CN109156164B - Apple picking robot - Google Patents

Apple picking robot Download PDF

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Publication number
CN109156164B
CN109156164B CN201811080973.5A CN201811080973A CN109156164B CN 109156164 B CN109156164 B CN 109156164B CN 201811080973 A CN201811080973 A CN 201811080973A CN 109156164 B CN109156164 B CN 109156164B
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China
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sorting
main body
robot
paw
robot main
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CN201811080973.5A
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Chinese (zh)
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CN109156164A (en
Inventor
殷建
徐向棋
汪浩
储效伟
钱程
管威
佟浩
蔡胜
王凯
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Tongling University
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Tongling University
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D46/00Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30Robotic devices for individually picking crops

Abstract

The invention discloses an apple picking robot, which comprises a robot main body, a multi-stage adjusting arm, an adjusting device, a paw and a sorting device, wherein the robot main body is provided with a plurality of stages of adjusting arms; one end of the robot main body is vertically provided with an electric push rod, and a sorting device is arranged in front of the other end of the robot main body; a crawler walking device is arranged below the robot main body; a torsion steering engine is arranged on the electric push rod; an adjusting device and a multi-stage adjusting arm are arranged on the torsion steering engine; the upper end of the multistage adjusting arm is provided with a paw and a second stepping motor for driving the paw; a collecting box is arranged above the sorting device, and rollers are arranged below the sorting device; the collecting box is provided with a conveying pipeline which is fixed on the electric push rod and has an upward opening. The apple picking machine is reasonable in structural design, the picking, sorting and collecting integrated operation is carried out on apples at a high position, the collecting and later-stage sorting efficiency is improved, the fruits are not damaged, the operation is simple, the safety is high, and the labor intensity and the picking cost are greatly reduced.

Description

Apple picking robot
Technical Field
The invention relates to the technical field of fruit picking, in particular to an apple picking robot.
Background
In the past, the apple is generally harvested by a manual picking mode, and the labor intensity is high. Moreover, most apples are positioned at a high place, so that picking personnel often need to climb trees or pick the apples by means of ladders, and the whole picking process has certain danger. In addition, although the existing apple picking device can pick apples, picking force is difficult to control in the picking process, the apples are often damaged, and picking is neither flexible nor convenient.
Since the 80 s, China began to research and manufacture cutting-type pickers, and developed the way from orchard picking with scissors manually to mechanical picking. There is a shaking picker, which uses a fork to extend into the joint of fruit branches, and then uses a motor to swing the fork to shake off the fruit. This method is relatively damaging to the fruit, but is inefficient and not easily sorted. After that, more auxiliary tools such as a hydraulic pruning lifting platform and the like are available, which can be used for lifting the working position of workers and are beneficial to picking operation, but the mechanization degree is still low. The technical problems encountered in the prior art are: firstly, how to improve picking efficiency, and no damage to fruits: second, how to carry the fruit of picking, the processing in the later stage of being convenient for improves collection efficiency: thirdly, how to carry out the letter sorting of variation in size to the apple of picking, reduce later stage manual sorting's intensity of labour and improve collection efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an apple picking robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
an apple picking robot comprises a robot main body, a multi-stage adjusting arm, an adjusting device, a paw and a sorting device; one end of the robot main body is vertically provided with an electric push rod, and a sorting device is arranged in front of the other end of the robot main body; a crawler walking device is arranged below the robot main body; a torsion steering engine is arranged on the electric push rod; an adjusting device and a multi-stage adjusting arm are arranged on the torsion steering engine; the upper end of the multistage adjusting arm is provided with a paw and a second stepping motor for driving the paw; a collecting box is arranged above the sorting device, and rollers are arranged below the sorting device; the collecting box is provided with a conveying pipeline which is fixed on the electric push rod and has an upward opening.
Furthermore, the adjusting device comprises a pinion, a gearwheel, a first connecting rod, a second connecting rod, a transmission seat, a base and a speed reduction motor; a pinion and a bull gear which are meshed with each other are arranged in the transmission seat; the speed reducing motor is connected with the pinion; the large gear is eccentrically connected with the first connecting rod; the second connecting rod is arranged between the first connecting rod and the multi-stage adjusting arm; the transmission seat is fixed on the base; the base is in transmission connection with the torsion steering engine.
Furthermore, the sorting device comprises a sorting frame, a longitudinal screw rod, a longitudinal speed reducing motor, a transverse screw rod and a transverse speed reducing motor; two groups of longitudinal screw rods are respectively arranged on the outer sides of the left side and the right side of the sorting frame, and two transverse screw rods are horizontally arranged in the sorting frame; the longitudinal speed reducing motor drives a longitudinal screw rod to transmit; the transverse speed reducing motor drives the transverse screw rod to transmit; and the two transverse screw rods are respectively provided with a collecting box and are positioned at different height positions in the horizontal direction.
Furthermore, two ends of the longitudinal screw rod are fixed on the sorting frame, and a coupler is arranged at each of the two ends of the longitudinal screw rod; the two transverse screw rods and the group of longitudinal screw rods are vertically fixed on the group of screw rod frames in a staggered manner.
Furthermore, the two collecting boxes are respectively fixed on the two transverse screw rods through fixing frames.
Furthermore, a first stepping motor is further arranged on the multi-stage adjusting arm.
Further, a pressure sensor is arranged on the inner side of the paw.
The invention has the beneficial effects that: the apple picking machine is reasonable in structural design, convenient for picking apples at high positions, adjustable in height, high in picking efficiency and wide in application range, can sort and collect picked apples, improves the collection and later-stage sorting efficiency, does not damage fruits during picking, is operated in an integrated mode from picking to sorting and collecting, is simple to operate and high in safety, and greatly reduces labor intensity and picking cost.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of the front view structure of the present invention.
FIG. 3 is a schematic view of the adjusting device of the present invention.
Fig. 4 is a schematic front view of the sorting device of the present invention.
Fig. 5 is a schematic top view of the sorting apparatus of the present invention.
Wherein: 1. the sorting device 2 comprises a crawler traveling device 3 and an electric push rod; 4. a reduction motor; 5. an adjustment device; 6. a roller; 7. a multi-stage adjusting arm; 8. a first stepper motor; 9. a second stepping motor; 10. a pressure sensor; 11. a paw; 12. a torsion steering engine; 13. a collection box; 14. a delivery conduit; 15. a robot main body; 51. a pinion gear; 52; a bull gear; 53. a first link; 54. a second connecting rod 55 and a transmission seat; 56. a base; 101 a sorting rack; 102. a coupling; 103. a longitudinal screw rod; 104. a longitudinal gear motor; 105. a transverse screw rod; 106. a transverse gear motor; 107. a screw frame; 108. a fixing frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
As shown in fig. 1 and 2, an apple picking robot comprises a robot main body 15, a multi-stage adjusting arm 7, an adjusting device 5, a paw 11 and a sorting device 1; one end of the robot main body 15 is vertically provided with an electric push rod 3, and the front of the other end is provided with a sorting device 1; a crawler belt walking device 2 is arranged below the robot main body 15; a torsion steering engine 12 is arranged on the electric push rod 3; an adjusting device 5 and a multi-stage adjusting arm 7 are arranged on the torsion steering engine 12; the upper end of the multi-stage adjusting arm 7 is provided with a paw 11 and a second stepping motor 9 for driving the paw 11; a collecting box 13 is arranged on the upper surface of the sorting device 1, and a roller 6 is arranged on the lower surface of the sorting device; the collecting box 13 is provided with a delivery duct 14 which is fixed to the electric putter 3 and opens upward.
As shown in fig. 3, as a preferred embodiment of the present invention, the adjusting device 5 includes a pinion 51, a gearwheel 52, a first link 53, a second link 54, a transmission seat 55, a base 56 and a reduction motor 4; a pinion 51 and a bull gear 52 which are meshed with each other are arranged in the transmission seat 55; the reduction motor 4 is connected with the pinion 51; the large gear 52 is eccentrically connected with the first connecting rod 53; the second connecting rod 54 is arranged between the first connecting rod and the multi-stage adjusting arm 7; the transmission seat 55 is fixed on the base 56; the base 56 is in transmission connection with the torsion steering engine 12.
As shown in fig. 4 and 5, as a preferred embodiment of the present invention, the sorting apparatus 1 includes a sorting rack 101, a longitudinal screw 103, a longitudinal speed reduction motor 104, a transverse screw 105, and a transverse speed reduction motor 106; two groups of longitudinal screw rods 103 are respectively arranged on the outer sides of the left side and the right side of the sorting frame 101, and two transverse screw rods 105 are horizontally arranged in the sorting frame 101; the longitudinal speed reducing motor 104 drives the longitudinal screw rod 103 to transmit; the transverse speed reducing motor 106 drives the transverse screw rod 105 to transmit; the two transverse screw rods 105 are respectively provided with a collecting box 13, and the two transverse screw rods 105 are positioned at different height positions in the horizontal direction. The mechanism uses six screw rods to control the collection boxes 13 with two specifications, every two longitudinal screw rods 103 control one collection box 13 to be in a horizontal position, and the transverse screw rods 105 control the collection boxes 13 to horizontally move.
As a preferable scheme of the invention, two ends of the longitudinal screw 103 are fixed on the sorting rack 101, and a coupler 102 is arranged at each end; the two transverse screw rods 105 and the group of longitudinal screw rods 103 are vertically fixed on the group of screw rod frames 107 in a staggered manner, so that the two collecting boxes 13 can move conveniently, and interference is prevented.
As a preferable scheme of the invention, the two collecting boxes 13 are respectively fixed on the two transverse screw rods 105 through a fixing frame 108, so that the assembly and disassembly are convenient.
As a preferable embodiment of the present invention, the multi-stage adjusting arm 7 is further provided with a first stepping motor 8, which can finely adjust the multi-stage adjusting arm 7.
As a preferred embodiment of the present invention, a pressure sensor 11 is disposed inside the gripper 10 to control and realize the sorting of apples with different sizes.
Concretely, the walking of 2 control machines on the track running gear, electric putter 3 can improve the height of the biggest rising of machine, can pick the apple of eminence, twist reverse steering wheel 12 control multistage regulating arm 7's rotation, can omnidirectional rotation, thereby gear motor 4 drives the rotation of big or small gear control adjusting device 5 and stretches out and draws back, the efficiency of picking is improved, the rotation of second step motor 9 control hand claw 11, what hand claw 11 adopted is semicircle formula structure, pressure sensor 10 is equipped with inside the hand claw, judge the size of apple through the pressure size. A second step motor 9 controls a paw 11 to grab the apples, a multistage adjusting arm 7 is controlled by a torsion steering engine 12 and an adjusting device 5 to rotate and bend, then the apples are placed in a conveying pipeline 14, the apples flow into a collecting box 13 in a sorting device 1 below through the conveying pipeline 14, a pressure sensor 10 is arranged in the paw 11, when the pressure is less than a certain value, an instruction is given to enable the collecting box 13 of the collected small apples to drive a transverse screw 102 and a longitudinal screw 105 to rotate through a transverse screw speed reducing motor 106 and a longitudinal screw speed reducing motor 104, the collecting box 13 is horizontally moved and conveyed below the conveying pipeline 14, the apples flow into the corresponding collecting box 13 through the conveying pipeline 14, when the pressure is more than a certain value, another instruction is given to enable the collecting box 13 of the collected large apples to drive the transverse screw 102 and the longitudinal screw 105 to rotate through the transverse screw speed reducing motor 106 and the longitudinal screw speed reducing motor 104, the collection box 13 is horizontally moved and conveyed to the lower part of the conveying pipeline 14 to collect large apples, so that the apples can be sorted.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (5)

1. The utility model provides an apple harvesting robot which characterized in that: the robot comprises a robot main body, a multi-stage adjusting arm, an adjusting device, a paw and a sorting device; one end of the robot main body is vertically provided with an electric push rod, and a sorting device is arranged in front of the other end of the robot main body; a crawler walking device is arranged below the robot main body; a torsion steering engine is arranged on the electric push rod; an adjusting device and a multi-stage adjusting arm are arranged on the torsion steering engine; the upper end of the multistage adjusting arm is provided with a paw and a second stepping motor for driving the paw; a collecting box is arranged above the sorting device, and rollers are arranged below the sorting device; the collecting box is provided with a conveying pipeline which is fixed on the electric push rod and has an upward opening; the sorting device comprises a sorting frame, a longitudinal screw rod, a longitudinal speed reducing motor, a transverse screw rod and a transverse speed reducing motor; two groups of longitudinal screw rods are respectively arranged on the outer sides of the left side and the right side of the sorting frame, and two transverse screw rods are horizontally arranged in the sorting frame; the longitudinal speed reducing motor drives a longitudinal screw rod to transmit; the transverse speed reducing motor drives the transverse screw rod to transmit; the two transverse screw rods are respectively provided with a collecting box and are positioned at different height positions in the horizontal direction; and a pressure sensor is arranged on the inner side of the paw.
2. The apple picking robot of claim 1, wherein: the adjusting device comprises a pinion, a gearwheel, a first connecting rod, a second connecting rod, a transmission seat, a base and a speed reduction motor; a pinion and a bull gear which are meshed with each other are arranged in the transmission seat; the speed reducing motor is connected with the pinion; the large gear is eccentrically connected with the first connecting rod; the second connecting rod is arranged between the first connecting rod and the multi-stage adjusting arm; the transmission seat is fixed on the base; the base is in transmission connection with the torsion steering engine.
3. The apple picking robot of claim 1, wherein: two ends of the longitudinal screw rod are fixed on the sorting frame, and a coupler is arranged at each of the two ends; the two transverse screw rods and the group of longitudinal screw rods are vertically fixed on the group of screw rod frames in a staggered manner.
4. The apple picking robot of claim 1, wherein: the two collecting boxes are respectively fixed on the two transverse screw rods through fixing frames.
5. The apple picking robot of claim 1, wherein: and a first stepping motor is further arranged on the multi-stage adjusting arm.
CN201811080973.5A 2018-09-17 2018-09-17 Apple picking robot Active CN109156164B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811080973.5A CN109156164B (en) 2018-09-17 2018-09-17 Apple picking robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811080973.5A CN109156164B (en) 2018-09-17 2018-09-17 Apple picking robot

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Publication Number Publication Date
CN109156164A CN109156164A (en) 2019-01-08
CN109156164B true CN109156164B (en) 2020-06-16

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112470709A (en) * 2021-01-29 2021-03-12 河南工程学院 Apple picking robot with high degree of freedom
CN113575131B (en) * 2021-08-23 2022-07-19 河北省科学院应用数学研究所 Oranges and tangerines are picked letter sorting integrated device based on symmetry indicates holder more

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2666252A2 (en) * 1989-10-18 1992-03-06 Corberon Rene Low mobile grain-cleaning machine with a vibrating table and screw brush for sizing (sorting) fodder peas and cereals
JPH06278844A (en) * 1993-03-30 1994-10-04 Daifuku Co Ltd Sorting facility
CN201198135Y (en) * 2008-05-19 2009-02-25 昆明理工大学 Laneway storehouse stacking robot
CN201914901U (en) * 2010-11-18 2011-08-03 深圳市大族光电设备有限公司 Automatic material receiving device
CN105645095A (en) * 2016-03-28 2016-06-08 苏州倍特罗智能科技有限公司 Dual-station discharge mechanism
CN108339281A (en) * 2016-05-09 2018-07-31 巢湖学院 A kind of toy car having auto-steering function
CN206237836U (en) * 2016-11-21 2017-06-13 永登越国开心农场种植养殖农民专业合作社 A kind of fruit picking
CN207505447U (en) * 2017-12-05 2018-06-19 延安大学 A kind of not damaged apple picking of classification

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