CN112640665A

CN112640665A - Auxiliary positioning system for fruit and vegetable picking robot

Info

Publication number: CN112640665A
Application number: CN202110012165.0A
Authority: CN
Inventors: 赵瑞霞
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-06
Filing date: 2021-01-06
Publication date: 2021-04-13

Abstract

The invention discloses an auxiliary positioning system for a fruit and vegetable picking robot, which comprises a base plate, positioning telescopic columns, cleaning cavities, rotating rods, an object placing plate and a fixing rod, wherein two groups of positioning telescopic columns are arranged on the surface of the top of the base plate, a fruit and vegetable collecting box is fixed on the top of the base plate, the cleaning cavities are arranged in a space formed by a first partition plate and the inner wall of one side of the fruit and vegetable collecting box, the object placing cavity is arranged in a space formed by the first partition plate and a second partition plate, the object placing plate is arranged in the object placing cavity through supporting columns, and a plurality of groups of rotating rods are arranged on the inner wall of the object placing plate. According to the invention, the positioning telescopic column is arranged, so that the device is fixed, the side inclination is prevented, the stability of the device is enhanced, the picked fruits and vegetables can be subjected to primary cleaning and screening treatment through the cleaning cavity, the fruits and vegetables subjected to the primary cleaning treatment can be subjected to autonomous lifting bearing through the object placing plate, and the unnecessary workload caused by manual layered transportation is reduced.

Description

Auxiliary positioning system for fruit and vegetable picking robot

Technical Field

The invention relates to the technical field of auxiliary positioning, in particular to an auxiliary positioning system for a fruit and vegetable picking robot.

Background

With the development of science and technology, the robot era is gradually advancing into new period, under the background that the population dividend of China is gradually consumed, the shortage of labor supply gradually appears, the fault, the development of agriculture and industrial fields is limited to a certain extent, and the robot appears, by virtue of the mechanical strength and the capacity of continuous work, the problem of labor fault can be effectively solved, so the application range is wider, wherein the fruit and vegetable planting industry is more concentrated because of the mature time, the collection workload is larger, the fruit and vegetable picking robot is urgently needed to help the grower to carry out fruit and vegetable picking work, the fruit and vegetable picking is timely collected to carry out corresponding processing and selling operation, and corresponding economic exchange is obtained.

The existing defects are as follows:

1. the reference CN108271532A discloses a multi-claw pneumatic lossless fruit and vegetable picking manipulator simulating human picking action, which comprises a multi-claw picking manipulator mechanism and a lossless picking pneumatic system; the multi-claw picking manipulator mechanism comprises a clamping mechanism and a picking mechanism; the clamping mechanism comprises a three-jaw cylinder, a movable base, a vacuum generator, a lower pull rod, a movable sliding block, an upper pull rod, a vacuum chuck, a picking jaw and a pressure sensor; the main power device of the picking mechanism is a rotary cylinder, the rotary cylinder is fixedly connected with a connecting disc through a screw, the connecting disc is fixedly connected with a three-jaw cylinder through a screw, and a vacuum generator is fixedly connected with the connecting disc; the nondestructive picking pneumatic system comprises an air compressor, an air source triple piece, a picking pneumatic subsystem, a clamping pneumatic subsystem and an adsorption pneumatic subsystem. Through the design of the multi-connecting-rod picking manipulator, multiple actions of fruit adsorption, fruit stem straightening, fruit clamping and the like are realized under one power device, so that the posture adjustment of the fruit stems and the fruit clamping are simultaneously realized, but the picked fruits and vegetables cannot be stored in an orderly layered manner, so that the fruits and vegetables in the device are very inconvenient to take;

2. reference CN210630239U discloses a picking robot, "comprising: the device comprises a chassis, a traveling mechanism, a vehicle body, a slewing mechanism, a multi-joint mechanical arm mechanism, a clamping mechanism and a shearing mechanism. Wherein the running mechanism is arranged on the chassis. The vehicle body is arranged on the chassis. The slewing mechanism is connected between the vehicle body and the chassis. The multi-joint mechanical arm mechanism is arranged on the vehicle body. The clamping mechanism is arranged on the multi-joint mechanical arm mechanism. The shearing mechanism is arranged on the multi-joint mechanical arm mechanism. The utility model discloses picking robot, through setting up rotation mechanism, picking robot rotates for the chassis at the in-process automobile body of picking the fruit, under the motionless condition in chassis position, increases picking robot's picking scope. The picking robot can pick fruits at different heights on a tree, can pick fruits from multiple angles, is flexible in picking process, high in mechanization degree and high in picking efficiency, but lacks a corresponding picking cleaning structure for picked fruits and vegetables, so that branches and leaves and other attachments exist on the surfaces of the picked fruits and vegetables, the tidiness of the surfaces of the fruits and vegetables is affected, and troubles are brought to subsequent cleaning;

3. the reference CN109968729A discloses a red spot auxiliary positioning press machine, which comprises a base and a pressing device positioned above the base, wherein the pressing device is connected with the base through a support upright post; an auxiliary positioning assembly is further arranged right below the pressing device and comprises an installation ring and a red spot laser positioner fixed on the installation ring, and the emission direction of the red spot laser positioner faces downwards vertically; the middle part of the front side of the supporting upright post is provided with an installation notch, a vertical central shaft is arranged in the installation notch, a rotating sleeve matched with the central shaft is sleeved outside the central shaft, and the rotating sleeve is fixedly connected with the installation ring through a connecting rod. The invention can intuitively and accurately reflect the pressing point of the pressing device on the workpiece to facilitate positioning, but the device is lack of an effective fixed positioning structure inside, so that the stability of the device is insufficient, and the device is easy to incline in the using process to cause damage to the device.

Disclosure of Invention

The invention aims to provide an auxiliary positioning system for a fruit and vegetable picking robot, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an auxiliary positioning system for a fruit and vegetable picking robot comprises a base plate, positioning telescopic columns, a fruit and vegetable collecting box, a cleaning cavity, a rotating rod, a storage plate and a fixing rod, wherein two groups of positioning telescopic columns are arranged on the surface of the top of the base plate and are respectively positioned at two diagonal positions on the surface of the base plate, two groups of through holes are formed in the base plate, the positions of the holes correspond to the installation positions of the positioning telescopic columns, handrails are welded at the top of the base plate and are positioned at one side of one group of the positioning telescopic columns, the fruit and vegetable collecting box is fixed at the top of the base plate and is positioned behind the handrails, a first partition plate and a second partition plate are fixed inside the fruit and vegetable collecting box and are positioned at one side of the first partition plate, and the cleaning cavity is formed in a space formed by the first partition plate and the inner wall at one side of the fruit and vegetable collecting box, the fruit and vegetable collecting box is characterized in that a storage cavity is formed in a space formed by the first partition plate and the second partition plate in a clamped mode, the storage cavity is located on one side of the cleaning cavity, a storage cavity is formed in a space formed by the second partition plate and the inner wall of the other side of the fruit and vegetable collecting box, the storage cavity is located on one side of the storage cavity, an inverted T-shaped supporting column is installed on the inner bottom wall of the storage cavity, a storage plate is installed in the storage cavity through the T-shaped supporting column, shaft pieces are installed at four corners of the bottom of the storage plate, a shear frame is installed at four corners of the bottom of the storage plate through the shaft pieces, a fixing rod is installed on the surface of the shear frame.

Preferably, put the front and the back of thing board and all install spacing frid, the inside of spacing frid is equipped with the channel, put the front top and the back top of thing board and all install the riser, the inside of riser is equipped with the spout, the bottom position that the spout is close to the riser, the inside sliding connection of spout has the slide, the U type structure of slide for invering, the inside of spacing frid is extended to the bottom of slide, one side surface mounting of slide has the inserted bar, the inserted bar forms L type structure with the bottom of slide, the surface mounting of shear-holder has a set of electronic hydraulic stem, and electronic hydraulic stem is located one side of dead lever.

Preferably, two sets of mirror image arrangement, the clean foam otter board of dislocation from top to bottom are installed to the inner wall in clean chamber, and the one end of clean foam otter board forms the slope contained angle with the inner wall in clean chamber, and the inside longitudinal and lateral arrangement of clean foam otter board has a plurality of parting beads, is equipped with the discharge gate in the crisscross space that forms of parting bead, and the sideboard is installed to one side inner wall in clean chamber, and the mounted position of sideboard corresponds with the clean foam otter board that the position leaned on, and the sideboard is made for sponge material.

Preferably, the top of the flexible post in location is fixed with the location disc, and the bottom of location disc is equipped with the notch, and the top welding of location disc has two sets of fixed stay frames, and fixed stay frame's inside is fixed with driving motor, and driving motor is three-phase asynchronous motor, and driving motor's output runs through the location disc and installs the hob, and the hob is located the inside of the flexible post in location.

Preferably, the surface of bull stick is encircleed and is installed the multilayer foam protective sheath, and the inside of foam protective sheath is equipped with easily tears the seam, and the fixed ring is installed to the surface both ends encircleing of foam protective sheath.

Preferably, the top skin weld of base plate has four groups of moving parts, and two liang are a set of, are located the both sides of two sets of flexible posts in location respectively, and the axostylus axostyle is installed to the inner wall of moving part, and the skin weld of axostylus axostyle has the vaulting pole, and the diameter of vaulting pole is the same with the diameter of location disc bottom notch.

Preferably, the inside of first baffle is equipped with the delivery port, and the one side outer wall surface mounting that the storing chamber was kept away from to the second baffle has three groups of division boards.

Preferably, the surface of the handrail is provided with the anti-skid sleeve in a surrounding way, and the surface of the anti-skid sleeve is wound with the sweat absorbing belt.

Preferably, the fixing rod is internally slidably mounted with a fitting rod, a fitting hole is formed through the fixing rod and the fitting rod, and the diameter of the fitting hole is the same as that of the insertion rod.

Preferably, the working steps of the device are as follows:

s1, when the device is used for carrying out corresponding fruit and vegetable picking auxiliary positioning operation, the device is moved to a corresponding picking point by utilizing the handrail, the positioning telescopic columns are lifted, the support rods are pulled out from the notches at the bottoms of the positioning circular discs, then the driving motor is started to drive the screw rods to rotate, the positioning telescopic columns are driven to shrink downwards under the action of the gravity of the driving motor, so that the screw rods slide downwards to be in contact with the ground through the holes in the base plate and correspondingly drill the ground, the connection between the device and the ground can be enhanced through drilling treatment, the positioning is further realized, the contact area between the device and a soil layer can be increased by two groups of positioning telescopic columns arranged diagonally, the stability of the device after positioning is enhanced, and the side tilting is prevented;

s2, picking fruits and vegetables are placed into the cleaning cavity by a robot, the fruits and vegetables slide on the surface of a slope formed by the cleaning foam screen plate after entering the cleaning cavity, uneven structures are formed on the surface of the cleaning foam screen plate through the matching of the separation strips in the cleaning foam screen plate and the discharge hole, when the fruits and vegetables are conveyed on the surface of the cleaning foam screen plate, impurities such as branches and leaves and attachments on the surface can be stripped, and the impurities fall to the bottom in the cleaning cavity through the discharge hole, so that the primary screening cleaning operation after picking the fruits and vegetables is realized, and the workload of subsequent manual cleaning is reduced;

s3, the fruits and vegetables processed by the cleaning cavity enter the surface of the object placing plate through the conveying port, the electric hydraulic rod is started to drive the scissor rack to ascend, but because of the embedded connection of the inserted link and the fixed link, the upward lifting action provided by the electro-hydraulic link is blocked by the lateral locking of the inserted link and the fixed link, therefore, the interior of the object placing plate can keep a static state to receive the fruits and vegetables conveyed by the conveying port, and the fruits and vegetables transported later can push the fruits and vegetables transported earlier along with the movement of the fruits and vegetables to the surface of the object placing plate, thereby pushing the foam board to slide towards one side close to the object placing cavity and driving the sliding plate to slide in the same direction, indirectly driving the inserted rod connected with the sliding plate to move and keeping away from the embedded hole inside the fixed rod, the shear frame is not bound and then ascends, so that the lower object placing plate is lifted to the position below the conveying opening to carry out the next round of fruit and vegetable carrying;

s4, the fruit vegetables are when putting the promotion of thing board surface and removing, drive the bull stick and rotate, and then make the fruit vegetables shift and be close to the thing board and be close to the one side of putting the thing chamber, accept for subsequent fruit vegetables and provide the space, at this in-process, the foam protective sheath on bull stick surface can wrap up the bull stick, the rigidity surface of avoiding the bull stick causes the damage of colliding with to the epidermis of fruit vegetables, foam protective sheath on the top layer is polluted the back by blots such as the remaining earth on fruit vegetables surface, utilize easily tear the seam to tear the foam protective sheath on top layer, it is not contaminated to expose the lower floor, completely new foam protective sheath, foam protective sheath after avoiding polluting causes secondary pollution to subsequent fruit vegetables transmission.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention starts the electric hydraulic rod to drive the scissor rack to ascend through installing the object placing plate, but because the inserting rod is connected with the fixed rod in an embedding way, the upward lifting function provided by the electric hydraulic rod is blocked by the transverse locking of the inserting rod and the fixed rod, so that the interior of the object placing plate can keep a static state to receive fruits and vegetables conveyed by the conveying port, as the fruits and vegetables move to the surface of the object placing plate, the fruits and vegetables transported later can form a pushing function on the fruits and vegetables transported earlier, further the foam plate is pushed to slide towards one side close to the object placing cavity and drive the sliding plate in the limiting groove plate to slide in the same direction, the inserting rod connected with the sliding plate is indirectly driven to move and is far away from the embedding hole in the fixed rod, the scissor rack loses constraint and then ascends, the object placing plate below is lifted to the lower part of the conveying port to receive the fruits and vegetables of the next round, in, then can form the interception effect of three direction with the riser for put the fruit vegetables on thing board surface can not roll from the surface of putting the thing board in the transmission process, avoided falling of fruit vegetables.

2. According to the invention, the cleaning cavity is arranged, after fruits and vegetables enter the cleaning cavity, the fruits and vegetables can slide on the surface of the slope formed by the cleaning foam screen plate, the surface of the cleaning foam screen plate is in an uneven structure through the matching of the separation strips and the discharge port in the cleaning foam screen plate, when the fruits and vegetables are conveyed on the surface of the cleaning foam screen plate, impurities such as branches and leaves and attachments on the surface can be stripped off and fall to the bottom of the interior of the cleaning cavity through the discharge port, so that the primary screening and cleaning operation after picking the fruits and vegetables is realized, the workload of subsequent manual cleaning is reduced, the arrangement of the baffle plate can provide buffer protection for the fruits and vegetables entering the cleaning cavity, the fruits and vegetables impacting the surface of the fruits and vegetables can be rebounded to the surface of the cleaning foam plate below, and flexible buffer protection can be provided, and the collision of.

3. According to the invention, the positioning telescopic columns are installed, the support rod is pulled out from the notch at the bottom of the positioning disc, the driving motor is started to drive the screw rod to rotate, the positioning telescopic columns are driven to shrink downwards under the action of the gravity of the driving motor, so that the screw rod slides downwards through the hole in the base plate to be in contact with the ground and correspondingly drill the ground, the connection effect of the device and the ground can be enhanced through the drilling treatment, the positioning of the device is further realized, the contact area between the device and the soil layer can be increased by the two groups of positioning telescopic columns arranged in the device in a diagonal manner, the oblique angles are arranged, the space below the base plate can be cut into two triangular areas, the stability of the device after the positioning is further enhanced, and the side tilting is prevented.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the driving motor and screw rod mounting structure of the present invention;

FIG. 3 is a schematic sectional view of the fruit and vegetable collecting box of the present invention;

FIG. 4 is a schematic view of the structure at A in FIG. 3 according to the present invention;

FIG. 5 is a partial schematic view of the object placing plate according to the present invention;

FIG. 6 is a schematic top view of a rotating rod according to the present invention;

FIG. 7 is a side view of the turning bar of the present invention;

FIG. 8 is a schematic view of a cleaning foam web structure of the present invention;

FIG. 9 is a schematic view of the fixing rod and insertion rod mounting structure of the present invention;

FIG. 10 is a schematic view of the structure of the moveable member of the present invention.

In the figure: 1. a base plate; 101. a movable member; 102. a shaft lever; 103. a stay bar; 2. positioning the telescopic column; 201. a drive motor; 202. fixing a support frame; 203. a screw rod; 204. positioning the disc; 3. a handrail; 301. an anti-slip sleeve; 4. a fruit and vegetable collecting box; 401. a first separator; 402. a second separator; 403. a partition plate; 404. a delivery port; 5. cleaning the cavity; 501. a dividing strip; 502. cleaning the foam screen plate; 503. a sideboard; 504. a discharge port; 6. a storage chamber; 7. a rotating rod; 701. a foam protective sleeve; 702. a fixing ring; 703. easy tearing; 8. a storage cavity; 9. a storage plate; 901. a vertical plate; 902. a foam board; 903. a slide plate; 904. inserting a rod; 905. a limiting groove plate; 906. a chute; 907. a scissor rack; 908. an electro-hydraulic lever; 10. fixing the rod; 1001. an engaging rod; 1002. and (6) embedding the hole.

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.

Referring to fig. 1-10, an embodiment of the present invention is shown: an auxiliary positioning system for a fruit and vegetable picking robot comprises a base plate 1, positioning telescopic columns 2, a fruit and vegetable collecting box 4, a cleaning cavity 5, a rotating rod 7, an object placing plate 9 and a fixing rod 10, wherein two groups of positioning telescopic columns 2 are arranged on the surface of the top of the base plate 1, the positioning telescopic columns 2 are respectively positioned at two diagonal positions on the surface of the base plate 1, two groups of through holes are formed in the base plate 1, the positions of the holes correspond to the installation positions of the positioning telescopic columns 2, the base plate 1 enables the device to be small in size, fruit and vegetable picking can be carried out in a planting area with small planting distance, the device is more flexible to use, the positioning telescopic columns 2 can be used for positioning operation of the device, the device can keep stability and cannot tilt when fruit and vegetable picking operation is carried out, handrails 3 are welded at the top of the base plate 1, and the handrails 3 are positioned at one side of one group of the positioning telescopic columns 2, the moving direction of the device can be controlled through the handrail 3, the deviation of a transfer path of the device is avoided, the fruit and vegetable collecting box 4 is fixed at the top of the base plate 1, the fruit and vegetable collecting box 4 is positioned at the rear part of the handrail 3, the picked fruits and vegetables can be collected by the fruit and vegetable collecting box 4, the first partition plate 401 and the second partition plate 402 are fixed in the fruit and vegetable collecting box 4, the second partition plate 402 is positioned at one side of the first partition plate 401, the space in the fruit and vegetable collecting box 4 can be divided into three independent spaces, namely a cleaning chamber 5, a storage chamber 6 and a storage chamber 8 through the arrangement of the first partition plate 401 and the second partition plate 402, the functional classification of the inner space is realized, the cleaning chamber 5 is arranged in the space formed by the first partition plate 401 and the inner wall at one side of the fruit and vegetable collecting box 4, branches and leaves and other attachments entering the surface of the fruits and vegetables in the fruit and vegetable collecting box, a storage cavity 6 is arranged in a space formed by the first partition board 401 and the second partition board 402, the storage cavity 6 is positioned at one side of the cleaning cavity 5, the storage cavity 6 provides a space for installing a storage plate 9 so as to be used for storing fruits and vegetables processed by the cleaning cavity 5, a storage cavity 8 is arranged in a space formed by the second partition board 402 and the inner wall at the other side of the fruit and vegetable collecting box 4, the storage cavity 8 is positioned at one side of the storage cavity 6, the storage cavity 8 is used for storing some parts in the using process of the device and is convenient to take, an inverted T-shaped support column is arranged at the inner bottom wall of the storage cavity 6, the storage plate 9 is arranged in the storage cavity 6 through the T-shaped support column, the fruits and vegetables entering the surface can be stored in a lifting mode, shaft members are arranged at four corners of the bottom of the storage plate 9, scissors frames 907 are arranged at four corners of the bottom of the storage plate 9 through, shear holder 907's surface mounting has dead lever 10, can cooperate with inserted bar 904, realizes the upper and lower floor and puts the locking between the thing board 9, and the inner wall of putting the thing board 9 passes through the bearing frame and installs multiunit bull stick 7, through rotating, can drive to put the fruit vegetables on thing board 9 surface and carry the one end that shifts to putting the thing board 9 and be close to and put thing chamber 8, accomplishes the transfer of fruit vegetables.

Limiting groove plates 905 are arranged on the front surface and the back surface of the object placing plate 9, a groove channel is arranged inside the limiting groove plates 905, vertical plates 901 are arranged on the top of the front surface and the top of the back surface of the object placing plate 9, sliding grooves 906 are arranged inside the vertical plates 901, the sliding grooves 906 are close to the bottom of the vertical plates 901, sliding plates 903 are connected inside the sliding grooves 906 in a sliding mode, the sliding plates 903 are of inverted U-shaped structures, the bottoms of the sliding plates 903 extend out of the limiting groove plates 905, insertion rods 904 are arranged on the surfaces of one sides of the sliding plates 903, the insertion rods 904 and the bottoms of the sliding plates 903 form L-shaped structures, a group of electric hydraulic rods 908 are arranged on the surfaces of the scissor frames 907, the electric hydraulic rods 908 are located on one side of the fixing rods 10, the electric hydraulic rods 908 are started to drive the scissor frames 907 to ascend, but due to the fact that the insertion rods 904 are connected with the fixing rods, therefore, the interior of the object placing plate 9 can keep a static state to receive the fruits and vegetables conveyed by the conveying port 404, and the fruits and vegetables transported later can push the fruits and vegetables transported earlier along with the movement of the fruits and vegetables to the surface of the object placing plate 9, thereby pushing the foam board 902 to slide towards one side close to the object placing cavity 8 and driving the sliding board 903 in the limiting groove board 905 to slide in the same direction, indirectly driving the inserted rod 904 connected with the sliding board 903 to move and keep away from the embedded hole 1002 in the fixed rod 10, so that the scissors frame 907 is out of the constraint and then ascends, the lower object placing plate 9 is lifted to the lower part of the conveying opening 404 for carrying the fruits and vegetables in the next round, and in addition, the arrangement of the foam plate 902, then can form the interception effect of three direction with riser 901 for put the fruit vegetables on thing board 9 surface and can not roll from the surface of putting thing board 9 in the transmission process, avoided falling of fruit vegetables, the inside spout 906 of riser 901 provides the space for the slip of slide 903.

Two groups of cleaning foam screen plates 502 which are arranged in a mirror image mode and staggered up and down are installed on the inner wall of the cleaning cavity 5, an inclined included angle is formed between one end of each cleaning foam screen plate 502 and the inner wall of the cleaning cavity 5, a plurality of partition strips 501 are longitudinally and transversely arranged inside the cleaning foam screen plates 502, discharge holes 504 are formed in spaces formed by the partition strips 501 in a staggered mode, a baffle plate 503 is installed on the inner wall of one side of the cleaning cavity 5, the installation position of the baffle plate 503 corresponds to the cleaning foam screen plate 502 which is located above the baffle plate 503, the baffle plate 503 is made of sponge materials, after fruits and vegetables enter the cleaning cavity 5, the fruits and vegetables can slide on the surface of a slope formed by the cleaning foam screen plates 502, the surface of each cleaning foam screen plate 502 is enabled to form an uneven structure through the matching of the partition strips 501 inside the cleaning foam screen plates 502 and the discharge holes 504, and drop to the inside bottom in clean chamber 5 through discharge gate 504, and then realized the clean operation of preliminary screening after the fruit vegetables are picked, reduced the work load of follow-up manual cleaning, and the setting of sideboard 503 can provide the buffering protection to the fruit vegetables that get into clean chamber 5 inside, can be with striking to the clean cystosepiment 902 surface of the fruit vegetables rebound to the below on its surface, still can provide flexible buffering protection, takes place colliding with of fruit vegetables when avoiding striking.

The top of the flexible post 2 in location is fixed with location disc 204, the bottom of location disc 204 is equipped with the notch, the top welding of location disc 204 has two sets of fixed stay frames 202, the inside of fixed stay frame 202 is fixed with driving motor 201, driving motor 201 is three-phase asynchronous machine, driving motor 201's output runs through location disc 204 and installs hob 203, and hob 203 is located the inside of the flexible post 2 in location, take out vaulting pole 103 from the notch of fixed stay disc 204 bottom and start driving motor 201, it is rotatory to drive hob 203, drive flexible post 2 shrink downwards through the action of gravity of driving motor 201 self, make hob 203 through the inside entrance to a cave gliding of base plate 1 and carry out corresponding drilling processing with ground contact and to ground, through drilling processing, can strengthen the device and the effect of being connected on ground, and then realize the location of device, and the flexible post 2 multiplicable device of two sets of location that present diagonal installation and arrange in the device and the contact with the soil layer is handled The area, the setting at oblique angle in addition can cut into two triangle regions with the space of base plate 1 below, and then strengthens the stability behind the device location, prevents to heel, avoids the device to suffer destruction in the use, reduces unnecessary device replacement cost.

The surface of bull stick 7 is encircleed and is installed multilayer foam protective sheath 701, the inside of foam protective sheath 701 is equipped with easily tears seam 703, the surperficial both ends of foam protective sheath 701 are encircleed and are installed solid fixed ring 702, fix the foam protective sheath 701 on bull stick 7 surface through solid fixed ring 702 and can wrap up bull stick 7, avoid the rigid surface of bull stick 7 to cause the damage of colliding with to the epidermis of fruit vegetables, influence the follow-up saving and the sale of fruit vegetables, foam protective sheath 701 on the top layer is polluted the back by blots such as the surperficial remaining earth of fruit vegetables in addition, utilize easily to tear seam 703 and tear foam protective sheath 701 on top layer off, expose the lower floor not contaminated, completely new foam protective sheath 701, foam protective sheath 701 after avoiding polluting causes secondary pollution.

The top skin weld of base plate 1 has four sets of moving parts 101, two liang are a set of, be located the both sides of two sets of flexible post 2 in location respectively, axostylus axostyle 102 is installed to the inner wall of moving part 101, the skin weld of axostylus axostyle 102 has vaulting pole 103, and the diameter of vaulting pole 103 is the same with the diameter of location disc 204 bottom notch, after picking, the top lifting of the flexible post 2 in location is handled, the axostylus axostyle 102 rotates, adjust vaulting pole 103, so that inject the top of vaulting pole 103 inside the notch of location disc 204 bottom from the below, realize moving part 101 to the fixed stay.

First baffle 401's inside is equipped with delivery port 404, and one side outer wall surface mounting who keeps away from storing chamber 6 of second baffle 402 has three group's division boards 403, can provide the import with the inside of entering storing chamber 6 of fruit vegetables conveying after the cleaning through delivery port 404, and division board 403's setting then can realize the partition effect to putting the inside space in thing chamber 8 to realize the function of categorised thing of putting.

The surface of handrail 3 encircles and installs antiskid cover 301, and the surface winding of antiskid cover 301 has sweat-absorbing area, and sweat on antiskid cover 301 surface can in time be siphoned away in setting up of sweat-absorbing area for the staff can avoid skidding of hand when using handrail 3, has made things convenient for handrail 3's use.

The inside slidable mounting of dead lever 10 has gomphosis pole 1001, and the inside of dead lever 10 and gomphosis pole 1001 is run through and is equipped with gomphosis hole 1002, and the diameter size of gomphosis hole 1002 is the same with the diameter size of inserted bar 904, presses the gomphosis pole 1001 and detains into the inside of dead lever 10, inserts inserted bar 904 inside the hole after the gomphosis hole 1002 on gomphosis pole 1001 surface and the gomphosis hole 1002 on dead lever 10 surface overlap, can realize the locking of upper and lower floor's thing board 9.

The working steps of the device are as follows:

s1, when the device is used for carrying out corresponding fruit and vegetable picking auxiliary positioning operation, the device is moved to a corresponding picking point by utilizing the handrail 3, the positioning telescopic columns 2 are lifted, the support rods 103 are pulled out from the notches at the bottoms of the positioning circular discs 204, then the driving motor 201 is started to drive the spiral rods 203 to rotate, the positioning telescopic columns 2 are driven to shrink downwards under the action of the gravity of the driving motor 201, so that the spiral rods 203 slide downwards to be in contact with the ground through the holes in the base plate 1 and correspondingly drill the ground, the connection between the device and the ground can be enhanced through drilling treatment, positioning is further realized, the contact area between the device and a soil layer can be increased by the two groups of positioning telescopic columns 2 which are arranged diagonally, the stability of the device after positioning is enhanced, and heeling is prevented;

s2, picking fruits and vegetables are placed into the cleaning cavity 5 through a robot, the fruits and vegetables slide on the surface of a slope formed by the cleaning foam screen plate 502 after entering the cleaning cavity 5, impurities such as branches and leaves on the surface and attachments can be stripped when the fruits and vegetables are conveyed on the surface of the cleaning foam screen plate 502 through the matching of the separation strips 501 in the cleaning foam screen plate 502 and the discharge hole 504, and the impurities fall to the bottom of the cleaning cavity 5 through the discharge hole 504, so that the primary screening cleaning operation after the fruits and vegetables are picked is realized, and the workload of subsequent manual cleaning is reduced;

s3, the fruits and vegetables processed by the cleaning cavity 5 enter the surface of the object placing plate 9 through the conveying port 404, the electric hydraulic rod 908 is started to drive the scissor frame 907 to ascend, but due to the embedded connection of the insertion rod 904 and the fixed rod 10, the upward lifting action provided by the electric hydraulic rod 908 is blocked by the transverse locking of the insertion rod 904 and the fixed rod 10, so that the interior of the object placing plate 9 can be kept in a static state to receive the fruits and vegetables conveyed by the conveying port 404, as the fruits and vegetables move to the surface of the object placing plate 9, the fruits and vegetables conveyed later can form a pushing action on the fruits and vegetables conveyed earlier, the foam plate 902 is further pushed to slide towards one side close to the object placing cavity 8, the sliding plate 903 is driven to slide in the same direction, the insertion rod 904 connected with the sliding plate 903 is indirectly driven to move to be far away from the embedded hole 1002 in the fixed rod 10, the scissor frame 907 is not bound, and then ascends, and the object, carrying out fruit and vegetable carrying of the next round;

s4, when fruits and vegetables are pushed to move on the surface of the storage plate 9, the rotating rod 7 is driven to rotate, and then the fruits and vegetables are driven to move to be close to one side of the storage plate 9 close to the storage cavity 8, so that space is provided for subsequent fruit and vegetable receiving, in the process, the rotating rod 7 can be wrapped by the foam protective sleeve 701 on the surface of the rotating rod 7, the rigid surface of the rotating rod 7 is prevented from colliding and damaging the surface of the fruits and vegetables, after the foam protective sleeve 701 on the surface layer is polluted by stains such as residual soil on the surface of the fruits and vegetables, the foam protective sleeve 701 on the surface layer is torn by the easy-to-tear seam 703, the lower layer is exposed and is not polluted, the brand-new foam protective sleeve 701 is exposed, and the.

The working principle is as follows: when the device is used for carrying out corresponding fruit and vegetable picking auxiliary positioning operation, after the device is moved to a corresponding picking point by utilizing the handrail 3, the positioning telescopic column 2 is lifted, the support rod 103 is pulled out from the notch at the bottom of the positioning disc 204, then the driving motor 201 is started to drive the screw rod 203 to rotate, the positioning telescopic column 2 is driven to shrink downwards under the action of the gravity of the driving motor 201, so that the screw rod 203 slides downwards to be contacted with the ground through the opening inside the base plate 1 and correspondingly carries out drilling treatment on the ground, the connection effect of the device and the ground can be enhanced through the drilling treatment, further the positioning is realized, the contact area between the device and a soil layer can be increased by two groups of positioning telescopic columns 2 which are arranged in a diagonal manner, the stability after the positioning of the device is enhanced, the side tilting is prevented, then picked fruits and vegetables are placed inside the cleaning cavity 5 by utilizing a robot, and the fruits and vegetables enter the, the fruit and vegetable picking device can slide on the surface of a slope formed by a cleaning foam screen plate 502, in the process, fruits and vegetables can impact the inner wall of a cleaning cavity 5, the arrangement of the baffle plate 503 can provide buffer protection, the fruits and vegetables impacting to the surface of the cleaning foam screen plate can be rebounded to the surface of a cleaning foam plate 902 below, the flexible buffer protection can also be provided, the collision of the fruits and vegetables during the impact is avoided, the surface of the cleaning foam screen plate 502 forms an uneven structure through the matching of the separation strip 501 inside the cleaning foam screen plate 502 and the discharge port 504, when the fruits and vegetables are conveyed on the surface of the cleaning foam screen plate 502, impurities such as branches and leaves on the surface, attachments and the like can be stripped and fall to the bottom inside the cleaning cavity 5 through the discharge port 504, the primary screening and cleaning operation after the fruits and vegetables are picked is realized, the workload of subsequent manual cleaning is reduced, the fruits and vegetables processed by the cleaning cavity 5 enter the, the electric hydraulic rod 908 is started to drive the scissor rack 907 to ascend, but because the insertion rod 904 is connected with the fixed rod 10 in an embedded manner, the upward lifting function provided by the electric hydraulic rod 908 is blocked by the transverse locking of the insertion rod 904 and the fixed rod 10, so that the interior of the object placing plate 9 can be kept in a static state to receive fruits and vegetables conveyed by the conveying port 404, as the fruits and vegetables move to the surface of the object placing plate 9, the later-transported fruits and vegetables can push the fruits and vegetables transported earlier, further the foam plate 902 is pushed to slide towards one side close to the object placing cavity 8, the sliding plate 903 is driven to slide in the same direction, the insertion rod 904 connected with the sliding plate 903 is indirectly driven to move, the insertion hole 1002 in the fixed rod 10 is far away, the scissor rack 907 is not bound, then the electric hydraulic rod 908 ascends, the object placing plate 9 below the conveying port 404 is lifted, the fruits and vegetables of the next round are received, when the surface, the rotating rod 7 is driven to rotate, so that fruits and vegetables are driven to be transferred to a side close to the storage cavity 8 of the storage plate 9 to provide a space for subsequent fruit and vegetable carrying, in the process, the rotating rod 7 can be wrapped by the foam protective sleeve 701 on the surface of the rotating rod 7, the rigid surface of the rotating rod 7 is prevented from colliding and damaging the surface of the fruits and vegetables, after the foam protective sleeve 701 on the surface layer is polluted by soil and the like remained on the surface of the fruits and vegetables, the foam protective sleeve 701 on the surface layer is torn off by the easy-to-tear seam 703, the uncontaminated and brand-new foam protective sleeve 701 on the lower layer is exposed, secondary pollution caused by the polluted foam protective sleeve 701 to subsequent fruit and vegetables is avoided, after the fruits and vegetables in the field are picked by the device, the driving motor 201 is started to reversely rotate, the spiral rod 203 is driven to rise, the soil layer is separated, a worker stands the supporting rod 103, can realize fixing of the flexible post 2 of location, thrust unit shifts to next picking point afterwards, carries out next round and picks the operation.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a fruit vegetables picking robot is with auxiliary positioning system, includes base plate (1), flexible post in location (2), fruit vegetables collecting box (4), clean chamber (5), bull stick (7), puts thing board (9) and dead lever (10), its characterized in that: the fruit and vegetable collecting box comprises a base plate (1), wherein two groups of positioning telescopic columns (2) are arranged on the surface of the top of the base plate (1), the positioning telescopic columns (2) are respectively positioned at two diagonal positions on the surface of the base plate (1), two groups of through holes are formed in the base plate (1), the positions of the holes correspond to the mounting positions of the positioning telescopic columns (2), handrails (3) are welded at the top of the base plate (1), the handrails (3) are positioned at one side of one group of positioning telescopic columns (2), a fruit and vegetable collecting box (4) is fixed at the top of the base plate (1), the fruit and vegetable collecting box (4) is positioned behind the handrails (3), a first partition plate (401) and a second partition plate (402) are fixed in the fruit and vegetable collecting box (4), the second partition plate (402) is positioned at one side of the first partition plate (401), and a cleaning cavity (5) is arranged in a space formed by the first partition plate (401) and the inner wall at, a storage cavity (6) is arranged in a space formed by the first partition board (401) and the second partition board (402), the storage cavity (6) is positioned at one side of the cleaning cavity (5), the storage cavity (8) is arranged in the space formed by the second clapboard (402) and the inner wall of the other side of the fruit and vegetable collection box (4), the article placing cavity (8) is positioned at one side of the article storing cavity (6), an inverted T-shaped supporting column is arranged at the inner bottom wall of the article storing cavity (6), an object placing plate (9) is arranged in the storage cavity (6) through a T-shaped supporting column, the four corners of the bottom of the object placing plate (9) are provided with shaft parts, the four corners of the bottom of the object placing plate (9) are provided with shear frames (907) through the shaft parts, the surface mounting of scissors frame (907) has dead lever (10), the inner wall of putting thing board (9) is installed multiunit bull stick (7) through the bearing frame.

2. The auxiliary positioning system for the fruit and vegetable picking robot as claimed in claim 1, wherein: the utility model discloses a shelf board, including storage plate (9), limit slot plate (905), the inside of limit slot plate (905) is equipped with the channel, vertical plate (901) are all installed to the front top and the back top of storage plate (9), the inside of vertical plate (901) is equipped with spout (906), spout (906) are close to the bottom position of vertical plate (901), the inside sliding connection of spout (906) has slide (903), slide (903) are the U type structure of invering, the inside of limit slot plate (905) is extended to the bottom of slide (903), one side surface mounting of slide (903) has inserted bar (904), inserted bar (904) and the bottom of slide (903) form L type structure, the surface mounting of scissors frame (907) has a set of electronic hydraulic stem (908), and electronic hydraulic stem (908) are located one side of dead lever (10).

3. The auxiliary positioning system for the fruit and vegetable picking robot as claimed in claim 1, wherein: two sets of mirror images are installed to the inner wall in clean chamber (5) and are arranged, clean foam otter board (502) of dislocation from top to bottom, the one end of clean foam otter board (502) and the inner wall in clean chamber (5) form the slope contained angle, the inside vertical and horizontal arrangement of clean foam otter board (502) has a plurality of parting beads (501), be equipped with discharge gate (504) in the crisscross space that forms of parting bead (501), sideboard (503) are installed to one side inner wall in clean chamber (5), and the mounted position of sideboard (503) corresponds with clean foam otter board (502) that the position leaned on, sideboard (503) are made for sponge material.

4. The auxiliary positioning system for the fruit and vegetable picking robot as claimed in claim 1, wherein: the top of flexible post (2) in location is fixed with location disc (204), and the bottom of location disc (204) is equipped with the notch, and the top welding of location disc (204) has two sets of fixed stay frames (202), and the inside of fixed stay frame (202) is fixed with driving motor (201), and driving motor (201) are three-phase asynchronous motor, and the output of driving motor (201) runs through location disc (204) and installs hob (203), and hob (203) are located the inside of flexible post (2) in location.

5. The auxiliary positioning system for the fruit and vegetable picking robot as claimed in claim 1, wherein: the surface of bull stick (7) is encircleed and is installed multilayer foam protective sheath (701), and the inside of foam protective sheath (701) is equipped with easily tears seam (703), and the surperficial both ends of foam protective sheath (701) are encircleed and are installed solid fixed ring (702).

6. The auxiliary positioning system for the fruit and vegetable picking robot as claimed in claim 1, wherein: four groups of moving parts (101) are welded on the surface of the top of the base plate (1), every two moving parts are in one group and are respectively located on two sides of two groups of positioning telescopic columns (2), a shaft rod (102) is installed on the inner wall of each moving part (101), a support rod (103) is welded on the surface of the shaft rod (102), and the diameter of the support rod (103) is the same as that of a notch at the bottom of the positioning disc (204).

7. The auxiliary positioning system for the fruit and vegetable picking robot as claimed in claim 1, wherein: the conveying opening (404) is formed in the first partition plate (401), and three groups of partition plates (403) are mounted on the surface of the outer wall of one side, far away from the storage cavity (6), of the second partition plate (402).

8. The auxiliary positioning system for the fruit and vegetable picking robot as claimed in claim 1, wherein: the surface of handrail (3) encircles and installs antiskid cover (301), and the surface winding of antiskid cover (301) has sweat-absorbing area.

9. The auxiliary positioning system for the fruit and vegetable picking robot as claimed in claim 1, wherein: the embedded rod (1001) is slidably mounted inside the fixed rod (10), an embedded hole (1002) penetrates through the fixed rod (10) and the embedded rod (1001), and the diameter of the embedded hole (1002) is the same as that of the inserted rod (904).

10. The auxiliary positioning system for the fruit and vegetable picking robot as claimed in claims 1-9, characterized in that the working steps of the device are as follows:

s1, when the device is used for carrying out corresponding fruit and vegetable picking auxiliary positioning operation, the device is moved to a corresponding picking point by utilizing the handrail (3), the positioning telescopic column (2) is lifted, the support rod (103) is pulled out from a notch at the bottom of the positioning disc (204), then the driving motor (201) is started to drive the spiral rod (203) to rotate, the positioning telescopic column (2) is driven to shrink downwards under the action of the gravity of the driving motor (201), so that the spiral rod (203) slides downwards through an opening in the base plate (1) to be in contact with the ground and correspondingly drill the ground, the connection effect of the device and the ground can be enhanced through the drilling treatment, the positioning is further realized, the contact area between the device and the soil layer can be increased by the two groups of positioning telescopic columns (2) which are arranged in a diagonal manner, the stability after the positioning of the device is enhanced, and the heeling is prevented;

s2, picking fruits and vegetables are placed into the cleaning cavity (5) by a robot, the fruits and vegetables slide on the surface of a slope formed by the cleaning foam screen plate (502) after entering the cleaning cavity (5), and the surface of the cleaning foam screen plate (502) forms an uneven structure through the matching of the separation strips (501) in the cleaning foam screen plate (502) and the discharge hole (504), so that when the fruits and vegetables are conveyed on the surface of the cleaning foam screen plate (502), impurities such as branches and leaves on the surface, attachments and the like can be stripped off and fall to the bottom of the interior of the cleaning cavity (5) through the discharge hole (504), further, the primary screening cleaning operation after picking the fruits and vegetables is realized, and the workload of subsequent manual cleaning is reduced;

s3, the fruits and vegetables processed by the cleaning cavity (5) enter the surface of the object placing plate (9) through the conveying port (404), the electric hydraulic rod (908) is started to drive the scissor rack (907) to ascend, but because the inserted rod (904) is connected with the fixed rod (10) in an embedded mode, the upward lifting effect provided by the electric hydraulic rod (908) is blocked by the transverse locking of the inserted rod (904) and the fixed rod (10), the interior of the object placing plate (9) can be kept in a static state to receive the fruits and vegetables transmitted by the conveying port (404), the fruits and vegetables transported later can push the fruits and vegetables transported earlier along with the movement of the fruits and vegetables to the surface of the object placing plate (9), the foam plate (902) is further pushed to slide towards one side close to the object placing cavity (8), the sliding plate (903) is driven to slide in the same direction, the inserted rod (904) connected with the sliding plate (903) is indirectly driven to move, and the embedded hole (1002) in the fixed rod (10) is far, the shear frame (907) is not bound and then ascends, so that the lower object placing plate (9) is lifted to the position below the conveying opening (404) for carrying fruits and vegetables in the next round;

s4, when fruits and vegetables are pushed to move on the surface of the storage plate (9), the rotating rod (7) is driven to rotate, so that the fruits and vegetables are driven to move to be close to one side of the storage plate (9) close to the storage cavity (8), and a space is provided for subsequent fruit and vegetable carrying.