CN108377726A - A kind of pineapple picking robot - Google Patents

Abstract

The invention discloses a kind of pineapple picking robots, including vehicle body, storage device, shear and control device, the shear includes open-and-close mechanism and elevating mechanism, the open-and-close mechanism includes swivel plate, folding blade, guiding axis and the first actuator on the folding blade equipped with several guide grooves, the center of the swivel plate is equipped with through-hole, and the guiding axis is set in the guide groove.The present invention realizes walking of the pineapple picking robot in field using the vehicle body, the swivel plate is under the drive of first actuator, the guide groove is allowed to drive the guiding axis movement, so that the folding blade is driven to do gathering movement or expansion movement in the through-hole, realize the shearing to the stalk portion of pineapple, the pineapple after shearing can be moved on the storage device simultaneously, the pineapple picking robot effectively to pineapple can quickly pick and store, and the automation that can be widely applied in pinery is won.

Description

A pineapple picking robot

technical field

The invention relates to the technical field of agricultural equipment, in particular to a pineapple picking robot.

Background technique

As a famous tropical fruit, pineapple is deeply loved by people because of its rich nutrition, excellent quality and attractive aroma. Its demand is constantly increasing. However, picking pineapples is a lot of work.

The main pineapple planting areas are Guangdong, Hainan, Guangxi, Yunnan, Fujian and Taiwan provinces. The development prospect of the pineapple industry is good, and the pineapple planting area has increased significantly. The collection of pineapples has a strong seasonality, and the peak harvest period is only about half a month. The degree of automation of picking in my country is still very low, and domestic fruits are mainly harvested by hand; the whole harvesting operation requires manpower in a short period of time, and the labor workload is large, accounting for more than 40% of the entire pineapple production cost, and the pineapple leaves are hard, pineapple There are prickles on the fruit, which are easy to cause damage to the palm and seriously affect the picking efficiency.

In the context of rising costs and the development tide of Industry 4.0, if my country's pineapple planting industry wants to make great progress, it must have outstanding performance in automation management.

Contents of the invention

In order to overcome the deficiencies in the prior art, the present invention provides a pineapple picking robot that can quickly pick pineapples.

In order to solve the above technical problems, the present invention provides a pineapple picking robot, which is characterized in that it includes a vehicle body, a storage device, a shearing device and a control device, the storage device and the shearing device are arranged on the vehicle body, The vehicle body and the shearing device are respectively electrically connected to the control device,

The shearing device includes an opening and closing mechanism and a lifting mechanism connected with the opening and closing mechanism, and the opening and closing mechanism includes a rotating plate provided with several guide grooves, opening and closing blades, The guide shaft and the first driving member connected with the rotating plate, the center of the rotating plate is provided with a through hole, the guide shaft is arranged in the guide groove, so that the guide shaft can drive the opening and closing The blades perform a retracting motion or an unfolding motion in the through hole.

As a preferred solution, a lateral movement mechanism is provided between the shearing device and the vehicle body.

As a preferred solution, the lateral movement mechanism includes a second drive member, a first screw rod and a slider, the second drive member is connected to the first screw rod, and the slider is connected to the first screw rod There is a screw connection between them, and the shearing device is connected with the slider.

As a preferred solution, the storage device is arranged on both sides of the vehicle body, and the shearing device has a degree of freedom to move between the storage devices on both sides.

As a preferred solution, the vehicle body includes a main frame, a base, a driving wheel and a driving motor, the driving motor is connected to the driving wheel, the driving wheel and the driving motor are arranged on the base, and the base A buffer mechanism is provided between the main frame and the main frame.

As a preferred solution, the buffer mechanism is several shock absorbing springs.

As a preferred solution, the lifting mechanism includes a third driving member and a second screw rod, the third driving member is connected to the second screw rod, and there is a gap between the second screw rod and the shearing device. threaded connection.

As a preferred solution, the number of the second screw rods is two or more, and the transmission between different second screw rods is a synchronous belt drive.

As a preferred solution, the control device further includes a camera module for identifying pineapples.

As a preferred solution, the control device further includes a gyro sensor for controlling the balance.

Compared with the prior art, the pineapple picking robot provided by the embodiment of the present invention has the beneficial effect that the walking of the pineapple picking robot in the field is realized through the vehicle body of the present invention, and the storage device is used for storing the pineapple picking robot. pineapple, the lifting mechanism can move the opening and closing mechanism to the stalk of the pineapple, which is convenient for the opening and closing mechanism to cut the stalk, and the through hole can allow the pineapple to pass through, so that the stalk of the pineapple is located at the opening Driven by the first driving member, the rotating plate allows the guide groove to drive the guide shaft to move, so that the guide shaft drives the opening and closing blades to move in the through hole. Folding movement or unfolding movement realizes the cutting of the stalk portion of the pineapple, and at the same time, the cut pineapple can be moved to the storage device, and the pineapple picking robot can effectively pick and store the pineapple quickly, and at the same time It also avoids damage to pineapples during the picking process, has a high degree of automation and high feasibility, and can be widely used in automatic picking in pineapple gardens.

Description of drawings

In order to illustrate the technical solution of the present invention more clearly, the accompanying drawings used in the implementation will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementations of the present invention. As far as the skilled person is concerned, other drawings can also be obtained based on these drawings on the premise of not paying creative work.

FIG. 1 is a schematic diagram of a three-dimensional structure of a pineapple picking robot according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a shearing device of a pineapple picking robot according to an embodiment of the present invention.

FIG. 3 is a structural schematic diagram of another viewing angle of FIG. 2 .

Fig. 4 is a schematic structural diagram of the opening and closing mechanism of the pineapple picking robot according to the embodiment of the present invention.

Fig. 5 is a schematic structural diagram of the working state of the opening and closing mechanism of the pineapple picking robot according to the embodiment of the present invention.

In the figure: 1. main frame; 2. base; 3. driving wheel; 4. driving motor; 5. storage frame; 6. rotating plate; 7. first driving part; 10. Guide shaft; 11. Connecting shaft; 12. Connecting plate; 13. Second driving member; 14. First screw rod; 15. Slider; 16. Shock absorbing spring; 17. Third driving member; 18. The first Two screw rods; 19. synchronous belt; 20. control device.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

In the present invention, unless otherwise specified and limited, terms such as "connected", "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In addition, in the description of the present invention, it should be noted that the terms "first", "second" and so on are only used for descriptive purposes, and should not be understood as indicating or implying relative importance.

As shown in Figures 1 to 5, a preferred embodiment of the present invention provides a pineapple picking robot, which is characterized in that it includes a vehicle body, a storage device, a shearing device and a control device 20, the storage device and the shearing device The device is arranged on the vehicle body, the vehicle body and the shearing device are respectively electrically connected to the control device 20, the shearing device includes an opening and closing mechanism and a lifting mechanism connected with the opening and closing mechanism, The opening and closing mechanism includes a rotating plate 6 provided with several guide grooves 8, an opening and closing blade 9, a guide shaft 10 provided on the opening and closing blade 9, and a first driving member 7 connected to the rotating plate 6 , the center of the rotating plate 6 is provided with a through hole, and the guide shaft 10 is arranged in the guide groove 8, so that the guide shaft 10 can drive the opening and closing blade 9 to perform a retracting movement in the through hole Or spread out.

Based on the pineapple picking robot with the above technical features, the body enables the pineapple picking robot to walk in the field, the storage device is used to store cut pineapples, and the lifting mechanism can move the opening and closing mechanism to the pineapple The stem portion is convenient for the opening and closing mechanism to cut the stem portion, and the through hole can allow the pineapple to pass through, so that the stem portion of the pineapple is located at the center of the opening and closing mechanism, and the rotating plate 6 is positioned at the center of the opening and closing mechanism. Driven by the guide groove 8 to drive the guide shaft 10 to move, so that the guide shaft 10 drives the opening and closing blade 9 to perform a retraction or unfolding motion in the through hole, so as to realize the adjustment of the pineapple stem. cutting, and at the same time, the cut pineapple can be moved to the storage device. The pineapple picking robot can effectively pick and store the pineapple quickly, and at the same time avoid damage to the pineapple during the picking process. It has high degree and high feasibility, and can be widely used in automatic picking in pineapple orchards.

As shown in Figure 2 and Figure 3, in order to facilitate the passage of the through-hole sleeve through the pineapple, a connecting plate 12 and a connecting shaft 11 are also provided between the first driving member 7 and the rotating plate 6, and the connecting plate 12 is arranged in parallel above the rotating plate 6, the connecting shaft 11 is used to connect between the connecting plate 12 and the connecting shaft 11, the first driving member 7 is connected to the connecting plate 12, The first driving member 7 drives the connecting plate 12 to rotate, so as to drive the rotating plate 6 to rotate. The structure of the shearing device is more compact, which is more conducive to realizing the shearing of pineapples. In addition, the The opening and closing blades 9 are preferably in a triangular shape, which is convenient for the cutting surface of the opening and closing blades 9 to cut the stalk of the pineapple.

Further, as shown in FIG. 1 , a lateral movement mechanism is provided between the shearing device and the vehicle body, which can realize the position adjustment of the shearing device and transport the sheared pineapples to the storage device.

Further, the lateral movement mechanism includes a second driving member 13, a first screw rod 14 and a slider 15, the second driving member 13 is connected to the first screw rod 14, and the slider 15 is connected to the first screw rod 14. The first screw rods 14 are threaded, the shearing device is connected to the slider 15, the two driving parts and the first screw rod 14 are arranged on the vehicle body through a bracket, The driving of the two driving parts 13 drives the first screw mandrel 14 to rotate, because the first screw mandrel 14 is threadedly connected with the slider 15, so the rotation of the first screw mandrel 14 is converted It is the linear movement of the slider 15, so as to realize the horizontal movement of the shearing device.

The storage device is arranged on both sides of the vehicle body, and the shearing device has a degree of freedom to move between the storage devices on both sides. The storage device is a storage frame 5, which is convenient for pineapple plants to pass through the middle. However, the storage capacity of the storage frame 5 can be enlarged at the same time.

Described vehicle body comprises main frame 1, base 2, driving wheel 3 and driving motor 4, and described driving motor 4 is connected with described driving wheel 3, and described driving wheel 3 and described driving motor 4 are arranged on described base 2 Above, a buffer mechanism is provided between the base 2 and the main frame 1, and the wheels are separately arranged at the bottom of the storage frame 5 on both sides to realize the function of the vehicle body walking on both sides of the pineapple plant, which can It is understood that the main frame 1 can adopt a common structure in the field, which is not particularly limited in the present invention. For example, the main frame 1 may be a frame structure constructed of aluminum profiles and connectors, or may be constructed of plates.

Further, the buffer mechanism is a plurality of shock-absorbing springs 16. On the one hand, the shock-absorbing springs 16 are used to protect the picked pineapples from collision damage; The spring can play a certain role in maintaining the balance of the vehicle body.

As shown in Figures 2 and 3, the lifting mechanism includes a third driving member 17 and a second screw mandrel 18, the third driving member 17 is connected with the second screw mandrel 18, and the second screw mandrel 18 18 and the shearing device are threadedly connected, and the third driving member 17 drives the second screw rod 18, and through the threaded connection, the rotation of the second screw rod 18 is converted into the shearing device. The descending or ascending movement of the shearing device is convenient for precise adjustment of the position of the shearing device, and the lifting mechanism may also include an optical axis for position limitation, which assists the smooth ascent and descent of the shearing device.

The quantity of the second screw mandrel 18 is two or more to ensure the balance of the shearing device at the adjustment position, and the transmission between the different second screw mandrels 18 is the transmission of the synchronous belt 19 to realize Synchronous movement between different screw rods, of course, it can be understood that the transmission between different second screw rods 18 can also be other synchronous transmission methods such as gear transmission.

It can be understood that, the first drive member 7, the second drive member 13, the third drive member 17 and the drive motor 4 described in this embodiment can adopt various commonly used motors in the art, such as stepping motors, DC motors etc., the present invention has no special limitation on this.

In addition, the control device 20 includes a camera module for identifying pineapples and a gyro sensor for controlling balance to realize automatic identification of pineapples and automatic cutting of pineapples. The gyro sensor can make the robot adapt to terrain changes In complex fields, by monitoring the angular acceleration, the state of the robot is controlled in advance to reduce the chance of rollover.

To sum up, the pineapple picking robot described in the embodiment of the present invention is suitable for walking in a complex environment in the field, because pineapple plantings are generally arranged in a straight line, and by passing on both sides of the pineapple plant, the robot needs to carry out picking. The space is small, the versatility is strong, and the best cutting position can be achieved by adjusting the position of the cutting device. The through hole can allow the pineapple to pass through, so that the stem of the pineapple is located in the center of the opening and closing mechanism. Driven by the first driving member 7, the rotating plate 6 allows the guide groove 8 to drive the guide shaft 10 to move, so that the guide shaft 10 drives the opening and closing blade 9 to move in the through hole. Gathering movement or unfolding movement, make full use of the unique growth form of pineapple fruit, realize the cutting of the stalk of pineapple, at the same time, the pineapple after cutting can be moved to the storage device, and the pineapple picking robot can effectively The pineapple can be quickly picked and stored, and at the same time, it can avoid damage to the pineapple during the picking process. It has a high degree of automation and high feasibility. It can be widely used in automatic picking in pineapple gardens and solves the problem of pineapple picking in current plantations. It has the advantages of accurate target positioning, simple and convenient picking, and labor liberation.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. a kind of pineapple picking robot, which is characterized in that including vehicle body, storage device, shear and control device, institute It states storage device and the shear is set on the vehicle body, the vehicle body and the shear are filled with the control respectively Electric connection is set,

The shear includes open-and-close mechanism and the elevating mechanism that is connected with the open-and-close mechanism, the open-and-close mechanism packet Include equipped with several guide grooves swivel plate, folding blade, set on it is described folding blade on guiding axis and with the swivel plate The center of the first actuator being connected, the swivel plate is equipped with through-hole, and the guiding axis is set in the guide groove so that institute Stating guiding axis can drive the folding blade to do gathering movement or expansion movement in the through-hole.

2. pineapple picking robot according to claim 1, which is characterized in that between the shear and the vehicle body Equipped with transverse moving mechanism.

3. pineapple picking robot according to claim 2, which is characterized in that the transverse moving mechanism includes the second drive Moving part, the first lead screw and sliding block, second actuator are connected with first lead screw, the sliding block with described first To be threadedly coupled between bar, the shear is connected with the sliding block.

4. pineapple picking robot according to claim 1, which is characterized in that the storage device is set to the vehicle body Both sides, the shear have the degree of freedom moved between the storage device of both sides.

5. pineapple picking robot according to claim 1, which is characterized in that the vehicle body includes main frame, pedestal, drive Driving wheel and driving motor, the driving motor are connected with the driving wheel, and the driving wheel and the driving motor are set to On the pedestal, buffer gear is equipped between the pedestal and the main frame.

6. pineapple picking robot according to claim 5, which is characterized in that the buffer gear is several shock-absorbing bullets Spring.

7. pineapple picking robot according to claim 1, which is characterized in that the elevating mechanism includes third actuator And second lead screw, the third actuator are connected with second lead screw, second lead screw and the shear it Between for be threadedly coupled.

8. pineapple picking robot according to claim 7, which is characterized in that the quantity of second lead screw be two or Person two or more, the transmission between different second lead screws are toothed belt transmission.

9. the pineapple picking robot according to any one of claim 1-8, which is characterized in that the control device also wraps Include the camera module of pineapple for identification.

10. the pineapple picking robot according to any one of claim 1-8, which is characterized in that the control device is also It include the gyro sensor for controlling balance.