CN109089648A - Utilize the greenhouse of picking robot - Google Patents
Utilize the greenhouse of picking robot Download PDFInfo
- Publication number
- CN109089648A CN109089648A CN201810860336.3A CN201810860336A CN109089648A CN 109089648 A CN109089648 A CN 109089648A CN 201810860336 A CN201810860336 A CN 201810860336A CN 109089648 A CN109089648 A CN 109089648A
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- CN
- China
- Prior art keywords
- picking
- fruit
- track
- greenhouse
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/14—Greenhouses
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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
- A01D46/22—Baskets or bags attachable to the picker
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
Abstract
The invention discloses a kind of greenhouses using picking robot, including greenhouse body and the picking robot system being set to inside the greenhouse body, picking robot system includes picking track, the picking mechanical arm being movably set on picking track and being set to picking mechanical on hand and be used to adsorb the pick device of fruit, and picking mechanical arm is mounted on picking track in suspension type.Greenhouse of the invention is accomplished manually the picking to fruit using robot substitution, reduces labor intensity when picking, improve picking working efficiency；And picked using suspension type robot, picking mechanical arm, which is suspended on above fruit, realizes picking, is not required to occupy greenhouse ground space, facilitates the arrangement of picking robot system, take full advantage of greenhouse headspace.
Description
Technical field
The invention belongs to robotic technology fields, specifically, the present invention relates to a kind of greenhouses using picking robot
Greenhouse.
Background technique
Greenhouse planting technology is a kind of relatively common technology, mainly applies to the plantation of fruit.Because of greenhouse kind
Planting has preferable thermal insulation property, it can be made full use of to develop advantageous one side to fruit growing, overcome its unfavorable factor, slaps
Regulation method is held, the unification of environmental condition Yu crop growth rule can be made, obtains high yield, good crop product, so
Greenhouse gardening is favored by people.
Existing for the picking for the fruit planted in greenhouse is picked by manually operating in person, is needed artificial
Long-time operation, large labor intensity, working efficiency are low.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention provides a kind of benefit
With the greenhouse of picking robot, it is therefore an objective to reduce labor intensity when picking.
To achieve the goals above, the technical scheme adopted by the invention is as follows: using the greenhouse of picking robot, including
Greenhouse body and the picking robot system being set to inside the greenhouse body, picking robot system include picking track,
Movably it is set to pickup of the picking mechanical arm on picking track with picking mechanical is set on hand and for adsorbing fruit
Device, picking mechanical arm are mounted on picking track in suspension type.
The picking track is equipped with the first driving moved for controlling the picking mechanical arm along first direction
Device, first direction are parallel with the length direction of the greenhouse body.
The first driving device includes the first lead screw being rotatably arranged on the picking track, is set to picking
First motor on track and the first nut seat for being sheathed on the first lead screw and being connect with the picking mechanical arm, the first nut
Seat constitutes worm drive with the first lead screw.
The picking robot system further includes picking rack and is set in picking rack and is used to control the picking
Track carries out the second mobile driving device in a second direction, and first direction and second direction are horizontal direction and first direction
It is perpendicular with second direction.
Second driving device includes the second lead screw being rotatably arranged in the picking rack, is set to picking
The second motor in rack and the second nut seat for being sheathed on the second lead screw and being connect with the picking track, the second nut seat
Worm drive are constituted with the second lead screw.
The pick device includes the picking pedestal connecting with the picking mechanical arm, is set to the rotation picked on pedestal
Driver connect with rotating driver and rotatable rotating seat and is set on rotating seat and the pickup work for adsorbing fruit
Tool, pick tool is sucker.
The rotating driver is rotary cylinder or motor.
The picking robot system further includes cutting fruit device for shear the carpopodium of fruit, cuts fruit device and the rotation
Swivel base can synchronous rotary.
The fruit device of cutting includes cutting fruit mounting base, being rotatably arranged on two cut in fruit mounting base and cut fruit knife and set
It is placed in and cuts in fruit mounting base and make to cut the rotary force that fruit knife rotates for generating and cut fruit driver.
The fruit driver of cutting is steering engine.
Greenhouse of the invention is accomplished manually the picking to fruit using robot substitution, reduces labor when picking
Fatigue resistance improves picking working efficiency；And picked using suspension type robot, picking mechanical arm is suspended on fruit
Fang Shixian picking is not required to occupy greenhouse ground space, facilitates the arrangement of picking robot system, takes full advantage of empty at the top of greenhouse
Between.
Detailed description of the invention
This specification includes the following drawings, and shown content is respectively:
Fig. 1 is the structural schematic diagram of greenhouse of the present invention；
Fig. 2 is the main view of picking robot system；
Fig. 3 is the top view of picking robot system；
Fig. 4 is the structural schematic diagram of pick device；
Fig. 5 is the structural schematic diagram for cutting fruit device；
Fig. 6 is the structural schematic diagram of regulating device；
In the figure, it is marked as 1, picking mechanical arm；2, track is picked；3, first motor；4, the second motor；5, pick device；
501, pedestal is picked；502, rotating driver；503, rotating seat；504, pick tool；6, fruit device is cut；601, fruit installation is cut
Seat；602, fruit driver is cut；603, fruit knife is cut；7, collection device；701, collection frame；702, third motor；703, hanger；8, big
Canopy；9, regulating device；901, sliding seat；902, adjusting rod；903, the 4th nut seat；904, guide holder；905, guide rod；906,
Connecting rod；907, the 4th motor；10, rack is picked.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and facilitate its implementation.
It should be noted that " first ", " second " and " third " does not represent knot in embodiment disclosed below
Structure and/or absolute differentiation relationship functionally, do not represent the successive sequence that executes yet, and merely for convenience of description.
As shown in Figures 1 to 6, the present invention provides a kind of greenhouses using picking robot, including greenhouse body 8
With the picking robot system being set to inside greenhouse body 8, picking robot system includes picking track 2, movably sets
The picking mechanical arm 1 being placed on picking track 2 and the pick device 5 for being set on picking mechanical arm 1 and be used to adsorb fruit, are adopted
Manipulator 1 to be plucked to be mounted on picking track 2 in suspension type, picking mechanical arm 1 is used to adjust position and the posture of pick device 5,
Picking mechanical arm 1 can carry pick device 5 and carry out up and down, wave and rotate etc. and act, so that the position of pick device 5
It sets and is adapted with posture and fruit to be picked.
Specifically, as shown in Figure 1 to Figure 3, the structure of greenhouse body 8 as well known in the skilled person that
Sample is mainly made of greenhouse bracket and the film being covered on greenhouse bracket, and greenhouse bracket is by more steel arch groups
At arch-shaped structure.The inner hollow of greenhouse body 8, planting fruit trees are on 8 internal ground of greenhouse body, picking robot system
System is also disposed at the inside of greenhouse body 8, and picking track 2 is located at the top of the fruit tree in greenhouse body 8, picking mechanical arm 1 with adopt
Plucking track 2 is to be slidably connected, and picking mechanical arm 1 can be moved on picking track 2 along the length direction of picking track 2,
Fruit tree in greenhouse body 8 arranges multirow, and all fruit trees of each row are to be sequentially arranged along first direction, picks the length of track 2
Direction is parallel with first direction, and first direction is horizontal direction.In fruit-picking, picking mechanical arm 1 is moved to fruit tree
Then top picks the fruit on fruit tree.After the completion of to fruit picking on a fruit tree, picking mechanical arm 1 is moved
It moves to the top of next fruit tree, then the fruit on the fruit tree is picked, fruit is strawberry.
As shown in Figures 2 and 3, preferably, picking mechanical arm 1 is six-DOF robot and is suspension type robot
(also referred to as suspension type robot), as well known in the skilled person, details are not described herein for structure.Pick device
5 are mounted on the end effector of picking mechanical arm 1, and in fruit-picking, pick device 5 is synchronous with picking mechanical arm 1 along first
Direction is moved.Using six-DOF robot, job area is wide, and flexibility is good, and work efficiency is high for picking.Picking mechanical arm
1 in suspension type be mounted on picking track 2 on, picking mechanical arm 1 be suspended on picking track 2 on and picking mechanical arm 1 and picking
Track 2 is to be slidably connected, and picking track 2 plays guiding role to picking mechanical arm 1.It is picked using suspension type robot,
Picking mechanical arm 1, which is suspended on above fruit, realizes picking, is not required to occupy greenhouse ground space, facilitates the cloth of picking robot system
It sets, takes full advantage of the headspace of greenhouse body.
As shown in Figures 2 and 3, preferably, picking track 2 is equipped with for controlling picking mechanical arm 1 along first party
To mobile first driving device is carried out, first driving device is for controlling picking mechanical arm 1 on picking track 2 along first party
To doing linear reciprocating motion.First driving device includes the first lead screw being rotatably arranged on picking track 2, is set to and adopts
The first nut seat for plucking the first motor 3 on track 2 and being sheathed on the first lead screw and being connect with picking mechanical arm 1, the first spiral shell
Base and the first lead screw constitute worm drive, and the axis of the first lead screw is parallel with first direction, after first motor 3 operates,
The rotation of first lead screw, and then picking mechanical arm 1 is driven to move in a straight line along first direction, picking mechanical arm 1 drives pick device 5
Synchronizing moving.Leadscrew-nut mechanism is used, it, can be with so that the position of picking mechanical arm 1 and pick device 5 is adjusted to step-less adjustment
It rests on picking mechanical arm 1 and pick device 5 at any picking position, can satisfy the picking of the fruit at each position,
Adaptability is good, helps to improve picking efficiency.
As shown in Figures 2 and 3, picking robot system further includes picking rack and is set in picking rack and is used to control
System picking track 2 carries out the second mobile driving device in a second direction, first direction and second direction be horizontal direction and
First direction and second direction are perpendicular.Picking rack is vertically arranged in the inside of greenhouse body, and picking rack is to picking rail
Road 2 provides support and guiding role, and picking machine frame is arranged two, and two picking racks are in parallel with first direction same
On straight line, picking rack is portal frame.Fruit tree in greenhouse body arranges multirow in a second direction, picks track 2 along second party
To picking mechanical arm 1 when being moved, can be carried and pick device 5 thereon moves synchronously, and control picking track 2 at least
It can be moved between two row fruit trees, so that picking mechanical arm 1 and pick device 5 can be realized the fruit on multirow fruit tree
Picking, further increase job area.In fruit-picking, fruit on the complete all fruit trees for being in pairs at same a line
After picking, picking track 2 is moved to the top of the fruit tree of next line in a second direction, and picking mechanical arm 1 is synchronous with picking track 2
Movement, then the fruit on the fruit tree all to the row is successively picked.
As shown in Figures 2 and 3, picking track 2 and picking rack are to be slidably connected, and picking track 2 can exist in a second direction
It is moved in picking rack, the second driving device is done in picking rack reciprocal in a second direction for control picking track 2
Linear motion.Second driving device includes the second lead screw being rotatably arranged in picking rack, is set in picking rack
The second motor 4 and the second nut seat for being sheathed on the second lead screw and being connect with picking track 2, the second nut seat and second
Thick stick constitutes worm drive.The axis of second lead screw is parallel with second direction, after the operating of the second motor 4, the rotation of the second lead screw,
And then drive picking track 2 move in a straight line in a second direction, picking track 2 drive picking mechanical arm 1 and thereon pickup dress
Set 5 synchronizing movings.Leadscrew-nut mechanism is used, so that picking track 2 and picking mechanical arm 1 and pick device 5 thereon are the
Position on two directions is adjusted to step-less adjustment, and picking mechanical arm 1 and pick device 5 can be made to rest on any picking position
Place, can satisfy the picking of the fruit at each position, adaptability is good, and job area is wide, helps to improve picking efficiency.
Preferably, picking track 2 is settable parallel multiple, all picking tracks 2 is in a second direction successively
One end of arrangement, picking track 2 is mounted in a picking rack, and the other end of picking track 2 is mounted on another picking machine
On frame, a picking mechanical arm 1 and a first driving device are respectively set on each picking track 2, each picking track 2 divides
It is not connect with second driving device, the picking mechanical arm 1 and pick device 5 on each picking track 2 are respectively used to realize
The picking of fruit at least two row fruit trees.When being picked, the picking mechanical arm 1 on all picking tracks 2 can carry out simultaneously
Work, it is ensured that the picking of fruit can be completed in time, it is high-efficient.
As shown in Figures 2 and 3, in the present embodiment, parallel two are arranged in picking track 2.
As shown in Figures 2 to 4, pick device 5 includes the picking pedestal 501 connecting with picking mechanical arm 1, is set to picking
Rotating driver 502 on pedestal 501 connect with rotating driver 502 and rotatable rotating seat 503 and is set to rotating seat
Pick tool 504 on 503 and for adsorbing fruit.Pick the fixed company of end effector of pedestal 501 and picking mechanical arm 1
It connects, pick pedestal 501 and is located at the lower section of picking mechanical arm 1.Rotating driver 502 is rotated for controlling rotating seat 503,
Rotating driver 502 is to be fixedly installed on picking pedestal 501, and the output end of rotating seat 503 and rotating driver 502 is fixed to be connected
It connects and rotating seat 503 is located at the side for picking pedestal 501, rotating seat 503 is rotatable relative to picking pedestal 501.This structure
Pick device 5 flexibility it is high, pose adjustment is convenient, adaptable, helps to realize the pickup of the fruit of each position.
Preferably, as shown in Figures 2 to 4, pick tool 504 is preferably sucker, pick tool 504 and rotating seat
503 are fixedly connected, and pick tool 504 is simultaneously connect with vacuum generator (not shown), provide negative pressure by vacuum generator, real
The pickup of existing fruit.Using sucker as pick tool 504, sucker is more stable, it is not easy to fruit leakage occurs and inhale or get rid of
The case where, high reliablity, stability is good, and not will cause the damage of fruit, moreover it is possible to the absorption suitable for fruit of different sizes.
Rotating driver 502 has diversified forms, and rotating driver 502 can be rotary cylinder or motor.Rotation is driven
When dynamic device 502 is rotary cylinder, rotating seat 503 is fixedly connected with the piston rod of rotating driver 502；Rotating driver 502 is
When motor, rotating seat 503 is fixedly connected with the motor cabinet of motor.
As shown in Figures 1 to 5, picking robot system further includes cutting fruit device 6 for shear the carpopodium of fruit, cuts fruit
Device 6 and rotating seat 503 can synchronous rotaries.When picking, starts vacuum generator as adsorption piece and negative pressure, pick tool 504 are provided
Fruit to be picked is adsorbed, the carpopodium of fruit is then cut by cutting fruit device 6, so that fruit is separated with fruit tree.Cut fruit device 6
Including cutting fruit mounting base 601, being rotatably arranged on two cut in fruit mounting base 601 and cut fruit knife 603 and being set to and cut fruit peace
Make to cut the rotary force that fruit knife 603 rotates on dress seat 601 and for generating and cut fruit driver 602.It cuts fruit knife 603 and is located at pickup work
The top of tool 504.Cut fruit driver 602 and be fixedly mounted on and cut in fruit mounting base 601, cut fruit driver 602 for generate make to cut
The rotary force that fruit knife 603 is rotated cuts fruit knife 603 with certain length, and two one end for cutting fruit knife 603 are pacified by shaft
Mounted in cutting in fruit mounting base 601, two shafts for cutting fruit knife 603 are parallel and cut the rotation centerline of fruit knife 603 (namely shaft
Axis) it is parallel with the rotation centerline of rotating seat 503.The shaft that fruit driver 602 cuts fruit knife 603 with one of them is cut to consolidate
Fixed connection, is respectively provided with a gear in two shafts for cutting fruit knife 603, and the gear being arranged in two shafts for cutting fruit knife 603 is
Be meshed, form gear drive, when cut fruit driver 602 drive be connected when cutting fruit knife 603 and being rotated, this is cut
Fruit knife 603 drives another to cut fruit knife 603 and synchronize to be rotated by gear drive.Fruit knife 603 is cut with blade, two
The blade for cutting fruit knife 603 is to be oppositely arranged, and two blades for cutting fruit knife 603 are located at the side of carpopodium, and two are cut fruit knife 603
Blade match, for cutting the carpopodium of fruit, so that fruit is separated with fruit tree.Under the action of cutting fruit driver 602,
It cuts fruit knife 603 and synchronizes for two and carry out rotation and two direction of rotation for cutting fruit knife 603 on the contrary, realizing opening and closing.It is picking
When fruit on fruit tree, pick tool 504 need to first be made to adsorb fruit, two cut that fruit knife 603 is located at the carpopodium of fruit one
Then side cuts the operating of fruit driver 602, cuts fruit knife 603 for two and be closed, can after the blade contact for two being cut fruit knife 603
To cut the carpopodium of fruit, fruit is separated with fruit tree, then continues the fruit of absorption picking, picking machine by pick tool 504
The fruit of picking is transported in collection device 7 by tool hand 1, completes the primary picking of fruit.The reversion of fruit driver 602 is cut, makes two
A to cut 603 Negative selection of fruit knife, two are cut the opening of fruit knife 603, to wait the picking of next fruit.
Cutting fruit driver 602 is preferably steering engine, and precision is high, and accuracy is good.
As shown in Figures 2 to 6, picking robot system further includes being set on pick device 5 and cutting fruit dress for adjusting
The regulating device 9 of 6 position is set, regulating device 9 cuts fruit device 6 for control and does linear reciprocating motion, third along third direction
Direction is parallel with the rotation centerline of rotating seat 503.It is adsorbed after the fruit picked in pick tool 504, if cutting fruit device 6
The position for cutting fruit knife 603 fail to be aligned with fruit carpopodium, then carpopodium cannot be clipped to by cutting fruit knife 603, need at this time adjust cut fruit
So that two are cut the side that fruit knife 603 is located at carpopodium, therefore regulating device 9 need to be arranged, regulating device 9 in the position of knife 603
For adjusting the vertical range cut between fruit knife 603 and pick tool 504, so that the position for cutting fruit knife 603 can satisfy shearing
The requirement of carpopodium, and avoid cutting fruit knife 603 and clip to fruit.Preferably, regulating device 9 includes and rotating seat 503
The guide holder 904 of connection, the sliding seat 901 being movably set on guide holder 904 and sliding seat 901 are set to sliding seat
The 4th nut seat 903 on 901, with the 4th nut seat 903 be the adjusting rod 902 being threadedly coupled, be set on sliding seat 901
It connecting rod 906 and is connect with adjusting rod 902 and for controlling the 4th motor 907 that adjusting rod 902 is rotated, the 4th motor
907 are set on guide holder 904, cut fruit mounting base 601 and connect with connecting rod 906.
As shown in Figures 4 to 6, the structure that fruit mounting base 601 is inner hollow is cut, the one end for cutting fruit mounting base 601 has
The opening for allowing guide holder 904 to be inserted into, cuts fruit mounting base 601 and is sheathed on guide holder 904, and guide holder 904 and rotating seat 503 are fixed
It connects and guide holder 904 is stretched out along third direction towards the outside of rotating seat 503, connecting rod 906 is fixed with fruit mounting base 601 is cut
Connection, cut fruit mounting base 601 by connecting rod 906 be fixedly connected with sliding seat 901 it is into a single integrated structure, cut fruit mounting base 601 and
Sliding seat 901 can synchronize and do linear reciprocating motion along third direction, and it is synchronous with fruit mounting base 601 is cut along third party to cut fruit knife 603
To being moved, and then the adjusting for the distance between realizing pick tool 504, namely realize the tune for cutting the position of fruit knife 603
Section.Guide holder 904 is the structure of inner hollow, and guide holder 904 is equipped with the guide rod for playing the guiding role to sliding seat 901
905, parallel two are arranged in guide rod 905, and the length direction of guide rod 905 is parallel with third direction, guide rod 905
One end is fixedly connected with guide holder 904, sliding seat 901 have allow guide rod 905 to pass through pilot hole, the setting of guide rod 905,
Ensure that sliding seat 901 is stable.Adjusting rod 902, guide rod 905 and sliding seat 901 are set to the inner chamber body of guide holder 904
In, for connecting rod 906 towards the internal stretch for cutting fruit mounting base 601, the length direction of connecting rod 906 is parallel with third direction,
One end of connecting rod 906 is fixedly connected with sliding seat 901, and the other end of connecting rod 906 is fixedly connected with fruit mounting base 601 is cut,
Sliding seat 901, connecting rod 906 synchronous can be moved with fruit mounting base 601 is cut along third direction.Adjusting rod 902 and the 4th spiral shell
Base 903 is to be threadedly coupled, and the 4th nut seat 903 is fixedly connected with sliding seat 901, and the 4th nut seat 903 has internal thread hole,
Adjusting rod 902 has external screw thread, constitutes worm drive between adjusting rod 902 and the 4th nut seat 903.The operating of 4th motor 907
Afterwards, the 4th motor 907 driving adjusting rod 902 rotates about the axis thereof, and adjusting rod 902 drives the 4th nut seat 903 to move in a straight line,
4th nut seat 903 drives sliding seat 901, connecting rod 906 and cuts fruit mounting base 601 and moves synchronously, and then realizes and cut fruit knife 603
Position adjusting.Adjusting rod 902 is located at the middle position of two guide rods 905, the axis and third direction of adjusting rod 902
Parallel, connecting rod 906 and adjusting rod 902 are coaxial arrangement.Leadscrew-nut mechanism is used, so that cutting the position tune of fruit knife 603
Section is step-less adjustment, can make to cut the stop of fruit knife 603 at an arbitrary position, suitable for the picking of fruit of different sizes, versatility is good.
Guide holder 904 is fixedly connected with rotating seat 503, and sliding seat 901 is only capable of doing straight line fortune along third direction relative to guide holder 904
It is dynamic, therefore cut fruit mounting base 601 and be only capable of moving in a straight line along third direction also relative to guide holder 904, rotating seat 503 rotates
When, 6 synchronous rotary of fruit device is cut by the drive of guide holder 904, while cutting fruit device 6 can also be along third direction relative to rotating seat
503 are moved.
Picking robot system further includes visual unit (not shown), and visual unit, which is mounted on, cuts fruit mounting base 601
Or on picking pedestal 501, for monitoring the case where picking region, visual unit shoots fruit image, determines water visual unit
Fruit spatial coordinate location, then picking mechanical arm 1 send pick device 5 to fruit, completes close to fruit process, finally by picking up
It takes device 5 to adsorb fruit, carpopodium is sheared by cutting fruit device 6.
As shown in Figure 1 to Figure 3, picking robot system further includes the collection device 7 for collecting the fruit of picking, picking
The fruit adsorbed by pick device 5 is transported in collection device 7 by manipulator 1.It picks and a collection device 7 is set on track 2,
Collection device 7 includes the hanger 703 being movably set on picking track 2, is set on hanger 703 and for accommodating fruit
Collection frame 701 and the collection driving mechanism that is moved for controlling hanger 703 along first direction, hanger 703 and picking rail
Road 2 is to be slidably connected, and hanger 703 can be moved on picking track 2 along the length direction of picking track 2, is adopted with following
Manipulator 1 is plucked, so that collection frame 701 is in the job area of picking mechanical arm 1.Driving mechanism is collected for controlling hanger
703 do linear reciprocating motion along first direction on picking track 2, and collecting driving mechanism includes being rotatably arranged on picking rail
It third lead screw on road 2, the third motor 702 being set on picking track 2 and is sheathed on third lead screw and connects with hanger 703
The third nut seat connect, third nut seat and third lead screw constitute worm drive, and the axis of third lead screw is equal with first direction
Row, after third motor 702 operates, the rotation of third lead screw, and then hanger 703 is driven to move in a straight line along first direction, hanger
703 drive 701 synchronizing moving of collection frame.Leadscrew-nut mechanism is used, so that the position of collection frame 701 is adjusted to step-less adjustment,
Collection frame 701 can be made to rest at any picking position, be adapted with the position of picking mechanical arm 1, help to improve picking
Efficiency.
As shown in Figure 1 to Figure 3, hanger 703 is vertically arranged and the lower section of hanger 703 towards picking track 2 extends, hanger
703 upper end is slidably connected with picking track 2, and the lower end of hanger 703 is provided with padlock or extension for suspending collection frame 701 in midair
Hook, by padlock or hook suspention collection frame 701, so that collection frame 701 is moved synchronously with hanger 703.Collection frame 701 is top
The structure of opening, bottom closing and inner hollow, after pick device 5 takes fruit from fruit tree, picking mechanical arm 1 will be picked up
Device 5 is transported in collection frame 701, and then pick device 5 discharges fruit, and fruit is separated with pick tool 504, falls to collection
In frame 701, the collection process of fruit is completed.When the fruit in collection frame 701 reaches setting quantity, driving mechanism is being collected
Under effect, hanger 703 drives collection frame 701 to be moved to initial position, in initial position, by the receipts that will manually fill fruit
Collection frame 701 is removed from hanger 703, then hangs over empty collection frame 701 on hanger 703, and then hanger 703 continues to drive and receive
Collection frame 701 is moved at picking mechanical arm 1, continues to collect.Initial position is positioned at one end of picking track 2, initial bit
It rests against at nearly rack, after completing all picking work, hanger 703 and picking mechanical arm 1 are moved to initial position.
The present invention is exemplarily described in conjunction with attached drawing above.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out；Or not
It is improved, above-mentioned conception and technical scheme of the invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
1. using the greenhouse of picking robot, including greenhouse body, it is characterised in that: it further include being set to the greenhouse sheet
The picking robot system in internal portion, picking robot system include picking track, are movably set on picking track
Pick device of the picking mechanical arm with picking mechanical is set on hand and for adsorbing fruit, picking mechanical arm are installed in suspension type
On picking track.
2. the greenhouse according to claim 1 using picking robot, it is characterised in that: set on the picking track
There are the first driving device moved for controlling the picking mechanical arm along first direction, first direction and the greenhouse sheet
The length direction of body is parallel.
3. the greenhouse according to claim 2 using picking robot, it is characterised in that: the first driving device
Including the first lead screw being rotatably arranged on the picking track, the first motor being set on picking track and it is sheathed on
The first nut seat connecting on first lead screw and with the picking mechanical arm, the first nut seat and the first lead screw constitute spiral and pass
It is dynamic.
4. the greenhouse according to any one of claims 1 to 3 using picking robot, it is characterised in that: the machine
People's picker system further include picking rack and be set to picking rack on and for control the picking track in a second direction into
The second mobile driving device of row, first direction and second direction are horizontal direction and first direction mutually hangs down with second direction
Directly.
5. the greenhouse according to claim 4 using picking robot, it is characterised in that: second driving device
Including the second lead screw being rotatably arranged in the picking rack, the second motor being set in picking rack and it is sheathed on
The second nut seat connecting on second lead screw and with the picking track, the second nut seat and the second lead screw constitute worm drive.
6. the greenhouse according to any one of claims 1 to 5 using picking robot, it is characterised in that: the pickup
Device includes that the picking pedestal connecting with the picking mechanical arm, the rotating driver being set on picking pedestal and rotation are driven
Dynamic device connection and rotatable rotating seat and the pick tool for being set on rotating seat and be used to adsorb fruit, pick tool are to inhale
Disk.
7. the greenhouse according to claim 6 using picking robot, it is characterised in that: the rotating driver is
Rotary cylinder or motor.
8. the greenhouse according to claim 6 or 7 using picking robot, it is characterised in that: the robot is adopted
The system of plucking further includes cutting fruit device for shear the carpopodium of fruit, cuts fruit device and the rotating seat can synchronous rotary.
9. the greenhouse according to claim 8 using picking robot, it is characterised in that: the fruit device of cutting includes
Fruit mounting base is cut, two cut in fruit mounting base is rotatably arranged on and cuts fruit knife and be set to and cut in fruit mounting base and for producing
That gives birth to the rotary force for making to cut the rotation of fruit knife cuts fruit driver.
10. the greenhouse according to claim 9 using picking robot, it is characterised in that: described to cut fruit driver
For steering engine.
Priority Applications (1)
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| CN110352685A (en) * | 2019-08-12 | 2019-10-22 | 杨松艳 | A kind of wisdom metaplasia state agricultural greenhouse system |
| CN113228866A (en) * | 2021-05-18 | 2021-08-10 | 华南农业大学 | Track suspension type multifunctional orchard mechanical device |
| CN114208597A (en) * | 2021-12-22 | 2022-03-22 | 霍山县天下泽雨生物科技发展有限公司 | Multi-station rapid picking device for planting Huoshan ganoderma lucidum and picking method thereof |
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