CN109275421B - Agricultural robot for picking - Google Patents
Agricultural robot for picking Download PDFInfo
- Publication number
- CN109275421B CN109275421B CN201811353527.7A CN201811353527A CN109275421B CN 109275421 B CN109275421 B CN 109275421B CN 201811353527 A CN201811353527 A CN 201811353527A CN 109275421 B CN109275421 B CN 109275421B
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- fixedly connected
- box body
- rectangular box
- connecting pipe
- picking
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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
-
- 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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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an agricultural robot for picking, which comprises a rectangular box body and a storage device arranged in the rectangular box body, wherein the rectangular box body is provided with a storage groove; the agricultural robot for picking also comprises an adjusting device arranged at the upper end of the rectangular box body and a shearing device arranged at the upper end of the adjusting device, fruits can be perfectly stored under the action of the storage device, one end of the shearing device can stably move under the action of the adjusting device, and the fruits and the roots can be separated under the action of the shearing device; the side surface of the rectangular box body is provided with an air hole, the air hole is fixedly connected with the rectangular box body, the upper surface of the rectangular box body is provided with a controller, the controller is fixedly connected with the rectangular box body, and the side surface of the rectangular box body is provided with a push handrail. The invention has the advantages of simple structure and strong practicability.
Description
Technical Field
The invention relates to the field related to picking, in particular to an agricultural robot for picking.
Background
The rapid development of fruit growing industry has increased the market demand for orchard machinery. The labor force used in the picking operation accounts for 33-50% of the labor force used in the whole production process, and most of the fruit picking in China is still carried out manually at present. The picking operation is complex, the seasonality is strong, if the manual picking is used, the efficiency is low, the labor amount is large, the fruit is easy to damage, and if the manual picking is not enough, the economic loss can be caused. With the development of the robot technology, the defects of labor force, labor intensity reduction, labor comfort improvement and labor danger reduction of workers are hopefully solved, and in addition, the economic benefit of fruit growers is improved, so that the improvement of the mechanization degree of picking operation has important significance.
The traditional picking equipment structure, for example patent No. 201711352486.5, named as a fruit picking robot, is more complex and more costly although it can effectively improve the working efficiency. And the site restriction is bigger when using.
Disclosure of Invention
The invention aims to solve the problems and designs an agricultural robot for picking.
The technical scheme of the invention is that the device comprises a rectangular box body and a storage device arranged in the rectangular box body; the agricultural robot for picking also comprises an adjusting device arranged at the upper end of the rectangular box body and a shearing device arranged at the upper end of the adjusting device, fruits can be perfectly stored under the action of the storage device, one end of the shearing device can stably move under the action of the adjusting device, and the fruits and the roots can be separated under the action of the shearing device; the side surface of the rectangular box body is provided with an air hole, the air hole is fixedly connected with the rectangular box body, the upper surface of the rectangular box body is provided with a controller, the controller is fixedly connected with the rectangular box body, and the side surface of the rectangular box body is provided with a push handrail.
The storage device comprises a first round opening arranged on the upper surface of a rectangular box body, the first round opening is fixedly connected with the rectangular box body, a second round opening is arranged on one side of the first round opening and is fixedly connected with the rectangular box body, a first elastic hose is arranged on the lower surfaces of the first round opening and the second round opening respectively, the upper end of the first elastic hose is fixedly connected with the first round opening and the second round opening respectively, a first connecting pipe is arranged at the lower end of the first elastic hose and is connected with the first elastic hose in a sleeved mode, a first fixing ring is arranged on the surface of one side of the connecting pipe and is fixedly connected with the first connecting pipe, a first linear motor is arranged on the upper surface of the fixing ring, the lower end of the first linear motor is fixedly connected with the fixing ring, and the upper end of the first linear motor is fixedly connected with the rectangular box body; a deceleration pad is arranged on the inner surface of the elastic hose, and is fixedly connected with the elastic hose I; the four corners of the lower surface of the rectangular box body are provided with moving wheels which are fixedly connected with the rectangular box body; the lower surface of the connecting pipe is provided with a first inductor, the first inductor is fixedly connected with the connecting pipe, the side surface of the rectangular box body is provided with a rectangular opening, the rectangular opening is fixedly connected with the rectangular box body, one side surface of the rectangular opening is provided with a switch door, and the switch door is fixedly connected with the rectangular box body.
The adjusting device comprises a connecting pipe II which is arranged on the upper surface of a round opening I and a round opening II, the lower end of the connecting pipe II is respectively and fixedly connected with the round opening I and the round opening II, the upper end of the connecting pipe II is provided with a connecting pipe III, the lower end of the connecting pipe III is fixedly connected with the upper end of the connecting pipe II, the upper end of the inside of the connecting pipe II is provided with a progress motor I, the progress motor I is fixedly connected with the connecting pipe II, the rotating end of the progress motor I is provided with a round baffle plate, the round baffle plate is fixedly connected with the progress motor I, the upper end of the connecting pipe III is provided with a fixed block, the fixed block is fixedly connected with the connecting pipe III, the upper end of the connecting pipe III is provided with a picking pipe I, the picking pipe I is connected with the connecting pipe III in a sleeving manner, the upper end of the picking pipe I is provided with an elastic hose II, the lower end of the elastic hose II is connected with the picking pipe I in a sleeving manner, the picking pipe II is provided with a picking pipe II, the supporting pipe is arranged on the outer surface of the picking pipe, the picking pipe II, and the supporting pipe is connected with the picking pipe II in a sleeving manner, the outer surface of the supporting tube is provided with a second linear motor, the upper end of the second linear motor is fixedly connected with the supporting tube, and the lower end of the second linear motor is fixedly connected with the fixing block.
Shearing mechanism including deploying in the circular funnel of stay tube upper end, circular funnel down with stay tube upper end fixed connection, circular funnel upper surface both sides are equipped with step motor two, step motor two and circular funnel fixed connection, step motor two rotatory ends are equipped with the arc blade, arc blade and step motor two fixed connection, arc blade one side is equipped with the protection casing, protection casing and step motor two fixed connection.
The camera is arranged above the circular funnel and fixedly connected with the circular funnel.
And a second inductor is arranged on the upper surface of the circular funnel and is fixedly connected with the circular funnel.
The storage battery is arranged in the rectangular box body and fixedly connected with the rectangular box body.
The signal input ends of the first linear motor, the second linear motor, the first inductor, the second inductor, the first progressive motor, the second progressive motor and the camera are electrically connected with the signal output end of the controller.
The power input end of the camera is electrically connected with the power output end of the storage battery.
The agricultural robot for picking manufactured by the technical scheme of the invention can store fruits perfectly under the action of the storage device, thereby achieving the purpose of continuous work. Can make shearing mechanism's one end carry out stable removal through adjusting device's effect to make and pick the scope grow, improve work efficiency. The fruit and the rhizome can be separated through the action of the shearing device, so that the picking purpose is achieved.
Drawings
FIG. 1 is a schematic structural view of an agricultural robot for picking according to the present invention;
FIG. 2 is a schematic view of a storage device according to the present invention;
FIG. 3 is a schematic view of the adjustment device of the present invention;
FIG. 4 is a schematic view of a shearing device according to the present invention;
in the figure, 1, a rectangular box body; 2. air holes are formed; 3. a controller; 4. a first round opening; 5. a second round opening; 6. a first elastic hose; 7. a first connecting pipe; 8. a fixing ring; 9. a linear motor I; 10. a deceleration pad; 11. a moving wheel; 12. a first inductor; 13. a rectangular opening; 14. opening and closing the door; 15. a second connecting pipe; 16. a third connecting pipe; 17. a first progress motor; 18. a circular baffle plate; 19. a fixed block; 20. picking a first tube; 21. a second elastic hose; 22. picking a second tube; 23. supporting a tube; 24. a linear motor II; 25. a circular funnel; 26. a second step of advancing a motor; 27. an arc-shaped blade; 28. a protective cover; 29. a camera; 30. a second inductor; 31. a storage battery; 32. pushing the handrail.
Detailed Description
The invention is described in detail below with reference to the drawings, as shown in fig. 1-4.
In the embodiment, the fruits can be perfectly stored through the action of the storage device, so that the aim of continuous work is fulfilled. Can make shearing mechanism's one end carry out stable removal through adjusting device's effect to make and pick the scope grow, improve work efficiency. The fruit and the rhizome can be separated through the action of the shearing device, so that the picking purpose is achieved.
First, when needs pluck fruit, controller 3 control removes wheel 11 and rotates, the rotation that removes wheel 11 directly drives rectangle box 1 and removes, when rectangle box 1 removes suitable position, controller 3 control linear electric motor two 24 rotates, the flexible end of second 24 of step motor directly drives the stay tube 23 and risees or reduce, owing to there is connecting pipe three 16 and connecting pipe two 15 suit to be connected, owing to pluck pipe two 15 and stay tube 23 suit to be connected again, so can be more stable when linear electric motor two 24 is flexible, in the peak period of plucking, so good fruit will be stored by subregion owing to plucking efficiency ratio higher.
The second step, after the fruit is cut and is fallen, when fruit through a progress motor 17, can selective carry out the subregion to fruit, a progress motor 17 rotatory end directly drives circular separation blade 18 and rotates, finally makes fruit fall at 1 both ends of rectangle box, when fruit breaks away from connecting pipe 7, can produce the striking to rectangle box 1. The deceleration pad 10 is provided. And the falling distance is adjusted according to the sensing of the first sensor 12, so that the impact is reduced to the maximum extent.
Thirdly, the controller 3 controls the second linear motor 24 to stretch and retract through the feedback of the second inductor 30 and the camera 29, when the round funnel 25 is adjusted to the position below the fruit, the controller 3 controls the second progressing motor 26 to rotate, the rotating end of the second progressing motor 26 directly drives the arc-shaped blade 27 to rotate, and the rhizome is cut off, so that the fruit falls into the rectangular box body 1 through the support tube 23, the second elastic hose 21, the first elastic hose 6, the third connecting tube 16, the second connecting tube 15 and the first connecting tube 7.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
Claims (7)
1. An agricultural robot for picking comprises a rectangular box body (1) and a storage device arranged in the rectangular box body (1); the agricultural robot for picking is characterized by further comprising an adjusting device arranged at the upper end of the rectangular box body (1) and a shearing device arranged at the upper end of the adjusting device, fruits can be stored perfectly under the action of the storage device, one end of the shearing device can move stably under the action of the adjusting device, and the fruits and the roots can be separated under the action of the shearing device; the side surface of the rectangular box body (1) is provided with air holes (2), the air holes (2) are fixedly connected with the rectangular box body (1), the upper surface of the rectangular box body (1) is provided with a controller (3), the controller (3) is fixedly connected with the rectangular box body (1), and the side surface of the rectangular box body (1) is provided with a pushing handrail (32); the storage device comprises a first round opening (4) arranged on the upper surface of a rectangular box body (1), the first round opening (4) is fixedly connected with the rectangular box body (1), a second round opening (5) is arranged on one side of the first round opening (4), the second round opening (5) is fixedly connected with the rectangular box body (1), the lower surfaces of the first round opening (4) and the second round opening (5) are respectively provided with a first elastic hose (6), the upper end of the first elastic hose (6) is fixedly connected with the first round opening (4) and the second round opening (5), the lower end of the first elastic hose (6) is provided with a first connecting pipe (7), the first connecting pipe (7) is connected with the first elastic hose (6) in a sleeved mode, the side surface of the first connecting pipe (7) is provided with a fixing ring (8), the fixing ring (8) is fixedly connected with the first connecting pipe (7), the upper surface of the fixing ring (8) is provided with a first linear motor (9), and the lower end of the first linear motor (9) is fixedly connected with the fixing ring (8), the upper end of the linear motor I (9) is fixedly connected with the rectangular box body (1); the inner surface of the first elastic hose (6) is provided with a speed reducing pad (10), and the speed reducing pad (10) is fixedly connected with the first elastic hose (6); the four corners of the lower surface of the rectangular box body (1) are provided with moving wheels (11), and the moving wheels (11) are fixedly connected with the rectangular box body (1); the lower surface of the first connecting pipe (7) is provided with a first inductor (12), the first inductor (12) is fixedly connected with the first connecting pipe (7), a rectangular opening (13) is formed in the side surface of the rectangular box body (1), the rectangular opening (13) is fixedly connected with the rectangular box body (1), a switch door (14) is arranged on the side surface of the rectangular opening (13), and the switch door (14) is fixedly connected with the rectangular box body (1); the adjusting device comprises a second connecting pipe (15) arranged on the upper surfaces of a first round opening (4) and a second round opening (5), the lower end of the second connecting pipe (15) is fixedly connected with the first round opening (4) and the second round opening (5) respectively, a third connecting pipe (16) is arranged at the upper end of the second connecting pipe (15), the lower end of the third connecting pipe (16) is fixedly connected with the upper end of the second connecting pipe (15), a first progressive motor (17) is arranged at the inner upper end of the second connecting pipe (15), the first progressive motor (17) is fixedly connected with the second connecting pipe (15), a circular baffle plate (18) is arranged at the rotating end of the first progressive motor (17), the circular baffle plate (18) is fixedly connected with the first progressive motor (17), a fixing block (19) is arranged at the upper end of the third connecting pipe (16), the fixing block (19) is fixedly connected with the third connecting pipe (16), a first picking pipe (20) is arranged at the upper end of the third connecting pipe (16), and the first picking pipe (20) is connected with the third connecting pipe (16) in a sleeved mode, the upper end of the first picking pipe (20) is provided with a second elastic hose (21), the lower end of the second elastic hose (21) is connected with the first picking pipe (20) in a sleeved mode, the upper end of the second elastic hose (21) is provided with a second picking pipe (22), the outer surface of the second picking pipe (22) is provided with a supporting pipe (23), the supporting pipe (23) is connected with the second picking pipe (22) in a sleeved mode, the outer surface of the supporting pipe (23) is provided with a second linear motor (24), the upper end of the second linear motor (24) is fixedly connected with the supporting pipe (23), and the lower end of the second linear motor (24) is fixedly connected with the fixing block (19).
2. An agricultural robot for picking according to claim 1, characterized in that the shearing device comprises a circular funnel (25) arranged at the upper end of the support pipe (23), the lower part of the circular funnel (25) is fixedly connected with the upper end of the support pipe (23), two sides of the upper surface of the circular funnel (25) are provided with a second progressing motor (26), the second progressing motor (26) is fixedly connected with the circular funnel (25), the rotating end of the second progressing motor (26) is provided with an arc-shaped blade (27), the arc-shaped blade (27) is fixedly connected with the second progressing motor (26), one side of the arc-shaped blade (27) is provided with a protective cover (28), and the protective cover (28) is fixedly connected with the second progressing motor (26).
3. An agricultural robot for picking according to claim 1, characterized in that a camera (29) is arranged above the circular funnel (25), the camera (29) being fixedly connected with the circular funnel (25).
4. An agricultural robot for picking according to claim 1, characterized in that the circular funnel (25) is provided with a second sensor (30) on the upper surface, the second sensor (30) being fixedly connected with the circular funnel (25).
5. An agricultural robot for picking according to claim 1, characterized in that a storage battery (31) is arranged in the rectangular box body (1), and the storage battery (31) is fixedly connected with the rectangular box body (1).
6. An agricultural robot for picking according to claim 1, characterized in that the signal input ends of the first linear motor (9), the second linear motor (24), the first sensor (12), the second sensor (30), the first step motor (17), the second step motor (26) and the camera (29) are electrically connected with the signal output end of the controller (3).
7. An agricultural robot for picking according to claim 1, characterized in that the power input ends of the first linear motor (9), the second linear motor (24), the first inductor (12), the second inductor (30), the first step motor (17), the second step motor (26) and the camera (29) are electrically connected with the power output end of the storage battery (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811353527.7A CN109275421B (en) | 2018-11-14 | 2018-11-14 | Agricultural robot for picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811353527.7A CN109275421B (en) | 2018-11-14 | 2018-11-14 | Agricultural robot for picking |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109275421A CN109275421A (en) | 2019-01-29 |
| CN109275421B true CN109275421B (en) | 2022-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811353527.7A Active CN109275421B (en) | 2018-11-14 | 2018-11-14 | Agricultural robot for picking |
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| CN (1) | CN109275421B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102124866B (en) * | 2011-01-19 | 2013-05-29 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN105750001A (en) * | 2016-04-26 | 2016-07-13 | 施婷婷 | High-efficiency rice milling machine for rice processing |
| CN106142354B (en) * | 2016-08-28 | 2019-01-04 | 内蒙古第三建筑工程有限公司 | A kind of dry powder and mortar isolation-proof device |
| CN206743907U (en) * | 2017-03-14 | 2017-12-15 | 麻城市尚孚生态农业科技有限公司 | A kind of camellia oleifera fruit picking device |
| CN107371606A (en) * | 2017-08-02 | 2017-11-24 | 合肥科地尔农业技术开发有限公司 | A kind of adjustable for height picking fruit device |
| CN107548699A (en) * | 2017-09-30 | 2018-01-09 | 重庆稻梦空间农业发展有限公司 | A kind of loquat picker |
| CN107750636B (en) * | 2017-11-30 | 2020-04-28 | 延安大学 | Fruit picking machine |
| CN207754106U (en) * | 2017-12-06 | 2018-08-24 | 长江大学 | A kind of hand-push electrical apple-picking vehicle |
| CN207678296U (en) * | 2017-12-27 | 2018-08-03 | 河南天成鸽业有限公司 | A kind of electric fruit-picking device |
| CN108377738B (en) * | 2018-03-07 | 2021-02-19 | 安远县阳光果业有限公司 | Navel orange picking device |
| CN108745850B (en) * | 2018-05-10 | 2020-12-11 | 常熟理工学院 | Device of supplementary artifical ware of picking of fruit |
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2018
- 2018-11-14 CN CN201811353527.7A patent/CN109275421B/en active Active
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| CN109275421A (en) | 2019-01-29 |
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