CN108811765B - Fruit picking and collecting integrated robot - Google Patents
Fruit picking and collecting integrated robot Download PDFInfo
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- CN108811765B CN108811765B CN201810548427.3A CN201810548427A CN108811765B CN 108811765 B CN108811765 B CN 108811765B CN 201810548427 A CN201810548427 A CN 201810548427A CN 108811765 B CN108811765 B CN 108811765B
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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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Abstract
The utility model provides an integrated robot is collected in fruit picking, the afterbody at running gear is installed through bolted connection to the control cabinet, conveyer and gesture adjustment device pass through bolted connection and install on running gear's upper portion, one side end and the fruit collecting box of conveyer link to each other, terminal grabber is installed to the opposite side, realize the inflation and the shrink of inside three gasbag of terminal grabber through air pump control, and then realize picking the snatch of fruit, after the fruit is picked, send the collecting box through conveyer, realize picking and collecting the fruit. The invention can realize flexible grabbing through the rope driving control flexible mechanical arm, can realize nondestructive grabbing through the tail end grabber with the air bag, and can realize the functions of picking and collecting integration by utilizing the characteristics of the integral structure of the tail end grabber, thereby greatly improving the picking efficiency.
Description
Technical Field
The invention relates to a fruit picking robot, in particular to a fruit picking and collecting integrated robot.
Background
In the production process of orchards, the picking work of fruits is an important link, and the fruit picking and collecting process has important significance in realizing mechanization of fruit picking and collecting processes due to the fact that the yield of the fruits in China is very high. However, the fruit picking work in China is mainly carried out manually, the picking efficiency is low, and along with the increase of labor cost, the mechanization of fruit picking is more necessary. The development of the mechanical automatic picking technology can not only improve the efficiency of picking fruits, but also save the cost of labor force. In recent years, with the development of flexible soft technology, the flexibility and environmental applicability of the robot are obviously improved, and the robot is greatly helpful for adapting to the environment in the fruit picking process and reducing the damage rate of fruits.
At present, the fruit picking robot invented at home and abroad mainly takes a rigid robot with multiple degrees of freedom as a main part, and the robot enables the tail end grabber or the tail end cutting device to reach the position of the fruit through adjusting the mechanical arm, so that the fruit is grabbed, the grabbing efficiency is relatively low, and the grabbing success rate is still to be improved. Chinese patent CN 107690969a provides an air suction type fruit harvesting robot which moves an air suction head to the side of a fruit by a robot arm, and a bellows works to suck the fruit into an air suction pipe, then the fruit enters a fruit receiving passage through a fruit air separation passage, and finally the fruit is sent to a fruit collecting box through a conveyor belt. Chinese patent CN105580560a provides a fruit picking robot with a mechanical structure that is mainly a 5 degree of freedom manipulator section and a 2 degree of freedom in-vehicle section. The mechanical arm part with 5 degrees of freedom is of a PRRRP type joint structure, the 1 st degree of freedom is mainly used for lifting functions of the mechanical arm, the 2 nd degree of freedom is a waist rotating function of the mechanical arm, the 3 rd and 4 th degrees of freedom are large arm and small arm rotating shafts, the 5 th degree of freedom is a telescopic joint, and an end effector is sent to the position of an object according to a control instruction of a robot so as to pick fruits. Such fruit picking robots are mostly composed of rigid structures, but are less environmentally compatible and flexible, although they are capable of achieving gripping of the fruit. The invention provides a picking and collecting integrated robot combining a flexible soft technology, which has the function of integrating fruit picking and collecting and has flexible links, so that the flexibility of the robot is stronger, and the environmental adaptability is greatly improved. The fruit conveying device is arranged in the picking mechanical arm, so that the picking and collecting integration is realized, and the picking efficiency of fruits and vegetables is improved. The tail end picking device picks by using a soft air bag, so that the damage rate of fruits is reduced.
Disclosure of Invention
The invention aims to provide a mechanized fruit picking and collecting integrated robot which has high picking efficiency, can save labor cost and can realize fruit picking.
The invention mainly comprises a walking device, a conveying device, a gesture adjusting device, a tail end grabber and a control console.
Wherein, the control cabinet passes through bolted connection and installs in running gear's afterbody, and conveyer and appearance device are installed in running gear's upper portion through bolted connection, and conveyer's one side end links to each other with the fruit collecting box, and terminal grabber is installed to the opposite side. The expansion and the contraction of three air bags in the tail end grabber are realized through the control of the air pump, so that the grabbing and picking of fruits are realized. After picking fruits, the fruits are sent to a collecting box through a conveying device, so that the fruits are picked and collected.
The walking support device mainly comprises a frame, an adjusting support leg, a pull rod, a handle, a wheel bracket, wheels, a swinging beam, an adjusting support leg, a support plate and a slewing bearing. The frame is square frame, and the rear end of frame is equipped with the adjustment landing leg. The front end of the frame is connected with one end of the pull rod, and one end of the pull rod is a universal angle. The other end of the pull rod is fixed with a handle. Steering wheels are arranged below the front end of the frame, wheel brackets are respectively fixed on two sides of the rear end of the frame through bolts, and wheels are arranged on the wheel brackets. The two sides of the frame are respectively provided with a bar-shaped groove with corresponding positions, one end of the bar-shaped groove is provided with a pin hole, the bar-shaped groove is internally provided with a swinging beam, one end of the swinging beam is provided with a through hole, and a bolt is used for fixing the swinging of the swinging beam by penetrating through the pin hole and the through hole. The other end of the swinging beam is provided with an adjusting supporting leg. The upper part of the frame is provided with a supporting plate, a circular groove is fixed on the supporting plate, and a slewing bearing is arranged at the upper part in the circular groove.
The outside of adjusting the landing leg main part is equipped with the screw thread, is equipped with circular flange torsion disc in the upper end of adjusting the landing leg main part, and the lower extreme is equipped with the base, at the outside threaded connection sleeve of adjusting the landing leg main part. The outside of the sleeve is provided with a through hole.
The conveying device comprises a tail end corrugated pipe, a collecting guide pipe, a corrugated hose, a collecting box, an electric push rod B, a flange plate, a motor B and a guide wheel. The end corrugated pipe is a flexible corrugated hose with a spring embedded inside, round bosses are arranged at two ends of the end corrugated pipe, six slotted holes are arranged on the bosses at two ends, three slotted holes are circumferentially and uniformly distributed at intervals of 120 degrees on the boss at one end and are used for connecting the picking outer pipe, and the other three slotted holes are slotted holes for fixing the steel wire rope. And three slotted holes which are circumferentially and uniformly distributed at intervals of 120 degrees on the boss at the other end are used for connecting the collecting guide pipe, and the other three slotted holes are through line holes. The collecting duct consists of four hollow duct bodies, namely a first-stage collecting duct, a second-stage collecting duct, a third-stage collecting duct and a fourth-stage collecting duct from top to bottom in sequence, wherein the inner diameter of the fourth-stage collecting duct is the same as the outer diameter of the third-stage collecting duct, the inner diameter of the third-stage collecting duct is the same as the outer diameter of the second-stage collecting duct, and the inner diameter of the second-stage collecting duct is the same as the outer diameter of the first-stage collecting duct. Three peripherally-distributed slide ways with 120-degree intervals are respectively arranged outside the first-stage collecting guide pipe, the second-stage collecting guide pipe, the third-stage collecting guide pipe and the fourth-stage collecting guide pipe, the positions of the slide ways outside the collecting guide pipes are corresponding, and the collecting guide pipes can slide up and down along the axial direction. The first-level collecting guide pipe and the second-level collecting guide pipe and the third-level collecting guide pipe are respectively fixed through pins, two electric push rods B are arranged between the third-level collecting guide pipe and the fourth-level collecting guide pipe, and the expansion and contraction of the collecting guide pipes are controlled through the electric push rods. One end of the primary collecting conduit is provided with a circular boss, six slotted holes are formed in the boss, the three slotted holes are circumferentially and uniformly distributed at intervals of 120 degrees and are used for connecting the tail end corrugated pipe, the other three are through line holes, and the other end of the primary collecting conduit is provided with pin holes; one end of the secondary collecting conduit is provided with a pin seat for fixing the extended primary collecting conduit, and the other end is provided with a pin hole; the front end of the three-stage collecting catheter is provided with a circular boss, the boss is provided with three through holes which are uniformly distributed at intervals of 120 degrees in the circumferential direction, two sides of the boss are respectively provided with a through hole connected with an electric push rod B, and the rear part of the boss of the three-stage collecting catheter is provided with a pin seat for fixing the extended two-stage collecting catheter; the middle part of the four-stage collecting guide pipe is provided with a flange, two sides of the lower end of the flange are respectively provided with a hinge structure connected with the upper end of the electric push rod A, the middle lower part of the four-stage collecting guide pipe is provided with a square plate-shaped platform, and two sides of the square plate-shaped platform are respectively provided with a flange structure for installing two electric push rods B and two motors B. The bottom of the four-stage collecting catheter is provided with a boss, the lower end of the boss is provided with a stepped shaft structure, two sides of the stepped shaft are respectively connected with the tops of the two brackets A, the end face of the boss at the bottom of the four-stage collecting catheter is provided with a threaded hole for connecting the corrugated hose A, and the lower part of the four-stage collecting catheter is also provided with a guide wheel for changing the direction of the steel wire rope. The collecting box is square box, and the collecting box passes through bolted connection and links to each other with the ripple hose, is equipped with two-layer rag in the collecting box inside, and the different sides of two-layer rag is equipped with the round hole of fruit size, and one side of collecting box is equipped with the chamber door for take out the fruit of picking.
The gesture adjusting device comprises a rotary bearing, a rotary platform, a bracket A, a bracket B, an electric push rod A, a motor A and a gear. The lower part in the circular groove of the supporting plate is provided with a motor A, the output shaft of the motor A is sleeved with a gear, the gear is meshed with a slewing bearing, and the upper part of the slewing bearing is provided with a platform. A bracket B and a collecting box are fixed on the platform, and the bracket B is a square frame body. The bracket B is provided with a fixed bracket A, an air pump, a motor B and two electric push rods. The upper part of the fixed bracket A is connected with the four-stage collecting guide pipe through a hinge. The fixed end of the electric push rod is arranged on the fixed bracket A, and the free end of the electric push rod is connected with the hinge joint of the four-stage collecting catheter. Three steel wire ropes are uniformly distributed at 120-degree intervals, one ends of the three steel wire ropes are fixed on the tail end corrugated pipe, and the other ends of the two steel wire ropes respectively penetrate through the threading holes of the tail end corrugated pipe, the first-stage collecting guide pipe and the threading holes of the third-stage collecting guide pipe until the two steel wire ropes are connected with the output shafts of two motors B on the square plate-shaped platform of the fourth-stage collecting guide pipe; the other wire rope also passes through the guide wheel below the four-stage collecting guide pipe and is finally connected with the output shaft of the motor B on the bracket B.
The tail end grabber mainly comprises a picking outer tube, a picking air bag, an air tube, an air pump and a camera. The picking outer tube is of a cylindrical thin-wall structure and is used for installing 3 air bags, and the 3 air bags are circumferentially and uniformly distributed in the picking outer tube at intervals of 120 degrees. The picking air bags are flexible hoses with one ends being provided with fold structures, the flexible hoses are adhered to the inner wall of the picking outer tube through glue, the 3 air bags are communicated through air pipes, fold parts are located at the front ends, and after inflation, the fold parts expand and become large and are used for clamping fruits to be picked. The lower end of the picking outer tube is provided with a circular connecting plate, the circular connecting plate is provided with three slotted holes, the three slotted holes are circumferentially and uniformly distributed at intervals of 120 degrees, and the three slotted holes which are circumferentially and uniformly distributed are used for connecting the tail end corrugated tube; the middle end of the picking outer tube is provided with a slotted hole for the air tube to pass through. The upper end of the circular connecting plate of the picking outer tube is provided with a slotted hole for installing a camera, and the camera is installed on the slotted hole. The air pump is arranged on the bracket B and is used for inflating and deflating the picking air bag through an air pipe.
The console includes a joystick, a display, and buttons. The control console is arranged at the tail part of the traveling device through a bolt connection, a remote rod, a display and buttons are arranged on the control console, a motor B is controlled by the remote rod to drive a steel wire rope to realize the space motion of a tail corrugated pipe, the display displays pictures shot by a front-end camera, the number of the buttons is 6, two control rotary platforms rotate, two control supports B are used for controlling the expansion and the contraction of two electric push rods A, and the other two control four-stage collecting guide pipe ends are used for controlling the expansion and the contraction of the electric push rods B arranged at the tail ends of the four-stage collecting guide pipes; the control cabinet lower extreme is a wire pipe, and wire pipe lower extreme is equipped with square boss, is equipped with the unthreaded hole on the boss, is connected to on the frame through the bolt.
When the invention is used, the fruit tree is pulled under by a person or a machine, 3 adjusting support legs are manually rotated, so that the wheels are suspended and contact with the ground through the adjusting support legs; extending the second-level collecting conduit and fixing the second-level collecting conduit through pins so that the whole collecting conduit reaches an extending state; the rotary bearing is adjusted through the control console, so that the mechanical arm faces the fruits, and the electric push rod A, the electric push rod B and the tail end corrugated pipe are adjusted, so that the tail end grabber stretches out and sleeves the fruits; inflating the air bag through the air pump and the air pipe, so that the air bag wraps fruits to be picked; the fruit is picked by utilizing the pulling force of the electric push rod B, and the fruit slides down along the collecting guide pipe until entering the collecting box, and a two-stage buffer mechanism is arranged in the collecting box to prevent the apples from being broken.
Compared with the prior art, the invention has the following advantages:
the picking and collecting integrated robot can realize flexible grabbing through the rope driving control flexible mechanical arm, can realize nondestructive grabbing through the tail end grabber with the air bag, and can realize picking and collecting integrated functions by utilizing the characteristics of the integral structure of the robot, so that the picking efficiency is greatly improved.
Drawings
FIG. 1 is a diagram showing the effect of the retracted state of the present invention;
FIG. 2 is an effect diagram of the invention in an extended state;
FIG. 3 is a schematic forward view of the present invention;
FIG. 4 is a schematic view of a turning device at a vehicle frame according to the present invention;
FIG. 5 is a schematic view of a picking apparatus of the present invention;
FIG. 6 is a schematic representation of the end effector balloon deflation of the present invention;
FIG. 7 is a schematic view of the deployment of an end effector balloon of the present invention;
in the figure: 1-console, 1-1 stick, 1-2 display, 1-3 button, 2-collection box, 3-bellows A, 4-collection catheter, 4-1 primary collection catheter, 4-2 secondary collection catheter, 4-3 tertiary collection catheter, 4-4 quaternary collection catheter, 5-picking outer tube, 6-trachea, 7-electric putter A, 8-bracket A, 9-bracket B, 10-pull rod, 11-swing beam, 12-adjustment leg, 12-1 adjustment leg body, 12-2 round flange twist disc, 12-3 base, 12-4 sleeve, 13-wheel, 14-frame, 15-wheel bracket, 16-swivel bearing, 17-gear, 18-motor A, 19-wire rope, 20-end bellows, 21-motor B, 22-air pump, 23-electric putter B, 24-picking balloon, 25-camera, 26-platform, 27-handle, 28-support plate, 29-flange disc, 30-guide wheel, 31-annular connecting plate, 32-steering wheel.
Detailed Description
In the schematic diagrams of fig. 1 to 7 of the present invention, a console 1 is mounted at the tail of a walking device through a bolt connection, a conveying device and a posture adjusting device are mounted at the upper part of the walking device through a bolt connection, one side end of the conveying device is connected with a fruit collecting box, and the other side is provided with an end grabber. The expansion and the contraction of three air bags in the tail end grabber are realized through the control of the air pump, so that the grabbing and picking of fruits are realized. After picking fruits, the fruits are sent to a collecting box through a conveying device, so that the fruits are picked and collected.
The walking support device mainly comprises a frame, an adjusting support leg, a pull rod, a handle, a wheel bracket, wheels, a swinging beam, an adjusting support leg, a support plate and a slewing bearing. The frame 14 is a square frame, and the rear end of the frame is provided with an adjusting support leg 12. The front end of the frame is connected with one end of a pull rod 10, and one end of the pull rod is a universal angle. The other end of the pull rod is fixed with a handle 27. Steering wheels 32 are arranged below the front end of the frame, wheel brackets 14 are respectively fixed on two sides of the rear end of the frame through bolts, and wheels 13 are arranged on the wheel brackets. The both sides of frame are equipped with the bar recess that the position corresponds respectively, are equipped with the pinhole on the one end of bar recess, place swinging boom 11 in the bar recess, and the one end on the swinging boom is equipped with the through-hole, and the bolt is through passing pinhole and through-hole, is used for fixed swinging of swinging boom. The other end of the swinging beam is provided with an adjusting supporting leg. A support plate 28 is provided at the upper part of the frame, a circular groove is fixed on the support plate, and a slewing bearing 16 is placed at the upper part in the circular groove.
Adjusting the structure of the supporting leg: the outside of the adjusting support leg main body 12-1 is provided with threads, the upper end of the adjusting support leg main body is provided with a round flange torsion disc 12-2, the lower end of the adjusting support leg main body is provided with a base 12-3, and the outside of the adjusting support leg main body is connected with a sleeve 12-4 through threads. The outside of the sleeve is provided with a through hole.
The conveying device comprises a tail end corrugated pipe, a collecting guide pipe, a corrugated hose, a collecting box, an electric push rod B, a flange plate, a motor B and a guide wheel. The tail end corrugated pipe 20 is a flexible corrugated hose with a spring embedded inside, round bosses are arranged at two ends of the tail end corrugated pipe, six slotted holes are arranged on the bosses at two ends, three slotted holes are circumferentially and uniformly distributed at intervals of 120 degrees on the boss at one end and are used for connecting the picking outer pipe, and the other three slotted holes are slotted holes for fixing a steel wire rope. And three slotted holes which are circumferentially and uniformly distributed at intervals of 120 degrees on the boss at the other end are used for connecting the collecting guide pipe, and the other three slotted holes are through line holes. The collecting duct 4 consists of four hollow ducts, namely a first-stage collecting duct 4-1, a second-stage collecting duct 4-2, a third-stage collecting duct 4-3 and a fourth-stage collecting duct 4-4 in sequence from top to bottom, wherein the inner diameter of the fourth-stage collecting duct is the same as the outer diameter of the third-stage collecting duct, the inner diameter of the third-stage collecting duct is the same as the outer diameter of the second-stage collecting duct, and the inner diameter of the second-stage collecting duct is the same as the outer diameter of the first-stage collecting duct. Three peripherally-distributed slide ways with 120-degree intervals are respectively arranged outside the first-stage collecting guide pipe, the second-stage collecting guide pipe, the third-stage collecting guide pipe and the fourth-stage collecting guide pipe, the positions of the slide ways outside the collecting guide pipes are corresponding, and the collecting guide pipes can slide up and down along the axial direction. The first-level collecting guide pipe and the second-level collecting guide pipe and the third-level collecting guide pipe are respectively fixed through pins, two electric push rods B23 are arranged between the third-level collecting guide pipe and the fourth-level collecting guide pipe, and the expansion and contraction of the collecting guide pipes are controlled through the electric push rods. One end of the primary collecting conduit is provided with a circular boss, six slotted holes are formed in the boss, the three slotted holes are circumferentially and uniformly distributed at intervals of 120 degrees and are used for connecting the tail end corrugated pipe, the other three are through line holes, and the other end of the primary collecting conduit is provided with pin holes; one end of the secondary collecting conduit is provided with a pin seat for fixing the extended primary collecting conduit, and the other end is provided with a pin hole; the front end of the three-stage collecting catheter is provided with a circular boss, the boss is provided with three through holes which are uniformly distributed at intervals of 120 degrees in the circumferential direction, two sides of the boss are respectively provided with a through hole connected with an electric push rod B, and the rear part of the boss of the three-stage collecting catheter is provided with a pin seat for fixing the extended two-stage collecting catheter; the middle part of the four-stage collecting guide pipe is provided with a flange 29, two sides of the lower end of the flange are respectively provided with a hinge structure connected with the upper end of the electric push rod A7, the middle lower part of the four-stage collecting guide pipe is provided with a square plate-shaped platform, and two sides of the square plate-shaped platform are respectively provided with a flange structure for installing the two electric push rods B23 and the two motors B21. The bottom of the four-stage collecting catheter is provided with a boss, the lower end of the boss is provided with a stepped shaft structure, two sides of the stepped shaft are respectively connected with the tops of the two brackets A, the end face of the boss at the bottom of the four-stage collecting catheter is provided with a threaded hole for connecting the corrugated hose A3, and the lower part of the four-stage collecting catheter is also provided with a guide wheel 30 for changing the direction of the steel wire rope. The collecting box 2 is a square box body, the collecting box is connected with the corrugated hose through a bolt connection, two layers of rags are arranged in the collecting box, round holes with the size of fruits are formed in different sides of the two layers of rags, and a box door is arranged on one side of the collecting box and used for taking out picked fruits.
The gesture adjusting device comprises a rotary bearing, a rotary platform, a bracket A, a bracket B, an electric push rod A, a motor A and a gear. A motor A18 is arranged at the lower part in the circular groove of the supporting plate 28, a gear 17 is sleeved on the output shaft of the motor A, the gear 17 is meshed with a slewing bearing, and a platform 26 is arranged at the upper part of the slewing bearing. The platform is fixed with a bracket B9 and a collecting box, and the bracket B is a square frame body. The bracket B is provided with a fixed bracket A8, an air pump 22, a motor B21 and two electric push rods. The upper part of the fixed bracket A8 is connected with the four-stage collecting duct through a hinge. The fixed end of the electric push rod is arranged on the fixed bracket A, and the free end of the electric push rod is connected with the hinge joint of the four-stage collecting catheter. Three steel wire ropes are uniformly distributed at 120-degree intervals, one ends of the three steel wire ropes are fixed on the tail end corrugated pipe, and the other ends of the two steel wire ropes respectively penetrate through the threading holes of the tail end corrugated pipe, the first-stage collecting guide pipe and the threading holes of the third-stage collecting guide pipe until the two steel wire ropes are connected with the output shafts of two motors B21 on the square plate-shaped platform of the fourth-stage collecting guide pipe; the other wire rope also passes through the guide wheel below the four-stage collecting guide pipe and finally is connected with the output shaft of the motor B21 on the bracket B.
The tail end grabber mainly comprises a picking outer tube, a picking air bag, an air tube, an air pump and a camera. The picking outer tube is of a cylindrical thin-wall structure and is used for installing 3 air bags, and the 3 air bags are circumferentially and uniformly distributed in the picking outer tube at intervals of 120 degrees. The picking air bags are flexible hoses with one ends being provided with fold structures, the flexible hoses are adhered to the inner wall of the picking outer tube through glue, the 3 air bags are communicated through air pipes, fold parts are located at the front ends, and after inflation, the fold parts expand and become large and are used for clamping fruits to be picked. The lower end of the picking outer tube is provided with a circular connecting plate 31, the circular connecting plate is provided with three slotted holes, the three slotted holes are circumferentially and uniformly distributed at intervals of 120 degrees, and the three slotted holes which are circumferentially and uniformly distributed are used for connecting the tail end corrugated tube; the middle end of the picking outer tube is provided with a slotted hole for the air tube to pass through. The upper end of the circular connecting plate of the picking outer tube is provided with a slotted hole for installing a camera, and the camera is installed on the slotted hole. The air pump is arranged on the bracket B and is used for inflating and deflating the picking air bag through an air pipe.
The console includes a joystick, a display, and buttons. The control console 1 is connected and installed at the tail part of the travelling device through bolts, a remote rod 1-1, a display 1-2 and buttons 1-3 are arranged on the control console, a motor B is controlled by the remote rod to drive a steel wire rope so as to realize the space motion of a corrugated pipe at the tail end, the display displays pictures shot by a camera at the front end, the number of the buttons is 6, the two control rotary platforms rotate, the two electric push rods A on the two control brackets B stretch, and the other two control the electric push rods B installed at the tail end of a four-stage collecting catheter stretch; the control cabinet lower extreme is a wire pipe, and wire pipe lower extreme is equipped with square boss, is equipped with the unthreaded hole on the boss, is connected to on the frame through the bolt.
Claims (5)
1. The utility model provides an integrated robot is collected in fruit picking, mainly includes running gear, conveyer, transfers appearance device, terminal grabber and control cabinet, its characterized in that: the control console is arranged at the tail part of the traveling device through a bolt connection, the conveying device and the gesture adjusting device are arranged at the upper part of the traveling device through a bolt connection, the conveying device comprises a tail end corrugated pipe, a collecting conduit, a corrugated hose, a collecting box, an electric push rod B, a flange plate, a motor B and a guide wheel, the tail end corrugated pipe is a flexible corrugated hose with a spring embedded therein, two ends of the tail end corrugated pipe are respectively provided with a circular boss, two bosses at the two ends are respectively provided with six slotted holes, three slotted holes are circumferentially and uniformly distributed at 120-degree intervals on one boss at one end, for connecting the picking outer tube, the other three slots are slots for fixing the steel wire rope, the other three slots are circumferentially and uniformly distributed at intervals of 120 degrees on the boss at the other end, the other three are through holes for connecting collecting ducts, the collecting ducts consist of four hollow tubes, a first-stage collecting duct, a second-stage collecting duct, a third-stage collecting duct and a fourth-stage collecting duct are sequentially arranged from top to bottom, three peripherally-distributed slide ways with 120-degree intervals are respectively arranged outside the first-stage collecting guide pipe, the second-stage collecting guide pipe, the third-stage collecting guide pipe and the fourth-stage collecting guide pipe, the slide ways outside the collecting guide pipes are corresponding in position, the collecting guide pipes can slide up and down along the axial direction, the first-stage collecting guide pipe and the second-stage collecting guide pipe, the second-stage collecting guide pipe and the third-stage collecting guide pipe are respectively fixed through pins, two electric push rods B are arranged between the third-stage collecting guide pipe and the fourth-stage collecting guide pipe, the expansion and contraction of the collecting guide pipes are controlled by the electric push rods, one end of the primary collecting guide pipe is provided with a circular boss, six slotted holes are formed in the boss, the three slotted holes are circumferentially and uniformly distributed at intervals of 120 degrees and are used for connecting the tail end corrugated pipe, the other three slotted holes are through line holes, and the other end of the primary collecting guide pipe is provided with pin holes; one end of the secondary collecting conduit is provided with a pin seat for fixing the extended primary collecting conduit, and the other end is provided with a pin hole; the front end of the three-stage collecting catheter is provided with a circular boss, the boss is provided with three through holes which are uniformly distributed at intervals of 120 degrees in the circumferential direction, two sides of the boss are respectively provided with a through hole connected with an electric push rod B, and the rear part of the boss of the three-stage collecting catheter is provided with a pin seat for fixing the extended two-stage collecting catheter; the middle part of the four-stage collecting duct is provided with a flange, two sides of the lower end of the flange are respectively provided with a hinge structure connected with the upper end of the electric push rod A, the middle lower part of the four-stage collecting duct is provided with a square platy platform, two sides of the square platy platform are respectively provided with a flange structure for installing two electric push rods B and two motors B, the bottom end of the four-stage collecting duct is provided with a boss, the lower end of the boss is provided with a stepped shaft structure, two sides of the stepped shaft are respectively connected with the top ends of two brackets A, the end face of the boss at the bottom end of the four-stage collecting duct is provided with a threaded hole connected with the corrugated hose A, a guide wheel is also arranged below the four-stage collecting duct and used for changing the direction of a steel wire rope, a collecting box is connected with the corrugated hose through a bolt, two layers of rags are arranged inside the collecting box, different sides of the two layers of rags are provided with round holes in fruit size, one side of the collecting box is provided with a box door for taking out picked fruits, the gesture adjusting device comprises a revolving bearing, a revolving platform, a bracket A, a bracket B, an electric push rod A, a motor A and gears, wherein the motor A is arranged at the lower part in a circular groove of a supporting plate, the gears are sleeved on an output shaft of the motor A, the gears are meshed with the revolving bearing, the upper part of the revolving bearing is provided with a platform, the bracket B and a collecting box are fixed on the platform, the bracket B is a square frame body, the bracket A, the air pump, the motor B and two electric push rods are fixed on the bracket B, the upper part of the bracket A is connected with a four-stage collecting catheter through a hinge, the fixed end of the electric push rod is arranged on the bracket A, the free end of the electric push rod is connected with the hinging part of the four-stage collecting catheter, three steel wires are uniformly distributed at intervals of 120 degrees, one end of each steel wire rope is fixed on a tail end corrugated pipe, and the other ends of the two steel wires respectively penetrate through threading holes of the tail end corrugated pipe, threading holes of the first-stage collecting guide pipe and the third-stage collecting guide pipe are connected with output shafts of two motors B on the square plate-shaped platform of the fourth-stage collecting guide pipe; the other steel wire rope also passes through a guide wheel below the four-stage collecting guide pipe and finally is connected with an output shaft of a motor B on a bracket B, one side tail end of the conveying device is connected with a fruit collecting box, the other side of the conveying device is provided with a tail end gripper, the tail end gripper mainly comprises a picking outer pipe, picking air bags, an air pipe, an air pump and a camera, the picking outer pipe is of a cylindrical thin-wall structure and is used for installing 3 air bags, the 3 air bags are circumferentially and uniformly distributed in the picking outer pipe at intervals of 120 degrees, the picking air bags are flexible hoses with one end being of a fold structure and are adhered to the inner wall of the picking outer pipe through glue, the 3 air bags are communicated through the air pipe, the fold part is positioned at the front end, the fold part expands to be used for clamping fruits to be picked after being inflated, the lower end of the picking outer pipe is provided with a circular connecting plate, the three slots are circumferentially and uniformly distributed on the circular connecting plate at intervals of 120 degrees, and the three slots are circumferentially and uniformly distributed for connecting the tail end corrugated pipe; the middle end of the picking outer tube is provided with a slotted hole used for the air tube to pass through, the upper end of the circular connecting plate of the picking outer tube is provided with a slotted hole used for installing a camera, the camera is installed on the slotted hole, the air pump is installed on the support B, the air pump is used for inflating and deflating the picking air bags through the air tube, the expansion and the contraction of three air bags inside the tail end grabber are realized through the control of the air pump, further, the picking of fruits is realized, after the picking of the fruits, the fruits are sent to the collecting box through the conveying device, and the picking and the collecting of the fruits are realized.
2. The fruit picking and collecting integrated robot of claim 1, wherein: the walking supporting device mainly comprises a frame, adjusting support legs, pull rods, handles, wheel supports, wheels, swinging beams, adjusting support legs, supporting plates and slewing bearings, wherein the frame is a square frame, the adjusting support legs are arranged at the rear end of the frame, the front ends of the frame are connected with one ends of the pull rods, one ends of the pull rods are universal angles, the handles are fixed at the other ends of the pull rods, steering wheels are arranged below the front ends of the frame, the wheel supports are respectively fixed on two sides of the rear end of the frame through bolts, the wheels are arranged on the wheel supports, the two sides of the frame are respectively provided with a strip-shaped groove with corresponding positions, pin holes are formed in one end of each strip-shaped groove, the swinging beams are placed in the strip-shaped grooves, through holes are formed in one end of each swinging beam, the pins penetrate through the pin holes and the through holes and are used for fixing swinging of the swinging beams, the adjusting support legs are arranged at the other end of each swinging beam, the supporting plates are arranged on the upper parts of the frame, round grooves are fixed on the supporting plates, and the slewing bearings are placed on the upper parts in the round grooves.
3. A fruit picking and collecting integrated robot according to claim 1 or 2, characterized in that: the outside of adjusting the landing leg main part is equipped with the screw thread, is equipped with circular flange torsion disc in the upper end of adjusting the landing leg main part, and the lower extreme is equipped with the base, at the outside threaded connection sleeve of adjusting the landing leg main part, telescopic outside is equipped with the through-hole.
4. The fruit picking and collecting integrated robot of claim 1, wherein: the inner diameter of the four-stage collecting guide pipe is the same as the outer diameter of the three-stage collecting guide pipe, the inner diameter of the three-stage collecting guide pipe is the same as the outer diameter of the two-stage collecting guide pipe, the inner diameter of the two-stage collecting guide pipe is the same as the outer diameter of the one-stage collecting guide pipe, and the collecting box is a square box body.
5. The fruit picking and collecting integrated robot of claim 1, wherein: the control console comprises a remote rod, a display and a button, the control console is installed at the tail part of the travelling device through a bolt connection, the remote rod, the display and the button are arranged on the control console, a motor B is controlled by the remote rod to drive a steel wire rope to realize the space motion of a corrugated pipe at the tail end, the display displays pictures shot by a camera at the front end, the buttons are 6 in number, the two control rotary platforms rotate, the two control supports B are used for controlling the expansion and the contraction of two electric push rods A, and the other two control four-stage collecting guide pipe are used for controlling the expansion and the contraction of the electric push rods B installed at the tail end of the guide pipe; the control cabinet lower extreme is a wire pipe, and wire pipe lower extreme is equipped with square boss, is equipped with the unthreaded hole on the boss, is connected to on the frame through the bolt.
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| CN201810548427.3A CN108811765B (en) | 2018-05-31 | 2018-05-31 | Fruit picking and collecting integrated robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109566100A (en) * | 2019-01-22 | 2019-04-05 | 南昌工程学院 | Car is picked to scalable little touching shear type fruit intelligence of remote control |
| CN109792888B (en) * | 2019-03-25 | 2023-08-15 | 山东交通学院 | Double-arm apple picking trapezoid grading collection robot and picking grading operation method thereof |
| CN111567216A (en) * | 2020-05-20 | 2020-08-25 | 湖州职业技术学院 | Three-dimensional coordinate automatic tea picking robot |
| CN111837772A (en) * | 2020-08-01 | 2020-10-30 | 青岛开疆拓土农业装备科技有限公司 | Intelligent agricultural automatic maintenance device |
| CN112136489A (en) * | 2020-10-14 | 2020-12-29 | 衡阳市康源生态农业有限公司 | Tomato picking tool |
| CN112753367A (en) * | 2020-10-19 | 2021-05-07 | 峡江县飞福科技有限公司 | Pneumatic cracking collection type swinging friction shelling type abacus collecting and collecting vehicle |
| CN112690093B (en) * | 2020-12-10 | 2022-06-24 | 赵七后 | Melon and fruit picking, transporting and storing integrated device |
| CN113841513A (en) * | 2021-10-10 | 2021-12-28 | 北京工业大学 | Picking robot |
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