CN-224205762-U - Picking mechanism for fruit picking robot

CN224205762UCN 224205762 UCN224205762 UCN 224205762UCN-224205762-U

Abstract

The utility model relates to the technical field of fruit picking robots and discloses a fruit picking mechanism for a fruit picking robot, which comprises a connecting shaft, wherein the outer surface of the upper end of the connecting shaft is fixedly connected with a base, the outer surface of the upper end of the base is fixedly connected with a clamping picking assembly, the outer surface of the middle part of the base is fixedly connected with a connecting plate, the outer surface of the upper end of the connecting plate is fixedly connected with a stand column and a tray, and the stand column is positioned on the outer surface of the lower end of the tray.

Inventors

CHEN KEYIN
ZHANG WENXI
YAO KAIYANG
LI QINGTAO
Lan Ruyi
LI XINRU
LIU YUANLIN

Assignees

嘉应学院

Dates

Publication Date: 20260508
Application Date: 20250610

Claims (6)

1. The picking mechanism for the fruit picking robot comprises a connecting shaft (1) and is characterized in that a base (2) is fixedly connected to the outer surface of the upper end of the connecting shaft (1), a clamping picking assembly (3) is fixedly connected to the outer surface of the upper end of the base (2), a connecting plate (6) is fixedly connected to the outer surface of the middle part of the base (2), a stand column (7) and a tray (8) are fixedly connected to the outer surface of the upper end of the connecting plate (6), the stand column (7) is located on the outer surface of the lower end of the tray (8), and a threaded rod (9) is fixedly connected to the outer surface of the lower end of the connecting shaft (1).
2. The picking mechanism for the fruit picking robot according to claim 1, wherein the clamping picking assembly (3) comprises square upright posts (10), grooves (11), connecting rods (12), cutting blades (13), connecting blocks I (14), connecting blocks II (15), electric telescopic rods (16) and clamping blocks (17), the cutting blades (13) and the clamping blocks (17) are two groups, the number of the square upright posts (10), the grooves (11), the connecting rods (12), the connecting blocks I (14), the connecting blocks II (15) and the electric telescopic rods (16) is four, the square upright posts (10) are fixedly connected to the outer surface of the upper end of the base (2), grooves (11) are formed in the outer surface of the upper end of each square upright post (10), the connecting rods (12) are movably connected to the outer surface of the upper end of each groove (11), and the connecting rods (12) are located in the inner surface of each groove (11).
3. The picking mechanism for the fruit picking robot according to claim 2, wherein the outer surfaces of the upper ends of the two groups of connecting rods (12) are fixedly connected with cutting blades (13), the outer surfaces of the upper ends of the other two groups of connecting rods (12) are fixedly connected with clamping blocks (17), and the cutting blades (13) and the clamping blocks (17) are not in the same horizontal line.
4. The picking mechanism for the fruit picking robot according to claim 2, wherein a first connecting block (14) is fixedly connected to the outer surface of the lower end of the connecting rod (12), and a second connecting block (15) is movably connected to the outer surface of the lower end of the first connecting block (14).
5. The picking mechanism for the fruit picking robot according to claim 2, wherein an electric telescopic rod (16) is fixedly connected to the outer surface of the lower end of the second connecting block (15), and the outer surface of the other end of the electric telescopic rod (16) is fixedly connected to the outer surface of the upper end of the connecting plate (6).
6. The picking mechanism for the fruit picking robot according to claim 1, wherein a supporting column (4) is fixedly connected to the outer surface of the upper end of the base (2), and a camera (5) is fixedly connected to the outer surface of the upper end of the supporting column (4).

Description

Picking mechanism for fruit picking robot Technical Field The utility model relates to the technical field of fruit picking robots, in particular to a picking mechanism for a fruit picking robot. Background The crawler-type fruit picking robot is an automatic device, is mainly used for executing collection tasks in a specific environment, realizes an automatic, accurate and efficient sampling process by integrating a high-precision mechanical arm, an advanced sensor and an intelligent control system, and consists of a mechanical arm, a travelling mechanism, a hydraulic driving system and a single chip microcomputer control system, wherein the mechanical arm consists of a rotary disc, a stand column, a large arm, a small arm and a collection claw, the whole mechanical arm has five degrees of freedom, the collection claw is moved to a fruit position and clamped by the mechanical arm, a fruit handle is twisted off to complete picking, and then the actions are repeated. However, the existing crawler-type fruit picking robot still has some defects, such as picking modes of picking claws, picking fruits from fruit trees by clamping before twisting, which not only causes damage to the surfaces of the fruits, but also is suitable for fruits with higher hardness, and in the picking process, in order to keep the freshness of the fruit trees for a long time, the fruits are left with fruit stalks, and when the fruits meet thicker fruit stalks, the fruits are difficult to twist off, so that the applicability is poor. In order to solve the problems, the application provides a picking mechanism for a fruit picking robot. Disclosure of utility model The utility model aims to provide a picking mechanism for a fruit picking robot, which solves the problems that in the prior art, most of picking modes of crawler-type fruit picking robots are adopted, and fruits are picked from fruit trees by clamping and then twisting, so that the surface of the fruits is damaged, the picking mechanism is only suitable for fruits with higher hardness, in the picking process, in order to keep the freshness of the fruit trees for a long time, fruit handles are left, the fruit handles are difficult to twist off when the fruit trees with thicker fruit handles are encountered, the applicability is poor, and the like. In order to achieve the above purpose, the picking mechanism for the fruit picking robot comprises a connecting shaft, wherein the outer surface of the upper end of the connecting shaft is fixedly connected with a base, the outer surface of the upper end of the base is fixedly connected with a clamping picking assembly, the outer surface of the middle part of the base is fixedly connected with a connecting plate, the outer surface of the upper end of the connecting plate is fixedly connected with a stand column and a tray, the stand column is positioned on the outer surface of the lower end of the tray, and the outer surface of the lower end of the connecting shaft is fixedly connected with a threaded rod. Preferably, the clamping picking assembly comprises square upright posts, grooves, connecting rods, cutting blades, a first connecting block, a second connecting block, electric telescopic rods and clamping blocks, wherein the cutting blades and the clamping blocks are two groups, the square upright posts, the grooves, the connecting rods, the first connecting block, the second connecting block and the electric telescopic rods are four groups in number, the square upright posts are fixedly connected to the outer surface of the upper end of the base, the outer surface of the upper end of each square upright post is provided with the grooves, the outer surface of the upper end of each groove is movably connected with the connecting rods, and the connecting rods are located in the inner surface of each groove. Preferably, the outer surfaces of the upper ends of the two groups of connecting rods are fixedly connected with cutting blades, the outer surfaces of the upper ends of the other two groups of connecting rods are fixedly connected with clamping blocks, and the cutting blades and the clamping blocks are not in the same horizontal line. Preferably, the connecting block I is fixedly connected to the outer surface of the lower end of the connecting rod, and the connecting block II is movably connected to the outer surface of the lower end of the connecting block I. Preferably, the outer surface of the lower end of the second connecting block is fixedly connected with an electric telescopic rod, and the outer surface of the other end of the electric telescopic rod is fixedly connected with the outer surface of the upper end of the connecting plate. Preferably, the upper end surface fixedly connected with support column of base, the upper end surface fixedly connected with camera of support column. Compared with the prior art, the utility model has the beneficial effects that: According to the crawler-type fruit picking robot, the elec