CN112616444A - Agricultural cone picking robot with good picking quality - Google Patents
Agricultural cone picking robot with good picking quality Download PDFInfo
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- CN112616444A CN112616444A CN202110127743.5A CN202110127743A CN112616444A CN 112616444 A CN112616444 A CN 112616444A CN 202110127743 A CN202110127743 A CN 202110127743A CN 112616444 A CN112616444 A CN 112616444A
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- fixedly connected
- 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
Abstract
The invention relates to the technical field of agricultural machinery, and discloses an agricultural cone picking robot with good picking quality, which comprises a chassis, wherein the top of the chassis is fixedly connected with a mounting plate, the top of the mounting plate is fixedly connected with a slewing bearing, the top of the slewing bearing is fixedly connected with a box body, a processor and a storage battery are arranged in the box body, the upper surface of the box body is fixedly connected with a supporting arm, one side of the supporting arm is fixedly connected with a first rotating motor, one end of an output shaft of the first rotating motor is fixedly connected with a large arm, one side of the large arm is fixedly connected with a second rotating motor, one end of an output shaft of the second rotating motor is fixedly connected with a supporting seat, and the top of the. The invention can drive the sucker to move in multiple angles, does not need to frequently move the picking robot, improves the picking efficiency, can well ensure the fruit picking quality and improves the economic benefit.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an agricultural cone picking robot with good picking quality.
Background
When picking fruits such as oranges, people often directly pick fruits such as oranges from trees by hands, branches are easily torn off, tree generation is influenced, fruit yield later is influenced, time and time are consumed, large-scale production is not facilitated, and later along with development of science and technology, the agricultural cone picking robot is gradually seen out.
At present, most of the existing agricultural cone picking robots have the following defects: the damage to the surfaces of the cones is large in the picking process, the cones cannot move at multiple angles, the picking quality is affected, and in conclusion, most of the existing agricultural cone picking robots cannot well meet the actual needs.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an agricultural cone picking robot with good picking quality, which mainly solves the problems that the surface of a cone is greatly damaged in the picking process, the cone cannot move at multiple angles and the picking quality is influenced.
In order to achieve the purpose, the invention provides the following technical scheme:
an agricultural cone picking robot with good picking quality comprises a chassis, wherein a mounting plate is fixedly connected to the top of the chassis, a slewing bearing is fixedly connected to the top of the mounting plate, a box body is fixedly connected to the top of the slewing bearing, a processor and a storage battery are installed in the box body, a supporting arm is fixedly connected to the upper surface of the box body, a first rotating motor is fixedly connected to one side of the supporting arm, a large arm is fixedly connected to one end of an output shaft of the first rotating motor, a second rotating motor is fixedly connected to one side of the large arm, a supporting seat is fixedly connected to one end of an output shaft of the second rotating motor, an electric push rod is fixedly connected to the top of the supporting seat, an actuator support is fixedly connected to one end of the electric push rod, a supporting plate is fixedly connected to one side of the actuator support, one side of the actuator support is fixedly connected with a plurality of connecting columns, one end of each connecting column is fixedly connected with a picking cylinder, one end of each picking cylinder is fixedly connected with a collecting cover, the bottom of each picking cylinder is provided with a discharge hole, one side of the actuator support is fixedly connected with a first servo motor, one end of an output shaft of the first servo motor is fixedly connected with a first gear, one side of the actuator support is provided with a sliding groove, a first rack is connected in the sliding groove in a sliding mode and meshed with the first gear, the first rack is positioned in the picking cylinder, one end of the first rack is fixedly connected with a first connecting pipe, one end of the first connecting pipe is fixedly connected with a sucker, the top of the actuator support is fixedly connected with an air pump, one end of an air inlet of the air pump is inserted with a second connecting pipe in a sealing mode, the second connecting pipe is communicated, the top inner wall fixedly connected with third rotation motor of protecting crust, the one end fixedly connected with cutting knife of motor output shaft is rotated to the third.
Further, a plurality of support frames of bottom fixedly connected with on chassis, the first bumper shock absorber of bottom fixedly connected with of two support frames, fixedly connected with connecting plate between two first bumper shock absorbers rotates through the scarf joint bearing between two first bumper shock absorbers and is connected with the connecting axle, and the both ends fixed mounting of connecting axle has first cross-country tire, one side fixedly connected with band pulley of connecting axle, the bottom fixedly connected with driving motor on chassis, the wheel is rotated to the one end fixedly connected with of driving motor output shaft, and the transmission is connected with the belt between wheel and the band pulley of rotating.
On the basis of the scheme, two the bottom fixedly connected with second bumper shock absorber of support frame, second bumper shock absorber one side is rotated and is connected with the cross country tire of second, fixedly connected with mount between two second bumper shock absorbers, the top fixedly connected with second servo motor on chassis, the one end fixedly connected with second gear of second servo motor output shaft.
As a further scheme of the invention, the bottom of the chassis is fixedly connected with two fixed blocks, one side of each fixed block is provided with a sliding hole, a connecting rod is connected in the sliding hole in a sliding manner, two ends of the connecting rod are respectively and rotatably connected with the second off-road tire, one side of the connecting rod is fixedly connected with a second rack, and the second rack is meshed with the second gear.
Further, the top fixedly connected with operating panel on chassis, treater and operating panel, battery, first rotating electrical machines, second rotating electrical machines, electric putter, first servo motor, third rotating electrical machines, air pump, driving motor and second servo motor electric connection.
On the basis of the scheme, the discharging port is also internally provided with an inserting pipe in an inserting manner, one end of the inserting pipe is clamped with a clamping ring, and the clamping ring is fixed with a guide pipe.
As a further scheme of the invention, one end of the guide pipe is fixedly connected with a discharging cover, and one side of the guide pipe is provided with a plurality of air holes.
Compared with the prior art, the invention provides the agricultural cone picking robot with good picking quality, which has the following beneficial effects: 1. according to the invention, the first rotating motor drives the large arm to rotate, and the second rotating motor drives the supporting seat to rotate, so that the sucker can be driven to move in multiple angles, the picking robot does not need to be frequently moved, and the picking efficiency is improved.
2. According to the invention, the surface of the fruit is gently sucked by the sucking disc under the action of the air pump, then the fruit is pulled outwards under the driving of the electric push rod, and then the fruit and the branches are separated under the cutting of the cutting knife, so that the surface of the fruit is not damaged, the fruit picking quality can be well ensured, the fruit can be conveniently stored in the later period, and the economic benefit is improved.
3. According to the picking robot, the driving motor and the second servo motor are controlled to be started through the processor, and the picking robot is automatically moved and steered under the driving of the driving motor and the second servo motor, so that the human resources are saved.
4. According to the invention, the arrangement of the insertion pipe, the guide pipe and the discharge cover can guide the rolling of picked fruits, so that the phenomenon that the fruits directly fall on the ground to damage the fruit peels is avoided, the rolling condition of the fruits in the guide pipe can be clearly seen through the air holes, and the fruits can be timely treated when the phenomenon of blockage occurs.
Drawings
FIG. 1 is a schematic perspective view of an agricultural cone picking robot in an embodiment 1 of the present invention for picking high quality agricultural cones;
FIG. 2 is a schematic rear view of an agricultural cone picking robot in an embodiment 1 of the present invention;
FIG. 3 is a partial schematic bottom view of an agricultural cone picking robot in accordance with an embodiment 1 of the present invention;
FIG. 4 is a schematic view of a three-dimensional structure of a picking mechanism of an agricultural cone picking robot in embodiment 1 of the invention
Fig. 5 is a schematic partial three-dimensional structure diagram of an agricultural cone picking robot in embodiment 2 of the invention, wherein the agricultural cone picking robot has good picking quality.
In the figure: 1. a chassis; 2. mounting a plate; 3. a slewing bearing; 4. a box body; 5. a support arm; 6. a large arm; 7. a first rotating electric machine; 8. a supporting seat; 9. a second rotating electric machine; 10. an electric push rod; 11. a support plate; 12. a sliding sleeve; 13. an actuator support; 14. connecting columns; 15. a picking cylinder; 16. a first rack; 17. a first connecting pipe; 18. a suction cup; 19. a second connecting pipe; 20. a first servo motor; 21. a first gear; 22. a protective shell; 23. a third rotating electric machine; 24. a cutting knife; 25. a collection hood; 26. a discharge port; 27. an air pump; 28. a support frame; 29. a first shock absorber; 30. a connecting shaft; 31. a connecting plate; 32. a drive motor; 33. a pulley; 34. a belt; 35. a first off-road tire; 36. a second shock absorber; 37. a fixed mount; 38. a connecting rod; 39. a second rack; 40. a second servo motor; 41. a second gear; 42. an operation panel; 43. inserting a pipe; 44. a snap ring; 45. air holes are formed; 46. a guide tube; 47. and a discharging cover.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-4, an agricultural cone picking robot with good picking quality comprises a chassis 1, a mounting plate 2 is fixed on the top of the chassis 1 through bolts, a slewing bearing 3 is fixed on the top of the mounting plate 2 through bolts, a box body 4 is fixed on the top of the slewing bearing 3 through bolts, a processor and a storage battery are installed in the box body 4, a supporting arm 5 is fixed on the upper surface of the box body 4 through bolts, a first rotating motor 7 is fixed on one side of the supporting arm 5 through bolts, a large arm 6 is connected with one end key of an output shaft of the first rotating motor 7, the large arm 6 rotates under the driving of the first rotating motor 7, a second rotating motor 9 is fixed on one side of the large arm 6 through bolts, a supporting seat 8 is connected with one end key of an output shaft of the second rotating motor 9, then, the supporting seat 8 rotates under the driving of the second rotating motor 9, and multi-angle adjustment is carried out on mechanical arms of the picking, there is electric putter 10 at the top of supporting seat 8 through the bolt fastening, there is executor support 13 one end of electric putter 10 through the bolt fastening, there is backup pad 11 one side of executor support 13 through the bolt fastening, there is sliding sleeve 12 bottom of backup pad 11 through the bolt fastening, sliding sleeve 12 and electric putter 10's surface sliding connection, executor support 13 is the forward movement under electric putter 10's drive, thereby drive backup pad 11 and move forward together, make sliding sleeve 12 slide at electric putter 10's surface simultaneously.
A plurality of connecting columns 14 are fixed on one side of an actuator support 13 through bolts, a picking cylinder 15 is fixed on one end of each connecting column 14 through bolts, a collecting cover 25 is adhered on one end of each picking cylinder 15, so that the picking cylinders 15 and the collecting cover 25 are fed into a fruit tree, fruits are covered in the picking cylinders 15, a discharge hole 26 is formed in the bottom of each picking cylinder 15, a first servo motor 20 is fixed on one side of the actuator support 13 through bolts, one end of an output shaft of the first servo motor 20 is in key connection with a first gear 21, a sliding groove is formed in one side of the actuator support 13, a first rack 16 is connected in the sliding groove in a sliding mode, the first rack 16 is meshed with the first gear 21, the first rack 16 is located in the picking cylinders 15, a first connecting pipe 17 is fixed on one end of the first rack 16 through bolts, a sucking disc 18 is welded on one end of the first connecting pipe 17, the first gear 21 is driven by the first servo motor, under the action that the first gear 21 is meshed with the first rack 16, the sucker 18 is pushed to the position near a fruit, an air pump 27 is fixed to the top of the actuator support 13 through a bolt, a second connecting pipe 19 is inserted into one end of an air inlet of the air pump 27 in a sealing mode, the second connecting pipe 19 is communicated with the first connecting pipe 17, the sucker 18 is enabled to suck the surface of the fruit under the action of the air pump 27, the fruit is pulled back under the driving of the first servo motor 20 and the electric push rod 10, a protective shell 22 is fixed to the outer wall of the top of the picking barrel 15 through a bolt, a third rotating motor 23 is fixed to the inner wall of the top of the protective shell 22 through a bolt, a cutting knife 24 is connected to one end of an output shaft of the third rotating motor 23 in a key mode, and finally the cutting knife 24 is rotated under the driving of the third rotating motor 23, so that the fruit is separated from branches, and.
The bottom of the chassis 1 is fixed with a plurality of supporting frames 28 through bolts, the bottoms of the two supporting frames 28 are fixed with first shock absorbers 29 through bolts, a connecting plate 31 is fixed between the two first shock absorbers 29 through bolts, the two first shock absorbers 29 are rotatably connected with a connecting shaft 30 through an embedding bearing, both ends of the connecting shaft 30 are fixedly provided with first off-road tires 35, the first shock absorbers 29 absorb shock when the first off-road tires 35 move, one side key of the connecting shaft 30 is connected with a belt wheel 33, the bottom of the chassis 1 is fixed with a driving motor 32 through bolts, one end key of an output shaft of the driving motor 32 is connected with a rotating wheel, a belt 34 is in transmission connection between the rotating wheel and the belt wheel 33, the belt 34 rotates under the driving of the driving motor 32, thereby driving the belt wheel 33 to rotate, and further driving the connecting shaft 30 to rotate, thereby enabling the first off-road tires 35 to roll, and then the drive picking robot moves forward, the bottom of two support frames 28 is fixed with second bumper shock absorbers 36 through the bolt, second bumper shock absorbers 36 one side is rotated and is connected with the cross country tire of second, second bumper shock absorbers 36 carry out the shock attenuation when moving the cross country tire of second, be fixed with mount 37 through the bolt between two second bumper shock absorbers 36, the top of chassis 1 is fixed with second servo motor 40 through the bolt, the one end key-type connection of second servo motor 40 output shaft has second gear 41, second gear 41 rotates under the drive of second servo motor 40.
Two fixing blocks are fixed at the bottom of the chassis 1 through bolts, a sliding hole is formed in one side of each fixing block, a connecting rod 38 is connected in the sliding hole in a sliding mode, two ends of each connecting rod 38 are respectively connected with a second off-road tire in a rotating mode, a second rack 39 is fixed on one side of each connecting rod 38 through bolts, the second rack 39 is meshed with a second gear 41, the connecting rods 38 slide in the sliding holes under the effect that the second gears 41 are meshed with the second racks 39, so that the second off-road tire swings back and forth, the picking robot is driven to turn, an operating panel 42 is fixed at the top of the chassis 1 through bolts, a processor is electrically connected with the operating panel 42, a storage battery, a first rotating motor 7, a second rotating motor 9, an electric push rod 10, a first servo motor 20, a third rotating motor 23, an air pump 27, a driving motor 32 and a second servo motor 40, the model of the processor is ARM9TDMI, the storage battery supplies power for the picking robot.
The working principle of the embodiment is as follows: when the picking robot is used, firstly, the processor controls the driving motor 32 to be started, the belt 34 rotates under the driving of the driving motor 32, so as to drive the belt wheel 33 to rotate, and further drive the connecting shaft 30 to rotate, so that the first off-road tire 35 rolls on the ground, the second off-road tire also starts to rotate under the driving of the first off-road tire 35, so as to drive the picking robot to move forwards, meanwhile, the processor controls the second servo motor 40 to be started, the second gear 41 rotates under the driving of the second servo motor 40, the connecting rod 38 slides in the sliding hole under the meshing action of the second gear 41 and the second rack 39, so as to swing the second off-road tire back and forth, so as to drive the picking robot to turn, when picking cones, the processor controls the first rotating motor 7 to be started, the large arm 6 rotates under the driving of the first rotating motor 7, then, the processor controls the second rotating motor 9 to start, the support base 8 rotates under the drive of the second rotating motor 9 to adjust the mechanical arm of the picking robot in multiple angles, then the processor controls the electric push rod 10 to start, the suction cup 18 is sent into the branch of the fruit tree under the drive of the electric push rod 10, then the processor controls the first servo motor 20 to start, the first gear 21 is driven by the first servo motor 20 to rotate, the suction cup 18 is pushed to the vicinity of the fruit under the meshing action of the first gear 21 and the first rack 16, then the processor controls the air pump 27 to start, the suction cup 18 sucks the surface of the fruit under the action of the air pump 27, then the processor controls the first servo motor 20 to rotate reversely, the fruit is pulled outwards, meanwhile, the electric push rod 10 begins to contract, the fruit is driven to move outwards, and then the processor controls the third rotating motor 23 to start, the cutting knife 24 is driven by the third rotating motor 23 to rotate, so that the fruits and the branches are separated, then the processor controls the air pump 27 to pause, and the fruits fall from the discharge hole 26 after the suction force of the suction disc 18 is lost.
Example 2
Referring to fig. 5, a pick high quality agricultural cone picking robot, it has grafting pipe 43 still to peg graft in discharge gate 26, the one end joint of grafting pipe 43 has snap ring 44, snap ring 44 be fixed with stand pipe 46, the one end welding of stand pipe 46 has ejection of compact cover 47, through grafting pipe 43, the roll of the good fruit of picking can be led to in the cooperation setting of stand pipe 46 and ejection of compact cover 47, avoid the fruit to fall the phenomenon that causes the damage of peel to take place on the ground, one side of stand pipe 46 is equipped with a plurality of bleeder vents 45, can see the condition that the fruit in the stand pipe 46 rolled through bleeder vent 45 clearly, guarantee to handle in time when the phenomenon of jam appears.
The working principle of the embodiment is as follows: during the use, in the fruit that is taken off falls to grafting pipe 43 from discharge gate 26, falls to collecting basket with stand pipe 46 and ejection of compact cover 47 and collects, wherein, the design convenience of bleeder vent 45 can handle in time when the condition of jam takes place for the fruit in stand pipe 46, guarantees that the picking robot normally picks work.
The electrical components presented in the document are all electrically connected with an external master controller and 220V mains, and the master controller can be a conventional known device controlled by a computer or the like.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The agricultural cone picking robot comprises a chassis (1) and is characterized in that the top of the chassis (1) is fixedly connected with a mounting plate (2), the top of the mounting plate (2) is fixedly connected with a slewing bearing (3), the top of the slewing bearing (3) is fixedly connected with a box body (4), a processor and a storage battery are installed in the box body (4), the upper surface of the box body (4) is fixedly connected with a supporting arm (5), one side of the supporting arm (5) is fixedly connected with a first rotating motor (7), one end of an output shaft of the first rotating motor (7) is fixedly connected with a large arm (6), one side of the large arm (6) is fixedly connected with a second rotating motor (9), one end of an output shaft of the second rotating motor (9) is fixedly connected with a supporting seat (8), and the top of the supporting seat (8) is fixedly connected with an electric push rod (10), one end of an electric push rod (10) is fixedly connected with an actuator support (13), one side of the actuator support (13) is fixedly connected with a support plate (11), the bottom of the support plate (11) is fixedly connected with a sliding sleeve (12), the sliding sleeve (12) is in sliding connection with the outer surface of the electric push rod (10), one side of the actuator support (13) is fixedly connected with a plurality of connecting columns (14), one end of each connecting column (14) is fixedly connected with a picking cylinder (15), one end of each picking cylinder (15) is fixedly connected with a collecting cover (25), the bottom of each picking cylinder (15) is provided with a discharge hole (26), one side of the actuator support (13) is fixedly connected with a first servo motor (20), one end of an output shaft of the first servo motor (20) is fixedly connected with a first gear (21), one side of the actuator support (13) is provided with a sliding, first rack (16) and first gear (21) mesh mutually, and first rack (16) are located picks a section of thick bamboo (15), the first connecting pipe (17) of one end fixedly connected with of first rack (16), the one end fixedly connected with sucking disc (18) of first connecting pipe (17), the top fixedly connected with air pump (27) of executor support (13), the sealed grafting of one end of air pump (27) air inlet has second connecting pipe (19), second connecting pipe (19) and first connecting pipe (17) intercommunication, the top outer wall fixedly connected with protecting crust (22) of picking a section of thick bamboo (15), the top inner wall fixedly connected with third of protecting crust (22) rotates motor (23), and the one end fixedly connected with cutting knife (24) of third rotation motor (23) output shaft.
2. The agricultural cone picking robot for picking up the agricultural cones with good quality according to claim 1, characterized in that a plurality of supporting frames (28) are fixedly connected to the bottom of the chassis (1), first shock absorbers (29) are fixedly connected to the bottoms of the two supporting frames (28), a connecting plate (31) is fixedly connected between the two first shock absorbers (29), a connecting shaft (30) is rotatably connected between the two first shock absorbers (29) through an embedded bearing, first off-road tires (35) are fixedly mounted at two ends of the connecting shaft (30), a belt wheel (33) is fixedly connected to one side of the connecting shaft (30), a driving motor (32) is fixedly connected to the bottom of the chassis (1), a rotating wheel is fixedly connected to one end of an output shaft of the driving motor (32), and a belt (34) is connected between the rotating wheel and the belt wheel (33) in a transmission manner.
3. An agricultural cone picking robot with good picking quality according to claim 2, characterized in that the bottom of the two supporting frames (28) is fixedly connected with a second shock absorber (36), one side of the second shock absorber (36) is rotatably connected with a second cross-country tire, a fixed frame (37) is fixedly connected between the two second shock absorbers (36), the top of the chassis (1) is fixedly connected with a second servo motor (40), and one end of an output shaft of the second servo motor (40) is fixedly connected with a second gear (41).
4. An agricultural cone picking robot with good picking quality according to claim 3, characterized in that two fixed blocks are fixedly connected to the bottom of the chassis (1), a sliding hole is formed in one side of each fixed block, a connecting rod (38) is slidably connected in each sliding hole, two ends of each connecting rod (38) are rotatably connected with a second off-road tire respectively, a second rack (39) is fixedly connected to one side of each connecting rod (38), and the second racks (39) are meshed with second gears (41).
5. The agricultural cone picking robot for picking the agricultural cones with good quality according to claim 4, wherein an operation panel (42) is fixedly connected to the top of the chassis (1), and the processor is electrically connected with the operation panel (42), the storage battery, the first rotating motor (7), the second rotating motor (9), the electric push rod (10), the first servo motor (20), the third rotating motor (23), the air pump (27), the driving motor (32) and the second servo motor (40).
6. The agricultural cone picking robot for picking the agricultural cones with good quality according to claim 1, wherein an inserting pipe (43) is further inserted into the discharge port (26), a clamping ring (44) is clamped at one end of the inserting pipe (43), and a guide pipe (46) is fixed on the clamping ring (44).
7. The agricultural cone picking robot for picking the agricultural cones with good quality according to claim 6, wherein one end of the guide pipe (46) is fixedly connected with a discharging cover (47), and one side of the guide pipe (46) is provided with a plurality of air holes (45).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110127743.5A CN112616444A (en) | 2021-01-29 | 2021-01-29 | Agricultural cone picking robot with good picking quality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110127743.5A CN112616444A (en) | 2021-01-29 | 2021-01-29 | Agricultural cone picking robot with good picking quality |
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| Publication Number | Publication Date |
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| CN112616444A true CN112616444A (en) | 2021-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110127743.5A Pending CN112616444A (en) | 2021-01-29 | 2021-01-29 | Agricultural cone picking robot with good picking quality |
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| CN (1) | CN112616444A (en) |
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| CN113207436A (en) * | 2021-06-26 | 2021-08-06 | 四川农业大学 | Propelling type fixed-point citrus fruit-driving picking device |
| CN114888982A (en) * | 2022-06-07 | 2022-08-12 | 北京城建十建设工程有限公司 | Construction device and method for reserving added structure inside building enclosure wall |
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| CN114888982B (en) * | 2022-06-07 | 2024-01-23 | 北京城建十建设工程有限公司 | Construction device and method for retaining added structure inside building enclosure wall |
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