CN107836208B - Fruit picking robot - Google Patents
Fruit picking robot Download PDFInfo
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- CN107836208B CN107836208B CN201711352486.5A CN201711352486A CN107836208B CN 107836208 B CN107836208 B CN 107836208B CN 201711352486 A CN201711352486 A CN 201711352486A CN 107836208 B CN107836208 B CN 107836208B
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- picking
- fruit
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- sleeve
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Abstract
The invention discloses a fruit picking robot, which comprises: a robot chassis; the lifting device is arranged at the top of the robot chassis; the picking device is arranged at the top of the lifting device; one end of the fruit conveying device is connected to the bottom of the picking device, and the other end of the fruit conveying device is communicated with the fruit branch separating device; and the fruit branch separating device is arranged at the top of the robot chassis in a fruit branch separating way. The fruit picking robot has higher picking efficiency.
Description
Technical Field
The invention belongs to the field of agricultural machinery, and particularly relates to a fruit picking robot.
Background
The fruit producing country is the first big fruit consuming country in the world. The rapid development of fruit growing industry has increased the market demand for orchard machinery. The labor force for picking operation accounts for 33% -50% of the labor force for the whole production process, and most of fruit picking in China is mainly manual picking at present. The picking operation is complex, the seasonality is very strong, if manual picking is used, the efficiency is low, the labor capacity is large, the damage to fruits is easy to cause, and if the manual picking is not performed in time, the economic loss is caused. Along with the development of robot technology, the robot is expected to solve the problems of insufficient labor force, reduced labor intensity, improved labor comfort level and reduced labor danger of workers, and in addition, the economic benefit of fruit farmers is improved, so that the improvement of the mechanization degree of picking operation is of great significance.
The existing fruit picking robot is focused on picking single fruits or on protecting the fruits, so that the picking is inconvenient and the picking efficiency is low.
Therefore, there is a need to develop a fruit picking robot that can pick fruits rapidly while having high picking efficiency.
The information disclosed in the background section of the invention is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a fruit picking robot which can pick fruits rapidly and has high picking efficiency.
In order to achieve the above object, the present invention provides a fruit picking robot comprising:
a robot chassis;
the lifting device is arranged at the top of the robot chassis;
the picking device is arranged at the top of the lifting device;
one end of the fruit conveying device is connected to the bottom of the picking device, and the other end of the fruit conveying device is communicated with the fruit branch separating device;
the fruit branch separating device is arranged at the top of the robot chassis in a separating way;
the picking device comprises a picking rack, a picking toothed bar, a picking sleeve transmission mechanism and a cutter, wherein the picking rack is arranged at the top of the lifting device, the picking toothed bar is vertically arranged on the picking rack, the picking sleeve is sleeved on the picking toothed bar, one end of the picking sleeve transmission mechanism is fixed at the other end of the picking rack, the picking sleeve transmission mechanism can drive the picking sleeve to reciprocate along the axis direction of the picking toothed bar, and one end of the cutter penetrates through the picking sleeve to be connected with the picking toothed bar.
The invention has the beneficial effects that:
1) The robot chassis drives the robot to move, and plays a role in stabilizing the robot, and the lifting device drives the picking device to ascend and descend; fruit is picked through the picking device, and the picked fruit is conveyed to the top of the robot chassis through the fruit conveying device and the fruit branch separating device.
2) The picking unit drives the picking sleeve to reciprocate in the axial direction through the picking sleeve transmission mechanism, and then drives the picking toothed bar to move, the cutter realizes cutting of branches through the picking toothed bar, cut fruits fall into the fruit transmission device to be recovered, fruits can be picked fast, and meanwhile picking efficiency is improved greatly.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the invention.
Fig. 1 shows a schematic structural view of a fruit picking robot according to an embodiment of the present invention.
Fig. 2 shows a schematic structural view of a picking apparatus according to an embodiment of the present invention.
Fig. 3 shows a schematic block diagram of a picking sleeve drive mechanism according to one embodiment of the invention.
Fig. 4 shows a schematic block diagram of a picker frame according to one embodiment of the present invention.
Fig. 5 shows a schematic structural view of a picking sleeve and a cutter according to an embodiment of the present invention.
Fig. 6 shows a schematic block diagram of a picking sleeve according to an embodiment of the invention.
Fig. 7 shows a schematic structural view of a picker tooth bar according to one embodiment of the present invention.
Fig. 8 shows a schematic structural view of a picking apparatus according to an embodiment of the present invention.
Fig. 9 shows a schematic structural view of a lifting device according to an embodiment of the present invention.
Fig. 10 shows a schematic structural view of a quick lifting mechanism according to an embodiment of the present invention.
Fig. 11 shows a schematic block diagram of a fine-tuning lifting mechanism according to an embodiment of the invention.
Fig. 12 shows a schematic structural view of a vertical lift mechanism according to an embodiment of the present invention.
Fig. 13 shows a schematic structural view of a horizontal movement mechanism according to an embodiment of the present invention.
Fig. 14 shows a schematic structural view of a fruit branch separating apparatus according to an embodiment of the present invention.
Fig. 15 shows a schematic structural view of a fruit conveying device and a fruit branch separating device according to an embodiment of the present invention.
Fig. 16 shows a schematic structural view of a fruit conveying device according to an embodiment of the present invention.
Fig. 17 shows a schematic installation of a peristaltic solenoid valve according to one embodiment of the invention.
Fig. 18 shows a schematic structural diagram of a peristaltic solenoid valve according to one embodiment of the present invention.
Fig. 19 shows a schematic structural view of a cutter according to an embodiment of the present invention.
Reference numerals illustrate:
1. a picking device; 2. fine-tuning the lifting mechanism; 3. a quick lifting mechanism; 4. a fruit branch separating device; 5. a robot chassis; 11. a picking frame; 12. a crank; 13. a crank parallel connecting rod; 14. a sleeve connecting rod; 15. picking a thinning rod; 16. a pipe rack; 17. a gear lever; 18. picking a toothed bar; 21. a hydraulic pump motor; 22. a hydraulic oil tank; 23. a hydraulic pump; 24. fine-tuning the lifting mechanism mounting platform; 31. an upper support frame; 32. an upper slide bar; 33. a first scissors linkage; 34. a lower support frame; 35. a threaded slide bar; 36. a lower slide bar; 37. a thread slider; 242. a moving rack; 243. a hydraulic cylinder; 244. a horizontal moving platform; 246. lifting and stabilizing the telescopic rod; 2452. a driving bevel gear shaft; 2451. a first bevel gear shaft; 2455. a second bevel gear shaft; 2454. lifting the screw rod; 2453. lifting the screw rod sleeve; 111. a crank shaft; 112. a gear lever chute; 182. picking sleeves; 183. a second lip; 185. a cutter; 1821. a pipe rack mounting groove; 1812. a wave-shaped cam; 1723. branch bars; 1531. the gear lever moves the cam; 171. a branch clamping stop lever;
41. an inlet; 42. a rotating unit; 43. a power unit; 44. an outlet; 45. a sieve plate; 46. coaming plate; 47. a fixing frame; 6. a fruit conveying device; 7. a tubing peristaltic mechanism; 61. a three-way pipe 61, a three-way pipe; 62. a transverse duct; 63. a connecting pipe; 64. a wide mouth pipe; 65. a fixed baffle; 66. an outlet conduit; 71. peristaltic electromagnetic valve; 711. a coil; 712. a valve seat; 713. an upper slider; 714. a return spring; 715. an upper valve rod; 716. an upper valve head; 717. a lower valve rod; 718. a connecting rod rotating shaft is linked; 719. a linkage connecting rod; 720. a lower valve head; 721. upper valve iron absorption; 722. a lower slide block;
1851. an upper blade; 1852. a lower blade; 1853. a return spring; 1854. a blade pin fixing hole; 1856. a picking tool rest.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the preferred embodiments of the present invention are described below, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1 to 19, the present invention discloses a fruit picking robot comprising:
a robot chassis 5;
the lifting device is arranged at the top of the robot chassis 5;
the picking device 1 is arranged at the top of the lifting device;
one end of the fruit conveying device is connected to the bottom of the picking device 1, and the other end of the fruit conveying device is communicated with the fruit branch separating device;
the fruit branch separating device 4 is arranged at the top of the robot chassis 5;
wherein, pick the device and include picking frame 11, pick the ratch 18, pick sleeve 182, pick sleeve drive mechanism, cutter 185, pick the frame 11 setting at the elevating gear top, pick the ratch 18 and set up perpendicularly in picking frame 11, pick sleeve 182 cover and locate and pick the ratch 18, pick sleeve drive mechanism one end and be fixed in picking frame 11 other end and pick sleeve 182, pick sleeve drive mechanism can drive and pick sleeve 182 along picking the axis direction reciprocating motion of ratch 18, cutter 185's one end passes and picks sleeve 182 and connect and pick the ratch 18.
Specifically, the robot is driven to move by the robot chassis 5, more preferably, universal wheels and positioning rods can be arranged at the bottom of the robot chassis to stabilize the robot, and the picking device 1 is driven to ascend and descend by the lifting device; fruit is picked by the picking device 1, and the picked fruit is conveyed to the top of the robot chassis 5 by the fruit conveying device and the fruit branch separating device 4. The picking device 1 drives the picking sleeve 182 to reciprocate in the axial direction through the picking sleeve transmission mechanism, and then drives the picking toothed bar 18 to move, the cutter 185 cuts branches through the picking toothed bar 18, cut fruits fall into the fruit transmission device to be recovered, fruits can be picked rapidly, and meanwhile picking efficiency is improved greatly.
As a preferable scheme, the picking frame 11 is a rectangular plate, a baffle rod sliding chute 112 and a crank groove which are parallel to each other are arranged along the long side direction of the rectangular plate, and a plurality of crank rotating shafts 111 are arranged on the inner side surface of the crank groove at equal intervals;
the picking tooth bars 18 are a plurality of, the picking tooth bars 18 are semi-cylindrical bars, the semi-cylindrical bars are provided with wavy cams 1812 perpendicular to the semi-cylindrical surfaces, the plurality of picking tooth bars 18 sequentially correspond to the positions of the plurality of crank rotating shafts 111, and the semi-cylindrical surfaces of the picking tooth bars 18 are vertically arranged on the wide side surfaces of the rectangular plates;
the picking sleeves 182 are multiple, openings are formed in the cylinder walls of the picking sleeves 182 along the axial direction, the picking sleeves 182 are sleeved on the picking tooth bars 18, the wavy cams 1812 are arranged at the openings, and one end of the cutter 185 penetrates through the openings and is connected with the wavy cams 1812;
the picking sleeve transmission mechanism comprises a crank 12, a crank parallel connecting rod 13 and a sleeve connecting rod 14, wherein one end of the crank 12 is connected with a crank rotating shaft 111, the other end of the crank 12 is connected with the crank parallel connecting rod 13, one end of the sleeve connecting rod 14 is connected with a picking sleeve 182, and the other end of the sleeve connecting rod is connected with the crank parallel connecting rod 13.
Preferably, the picking device further comprises: the picking and catching mechanism comprises a plurality of baffle rods 17, the baffle rods 17 are arranged on baffle rod sliding rods in parallel at equal intervals, the baffle rod sliding rods and a plurality of picking tooth rods 18 are staggered at equal intervals in parallel and are arranged in baffle rod sliding grooves 112, and the picking and catching picking machine framework can move along the baffle rod sliding grooves 112.
Preferably, the top of the lever 17 is provided with a first lip and the top of the picking sleeve 182 is provided with a second lip 183.
More preferably, the lower part of the picking frame 1 is provided with a crank drive which is connected to the crank 12.
More preferably, a plurality of picking guide rods 15 are provided on the frame side surface of the upper side of the plurality of crank shafts 111.
More preferably, the lower side of the picking sleeve 182 is provided with a pipe rack mounting groove 1821, and the pipe rack 16 is provided with one end thereof at the picking rack bar 18 in the pipe rack mounting groove 1821 and the other end thereof at the lower side of the plurality of shift bars 17.
More preferably, the picking machine frame 11 is provided with a frame supporting seat 113, and the lower side of the baffle 17 is provided with a baffle moving push rod.
More preferably, the ends of the plurality of bars 17 are provided with branch bars 1723 perpendicular to the bars.
Specifically, the picking capturing mechanism moves along the inside of a gear lever chute, the gear lever can adjust the distance between the gear lever and the picking gear lever, the first lip edge and the second lip edge are fixed on the picking sleeve and the gear lever, fruits are conveniently fixed above the first lip edge and the second lip edge, the picking sleeve of the picking device is driven by the picking transmission mechanism to reciprocate along the axial direction, the picking sleeve drives the picking cutter to reciprocate along the picking gear lever, the blade push rod of the picking cutter moves along the wave cam, when two overlapped blade edges on the picking cutter are staggered and aligned, the branches at the lower part of the fruits are sheared, the sheared fruits roll into a pipeline frame beside the picking cutter, picking actions are completed, the picking sleeves work simultaneously, and a plurality of picking cutters are arranged on each picking sleeve to realize mass picking. Through setting up a plurality of picking and dredging the guide arm directly over picking the device, insert in the crown from the fruit tree lower extreme when fruit picking the device, a plurality of picking and dredging the guide arm and can prop great branch on picking the cutter, expose fruit as far as between first lip and second lip, and then make the branch of fruit lower extreme fully contact with picking the cutter, improve picking efficiency to prevent that the cutter from damaging fruit. The fruit picking device is arranged above the fine-adjustment lifting platform, one end of a rod moving push rod is connected with a rod of the picking capturing mechanism through the rod, the other end of the rod moving push rod is inserted into an arc-shaped groove of a rod moving cam on the fine lifting platform, the fine lifting platform driving device drives the fine lifting platform to horizontally move, the picking capturing mechanism is driven to move along a chute, the approach of the rod and a picking sleeve is achieved, and the first lip edge and the second lip edge are in contact and fixed with fruits.
Preferably, the lifting device includes: a quick lifting mechanism 3 and a fine lifting mechanism 2;
the quick lifting mechanism 3 comprises a lower supporting frame 34, an upper supporting frame 31, a first shear frame connecting rod 33, a second shear frame connecting rod, a fine lifting mechanism mounting platform 24, a thread sliding block 37 and a thread sliding rod 35; wherein, the first shearing frame connecting rod 33 and the second shearing frame connecting rod are arranged at two sides of the lower supporting frame 34, the fine-adjustment lifting mechanism mounting platform 24 is arranged at the top of the upper supporting frame 31, the thread slide block 37 is arranged on the lower supporting frame 34, and one end of the thread slide rod 35 is connected with the thread slide block 37 in a threaded manner;
the fine lift mechanism is disposed on a fine lift mechanism mounting platform 24.
As a preferable scheme, the fine-adjustment lifting mechanism comprises a hydraulic pump 23, a hydraulic pump mounting frame, a vertical lifting mechanism and a horizontal moving mechanism;
wherein, the hydraulic pump 23 mounting frame is arranged on the fine adjustment lifting mechanism mounting platform 24, and the hydraulic pump 23 is arranged on the hydraulic pump mounting frame; the vertical lifting mechanism comprises a driving bevel gear shaft 2452, a first bevel gear shaft 2451, a second bevel gear shaft 2455 and a lifting rod 245, one end of the driving bevel gear shaft 2452 is connected to the output end of the hydraulic pump 23, one end of the first bevel gear shaft 2451 is meshed with one end of the driving bevel gear shaft 2451, the second bevel gear shaft 2455 is meshed with the other end of the first bevel gear shaft 2451, one end of the lifting rod 245 is meshed with one end of the second bevel gear shaft 2455, and the lifting rod 245 can be driven to ascend or descend by rotation of the driving bevel gear shaft 2452;
the horizontal moving mechanism comprises a horizontal moving platform 244, a moving frame 242 and a hydraulic cylinder 243, wherein the horizontal moving platform 244 is fixed on the top of a lifting rod 245, the moving frame 242 is slidably arranged on the top of the horizontal moving platform 244, one end of the hydraulic cylinder 243 is connected with the horizontal moving platform 244, and the other end of the hydraulic cylinder 243 is connected with the moving frame 242;
the picking device 1 is arranged on top of the mobile frame 242.
Preferably, a lever moving cam 1531 is disposed at the top of the moving frame 242, an arc groove is disposed on the lever moving cam 1531, and a lever moving push rod disposed at the bottom of the picking sleeve driving mechanism is inserted into the arc groove and can slide along the arc groove.
Specifically, picking sleeve drive mechanism bottom is provided with branch and steps up the pin 171, and branch steps up the pin 171 and inserts and establish in the arc wall of shelves pole movable cam 1531, when picking sleeve drive mechanism drive picking sleeve and do reciprocating motion, can avoid picking sleeve and branch and mechanical equipment to take place hard mechanical contact through the setting of arc wall.
More preferably, the first and second frame links 33 and 33 include first and second frame bars, respectively, one end of which is hinged to one end of the second frame bar.
More preferably, the lower support frame 34 comprises a pair of lower support slide rails, a lower fixing rod and a lower slide rod 36, wherein a chute is arranged in the middle of the lower support slide rails, the pair of lower support slide rails are respectively arranged at two sides of the lower fixing rod, and two ends of the lower slide rod are respectively arranged at the lower support slide rails;
the upper support frame 31 comprises a pair of upper support slide rails, an upper fixing rod and an upper slide rod 32, wherein the middle part of the upper support slide rail is provided with a slide groove, the pair of upper support slide rails are respectively arranged at two sides of the upper fixing rod, and two ends of the upper slide rod 32 are respectively arranged at the lower support slide rail;
the first shear frame connecting rod 33 and the second shear frame connecting rod are arranged on two sides of the lower support frame 34, one end of the first shear frame connecting rod 33 is connected with the lower slide bar 36, the other end of the first shear frame connecting rod is connected with the upper slide bar 32, one end of the second shear frame connecting rod is connected with the lower fixed bar, and the other end of the second shear frame connecting rod is connected with the upper fixed bar;
the screw slider is provided on the lower slide bar 36, and one end of the screw slide bar 35 is screw-coupled to the screw slider 37.
More preferably, the middle parts of the first shear frame rod of the first shear frame link 33 and the first shear frame rod of the second shear frame link are provided with positioning nails, and the middle parts of the second shear frame rod of the first shear frame link and the second shear frame rod of the second shear frame link are provided with positioning nails.
More preferably, a reinforcing rod is provided at the hinge of the first and second shear frame rods.
More preferably, the device further comprises a driving device, wherein the driving device is arranged on the lower supporting frame and can drive the threaded sliding rod to rotate so as to drive the lower fixing rod and the lower sliding rod to be close to or far away from each other.
More preferably, the number of the first bevel gear shafts 2451, the second bevel gear shafts 2455 and the lifting rods 245 is two, the two first bevel gear shafts 2451 are respectively meshed with bevel gears on two sides of the driving bevel gear shaft 2455, the two second bevel gear shafts 2455 are respectively meshed with the other ends of the two first bevel gear shafts 2451, and the two lifting rods 245 are respectively meshed with the other ends of the two second bevel gear shafts 2455.
More preferably, two horizontal moving mechanisms are respectively arranged at the top of the two lifting rods 245.
More preferably, the vertical lift mechanism further includes a lift stabilizing telescoping rod 246, one end of the lift stabilizing telescoping rod 246 being connected to the mobile frame 242 and the other end being connected to the fine lift mechanism mounting platform 24.
More preferably, the lifting stabilization telescopic 246 is plural.
More preferably, the mounting direction of the first bevel gear shaft 2451 is perpendicular to the driving bevel gear shaft 2452, the mounting direction of the second bevel gear shaft 2455 is perpendicular to the first bevel gear shaft 2451, and the mounting direction of the lifting rod 245 is perpendicular to the second bevel gear shaft 2455.
More preferably, the hydraulic pump motor 21 and the hydraulic oil tank 22 are further included, and the hydraulic pump motor 21 and the hydraulic oil tank 22 are arranged on the fine adjustment lifting mechanism mounting platform 24.
More preferably, the lifting rod 245 comprises a lifting screw 2454 and a lifting screw sleeve 2453, one end of the lifting screw 2454 is meshed with the second bevel gear shaft 2455, the other end of the lifting screw 2454 is connected to the lifting screw sleeve 2453, and the lifting screw sleeve 2453 is connected to the horizontal moving platform 244.
Specifically, through the arrangement of the threaded sliding block and the threaded sliding rod, the threaded sliding rod is driven to rotate to drive the first shear frame connecting rod and the second shear frame connecting rod to stretch and fold, so that the height between the lower support frame and the upper support frame is adjusted, and the lifting of the upper support frame is quickly adjusted; through the setting of perpendicular elevating system initiative bevel gear axle, first bevel gear axle, second bevel gear axle and lifter, the lift of control lifter is transmitted through a plurality of bevel gear axles, the position of accurate control vertical direction.
Specifically, by setting the horizontal movement mechanism hydraulic cylinder 243, the position in the horizontal direction is accurately and quickly adjusted by hydraulic control.
Specifically, the driving bevel gear shaft 2452 drives the two first bevel gear shafts 2451 and the second bevel gear shaft 2455 to rotate, so that the lifting of the two lifting rods is controlled, the vertical height of the two horizontal moving mechanisms is adjusted, the processing speed of the lifting shear frame is improved, energy sources are saved, and the working efficiency of equipment is improved.
Specifically, through the arrangement of the threaded sliding block and the threaded sliding rod, the threaded sliding rod is driven to rotate, the lower sliding rod is driven to approach or depart from the lower fixing rod through the sliding groove, and then the first shear frame connecting rod and the second shear frame connecting rod are driven to be unfolded and folded, so that the height between the lower support frame and the upper support frame is adjusted, and the lifting of the upper support frame is quickly adjusted; the quick lifting device is stable through the arrangement of the lower support frame, the upper support frame, the first shear frame connecting rod and the second shear frame connecting rod, and meanwhile, the quick lifting device is simple in structure, easy to repair and maintain and capable of efficiently avoiding faults.
Specifically, the lifting stable telescopic rods can be multiple, more preferably, the number of the lifting stable telescopic rods is 3-5, the supporting capacity of the horizontal moving mechanism is improved through the arrangement of the lifting stable telescopic rods, the lifting rods and the bevel gear bearings are prevented from being subjected to excessive pressure, the lifting scissor frame is caused to send faults, and the lifting stable telescopic rods ascend and descend along with the lifting rods, so that the lifting scissor frame can run more stably.
Preferably, the fruit conveying device comprises:
the fruit conveying device 6, the fruit conveying device 6 comprises a conveying pipeline, a connecting pipeline, a wide-mouth pipeline 64 and an outlet pipeline 66 which are sequentially connected, and the conveying pipeline is arranged on a pipeline frame, so that the fruit conveying device 6 is connected with the picking device;
the pipeline peristaltic mechanism 7, the pipeline peristaltic mechanism 7 comprises an electromagnetic mounting plate and a plurality of peristaltic electromagnetic valves 71 arranged on the electromagnetic mounting plate, and the peristaltic electromagnetic valves 71 are arranged corresponding to the wide-mouth pipeline 64 of the fruit conveying device 6 and are used for driving the fruit conveying device 6.
Preferably, the transmission pipeline comprises a three-way pipeline 61 and a pair of transverse pipelines 62, the three-way pipeline 61 comprises two input ports and one output port, the pair of transverse pipelines 62 are respectively connected to the two input ports, and the transverse pipelines 62 are arranged on one side of the picking sleeve 182;
a connecting pipe 63, one end of the connecting pipe 63 is connected to the output port, and the other end of the connecting pipe 63 is communicated with one end of a wide-mouth pipe 64;
a wide-mouth pipe 64, the other end of the wide-mouth pipe 4 being connected to one end of an outlet pipe 66;
an outlet pipe 64, the other end of the outlet pipe 64 being connected to the inlet of the fruit branch separating device 4;
the fixed baffle plate 65, the fixed baffle plate 65 is fixedly connected with the side surface of the wide-mouth pipeline 64;
wherein a pair of transverse ducts 62 are provided on the duct frame by means of a snap-fit.
More preferably, the wide mouth tubing 64 includes a plurality of sequentially communicating bulge and vertical sections that are repeatedly replaced by the peristaltic mechanism of the tubing.
More preferably, peristaltic solenoid valve 71 comprises: the valve seat 712, the valve seat 712 includes a bottom plate, a first riser and a second riser fixed above the bottom plate and arranged in parallel, and a lower plate arranged below the bottom plate;
the valve seat 712 comprises a bottom plate, a first vertical plate and a second vertical plate which are fixed at two ends of the bottom plate and are arranged in parallel;
a coil 711, the coil 711 being disposed on the base plate, adjacent to the first riser;
an upper stem 715, the upper stem 715 being disposed in front of the second riser, passing through the second riser;
an upper valve suction iron 721, wherein the upper valve suction iron 721 is arranged at the rear of the second vertical plate and adsorbs the upper valve rod 715;
the upper valve head 716, the upper valve head 716 is set at the front end of the upper valve stem 715, corresponding to the concave section of the wide-mouth pipe 64.
More preferably, the upper valve stem 715 is resiliently coupled to the upper valve stem 721 via a return spring 714.
More preferably, an upper slider 713 is provided on the upper valve suction iron 721.
More preferably, the base plate is provided with a linkage link shaft 718.
More preferably, peristaltic solenoid valve 71 further comprises:
the lower valve rod 717, the lower valve rod 717 is connected with the upper valve suction iron 721 through the linkage connecting rod 719, the lower valve rod 717 penetrates through the lower plate, and a lower sliding block is arranged on the lower valve rod 717;
the linkage connecting rod 719, the linkage connecting rod 719 is rotationally connected with the linkage connecting rod rotating shaft 718, an upper sliding groove and a lower sliding groove are arranged on the linkage connecting rod 719, and the upper sliding groove and the lower sliding groove are respectively and slidably connected with the upper sliding block 713 and the lower sliding block 722;
a lower valve head 720, which is provided at the front end of the lower valve stem 717 in correspondence with the bulge section of the wide-mouth pipe 65.
Specifically, when the peristaltic solenoid valve 71 is energized, the upper valve suction iron 721 adsorbs the upper valve stem 715, drives the upper valve head 716 to leave the concave section of the wide-mouth pipe, and under the action of the linkage connecting rod 719, the lower valve head 720 contacts with the convex section of the wide-mouth pipe, and when the power is off, the upper valve stem 715 is pushed out under the action of the reset spring 714, the upper valve head 716 is close to the concave section, and under the action of the linkage connecting rod 719, the lower valve head 720 is separated from the convex section of the wide-mouth pipe, so that the convex section and the concave section of the wide-mouth pipe are driven to be repeatedly replaced.
Specifically, the power unit links to each other with the axis of rotation, and even fixed a plurality of blades that set up in the axis of rotation, and the power unit drives in proper order and rotates with epaxial blade rotation, and the fruit of picking enters into on the sieve from the import, and rotary unit is rotatory, and the branch and leaf can naturally hang down the below of many crossbands of sieve, fruit along with two adjacent blades continue to rotate, with branch and leaf rupture, fruit export from the export.
More preferably, the fruit branch separating apparatus 4 comprises:
a screen panel 45, the screen panel 45 comprising a plurality of cross bars;
the coaming 46, the coaming 46 is set up on screen plate 45, there are inlets 41 and outlets 44 on the coaming 46;
the rotating unit 42, the rotating unit 42 is set up in the coaming 46, set up above 45 of the screen plate;
the power unit 43, the power unit 43 is set up under screen 45, link with rotary unit 42;
wherein the outlet conduit of the fruit transfer device 6 is connected to the inlet 41 of the fruit branch separating device 6.
More preferably, the fruit branch separating apparatus further comprises:
the fixing frame 47, the fixing frame 47 is arranged below the sieve plate 45, and the fruit branch separating device 4 is fixed on the quick lifting mechanism 3 through the fixing frame 47.
More preferably, the plurality of bars are disposed in the same direction, and the plurality of bars are sequentially spaced apart from each other by a first distance.
More preferably, the first distance is 5cm.
More preferably, the rotation unit 42 includes:
the rotating shaft is arranged at the center of the sieve plate;
and the blades are uniformly arranged on the rotating shaft.
More preferably, the plurality of blades is 2-4 blades.
More preferably, the power unit 43 is connected to the rotating shaft.
More preferably, the power unit 43 is a hydraulic motor.
More preferably, screen 45 is a metal screen, a wood screen, or a plastic screen.
More preferably, the inlet 41 is connected to the fruit conveying device 6.
Specifically, through the cooperation of rotary unit 43 and sieve 45, with fruit and branch leaf autosegregation, improve the mechanized efficiency of picking, reduce workman's intensity of labour, improve the efficiency of branch separation, reduce workman's dangerous of labour, avoid being scratched by branch leaf.
Specifically, the power unit 43 links to each other with the axis of rotation, and even fixed a plurality of blades that set up in the axis of rotation, and power unit 43 drive in proper order rotates and rotates with epaxial blade of rotation, and the fruit of picking enters into on the sieve 45 from the import, and rotary unit 42 rotates, and the branch and leaf can naturally hang down to the below of many crossbands of sieve, and the fruit is along with two adjacent blades continue to rotate, breaks branch and leaf, and the fruit is exported from export 44.
More preferably, the cutter 185 includes: a picking tool rest 1856, wherein a blade pin fixing hole 1854 is arranged in the middle of the picking tool rest 1856;
the upper blade 1851, two rows of blade grooves are symmetrically formed on the side edge of the upper blade 1851, a transverse fixed sliding block and a pin shaft hole are arranged on the axis of the upper blade 1851, and the pin shaft hole is connected with the blade pin shaft fixing hole through a pin shaft;
the lower blade 1852, lower blade 1852 includes lower blade push rod and sets up in the last cutting edge of lower blade push rod both sides limit, is equipped with first spout, spring staple and second spout on the axis of lower blade push rod in proper order, and horizontal fixed slider sets up in first spout, and the round pin axle sets up in the second spout, is equipped with reset spring 1853 between spring staple and the round pin axle, and lower blade can follow first spout and second spout and reciprocate.
More preferably, the two sides of the blade pin fixing hole are symmetrically provided with buckles for avoiding the return spring 1853.
More preferably, the return spring 1853 is arranged on the evasion return spring clip, and steel wires of the return spring 1853 are clung to two sides of the upper blade.
More preferably, the picking tool rest 1856 is a semi-circular plate, the lower part of the semi-circular plate is provided with a folded edge, and two ends of the folded edge are provided with mounting and fixing screw holes.
More preferably, the picking blade holder 1856 is disposed on the picking sleeve 182 by mounting fixing screw holes.
More preferably, the upper blade 1851 is elliptical.
More preferably, the blade groove is in the shape of an inverted hook.
More preferably, the blade slot is offset from the upper blade when the spring is relaxed and the blade slot is aligned with the upper blade when the spring is compressed.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described.
Claims (9)
1. A fruit picking robot, the fruit picking robot comprising:
a robot chassis;
the lifting device is arranged at the top of the robot chassis;
the picking device is arranged at the top of the lifting device;
one end of the fruit conveying device is connected to the bottom of the picking device, and the other end of the fruit conveying device is communicated with the fruit branch separating device;
the fruit branch separating device is arranged at the top of the robot chassis in a separating way;
the picking device comprises a picking rack, a picking toothed bar, a picking sleeve transmission mechanism and a cutter, wherein the picking rack is arranged at the top of the lifting device, the picking toothed bar is vertically arranged on the picking rack, the picking sleeve is sleeved on the picking toothed bar, one end of the picking sleeve transmission mechanism is fixed at the other end of the picking rack and is fixed at the picking sleeve, the picking sleeve transmission mechanism can drive the picking sleeve to reciprocate along the axial direction of the picking toothed bar, and one end of the cutter penetrates through the picking sleeve to be connected with the picking toothed bar;
the picking machine frame is a rectangular plate, a stop rod sliding groove and a crank groove which are parallel to each other are arranged along the long side direction of the rectangular plate, and a plurality of crank rotating shafts are arranged on the inner side surface of the crank groove at equal intervals;
the picking tooth bars are a plurality of semi-cylindrical bars, each semi-cylindrical bar is provided with a wavy cam perpendicular to the semi-cylindrical surface, the plurality of picking tooth bars sequentially correspond to the positions of the plurality of crank rotating shafts, and the semi-cylindrical surfaces of the picking tooth bars are vertically arranged on the wide side surfaces of the rectangular plates;
the picking sleeves are provided with openings along the cylinder wall in the axial direction, the picking teeth are sleeved with the picking sleeves, the wavy cams are arranged at the openings, and one end of the cutter passes through the openings and is connected with the wavy cams;
the picking sleeve transmission mechanism comprises a crank, a crank parallel connecting rod and a sleeve connecting rod, wherein one end of the crank is connected with the crank rotating shaft, the other end of the crank is connected with the crank parallel connecting rod, one end of the sleeve connecting rod is connected with the picking sleeve, and the other end of the sleeve connecting rod is connected with the crank parallel connecting rod.
2. The fruit picking robot of claim 1 wherein the picking device further comprises: the picking and capturing mechanism comprises a plurality of baffle rods, the baffle rods are arranged on baffle rod sliding rods in parallel at equal intervals, the baffle rod sliding rods and the picking tooth rods are staggered at equal intervals in parallel, the baffle rod sliding rods are arranged in baffle rod sliding grooves, and the picking and capturing picking machine framework can move along the baffle rod sliding grooves.
3. The fruit picking robot of claim 2 wherein the lever top is provided with a first lip and the picking sleeve top is provided with a second lip.
4. The fruit picking robot of claim 1 wherein the lifting device comprises: a quick lifting mechanism and a fine lifting mechanism;
the quick lifting mechanism comprises a lower supporting frame, an upper supporting frame, a first shear frame connecting rod, a second shear frame connecting rod, a fine-adjustment lifting mechanism mounting platform, a thread sliding block and a thread sliding rod; the first shear frame connecting rod and the second shear frame connecting rod are arranged on two sides of the lower support frame, the fine-adjustment lifting mechanism mounting platform is arranged at the top of the upper support frame, the thread sliding block is arranged on the lower support frame, and one end of the thread sliding rod is in threaded connection with the thread sliding block;
the fine-adjustment lifting mechanism is arranged on the fine-adjustment lifting mechanism mounting platform.
5. The fruit picking robot of claim 4 wherein the fine adjustment lift mechanism comprises a hydraulic pump and hydraulic pump mounting bracket, a vertical lift mechanism, a horizontal movement mechanism;
the hydraulic pump installation frame is arranged on the fine adjustment lifting mechanism installation platform, and the hydraulic pump is arranged on the hydraulic pump installation frame; the vertical lifting mechanism comprises a driving bevel gear shaft, a first bevel gear shaft, a second bevel gear shaft and a lifting rod, one end of the driving bevel gear shaft is connected to the output end of the hydraulic pump, one end of the first bevel gear shaft is meshed with one end of the driving bevel gear shaft, the second bevel gear shaft is meshed with the other end of the first bevel gear shaft, one end of the lifting rod is meshed with one end of the second bevel gear shaft, and the driving bevel gear shaft can drive the lifting rod to ascend or descend through rotation;
the horizontal moving mechanism comprises a horizontal moving platform, a moving frame and a hydraulic cylinder, wherein the horizontal moving platform is fixed at the top of the lifting rod, the moving frame is arranged at the top of the horizontal moving platform in a sliding mode, one end of the hydraulic cylinder is connected with the horizontal moving platform, and the other end of the hydraulic cylinder is connected with the moving frame;
the picking device is arranged at the top of the movable frame.
6. The fruit picking robot of claim 5, wherein a lever moving cam is provided at the top of the moving frame, an arc groove is provided on the lever moving cam, and a lever moving push rod provided at the bottom of the picking sleeve driving mechanism is inserted into the arc groove and can slide along the arc groove.
7. The fruit picking robot of claim 1 wherein the fruit transport means comprises:
the fruit conveying device comprises a conveying pipeline, a connecting pipeline, a wide-mouth pipeline and an outlet pipeline which are sequentially connected, wherein the conveying pipeline is arranged on a pipeline frame, so that the fruit conveying device is connected with the picking device;
the pipeline peristaltic mechanism comprises an electromagnetic mounting plate and a plurality of peristaltic electromagnetic valves arranged on the electromagnetic mounting plate, and the peristaltic electromagnetic valves are correspondingly arranged with the wide-mouth pipeline of the fruit conveying device and are used for driving the fruit conveying device.
8. The fruit picking robot of claim 7 wherein the transfer duct comprises a tee duct comprising two input ports and one output port and a pair of transverse ducts connected to the two input ports respectively, the transverse ducts being disposed on one side of the picking sleeve;
one end of the connecting pipeline is connected to the output port, and the other end of the connecting pipeline is communicated with one end of the wide-mouth pipeline;
a wide-mouth pipe, the other end of which is connected to one end of the outlet pipe;
the other end of the outlet pipeline is connected to the inlet of the fruit branch separating device;
the fixed baffle is fixedly connected with the side surface of the wide-mouth pipeline;
wherein, a pair of horizontal pipeline pass through the buckle set up in on the pipeline frame.
9. Fruit picking robot according to claim 1, characterized in that the fruit branch separating device comprises: the screen plate comprises a plurality of transverse bars;
the coaming is arranged on the sieve plate and is provided with an inlet and an outlet;
the rotating unit is arranged inside the coaming and above the screen plate;
the power unit is arranged below the sieve plate and is connected with the rotating unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711352486.5A CN107836208B (en) | 2017-12-15 | 2017-12-15 | Fruit picking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711352486.5A CN107836208B (en) | 2017-12-15 | 2017-12-15 | Fruit picking robot |
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| CN107836208A CN107836208A (en) | 2018-03-27 |
| CN107836208B true CN107836208B (en) | 2023-05-16 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108419528B (en) * | 2018-05-04 | 2023-06-20 | 青岛理工大学 | Layered picking machine capable of achieving pre-positioning vibration and falling |
| CN109566097A (en) * | 2019-01-10 | 2019-04-05 | 武汉职业技术学院 | A kind of lichee picking machine |
| CN110692355B (en) * | 2019-11-21 | 2021-02-19 | 江西理工大学 | Automatic collection device that cuts of sisal hemp blade |
| CN112145800A (en) * | 2020-09-11 | 2020-12-29 | 河北润达石化工程建设有限公司 | Petroleum pipeline installation auxiliary device and using method |
| CN115336470B (en) * | 2022-08-22 | 2023-08-29 | 华南农业大学 | Fruit branch separating device and fruit picking platform |
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