein the first supporting component comprises a first supporting upper plate, a first supporting lower plate and a first side wall connecting plate, the first side wall connecting plate is at least one, the first supporting upper plate and the first supporting lower plate are arranged in parallel, the first supporting upper plate and the first supporting lower plate are connected into a whole through the first side wall connecting plate, a first rotating space for relatively rotating the second connecting component is formed between the first supporting upper plate and the first supporting lower plate, the second driving device is arranged on the first supporting upper plate, the first supporting upper plate can provide support for the second driving device, an output shaft of the second driving device sequentially penetrates through the first supporting upper plate, the first supporting lower plate, the second driving device can rotate relative to the first supporting upper plate and the first supporting lower plate, the second connecting component is fixedly connected with an output shaft of the second driving device, and the second driving device can drive the second connecting component to rotate relative to the first supporting component.
  3. 3. The fruit and vegetable picking mechanism according to claim 1, wherein the second connecting assembly comprises a second proximal connecting plate near one end of the second driving device, a second distal connecting plate far away from one end of the second driving device, and a second connecting rod, wherein the number of the second distal connecting plates and the second connecting rods is two; The two second far-side connecting plates are arranged in parallel, and a second rotating space for arranging a third rotating swing arm is formed between the two second far-side connecting plates; The two second connecting rods are arranged in parallel, one end of each second connecting rod is connected with the corresponding second proximal connecting plate, the other end of each second connecting rod is connected with the corresponding second distal connecting plate, and the second proximal connecting plates, the second connecting rods and the second distal connecting plates are connected into a whole; The second driving device is arranged on the second proximal connecting plate, the second proximal connecting plate can provide support for the second driving device, the third rotating shaft respectively penetrates through the two second distal connecting plates, and one end of the third rotating swing arm is located in the second rotating space.
  4. 4. The fruit and vegetable picking mechanism according to any one of claims 1-3, further comprising a control system, wherein the second driving device and the third driving device are respectively connected with the control system.
  5. 5. The fruit and vegetable picking mechanism according to claim 1, wherein the fourth clamping assembly comprises a fourth claw and a fourth driving device for driving the fourth claw to work, the fourth claw is connected with one end of the third rotating swing arm far away from the third rotating shaft, the third rotating swing arm can provide support for the fourth claw, the fourth driving device is connected with the fourth claw, and the fourth driving device can drive the fourth claw to work so as to realize the clamping and picking operation of the articles to be picked.
  6. 6. The fruit and vegetable picking mechanism of claim 5 wherein the fourth jaw is a pneumatic jaw and the fourth drive is a fourth air tube connected to an air source.
  7. 7. The picking robot is characterized by comprising the fruit and vegetable picking mechanism and a fifth vertical adjusting unit according to any one of claims 1-6, wherein the fifth vertical adjusting unit is connected with a first supporting component of the fruit and vegetable picking mechanism and can drive the first supporting component to move along the vertical direction.
  8. 8. The picking robot of claim 7 wherein there are two fruit and vegetable picking mechanisms and the two fruit and vegetable picking mechanisms are respectively connected to a fifth vertical adjustment unit; The two fruit and vegetable picking mechanisms share one first supporting component, or the two fruit and vegetable picking mechanisms respectively use separate first supporting components.
  9. 9. The picking robot of claim 7 wherein the fifth vertical adjustment unit comprises a fifth support base, a fifth vertical support assembly, a fifth drive, a fifth transmission assembly; The fifth vertical supporting assembly comprises a fifth vertical guide rail, a fifth vertical pulley and a fifth pulley fixing shaft, wherein two fifth vertical guide rails are arranged in parallel, and the fifth vertical guide rail is connected with the fifth supporting base into a whole to form a fifth intermediate; the device comprises a first supporting component, a second supporting component, a third supporting component, a fourth supporting component, a fifth vertical pulley, a third vertical pulley, a fourth vertical pulley and a third vertical pulley, wherein the number of the fifth vertical pulleys and the number of the fifth pulley fixing shafts are 2N+2, N is a natural number and is more than or equal to 1; For a single fifth vertical guide rail, the fifth vertical pulleys are arranged on two sides of the fifth vertical guide rail in pairs, and the first supporting component can move relative to the axial direction of the fifth vertical guide rail through a fifth pulley fixing shaft and the fifth vertical pulleys in sequence; The fifth transmission assembly comprises a fifth driving wheel, a fifth rotating shaft, a fifth driven wheel and a fifth transmission belt; the fifth driving device is connected with the fifth intermediate body, the fifth intermediate body can provide support for the fifth driving device, the fifth driving wheel is arranged on an output shaft of the fifth driving device, the fifth driving device can drive the fifth driving wheel to rotate, two ends of the fifth rotating shaft are connected with the fifth vertical guide rail, the fifth vertical guide rail can provide support for the fifth rotating shaft, the fifth driven wheel is arranged on the fifth rotating shaft, the fifth driven wheel can rotate relative to the fifth vertical guide rail, the fifth driving belt is arranged on the fifth driving wheel and the fifth driven wheel, the fifth driving device can drive the fifth driven wheel to rotate relative to the fifth vertical guide rail sequentially through the fifth driving wheel and the fifth driving belt, the first supporting component is connected with the fifth driving belt, and the fifth driven wheel can drive the first supporting component to synchronously move.
  10. 10. The picking robot of claim 9, wherein the number of the fifth vertical pulleys and the fifth pulley fixing shafts is 8, the 8 fifth vertical pulleys are equally divided into two groups, the 4 fifth vertical pulleys are arranged on two sides of the fifth vertical guide rail in pairs, and the fifth vertical pulleys can move along the axial direction of the fifth vertical guide rail.

Description

Fruit and vegetable picking mechanism and picking robot Technical Field The utility model relates to the field of agricultural mechanical equipment, in particular to a fruit and vegetable picking mechanism and a picking robot. More specifically, the utility model provides a fruit and vegetable picking mechanism and a double-arm picking robot using the fruit and vegetable picking mechanism, which are used as auxiliary picking equipment, and can improve the picking efficiency effectively and reduce the picking labor cost. Background Picking is an extremely important link in the production process of agricultural products. In some cases, when fruits and vegetables such as eggplants, peppers and apples are subjected to severe weather in the mature stage, if the fruits and vegetables are not picked in time, serious economic loss is caused for farmers, and the price of agricultural products is indirectly influenced. At present, the fruits and vegetables are mainly picked manually. However, with the development of society, young people willing to engage in agriculture are relatively reduced, resulting in shortage of agricultural labor. Meanwhile, agricultural product picking has the characteristics of strong seasonality and concentrated labor time, so that the problems of difficult labor recruitment, expensive labor and the like are caused. As the agricultural product picking cost is high, the income of the growers is objectively influenced, the planting will of the growers is reduced, and the development of the planting industry is further limited. In recent years, with the continuous development of technology, automated equipment has been widely used in the agricultural field. Various intelligent mechanical devices from unmanned aerial vehicles to automatic driving tractors are changing traditional agricultural production modes. In the field of agricultural product picking, the appearance of a mechanical arm robot brings hopes for solving the problems. Aiming at blueberry picking, chinese patent application CN202321911226.8 discloses a blueberry picking mechanism which can enable mature blueberry fruits on branches to fall down under the beating of a stirring rod by arranging the stirring rod and a limiting ring, and can realize the separation of the blueberry fruits and leaves by arranging a vibrating screen. Aiming at tobacco leaf picking, chinese patent application CN202321859479.5 discloses a tobacco leaf picking mechanism, by adopting the structure, when a frame moves on the ground, a first toothed chain and a second toothed chain clamp the root of tobacco leaf to move along one radial side, and the tobacco leaf is divided by a blade. Chinese patent application CN201911213336.5 discloses a conveying type chrysanthemum picking mechanism, which comprises a housing, a carrying rope, a handle, a cutting mechanism, a toughness conveying mechanism, a screening collecting mechanism and a power supply mechanism. The method comprises the steps of firstly, obliquely carrying a carrying rope on the shoulder, enabling the shell to be approximately close to the top of chrysanthemum when the shell is horizontal or slightly higher according to the height of each head, then starting a switch, enabling a conveying motor and a cutting motor to work, then holding a handle by hand, enabling a feeding port of the shell to be aligned with chrysanthemum stems on the lower side of a chrysanthemum head, enabling a synchronous belt to rotate by the conveying motor, enabling bristles to rotate, stirring chrysanthemum at the feeding port, stirring the chrysanthemum into the feeding port, closing to a drain groove, cutting by a cutter on the lower side, falling to the upper side of the drain groove, and stirring the chrysanthemum by the bristles to move forwards along the shell. The Chinese patent application CN202323240392.2 discloses a split-type fruit electric picking mechanism which comprises a back plate, wherein a screw motor is arranged on the front side surface of the back plate, a shearing transmission mechanism is arranged at the front end of the screw motor, shearing blades which are assembled in a left-right crossing mode are arranged at the front end of the shearing transmission mechanism, an electric claw is arranged on the front side surface of the back plate below the screw motor, the electric claw drives a left clamping arm and a right clamping arm of the front end to move oppositely or back to back, the clamping arm is arranged below the shearing blades, the screw motor works to drive the shearing blades to move oppositely to realize shearing picking, the clamping arms are close to the lower sides of the shearing blades so as to realize effective clamping of fruit pedicles, the shearing picking action is effectively ensured, and the whole electric picking mechanism is small in size and is particularly suitable for being matched with AGVs, mechanical arms and the like with small volumes and wide applicability. How to s