CN112715160A - Fruit and vegetable picking robot with built-in lifting adjusting structure and using method - Google Patents
Fruit and vegetable picking robot with built-in lifting adjusting structure and using method Download PDFInfo
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- CN112715160A CN112715160A CN202110013862.8A CN202110013862A CN112715160A CN 112715160 A CN112715160 A CN 112715160A CN 202110013862 A CN202110013862 A CN 202110013862A CN 112715160 A CN112715160 A CN 112715160A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/12—Apparatus having only parallel elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/46—Constructional details of screens in general; Cleaning or heating of screens
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a fruit and vegetable picking robot with a built-in lifting adjusting structure and a using method thereof. The fixing frame can fix the hose connecting the collecting frame and the fixing head c, so that the picked fruits and vegetables cannot fall down from the hose well, the fruits and vegetables are easily blocked in the hose, and the fruit and vegetable picking robot cannot normally collect the picked fruits and vegetables.
Description
Technical Field
The invention relates to the field of fruit and vegetable picking technology, in particular to a fruit and vegetable picking robot with a built-in lifting adjusting structure and a using method thereof.
Background
Agricultural robots are an important branch of robot application, agricultural robots in our country are developed later due to the limitation of agricultural habits and culture levels formed in China for a long time, along with the continuous emphasis of the country and the vigorous support of relevant policies, agricultural mechanization in our country is rapidly developed, agricultural robots and intelligent agricultural equipment have the characteristics of high efficiency, high precision, low strength, low energy consumption and environmental friendliness, and show wide application prospects.
The existing fruit and vegetable picking robot has the following defects:
1. the reference CN110696010A discloses a fruit and vegetable picking manipulator, which comprises a base, a support rod, a parallel platform, a connecting arm, a camera mounting seat, a camera, an air pump, a tail end executor, a hose, a fruit recovery basket, and a tail end executor integrating air suction and cutting into a whole for picking fruits and vegetables, wherein the fruit and vegetable picking manipulator has high positioning performance, so that the missing picking rate and the breakage rate can be effectively reduced; the time consumed by single positioning is low, the response time of mechanical action is effectively shortened, the mechanical arm can effectively complete the movement, clamping and cutting actions in the picking process, the mechanical operation efficiency of the mechanical arm and the fruit and vegetable picking efficiency are improved, but the hose is not fixed when fruits and vegetables are picked, the picked fruits and vegetables cannot well fall from the hose, the fruits and vegetables are easily blocked in the hose, and the use is inconvenient;
2. comparison document CN109618670A discloses a fruit and vegetable picking and sorting intelligent robot, "including walking elevating system, terminal picking mechanism, connect fruit conveying mechanism, conveying letter sorting mechanism, walking elevating system is including removing the base, install the elevating platform on removing the base, terminal picking mechanism installs on the elevating platform, pick the fruit and vegetable, connect fruit conveying mechanism to install on the elevating platform, catch the fruit and vegetable and carry to conveying letter sorting mechanism department, conveying letter sorting mechanism installs on the elevating platform surface, include the slope section in proper order, conveying section and letter sorting section, the fruit and vegetable rolls through the slope section and falls to conveying section, and carry to letter sorting section and sort according to fruit and vegetable size and maturity. The intelligent robot for picking and sorting fruits and vegetables provided by the invention not only can automatically pick fruits and vegetables, but also can sort the fruits and vegetables according to the size and maturity of the fruits and vegetables while picking, so that the picking and sorting can be synchronously carried out. However, a corresponding collecting device is lacked, so that the fruit and vegetable picking robot cannot collect the fruits and vegetables correspondingly after sorting the fruits and vegetables, the workload of workers for collecting the sorted fruits and vegetables is increased, the working efficiency is reduced, the fruits and vegetables cannot be well protected during sorting, and the fruits and vegetables are easily damaged;
3. comparison document CN212087060U discloses a fruit vegetables picking robot, "the utility model discloses a fruit vegetables picking robot belongs to robot technical equipment technical field. The fruit and vegetable picking robot comprises a walking device, a base, a fruit and vegetable collecting device and a clamping device, wherein the walking device is provided with a crawler belt, a lifting platform is arranged on the upper side of the walking device, the base is arranged on the upper side of the lifting platform, and a mechanical arm rotary motor and a rotary frame are arranged on the right side of the base; the fruit and vegetable collecting device is provided with a fruit and vegetable collecting basket, a fruit and vegetable collecting basket and a flexible fruit conveying pipe; the clamping device is provided with an end effector control box, a gear and rack, a mechanical finger, a picking blade, a mechanical arm rotary motor and a mechanical finger rotary motor. The utility model reduces the damage and even breakage of fruits when picking fruits and vegetables by arranging the mechanical fingers to be flexible high polymer materials and the matching use of the flexible gaskets and the flexible pressure sensors; can be when picking the action through the fruit vegetables collection system who sets up and accomplish the back, directly will pick the fruit vegetables and fall into fruit vegetables collection basket through the flexible defeated fruit pipe that sets up, saved the robot and picked the step of placing after accomplishing, improved and picked efficiency. "but lack corresponding letter sorting, can not carry out size sorting to the fruit vegetables after gathering, and the staff of being inconvenient for takes out, increases follow-up staff's work load.
Disclosure of Invention
The invention aims to provide a fruit and vegetable picking robot with a built-in lifting adjusting structure and a using method thereof, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a fruit vegetables harvesting robot of built-in lift adjustment structure and application method, includes base, fixed plate a, collecting box, install bin, screening case and arm, fixed plate a is installed at the top of base, the top movable mounting of base has the collecting box, and the collecting box is located fixed plate an's inboard, the install bin is installed at the top of base, and the install bin is located one side of fixed plate a, the inside of install bin is fixed with pneumatic telescopic link through the mounting, pneumatic telescopic link runs through the top of install bin, pneumatic telescopic link's top has the arm through bolt fixed mounting, the top of install bin is fixed with the screening case through the bolt, one side of screening case runs through and installs a plurality of screening boards, the screening case passes through the pipeline and is connected with the top of collecting box.
Preferably, the bottom of base is equipped with the spring layer, and there is the wheel bottom on the spring layer through mounting swing joint, and the internally mounted on spring layer has a plurality of springs, and the top of base is equipped with spout an, and spout an is located the inboard of fixed plate a.
Preferably, the inner walls of the two sides of the front end of the fixing plate a are provided with limiting grooves, and the inner sides of the limiting grooves are movably provided with baffles.
Preferably, four same collecting grooves are separated inside the collecting box, a fixing plate b is installed at the top of the collecting box through a fixing piece, four fixing heads a are fixed at the top of the fixing plate b through bolts, the four fixing heads a correspond to the four collecting grooves respectively, a buffering belt is installed at the top of the collecting box, corresponding fixing grooves are formed in two sides of the collecting box respectively, a collecting box is movably installed inside the fixing grooves, rubber pads are installed on the inner wall of the collecting box, and universal wheels are installed at the bottom of the collecting box.
Preferably, the inside of install bin is fixed with the battery box through the bolt, and the battery box is located one side of pneumatic telescopic link, and the internally mounted of battery box has a plurality of batteries, and the inside of install bin is fixed with the air pump through the bolt, and the air pump is located pneumatic telescopic link's below.
Preferably, the inner wall of the pipeline is provided with a rubber layer, one end of the pipeline is provided with a connector a, and the other end of the pipeline is provided with a connector b.
Preferably, the outer wall of one side of the screening box is provided with a plurality of fixing heads b, and the top end of the screening box is fixed with a fixing head c through a fixing piece.
Preferably, the protection pad is installed at the top of screening board, and the inside of screening board is equipped with spout b, and the inside movable mounting of spout b has a plurality of fixed strip an, and the inside of fixed strip a is equipped with spout c, and the inside movable mounting of spout c has a plurality of fixed strip b, and fixed strip b all is equipped with spacing hole with fixed strip a's top.
Preferably, the blade is installed to the one end picking head inner wall of arm, and one side outer wall of arm is fixed with the mount through the mounting, and the one end of arm is fixed with the collection frame through the mounting, and gathers the frame and be located the picking head under.
Preferably, the device has the following publishing steps:
s1, before fruits and vegetables are collected by using the device, a fixed head c is connected with a collecting frame through a hose, a collecting box is placed inside a collecting box, the collecting box is placed and installed on the inner side of a fixed plate a, then a baffle is installed at the front end of the fixed plate a through a limiting groove, the collecting box is fixed, the collecting box is connected with a screening box through a pipeline, then the screening plate is pulled out from the inside of the screening box, and the picked fruits and vegetables are sorted by adjusting the distance between a fixed strip b and the fixed strip a;
s2, when fruits and vegetables are picked, the height of the mechanical arm is adjusted through the pneumatic telescopic rod, the mechanical arm is started, the mechanical arm finds the fruits and the vegetables to pick the fruits and the vegetables, the picked fruits and the vegetables can fall onto the collecting frame, the step that the mechanical arm puts the fruits and the vegetables into the collecting box is omitted, the fruit and vegetable picking efficiency of the mechanical arm is increased, the fruits and the vegetables falling into the collecting frame can enter the screening box through the hose, the fruits and the vegetables can be sorted through the screening plate after entering the screening box, and the sorted fruits and vegetables can enter the collecting box through pipeline classification;
s3, when fruits and vegetables are picked, the fruits and vegetables pass through the buffer belt before entering the collecting box in a classified mode through the pipelines, the falling fruits and vegetables can be decelerated through the buffer belt, and the fruits and vegetables are prevented from directly falling into the collecting box through the pipelines, so that the fruits and vegetables are broken;
s4, after fruits and vegetables are picked, the collecting box is taken out of the collecting box, the universal wheels are mounted at the bottom of the collecting box, the collecting box can move through the universal wheels, so that workers can conveniently take out the collecting box from the collecting box, the collected fruits and vegetables can be conveniently taken out by the workers by taking out the collecting box from the collecting box, the workers can conveniently use the collecting box, and the collecting box can be independently used and can store the fruits and vegetables;
s5 after the fruit vegetables picking robot uses, will gather the frame with the hose from the hose the top dismantlement down, prevent the hose damage, lead to picking next time and can not normally go on, highly reduce the arm through pneumatic telescopic link, will collect the box and take out from the inside of collecting box, lighten fruit vegetables picking robot's weight, the staff of being convenient for removes fruit vegetables picking robot, protect fruit vegetables picking robot and deposit, charging the inside battery of fruit vegetables picking robot through the mouth that charges, guarantee that fruit vegetables picking robot can normal use.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the fruit and vegetable picking robot, the fixing frame is fixed on the outer wall of one side of the mechanical arm through the fixing part, the collecting frame is fixed at the top end of the mechanical arm through the fixing part and is located right below the picking head, picked fruits and vegetables can fall onto the collecting frame, the step that the mechanical arm puts the fruits and vegetables into the collecting box is omitted, the fruit and vegetable picking efficiency of the mechanical arm is improved, the fixing frame can fix the collecting frame and a hose which is used for fixing the head c in a connecting mode, the picked fruits and vegetables are prevented from falling from the hose too well, the fruits and vegetables are easy to block in the hose, and the fruit and vegetable picking robot cannot normally collect the picked fruits and vegetables.
2. According to the fruit and vegetable collecting box, the protective pad is arranged at the top of the screening plate, when fruits and vegetables fall to the top of the screening plate, the fruits and vegetables can be protected by the protective pad, the fruits and vegetables are prevented from being broken, the rubber layer is arranged on the inner wall of the pipeline, the fruits and vegetables can collide with the inside of the pipeline when passing through the pipeline, damage to the fruits and vegetables inside the pipeline can be reduced through the rubber layer, the fruits and vegetables are protected, the buffer belt is arranged at the top of the collecting box, the fruits and vegetables can pass through the buffer belt before entering the collecting box through pipeline classification, the fallen fruits and vegetables can be decelerated through the buffer belt, the fruits and vegetables are prevented from directly falling into the collecting box from the pipeline, the fruits and vegetables are prevented from being broken, rubber pads are arranged on the peripheral inner walls of the.
3. According to the fruit and vegetable sorting device, picked fruits and vegetables can be sorted through the screening plate, the fruits and vegetables with different sizes are classified, the fruits and vegetables which do not pass through the sizes can enter the corresponding collecting boxes through the corresponding pipelines, the two sides of each collecting box are respectively provided with the corresponding fixing grooves, the collecting boxes are movably mounted in the fixing grooves, the collecting boxes are taken out of the collecting boxes through the fixing grooves, the universal wheels are mounted at the bottoms of the collecting boxes, the collecting boxes can be taken out of the collecting boxes by workers conveniently through the universal wheels, the collected fruits and vegetables can be taken out by the workers conveniently by taking the collecting boxes out of the collecting boxes, the workers can use the fruits and vegetables conveniently, and the collecting boxes can be used independently and can be used for storing the fruits and vegetables.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the spring layer structure of the present invention;
FIG. 3 is a schematic view of the baffle structure of the present invention;
FIG. 4 is a schematic view of the collection box of the present invention;
FIG. 5 is a schematic cross-sectional view of the installation case of the present invention;
FIG. 6 is a schematic cross-sectional view of a pipe according to the present invention;
FIG. 7 is a schematic view of the spacer and the robot of the present invention;
FIG. 8 is a schematic view of a screening plate according to the present invention.
In the figure: 1. a base; 101. a wheel; 102. a spring layer; 103. a spring; 104. a chute a; 2. a fixed plate a; 201. a limiting groove; 202. a baffle plate; 3. a collection box; 301. a fixing plate b; 302. a fixed head a; 303. a buffer belt; 304. fixing grooves; 305. a collection box; 306. a rubber pad; 307. a universal wheel; 4. installing a box; 401. a battery case; 402. a storage battery; 403. a pneumatic telescopic rod; 404. an air pump; 5. a pipeline; 501. a rubber layer; 502. a connector a; 503. a connector b; 6. a screening box; 601. a fixed head b; 602. a fixed head c; 7. screening the plate; 701. a protective pad; 702. a chute b; 703. a fixing strip a; 704. a chute c; 705. a fixing strip b; 706. a limiting hole; 8. a mechanical arm; 801. a blade; 802. collecting a frame; 803. a fixing frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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. 1-8, an embodiment of the present invention: a fruit and vegetable picking robot with a built-in lifting adjusting structure and a using method thereof comprise a base 1, a fixing plate a2, a collecting box 3, a mounting box 4, a screening box 6 and a mechanical arm 8, wherein the fixing plate a2 is installed at the top of the base 1, the fixing plate a2 can be supported through the base 1, the stability of the fixing plate a2 is guaranteed, the collecting box 3 can be blocked by the fixing plate a2, the stability above the base 1 of the collecting box 3 is guaranteed, the collecting box 3 is movably installed at the top of the base 1, the collecting box 305 is placed inside the collecting box 3 and fixed, the stability of the collecting box 305 is guaranteed, sorted fruits and vegetables can be collected through the collecting box 305, the fruits and vegetables can be conveniently collected by workers, the workload of the workers for collecting the fruits and the vegetables is reduced, the working efficiency is improved, the collecting box 3 is positioned on the inner side of the fixing plate a2, the, the pneumatic telescopic rod 403, the storage battery box 401 and the air pump 404 are arranged in the installation box 4, the stability of the pneumatic telescopic rod 403, the storage battery box 401 and the air pump 404 is guaranteed, the pneumatic telescopic rod 403, the storage battery box 401 and the air pump 404 can work normally, the installation box 4 is located on one side of the fixing plate a2, the pneumatic telescopic rod 403 is fixed in the installation box 4 through a fixing piece, the height of the mechanical Arm 8 can be adjusted through the pneumatic telescopic rod 403, fruits and vegetables with different heights can be picked through adjusting the height of the mechanical Arm 8, the pneumatic telescopic rod 403 penetrates through the top of the installation box 4, the mechanical Arm 8 is fixedly installed at the top of the pneumatic telescopic rod 403 through bolts, the type of the mechanical Arm 8 is VipersX 300 Robot Arm, the mechanical Arm 8 can automatically pick fruits and vegetables through a program for setting the mechanical Arm 8, the screening box 6 is fixed at the top of the installation box 4 through bolts, one side of screening case 6 is run through and is installed a plurality of screening boards 7, screening case 6 passes through pipeline 5 and is connected with the top of collecting box 3, and screening case 6 can sort the fruit vegetables of picking through screening board 7, classifies the fruit vegetables of equidimension difference not, lets not pass through inside the fruit vegetables of size enter into corresponding collection box 305 through corresponding pipeline 5, reduces the work load of staff to the fruit vegetables letter sorting, improves staff's work efficiency.
The bottom of the base 1 is provided with a spring layer 102, the spring layer 102 is provided with a spring 103, the shock absorption of the fruit and vegetable picking robot can be realized during the movement, the shock of the fruit and vegetable picking robot is reduced, the fruit and vegetable picking robot can not pick the fruit and vegetable normally due to the shock is prevented from being influenced, the stability of the fruit and vegetable picking robot for picking the fruit and vegetable is ensured, the bottom of the spring layer 102 is movably connected with the wheel 101 through the fixing piece, the fruit and vegetable picking robot can move through the wheels 101, the fruit and vegetable picking robot can move to pick fruits and vegetables, a plurality of springs 103 are arranged inside the spring layer 102, the top of the base 1 is provided with a chute a104, the chute a104 is positioned on the inner side of the fixed plate a2, the mounting box 4 can slide on the top of the base 1 through the sliding groove a104, and the position of the mounting box 4 can be limited, thereby guarantee the stability of install bin 4 at the top of base 1, the staff of being convenient for ann installs install bin 4 at the top of base 1.
Front end both sides inner wall of fixed plate a2 is equipped with spacing groove 201, the inboard movable mounting of spacing groove 201 has baffle 202, can fix baffle 202 at the front end of fixed plate a2 through spacing groove 201, can fix collecting box 4 through baffle 202, thereby guarantee the stability of installing bin 4 at base 1's top, be convenient for the staff ann installs installing bin 4 at base 1's top, take out through taking baffle 202 from spacing groove 201, be convenient for the staff take off installing bin 4 from base 1's top and install, be convenient for the staff ann installs installing bin 4 at base 1's top.
Four same collecting grooves are separated inside the collecting box 3, the collecting box 305 can be fixed through the collecting grooves, so that the collecting box 305 can be ensured to correspondingly collect different fruits and vegetables, a fixing plate b301 is installed at the top of the collecting box 3 through a fixing piece, the fixing plate b301 can support a fixing head a302, so that the fruits and vegetables can normally enter the corresponding collecting box 305, and therefore workers can conveniently collect the fruits and vegetables, four fixing heads a302 are fixed at the top of the fixing plate b301 through bolts, the four fixing heads a302 respectively correspond to the four collecting grooves, the fixing heads a302 can be fixedly connected with a connector b503 at one end of the pipeline 5, the pipeline 5 can be installed above the fixing plate b301 through the fixing heads a302 and the connector b503, the fruits and vegetables can be ensured to normally enter the corresponding collecting box 305, so that the workers can conveniently collect the fruits and vegetables, a buffer belt 303 is installed at the top of the collecting box 3, before fruits and vegetables enter the collecting box 3 in a classified manner through the pipeline 5, the fruits and vegetables can pass through the buffer belt 303, the fallen fruits and vegetables can be decelerated through the buffer belt 303, the fruits and vegetables are prevented from directly falling into the collecting box 3 from the pipeline 5, so that the fruits and vegetables are broken, the two sides of the collecting box 3 are respectively provided with the corresponding fixing grooves 304, the collecting box 305 is movably arranged in the fixing grooves 304, rubber pads 306 are arranged on the peripheral inner walls of the collecting box 305, when the fruits and vegetables enter the collecting box 305, the fruits and vegetables are protected by the rubber pads 306, so that the fruits and vegetables are prevented from being broken, universal wheels 307 are arranged at the bottom of the collecting box 305, the collecting box 305 is taken out from the collecting box 3 through the fixing grooves 304, the universal wheels 307 are arranged at the bottom of the collecting box 305, the collecting box 305 can be conveniently taken out from the collecting box 3 by workers through, the fruit and vegetable collected by the staff can be taken out conveniently, the staff can use the fruit and vegetable conveniently, the collection box 305 can be used independently, and the fruit and vegetable can be stored.
There is battery box 401 in the inside of install bin 4 through the bolt fastening, battery box 401 can protect battery 402, reduce the damage that battery 402 received, prolong battery 402's life, and battery box 401 is located one side of pneumatic telescopic rod 403, battery box 401's internally mounted has a plurality of batteries 402, battery 402 can give the power supply of fruit vegetables picking robot, it can move to guarantee fruit vegetables picking robot, pick the fruit vegetables, there is air pump 404 in the inside of install bin 4 through the bolt fastening, can make pneumatic telescopic rod 403 flexible when air pump 404 moves, height through the adjustable arm 8 of pneumatic telescopic rod 403, height through adjusting arm 8 can be picked the fruit vegetables of co-altitude, and air pump 404 is located the below of pneumatic telescopic rod 403.
A plurality of fixed heads b601 are installed to one side outer wall of screening case 6, screening case 6 can fix connecting tube 5 through fixed head b601, let the fruit vegetables after the inside screening of screening case 6 enter into the inside of collecting box 3 through pipeline 5, the top of screening case 6 is fixed with fixed head c602 through the mounting, will gather frame 802 and fixed head c602 through the hose and be connected, let the fruit vegetables that fall into and gather in the frame 802 can enter into the inside of screening case 6 through the hose.
The protection pad 701 is installed at the top of screening plate 7, the protection pad 701 can protect the fruits and vegetables when the fruits and vegetables fall to the top of screening plate 7, prevent the fruits and vegetables from breaking, the inside of screening plate 7 is equipped with spout b702, the inside movable mounting of spout b702 has a plurality of fixed strip a703, the inside of fixed strip a703 is equipped with spout c704, the inside movable mounting of spout c704 has a plurality of fixed strip b705, and fixed strip b705 and fixed strip a 703's top all is equipped with spacing hole 706, can make fixed strip a703 slide through spout b702, can make fixed strip b705 slide in the inside of fixed strip a703 through spout c704, through adjusting the interval between fixed strip b705 and the fixed strip a703, running through spacing hole 706 through the bolt, fix the interval between fixed strip b705 and the fixed strip a703, thereby make screening plate 7 can sort different fruits and vegetables.
The working steps of the device are as follows:
s1, before fruits and vegetables are collected by using the device, a fixed head c602 is connected with a collecting frame 802 through a hose, a collecting box 305 is placed inside a collecting box 3, the collecting box 3 is placed and installed on the inner side of a fixed plate a2, then a baffle 202 is installed at the front end of a fixed plate a2 through a limiting groove 201, the collecting box 3 is fixed, the collecting box 3 is connected with a screening box 6 through a pipeline 5, then a screening plate 7 is pulled out from the inside of the screening box 6, and the picked fruits and vegetables are sorted by adjusting the distance between a fixed strip b705 and a fixed strip a 703;
s2, when picking fruits and vegetables, the height of the mechanical arm 8 is adjusted through the pneumatic telescopic rod 403, the mechanical arm 8 is started, the mechanical arm 8 finds the fruits and vegetables to pick the fruits and vegetables, the picked fruits and vegetables can fall into the collection frame 802, the step that the mechanical arm 8 puts the fruits and vegetables into the collection box is omitted, the picking efficiency of the mechanical arm 8 on the fruits and vegetables is increased, the fruits and vegetables falling into the collection frame 802 can enter the screening box 6 through the hose, the fruits and vegetables can be sorted through the screening plate 7 after entering the screening box 6, and the sorted fruits and vegetables can enter the collection box 3 through the pipeline 5 in a classified manner;
s3, when fruits and vegetables are picked, the fruits and vegetables are classified through the pipeline 5 and enter the collecting box 3 and then pass through the buffer belt 303, the falling fruits and vegetables can be decelerated through the buffer belt 303, and the fruits and vegetables are prevented from directly falling into the collecting box 3 through the pipeline 5, so that the fruits and vegetables are prevented from being broken;
s4, after fruits and vegetables are picked, the collecting box 305 is taken out of the collecting box 3, the universal wheel 307 is mounted at the bottom of the collecting box 305, the collecting box 305 is movable through the universal wheel 307, so that workers can conveniently take the collecting box 305 out of the collecting box 3, the collected fruits and vegetables can be conveniently taken out by the workers and used by the workers by taking the collecting box 305 out of the collecting box 3, and the collecting box 305 can be independently used and can store the fruits and vegetables;
s5, after the fruit vegetables picking robot used, the hose was dismantled from the hose with the top of gathering frame 802, prevent the hose damage, lead to picking next time and can not normally go on, highly reduce arm 8 through pneumatic telescopic rod 403, taking out collecting box 305 from the inside of collecting box 3, lighten fruit vegetables picking robot's weight, be convenient for the staff removes fruit vegetables picking robot, protect fruit vegetables picking robot and deposit, charge to the inside battery 402 of fruit vegetables picking robot through charging the mouth, guarantee that fruit vegetables picking robot can normal use.
The working principle is as follows: the height of the mechanical arm 8 is adjusted through the pneumatic telescopic rod 403, the mechanical arm 8 is started, the mechanical arm 8 finds fruits and vegetables to pick the fruits and vegetables, the picked fruits and vegetables fall into the collection frame 802, the fruits and vegetables falling into the collection frame 802 enter the interior of the screening box 6 through the hose, the fruits and vegetables are sorted through the screening plate 7 after entering the interior of the screening box 6, the sorted fruits and vegetables enter the interior of the collection box 3 through the pipeline 5 in a classified manner, the fruits and vegetables pass through the buffering belt 303 before entering the collection box 3 through the pipeline 5 in a classified manner, the fallen fruits and vegetables can be decelerated through the buffering belt 303, the fruits and vegetables are prevented from directly falling into the collection box 3 from the pipeline 5, the fruits and vegetables are broken, the collection box 305 is taken out from the interior of the collection box 3 through the fixing groove 304, the universal wheel 307 is installed at the bottom of the collection box 305, the collection box 305 can be convenient for a worker to take, through taking out collection box 305 from the inside of collecting box 3, the fruit vegetables that can be convenient for the staff will collect take out, and the staff of being convenient for uses, and but collect box 305 independent utility can save fruit vegetables.
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 (10)
1. The utility model provides a fruit vegetables picking robot and application method of built-in lift adjustment structure, includes base (1), fixed plate a (2), collecting box (3), install bin (4), pipeline (5), screening case (6) and arm (8), its characterized in that: the top of the base (1) is provided with a fixed plate a (2), the top of the base (1) is movably provided with a collecting box (3), the collecting box (3) is positioned at the inner side of the fixing plate a (2), the top of the base (1) is provided with an installation box (4), and the installation box (4) is positioned at one side of the fixed plate a (2), a pneumatic telescopic rod (403) is fixed inside the installation box (4) through a fixing piece, the pneumatic telescopic rod (403) penetrates through the top of the installation box (4), the top of the pneumatic telescopic rod (403) is fixedly provided with a mechanical arm (8) through a bolt, the top of the mounting box (4) is fixed with a screening box (6) through bolts, a plurality of screening plates (7) are arranged on one side of the screening box (6) in a penetrating way, the screening box (6) is connected with the top of the collecting box (3) through a pipeline (5).
2. The fruit and vegetable picking robot with the built-in lifting adjusting structure and the using method of the fruit and vegetable picking robot are characterized in that: the bottom of base (1) is equipped with spring layer (102), and there are wheel (101) bottom on spring layer (102) through mounting swing joint, and the internally mounted of spring layer (102) has a plurality of springs (103), and the top of base (1) is equipped with spout a (104), and spout a (104) are located the inboard of fixed plate a (2).
3. The fruit and vegetable picking robot with the built-in lifting adjusting structure and the using method of the fruit and vegetable picking robot are characterized in that: the inner walls of two sides of the front end of the fixing plate a (2) are provided with limiting grooves (201), and baffles (202) are movably mounted on the inner sides of the limiting grooves (201).
4. The fruit and vegetable picking robot with the built-in lifting adjusting structure and the using method of the fruit and vegetable picking robot are characterized in that: four the same collecting tanks are separated to collecting box (3) inside, fixed plate b (301) is installed through the mounting at the top of collecting box (3), there are four fixed head a (302) at the top of fixed plate b (301) through the bolt fastening, four fixed head a (302) are corresponding four collecting tanks respectively, buffering belt (303) are installed at the top of collecting box (3), collecting box (3) both sides are equipped with corresponding fixed slot (304) respectively, the inside movable mounting of fixed slot (304) has collection box (305), install rubber pad (306) on the inner wall all around of collection box (305), universal wheel (307) are installed to the bottom of collecting box (305).
5. The fruit and vegetable picking robot with the built-in lifting adjusting structure and the using method of the fruit and vegetable picking robot are characterized in that: the inside of install bin (4) is fixed with battery box (401) through the bolt, and battery box (401) is located one side of pneumatic telescopic link (403), and the internally mounted of battery box (401) has a plurality of batteries (402), and the inside of install bin (4) is fixed with air pump (404) through the bolt, and air pump (404) are located the below of pneumatic telescopic link (403).
6. The fruit and vegetable picking robot with the built-in lifting adjusting structure and the using method of the fruit and vegetable picking robot are characterized in that: rubber layer (501) is installed to the inner wall of pipeline (5), and connector a (502) are installed to the one end of pipeline (5), and connector b (503) are installed to the other end of pipeline (5).
7. The fruit and vegetable picking robot with the built-in lifting adjusting structure and the using method of the fruit and vegetable picking robot are characterized in that: the outer wall of one side of the screening box (6) is provided with a plurality of fixing heads b (601), and the top end of the screening box (6) is fixed with a fixing head c (602) through a fixing piece.
8. The fruit and vegetable picking robot with the built-in lifting adjusting structure and the using method of the fruit and vegetable picking robot are characterized in that: protection pad (701) are installed at the top of screening board (7), and the inside of screening board (7) is equipped with spout b (702), and the inside movable mounting of spout b (702) has a plurality of fixed strip a (703), and the inside of fixed strip a (703) is equipped with spout c (704), and the inside movable mounting of spout c (704) has a plurality of fixed strip b (705), and the top of fixed strip b (705) and fixed strip a (703) all is equipped with spacing hole (706).
9. The fruit and vegetable picking robot with the built-in lifting adjusting structure and the using method of the fruit and vegetable picking robot are characterized in that: blade (801) are installed to the first inner wall of one end picking of arm (8), and one side outer wall of arm (8) is fixed with mount (803) through the mounting, and the one end of arm (8) is fixed with through the mounting and gathers frame (802), and gathers frame (802) and be located the picking head under.
10. The fruit and vegetable picking robot with built-in lifting adjusting structure and the use method thereof as claimed in claims 1-9, the working steps of the device are as follows:
s1, before fruits and vegetables are collected by using the device, a collecting frame (802) is connected with a fixing head c (602) through a hose, a collecting box (305) is placed inside a collecting box (3), the collecting box (3) is placed and installed on the inner side of a fixing plate a (2), then a baffle plate (202) is installed at the front end of the fixing plate a (2) through a limiting groove (201), the collecting box (3) is fixed, the collecting box (3) is connected with a screening box (6) through a pipeline (5), then the screening plate (7) is pulled out from the inside of the screening box (6), and the picked fruits and vegetables are sorted by adjusting the distance between a fixing strip b (705) and a fixing strip a (703);
s2, when picking fruits and vegetables, the height of the mechanical arm (8) is adjusted through the pneumatic telescopic rod (403), the mechanical arm (8) is started, the mechanical arm (8) finds the fruits and vegetables to pick the fruits and vegetables, the picked fruits and vegetables can fall into the collecting box (802), the step that the mechanical arm (8) puts the fruits and vegetables into the collecting box is omitted, the picking efficiency of the mechanical arm (8) on the fruits and vegetables is increased, the fruits and vegetables falling into the collecting box (802) can enter the screening box (6) through the hose, the fruits and vegetables can be sorted through the screening plate (7) after entering the inside of the screening box (6), and the sorted fruits and vegetables enter the inside of the collecting box (3) through the pipeline (5) in a classified mode;
s3, when fruits and vegetables are picked, the fruits and vegetables are classified through the pipeline (5) and enter the collecting box (3) before passing through the buffering belt (303), the falling fruits and vegetables can be decelerated through the buffering belt (303), and the fruits and vegetables are prevented from directly falling into the collecting box (3) through the pipeline (5), so that the fruits and vegetables are broken;
s4, after fruits and vegetables are picked, the collecting box (305) is taken out of the collecting box (3), the universal wheels (307) are mounted at the bottom of the collecting box (305), the collecting box (305) can move through the universal wheels (307), so that workers can take the collecting box (305) out of the collecting box (3) conveniently, the collected fruits and vegetables can be taken out by the workers conveniently by taking the collecting box (305) out of the collecting box (3), the workers can use the collected fruits and vegetables conveniently, the collecting box (305) can be used independently, and the fruits and vegetables can be stored;
s5, after the fruit vegetables picking robot used, with the hose from the hose will gather the top of frame (802) and dismantle down, prevent the hose damage, lead to picking next time and can not normally go on, highly reduce arm (8) through pneumatic telescopic link (403), taking out collecting box (305) from the inside of collecting box (3), lighten fruit vegetables picking robot's weight, the staff of being convenient for removes fruit vegetables picking robot, protect fruit vegetables picking robot and deposit, charging through charging mouthful battery (402) inside fruit vegetables picking robot, guarantee that fruit vegetables picking robot can normal use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110013862.8A CN112715160A (en) | 2021-01-06 | 2021-01-06 | Fruit and vegetable picking robot with built-in lifting adjusting structure and using method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110013862.8A CN112715160A (en) | 2021-01-06 | 2021-01-06 | Fruit and vegetable picking robot with built-in lifting adjusting structure and using method |
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| CN112715160A true CN112715160A (en) | 2021-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110013862.8A Withdrawn CN112715160A (en) | 2021-01-06 | 2021-01-06 | Fruit and vegetable picking robot with built-in lifting adjusting structure and using method |
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| CN114532070A (en) * | 2022-02-24 | 2022-05-27 | 云南立达尔生物科技有限公司 | Marigold mobile picking machine |
| CN114793634A (en) * | 2022-05-31 | 2022-07-29 | 安徽工程大学 | Circular fruit and vegetable picking and screening integrated production line |
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