CN108377740B - Automatic fruit picking equipment - Google Patents
Automatic fruit picking equipment Download PDFInfo
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- CN108377740B CN108377740B CN201810337518.2A CN201810337518A CN108377740B CN 108377740 B CN108377740 B CN 108377740B CN 201810337518 A CN201810337518 A CN 201810337518A CN 108377740 B CN108377740 B CN 108377740B
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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
- A01D46/24—Devices for picking apples or like fruit
Abstract
The invention discloses automatic fruit picking equipment, which comprises a mechanical device, wherein the mechanical device comprises: the picking device comprises a lifting frame, a lifting driving mechanism, a base frame, a translation driving mechanism, a clamping jaw assembly, a scissor assembly and a collecting device, wherein the lifting frame is arranged on the machine frame, the lifting driving mechanism, the base frame is arranged on the lifting frame, the clamping jaw assembly and the scissor assembly are arranged at the front end part of the base frame, the collecting device comprises a material guiding table and collecting mechanisms respectively arranged below two ends of the material guiding table, and each collecting mechanism comprises a pedestal, a rotating disc and a rotating driving piece for driving the rotating disc to rotate; the mechanical device also comprises a blanking device which is provided with a feed inlet and a discharge outlet. The automatic fruit picking equipment has high automation degree, can adapt to fruit picking in various environments, is uniformly distributed in fruit collection, and can realize automatic basket replacement after the basket is filled with fruits.
Description
Technical Field
The invention relates to automatic fruit picking equipment.
Background
In the process of increasing mechanization of orchards and farms, the picking process, which originally requires a lot of labor force, is necessarily gradually replaced by intelligent robot picking. However, in the current market, no mature fruit picking device capable of achieving this function has emerged. The following problems often occur during picking: 1. a great deal of labor is required for picking fruits; 2. the fruits are unevenly distributed and have different distances, and the picking device is difficult to adapt to multi-dimensional picking work; 3. the uneven stacking of the fruits in the collecting device causes space waste, and even the fruits can be scattered out of the collecting device; 4. when the collection device (e.g., collection basket) is filled with fruit, it is generally necessary to manually replace the empty basket, which is often inconvenient to work.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides novel automatic fruit picking equipment.
In order to achieve the above purpose, the invention adopts the following technical scheme: an automatic fruit picking apparatus comprising a mechanism comprising:
the machine base is provided with an automatic travelling mechanism and a travelling driving device for driving the automatic travelling mechanism to work;
the picking device comprises a lifting frame which can be arranged on the machine base in a lifting manner along the up-and-down direction, a lifting driving mechanism for driving the lifting frame to lift, a base frame which can be arranged on the lifting frame in a sliding telescopic manner along the front-and-back direction, a translation driving mechanism for driving the base frame to stretch along the front-and-back direction relative to the lifting frame, a clamping jaw assembly and a scissor assembly which are arranged at the front end part of the base frame,
the clamping jaw assembly comprises a first clamping jaw and a second clamping jaw, wherein the rear end parts of the first clamping jaw and the second clamping jaw are respectively and pivotally connected to the base frame, and a clamping jaw driving mechanism used for driving the first clamping jaw and the second clamping jaw to rotate relatively so as to open or close the first clamping jaw and the second clamping jaw relatively, and the front end parts of the first clamping jaw and the second clamping jaw form a clamping part used for clamping fruits; the scissors assembly is arranged at the front end part of the base frame and is positioned above the clamping jaw assembly, the scissors assembly comprises scissors, the scissors are provided with a first blade rod and a second blade rod, the rear parts of the first blade rod and the second blade rod are mutually intersected and are connected at the intersection in a pivot mode, the first blade rod and the second blade rod are provided with shearing parts which are mutually matched and are used for shearing roots of fruits, the shearing parts are positioned above the clamping parts, and the scissors assembly further comprises a scissors driving mechanism used for driving the first blade rod and the second blade rod to be relatively opened or relatively closed;
the collecting device comprises a material guiding table obliquely arranged along the up-down direction, two groups of collecting mechanisms respectively arranged below two ends of the material guiding table, the material guiding table is provided with a material guiding channel extending along the length direction, the upper end part of the material guiding table is also provided with a blanking groove communicated with the material guiding channel and penetrating along the up-down direction, the groove width of the blanking groove is smaller than that of the material guiding channel, each group of collecting mechanisms comprises a pedestal, a rotating disk rotationally arranged on the pedestal around a shaft axis extending along the vertical direction and used for placing a material basket, and a rotating driving piece used for driving the rotating disk to rotate;
the blanking device is provided with a feeding hole and a discharging hole, the feeding hole is positioned below the clamping part of the clamping jaw assembly, and the discharging hole is connected with the upper part of the material guide channel.
Preferably, the picking apparatus further comprises a control system comprising:
the fruit identification device comprises a camera for collecting images in a visual field in real time in the walking process of the automatic walking mechanism, a target identifier for comparing the images shot by the camera with preset images and identifying the images as mature fruits when the colors of the images are the same,
the position sensor is in signal connection with the fruit recognition device, and acquires the center coordinates of the mature fruit when the target recognizer recognizes the mature fruit;
and the controller is respectively connected with the position sensor, the walking driving device, the lifting driving mechanism and the translation driving mechanism in a signal way, and controls the working states of the walking driving device, the lifting driving mechanism and the translation driving mechanism according to the central coordinates acquired by the position sensor.
Preferably, the automatic travelling mechanism is a crawler travelling mechanism, and the extending direction of the base frame in the picking device is perpendicular to the travelling direction of the crawler travelling mechanism.
Preferably, a trace searching sensor for searching a preset walking route mark is arranged at the bottom of the base, and the walking driving device is in signal connection with the trace searching sensor and controls the working state of the walking driving device according to the route information acquired by the trace searching sensor.
Preferably, in the collecting mechanism, the pedestal can be rotatably arranged on the base around a central line extending in a horizontal direction, a temporary storage seat for a charging basket is fixedly arranged on the base, the temporary storage seat for the charging basket is arranged on one side of the pedestal, the temporary storage seat for the charging basket is provided with a containing area for containing a plurality of charging baskets, and the collecting device further comprises a turnover driving mechanism for driving the pedestal to turn towards the temporary storage seat for the charging basket.
Further preferably, the turnover driving mechanism comprises a screw rod rotatably arranged on the stand around a self axis, a nut cooperatively arranged on the screw rod, a turnover driving motor for driving the screw rod to rotate, and a push rod with one end pivotally connected to the nut and the other end pivotally connected to the pedestal, wherein the pedestal has a collection working state and a basket replacement working state, and when the pedestal is in the collection working state, the rotating disk is horizontally arranged; when the pedestal is in a basket-changing working state, the pedestal is turned over to enable the rotating disc to incline towards the temporary storage seat of the charging basket.
Still further preferably, the basket buffer seat is disposed at the same side of the two groups of the collecting mechanisms, the turning driving mechanism drives the two pedestals to turn towards the basket buffer seat at the same time, wherein,
the overturning driving mechanisms are arranged in a group, and the two pedestals of the two groups of collecting mechanisms are fixedly connected or integrally arranged; or, the two bases of the two groups of collecting mechanisms are arranged in a split mode, the overturning driving mechanism is provided with two ejector rods, the upper end parts of the two ejector rods are respectively and pivotally connected with the two bases, and the lower end parts of the two ejector rods are respectively and pivotally connected with the nuts.
Preferably, the blanking device comprises a blanking pipe for receiving fruits collected by the picking device, a lifting arm which extends obliquely along the up-down direction and has an upper end part pivotally connected to the upper end part of the material guiding table, and a lifting driving part for driving the lifting arm to turn over in the vertical direction, wherein the blanking pipe extends along the up-down direction, a lower pipe orifice of the blanking pipe is connected with the lower part of the lifting arm, the lifting arm is provided with a material conveying channel extending along the length direction,
a blanking funnel is fixedly arranged on the pipe orifice at the upper end of the blanking pipe, the blanking funnel is positioned below the clamping part, and the mouth of the blanking funnel forms the feeding port; the upper port part of the material conveying channel forms the discharge port.
Preferably, the jaw driving mechanism comprises a jaw driving cylinder, a cylinder body of the jaw driving cylinder is fixed on the base frame, a telescopic rod of the jaw driving cylinder extends along the front-rear direction, a driving block is fixedly connected to the front end of the telescopic rod, the rear end of the first jaw is connected to the base frame through a first shaft pivot, the rear end of the second jaw is connected to the base frame through a second shaft pivot, the jaw driving mechanism further comprises a first connecting rod, one end of which is connected to the first jaw through a third shaft pivot and the other end of which is connected to the driving block, a second connecting rod, one end of which is connected to the second jaw through a fourth shaft pivot and the other end of which is connected to the driving block, wherein the third shaft is located between the clamping part and the first shaft, and the fourth shaft is located between the clamping part and the second shaft.
Preferably, the scissors driving mechanism comprises a scissors driving cylinder, a cylinder body of the scissors driving cylinder is fixedly arranged on the base frame, the axial lead of a telescopic rod of the scissors driving cylinder extends along the front-rear direction, the scissors driving mechanism further comprises a driving rod, the rear part of the driving rod is pivotally connected to the front end of the telescopic rod, the front part of the driving rod is pivotally connected to the rear part of the second blade rod, and the rear part of the first blade rod is fixedly connected to the base frame.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: 1. the automatic fruit picking equipment disclosed by the invention has the advantages of high automation degree and low artificial dependence degree, and can reduce the labor cost in the picking process; 2. the automatic fruit picking equipment can adapt to fruit picking in various environments; 3. in the process of collecting fruits, the charging basket is driven by the rotating disk to continuously rotate, so that the fruits can be relatively uniformly stacked in the charging basket and cannot be stacked at a certain position in the charging basket, and the phenomena of space waste and unstable fruit stacking are avoided; 4. after the charging basket is fully collected, the pedestal is obliquely turned over, and the charging basket can slide into the temporary storage seat of the charging basket, so that automatic basket replacement is realized, and labor is saved.
Drawings
FIG. 1 is an isometric view of an automatic fruit picking apparatus of the present invention;
FIG. 2 is another angular isometric view of the automatic fruit picking apparatus of the present invention;
fig. 3 is a front view of the automatic fruit picking apparatus of the present invention
Fig. 4 is a left side view of the automatic fruit picking apparatus of the present invention;
fig. 5 is a top view of the automatic fruit picking apparatus of the present invention;
fig. 6 is an isometric view of a picking apparatus of the automatic fruit picking apparatus of the present invention;
fig. 7 is an isometric view of a picking apparatus of the automatic fruit picking apparatus of the present invention at another angle;
fig. 8 is a top view of a picking apparatus of the automatic fruit picking apparatus of the present invention;
fig. 9 is a top view of the picking device jaw assembly of the automatic fruit picking apparatus of the present invention after gripping the fruit;
fig. 10 is an isometric view of a collection device of the automatic fruit picking apparatus of the present invention;
FIG. 11 is an isometric view of a guide table and lift arm of the automatic fruit picking apparatus of the present invention;
fig. 12 is an isometric view of a collection device of the automatic fruit picking apparatus of the present invention;
fig. 13 is a side view of the collecting device of the automatic fruit picking apparatus of the present invention;
FIG. 14 is an isometric view of the collecting device with the stand of the present invention in a basket change operation;
FIG. 15 is a schematic diagram of the tumble drive mechanism of the present invention;
FIG. 16 is a schematic diagram of a control system of the present invention;
wherein: 1. a base; 2. a picking device; 21. a lifting frame; 22. a lifting driving mechanism; 23. a base frame; 24. a translational drive mechanism; 25. a jaw assembly; 251. a first jaw; 252. a second jaw; 253. a jaw drive cylinder; 254. a first shaft; 255. a second shaft; 256. a third shaft; 257. a fourth shaft; 258. a driving block; 259. a first link; 250. a second link; 26. a scissors assembly; 261. a first blade bar; 262. a second blade bar; 263. a shear driving cylinder; 264. a driving rod; 3. a collecting device; 31. a material guiding table; 311. a material guiding channel; 312. a material dropping groove; 32. a collection mechanism; 321. a pedestal; 322. a rotating disc; 323. a rotary driving member; 4. a blanking mechanism; 41. a feed inlet; 42. a discharge port; 43. a blanking pipe; 44. a lifting arm; 45. a material conveying channel; 46. a blanking funnel; 5. a charging basket; 6. a charging basket temporary storage seat; 7. a turnover driving mechanism; 71. a screw rod; 72. a nut; 73. a turnover driving motor; 74. a push rod; 100. Fruit.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 15, an automatic fruit picking apparatus comprises a mechanism comprising:
a machine base 1 having an automatic traveling mechanism 11 and a traveling driving device 12 for driving the automatic traveling mechanism 11 to operate;
the picking device 2 comprises a lifting frame 21 which can be arranged on the machine base 1 in a lifting manner along the up-and-down direction, a lifting driving mechanism 22 for driving the lifting frame 21 to lift, a base frame 23 which can be arranged on the lifting frame 21 in a sliding telescopic manner along the front-and-back direction, a translation driving mechanism 24 for driving the base frame 23 to stretch along the front-and-back direction relative to the lifting frame 21, and a clamping jaw assembly 25 and a scissors assembly 26 which are arranged at the front end part of the base frame 23.
The jaw assembly 25 includes a first jaw 251 and a second jaw 252 with rear ends pivotally connected to the base frame 23, respectively, and a jaw driving mechanism for driving the first jaw 251 and the second jaw 252 to rotate relatively to open or close the first jaw 251 and the second jaw 252, wherein a front end of the first jaw 251 and a front end of the second jaw 252 form a clamping portion for clamping fruits; the scissors assembly 26 is arranged at the front end part of the base frame 23 and above the clamping jaw assembly 25, the scissors assembly 26 comprises scissors, the scissors are provided with a first blade rod 261 and a second blade rod 262, the rear parts of the first blade rod 261 and the second blade rod 262 are mutually intersected and are pivotally connected at the intersection, the first blade rod 261 and the second blade rod 262 are provided with shearing parts which are mutually matched and are used for shearing the root parts of fruits, the shearing parts are arranged above the clamping parts, and the scissors assembly 26 further comprises a scissors driving mechanism used for driving the first blade rod 261 and the second blade rod 262 to be relatively opened or relatively closed;
the collecting device 3 comprises a material guiding table 31 obliquely arranged along the up-down direction and two groups of collecting mechanisms 32 respectively arranged below two end parts of the material guiding table 31, wherein the material guiding table 31 is provided with a material guiding channel 311 extending along the length direction, the upper end part of the material guiding table 31 is also provided with a blanking groove 312 communicated with the material guiding channel 311 and penetrating along the up-down direction, the groove width of the blanking groove 312 is smaller than the width of the material guiding channel 311, each group of collecting mechanisms 32 comprises a pedestal 321, a rotating disk 322 rotationally arranged on the pedestal 321 around a shaft axis extending along the vertical direction and used for placing a material basket 5, and a rotating driving piece 323 used for driving the rotating disk 322 to rotate;
the blanking device 4 is provided with a feed port 41 and a discharge port 42, wherein the feed port 41 is positioned below the clamping part of the clamping jaw assembly 25, and the discharge port 42 is connected with the upper part of the material guiding channel 311.
The picking apparatus further comprises a control system, see fig. 16, comprising:
the fruit identification device comprises a camera for acquiring images in a visual field in real time in the walking process of the automatic walking mechanism and a target identifier for comparing the images shot by the camera with preset images and identifying the images as mature fruits when the colors of the images are the same;
the position sensor is in signal connection with the fruit recognition device, and acquires the center coordinates of the mature fruit when the target recognizer recognizes the mature fruit;
and the controller is respectively in signal connection with the position sensor, the walking driving device 12, the lifting driving mechanism 22 and the translation driving mechanism 24, and controls the working states of the walking driving device 12, the lifting driving mechanism 22 and the translation driving mechanism 24 according to the central coordinates acquired by the position sensor.
In this embodiment, the setting is specifically performed as follows:
the automatic travelling mechanism 11 is a crawler travelling mechanism, so that the picking device can be well adapted to complex terrains of an orchard, the telescopic direction of the base frame 23 in the picking device 2 is mutually perpendicular to the travelling direction of the crawler travelling mechanism 11, and the picking device can automatically pick fruits on fruit trees on two sides of the picking device when walking.
The bottom of the machine base 1 is provided with a trace searching sensor for searching a preset walking route mark, and the automatic walking mechanism 11 is in signal connection with the trace searching sensor and controls the working state of the walking driving device 12 according to the route information acquired by the trace searching sensor.
The working flow of the control system is shown in fig. 16, the trace searching sensor acquires route information to control the walking driving device 12, the picking equipment advances according to the preset walking route mark, meanwhile, the camera acquires images, the target identifier compares the acquired images with the preset images in color, judges whether fruits are ripe or not, and identifies the fruits as objects to be picked when judging that the fruits are ripe. The position sensor acquires the center coordinates of the mature fruits identified by the target identifier, the position sensor transmits the center coordinates of the mature fruits to the controller, and the controller controls the walking driving device 12, the lifting driving mechanism 22 and the translation driving mechanism 24 to move the picking mechanism towards the vicinity of the mature fruits according to the center coordinates, so that the center coordinates of the mature fruits to be picked are located at the center position of the clamping part on the clamping jaw assembly 25. Then the controller controls the clamping jaw driving mechanism to drive the first clamping jaw 251 and the second clamping jaw 252 to close, the fruit is clamped and fixed, then the controller controls the scissors driving mechanism to drive the first cutting edge rod 261 and the second cutting edge rod 262 to close, the root of the fruit is sheared, then the first clamping jaw 251 and the second clamping jaw 252 are opened, and the fruit falls into the blanking device 4.
Referring to fig. 12 to 14, in each collection mechanism 32, the rotary disk 322 is a toothed disk with a plurality of teeth uniformly distributed on the outer periphery, the rotary driving member 323 includes a rotary driving motor, and a worm drivingly connected to an output shaft of the rotary driving motor, and the worm is meshed with the toothed disk to form a worm gear structure, and the rotary driving motor can drive the rotary disk 322 to rotate around its axis. In some embodiments, the collecting mechanism 32 may further comprise a rotation controller for controlling the operation state of the rotation driving member, and a detector for detecting whether there is an increased fruit in the basket 5 and sending a trigger signal after detecting the increased fruit, wherein the detector is connected with the rotation controller in a signal manner and controls the rotation driving member to operate to rotate the rotating disc 322 according to a set angle after receiving the trigger signal, so that the fruit falls into the basket 5 uniformly, and stacking phenomenon at the same position of the basket 5 is avoided as much as possible.
The pedestal 321 can be arranged on the pedestal 1 in a rotating manner around a center line extending in the horizontal direction, the pedestal 1 is also fixedly provided with a charging basket temporary storage seat 6, the charging basket temporary storage seat 6 is arranged on one side of the pedestal 321, the charging basket temporary storage seat 6 is provided with a containing area for containing a plurality of charging baskets 5, and the collecting device 3 further comprises a turnover driving mechanism 7 for driving the pedestal 321 to turn towards the charging basket temporary storage seat 6.
The turnover driving mechanism 7 comprises a screw rod 71 which is rotationally arranged on the machine base 1 around the axis of the screw rod 71, a nut 72 which is cooperatively arranged on the screw rod 71, a turnover driving motor 73 which is used for driving the screw rod 71 to rotate, and a mandril 74 with one end pivotally connected to the nut 72 and the other end pivotally connected to a pedestal 321, wherein one end of the pedestal 321, which is close to the charging basket temporary storage seat 6, is pivotally connected with the machine base 1, the pedestal 321 has a collection working state and a basket replacement working state, when the pedestal 321 is in the collection working state, the rotary disk 322 is horizontally arranged, and the charging basket 5 positioned on the rotary disk 322 does not move relative to the rotary disk 322; when the pedestal 321 is in the basket-changing working state, the pedestal 321 is turned over to enable the rotary disk 322 to incline towards the basket temporary storage seat 6, and the basket 5 positioned on the rotary disk 322 slides into the basket temporary storage seat 6.
The movement principle of the turnover driving mechanism 7 is as shown in fig. 15, the turnover driving motor 73 drives the screw rod 71 to rotate around the axis thereof, drives the nut 72 to move along the extending direction of the screw rod 71, and the pedestal 321 can turn over relative to the machine base 1 through the transmission of the ejector rod 74, so that the position of the nut 72 can be controlled to control the pedestal 32 to switch between the collecting working state and the basket changing working state.
The charging basket temporary storage seat 6 is arranged on the same side of the two groups of collecting mechanisms 32, the overturning driving mechanism 7 drives the two pedestals 321 to overturn towards the charging basket temporary storage seat 6 at the same time,
in this embodiment, the two sets of turnover driving mechanisms 7 are provided, and the two bases 321 of the two sets of collection mechanisms 32 are separately provided, and a set of turnover driving mechanisms 7 is provided between each base 321 and the base 1. In other embodiments, the turnover driving mechanism 7 may be arranged in one group, and the two bases 321 of the two groups of collecting mechanisms 32 are fixedly connected or integrally arranged; alternatively, the two bases 321 of the two collection mechanisms 32 are separately provided, the tilting drive mechanism 7 has two jack rods 74, the upper ends of the two jack rods 74 are pivotally connected to the two bases 321, and the lower ends of the two jack rods 74 are pivotally connected to the nuts 72. The above arrangement modes of the turning driving mechanism 7 can realize that the two pedestals 321 turn towards the charging basket temporary storage seat 6 at the same time.
Referring to fig. 10 to 11, the blanking device 4 includes a blanking pipe 43 for receiving the fruit 100 collected by the picking device 2, a lifting arm 44 extending obliquely in the up-down direction and having an upper end portion pivotally connected to the upper end portion of the material guiding table 31, and a lifting driving member (not shown in the drawings) for driving the lifting arm to turn over in the vertical direction, the blanking pipe 43 extends in the up-down direction, a lower pipe orifice of the blanking pipe 43 is connected to a lower part of the lifting arm 44, the lifting arm 44 has a material conveying channel 45 extending in the length direction, a blanking funnel 46 is fixedly arranged on a pipe orifice of an upper end of the blanking pipe 43, the blanking funnel 46 is located below the clamping portion, and a mouth of the blanking funnel 46 forms a material inlet 41; the upper port portion of the feed passage 45 forms the discharge port 42. This allows the fruit to be sheared to a sufficient drop height and then transported by the lift arm 44 to the collection device 3 for collection, effectively reducing the overall height of the apparatus and accommodating the picking of the fruit at a lower location.
Referring to fig. 7, the jaw driving mechanism includes a jaw driving cylinder 253, a cylinder body of the jaw driving cylinder 253 is fixed to the base frame 23 and a telescopic rod thereof extends in a front-rear direction, a front end of the telescopic rod is fixedly connected with a driving block 258, a rear end of the first jaw 251 is pivotally connected to the base frame 23 through a first shaft 254, a rear end of the second jaw 252 is pivotally connected to the base frame 23 through a second shaft 255, the jaw driving mechanism further includes a first link 259, one end of which is pivotally connected to the first jaw 251 through a third shaft 256 and the other end of which is pivotally connected to the driving block 258, a second link 250, one end of which is pivotally connected to the second jaw 252 through a fourth shaft 257 and the other end of which is pivotally connected to the driving block 258, wherein the third shaft 256 is located between the clamping part and the first shaft 254, and the fourth shaft 257 is located between the clamping part and the second shaft 255. When the clamping jaw driving cylinder 253 extends forwards out of the telescopic rod, the driving block 258 pulls the first connecting rod 259 and the second connecting rod 260, so that the first clamping jaw 251 and the second clamping jaw 252 are driven to be close inwards, and after the telescopic rod is retracted backwards into the clamping jaw driving cylinder 253, the first clamping jaw 251 and the second clamping jaw 252 are opened outwards. The jaw actuation cylinders 253 may be provided in multiple side-by-side relationship to increase the clamping force.
Referring to fig. 8 and 9, the scissor driving mechanism includes a shear driving cylinder 263, a cylinder body of the shear driving cylinder 263 is fixedly arranged on the base frame 23 and a shaft axis of a telescopic rod thereof extends along a front-rear direction, the scissor driving mechanism further includes a driving rod 264, a rear portion of the driving rod 264 is pivotally connected to a front end of the telescopic rod, a front portion of the driving rod 264 is pivotally connected to a rear portion of the second blade rod 262, and a rear portion of the first blade rod 261 is fixedly connected to the base frame 23. When the telescopic rod of the shear driving cylinder 263 is extended, the second blade rod 262 is pushed to rotate, the scissors are in an opened state, and when the telescopic rod of the shear driving cylinder 263 is contracted, the scissors are in a closed state.
When the automatic fruit picking device starts to pick, the first blade rod 261 and the second blade rod 262 and the first clamping jaw 251 and the second clamping jaw 252 are in relative open states, the trace searching sensor obtains route information to control the walking driving device, the picking device advances according to a preset walking route mark, meanwhile, the camera collects images, and the target identifier compares the collected images with the preset images in color to judge whether fruits are ripe or not. When the fruit recognition device recognizes that ripe fruits exist, the position sensor acquires the central coordinates of the fruit recognition device to acquire the position data of the fruits to be picked, the controller drives the walking driving device 12, the lifting driving mechanism 22 and the translation driving mechanism 24 according to the fruit position data of the position sensor to control the picking mechanism 2 to move towards the vicinity of the fruits 100 until the fruits 100 are in the clamping part, the picking device stops moving, then the clamping jaw driving cylinder 253 stretches out of the telescopic rod forwards, the first clamping jaw 251 and the second clamping jaw 252 draw close inwards to clamp the fruits 100 (as shown in fig. 9), then the shearing driving cylinder 263 withdraws the telescopic rod backwards, the scissors close and shear the roots of the fruits 100, and fruit tree separation is achieved.
Then the scissors assembly 26 is reset, the clamping jaw driving air cylinder 253 is retracted back to retract the telescopic rod to enable the first clamping jaw 251 and the second clamping jaw 252 to be outwards opened, the fruits 100 fall into the blanking pipe 43 and finally enter the material conveying channel 45 in the lifting arm 44, the lifting driving piece drives the lifting arm 44 to turn over, the fruits 100 roll into the material guiding channel 311 and then are sorted in size through the material guiding table 31, the small fruits fall into the material basket 5 below the small fruits through the material guiding channel 312, and the large fruits roll down into the other material basket 5 along the material guiding channel 311, so that automatic sorting and separate collection of the large fruits and the small fruits are realized.
During the collection, the rotating disk 322 of the collection mechanism 32 is kept in a rotating state or rotated at a set angle after receiving a signal of fruit increase, so that the fruits are uniformly collected in the basket 5. When the charging basket 5 is full, the overturning driving mechanism 7 drives the pedestal 321 to overturn towards the charging basket temporary storage seat 6, the charging basket 5 slides into the accommodating area in the charging basket temporary storage seat 6, and when the overturning driving mechanism 7 drives the pedestal 321 to be in a collecting working state, a new empty charging basket 5 is placed on the rotating disc 322, so that the basket replacing process is completed.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (10)
1. An automatic fruit picking apparatus comprising a mechanism, the mechanism comprising:
the machine base is provided with an automatic travelling mechanism and a travelling driving device for driving the automatic travelling mechanism to work;
the picking device comprises a lifting frame which can be arranged on the machine base in a lifting manner along the up-and-down direction, a lifting driving mechanism for driving the lifting frame to lift, a base frame which can be arranged on the lifting frame in a sliding telescopic manner along the front-and-back direction, a translation driving mechanism for driving the base frame to stretch along the front-and-back direction relative to the lifting frame, a clamping jaw assembly and a scissor assembly which are arranged at the front end part of the base frame,
the clamping jaw assembly comprises a first clamping jaw and a second clamping jaw, wherein the rear end parts of the first clamping jaw and the second clamping jaw are respectively and pivotally connected to the base frame, and a clamping jaw driving mechanism used for driving the first clamping jaw and the second clamping jaw to rotate relatively so as to open or close the first clamping jaw and the second clamping jaw relatively, and the front end parts of the first clamping jaw and the second clamping jaw form a clamping part used for clamping fruits; the scissors assembly is arranged at the front end part of the base frame and is positioned above the clamping jaw assembly, the scissors assembly comprises scissors, the scissors are provided with a first blade rod and a second blade rod, the rear parts of the first blade rod and the second blade rod are mutually intersected and are connected at the intersection in a pivot mode, the first blade rod and the second blade rod are provided with shearing parts which are mutually matched and are used for shearing roots of fruits, the shearing parts are positioned above the clamping parts, and the scissors assembly further comprises a scissors driving mechanism used for driving the first blade rod and the second blade rod to be relatively opened or relatively closed;
the collecting device comprises a material guiding table obliquely arranged along the up-down direction, two groups of collecting mechanisms respectively arranged below two ends of the material guiding table, the material guiding table is provided with a material guiding channel extending along the length direction, the upper end part of the material guiding table is also provided with a blanking groove communicated with the material guiding channel and penetrating along the up-down direction, the groove width of the blanking groove is smaller than that of the material guiding channel, each group of collecting mechanisms comprises a pedestal, a rotating disk rotationally arranged on the pedestal around a shaft axis extending along the vertical direction and used for placing a material basket, and a rotating driving piece used for driving the rotating disk to rotate;
the blanking device is provided with a feeding hole and a discharging hole, the feeding hole is positioned below the clamping part of the clamping jaw assembly, and the discharging hole is connected with the upper part of the material guide channel.
2. The automatic fruit picking apparatus of claim 1, wherein: the picking apparatus further comprises a control system comprising:
the fruit identification device comprises a camera for collecting images in a visual field in real time in the walking process of the automatic walking mechanism, a target identifier for comparing the images shot by the camera with preset images and identifying the images as mature fruits when the colors of the images are the same,
the position sensor is in signal connection with the fruit recognition device, and acquires the center coordinates of the mature fruit when the target recognizer recognizes the mature fruit;
and the controller is respectively connected with the position sensor, the walking driving device, the lifting driving mechanism and the translation driving mechanism in a signal way, and controls the working states of the walking driving device, the lifting driving mechanism and the translation driving mechanism according to the central coordinates acquired by the position sensor.
3. The automatic fruit picking apparatus of claim 1, wherein: the automatic travelling mechanism is a crawler travelling mechanism, and the telescopic direction of the base frame in the picking device is mutually perpendicular to the travelling direction of the crawler travelling mechanism.
4. The automatic fruit picking apparatus of claim 1, wherein: the bottom of the machine base is provided with a trace searching sensor for searching a preset walking route mark, and the walking driving device is in signal connection with the trace searching sensor and controls the working state of the walking driving device according to the route information acquired by the trace searching sensor.
5. The automatic fruit picking apparatus of claim 1, wherein: in the collection mechanism, the pedestal can be arranged on the machine base in a rotating way around the center line extending in the horizontal direction, a charging basket temporary storage seat is fixedly arranged on the machine base, the charging basket temporary storage seat is arranged on one side of the pedestal, the charging basket temporary storage seat is provided with a plurality of accommodating areas for accommodating the charging baskets, and the collection device further comprises a turnover driving mechanism for driving the pedestal to turn over towards the charging basket temporary storage seat.
6. The automatic fruit picking apparatus of claim 5, wherein: the turnover driving mechanism comprises a screw rod, a nut, a turnover driving motor and a mandril, wherein the screw rod is arranged on the machine base in a rotating mode around the axis of the screw rod, the nut is arranged on the screw rod in a matched mode, the turnover driving motor is used for driving the screw rod to rotate, one end of the mandril is pivotally connected to the nut, the other end of the mandril is pivotally connected to the pedestal, the pedestal is provided with a collection working state and a basket changing working state, and when the pedestal is in the collection working state, the rotary disk is horizontally arranged; when the pedestal is in a basket-changing working state, the pedestal is turned over to enable the rotating disc to incline towards the temporary storage seat of the charging basket.
7. The automatic fruit picking apparatus of claim 6 wherein: the charging basket temporary storage seat is arranged on the same side of the two groups of collecting mechanisms, the overturning driving mechanism drives the two pedestals to overturn towards the charging basket temporary storage seat at the same time, wherein,
the overturning driving mechanisms are arranged in a group, and the two pedestals of the two groups of collecting mechanisms are fixedly connected or integrally arranged; or, the two bases of the two groups of collecting mechanisms are arranged in a split mode, the overturning driving mechanism is provided with two ejector rods, the upper end parts of the two ejector rods are respectively and pivotally connected with the two bases, and the lower end parts of the two ejector rods are respectively and pivotally connected with the nuts.
8. The automatic fruit picking apparatus of claim 1, wherein: the blanking device comprises a blanking pipe for receiving fruits collected by the picking device, a lifting arm which extends obliquely along the up-down direction and the upper end part of which is pivotally connected with the upper end part of the material guiding table, and a lifting driving piece for driving the lifting arm to turn over in the vertical direction, the blanking pipe extends along the up-down direction, a lower pipe orifice of the blanking pipe is connected with the lower part of the lifting arm, the lifting arm is provided with a material conveying channel extending along the length direction,
a blanking funnel is fixedly arranged on the pipe orifice at the upper end of the blanking pipe, the blanking funnel is positioned below the clamping part, and the mouth of the blanking funnel forms the feeding port; the upper port part of the material conveying channel forms the discharge port.
9. The automatic fruit picking apparatus of claim 1, wherein: the clamping jaw driving mechanism comprises a clamping jaw driving cylinder, a cylinder body of the clamping jaw driving cylinder is fixed on the base frame, a telescopic rod of the clamping jaw driving cylinder extends along the front-back direction, a driving block is fixedly connected to the front end of the telescopic rod, the rear end of the first clamping jaw is connected to the base frame through a first shaft pivot, the rear end of the second clamping jaw is connected to the base frame through a second shaft pivot, the clamping jaw driving mechanism further comprises a first connecting rod, one end of which is connected to the first clamping jaw through a third shaft pivot, the other end of which is connected to the driving block through a fourth shaft pivot, one end of which is connected to the second clamping jaw through a fourth shaft pivot, the other end of which is connected to the driving block, and the third shaft is located between the clamping part and the first shaft, and the fourth shaft is located between the clamping part and the second shaft.
10. The automatic fruit picking apparatus of claim 1, wherein: the scissors actuating mechanism includes the shearing drive cylinder, the cylinder body of shearing drive cylinder set firmly in on the bed frame and its telescopic link's axial lead extends along fore-and-aft direction, the scissors actuating mechanism still includes the actuating lever, the rear portion pivot joint of actuating lever is in on the front end of telescopic link, the front portion pivot joint of actuating lever is in on the rear portion of second cutting edge pole, the rear portion of first cutting edge pole is fixedly connected on the bed frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810337518.2A CN108377740B (en) | 2018-04-16 | 2018-04-16 | Automatic fruit picking equipment |
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| CN201810337518.2A CN108377740B (en) | 2018-04-16 | 2018-04-16 | Automatic fruit picking equipment |
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| CN108377740A CN108377740A (en) | 2018-08-10 |
| CN108377740B true CN108377740B (en) | 2023-09-19 |
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