CN113133351A - Orange picking robot - Google Patents

Abstract

The invention discloses an orange picking robot which comprises an electric mechanical arm and an orange picking machine body, wherein one side of the top end of the orange picking machine body is movably connected with the electric mechanical arm, one side of the electric mechanical arm is movably connected with a mechanical claw, and a picking structure is arranged inside the mechanical claw. This machine people is picked to orange is through being provided with the swash plate, when picking, the gripper is after plucking the orange, when putting into the hopper inside, the orange can drop on the cushion pad on baffle top earlier, the cushion can cushion the orange of whereabouts, prevent that the orange from dropping and causing the damage, later the orange falls into the inside of hopper along the baffle of slope, in the inside one side of the leading-in hopper of swash plate along the slope, and the hopper slope makes the orange move to the inside one side of hopper during the unloading, the baffle is pushed down to the orange, make the inside that elastic fixture block breaks away from the discharge gate, make the baffle open the orange alright derive from the discharge gate, the solution is the high problem of the damage rate of orange when picking.

Description

Orange picking robot

Technical Field

The invention relates to the technical field of fruit and vegetable picking, in particular to an orange picking robot.

Background

Along with the improvement of living standard, the requirements and the demand of people on the quality of fruits on the market are higher and higher, so that a larger planting area and a larger product yield are required, a high-efficiency picking means capable of meeting high yield is required when the yield is improved, otherwise the low picking efficiency can cause the fruits to decay and damage, in particular, some perishable fruits can cause the waste due to decay once being not ripe and picked in time, the traditional manual picking is not only low in efficiency, but also the fruits growing on fruit trees like oranges and the like have certain dangerousness when picked, some manual-replacing picking robots appear on the market for reducing the labor cost while the picking efficiency is improved, the risks of manual picking can be effectively avoided, but the existing manual-replacing orange picking robots not only can cause the oranges to have high damage rate and can not rapidly cut branches or even tear branches when picked, influence the growth of follow-up oranges, still need the manual work to unload after picking the completion, so need a neotype orange picking robot now to solve the defect that current product exists.

Disclosure of Invention

The invention aims to provide an orange picking robot to solve the problem of high damage rate of oranges during picking in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an orange picking robot, includes electric mechanical arm and organism, one side swing joint on organism top has electric mechanical arm, one side swing joint of electric mechanical arm has the gripper, the inside of gripper is provided with picks the structure, the inside of organism is provided with shedding mechanism, the bottom fixedly connected with drive assembly of organism, the both sides of organism and the both sides at both ends are a set of response camera of fixedly connected with respectively, the top activity of organism articulates there is the hopper, the inside of hopper is provided with protective structure.

Preferably, protective structure includes the baffle, baffle fixed connection is in the inside one side of hopper, the top fixedly connected with blotter of baffle, the inside bottom fixedly connected with swash plate of hopper, one side of hopper is inlayed and is had the discharge gate, one side swing joint of hopper has the baffle, the bottom fixedly connected with elasticity fixture block of baffle one side, elasticity fixture block and discharge gate swing joint.

Preferably, the length of the guide plate is smaller than the length inside the hopper, the height of the baffle is larger than the height inside the discharge port, the width of the baffle is larger than the width inside the discharge port, the height inside the discharge port is smaller than the height inside the hopper, the width of the elastic clamping block is smaller than the width inside the discharge port, and the height of the baffle is smaller than the height of the hopper.

Preferably, the center line of the guide plate and the center line of the hopper are on the same vertical plane, the width of the guide plate is equal to the width of the interior of the hopper, the width of the interior of the discharge port is smaller than the width of the interior of the hopper, the center line of the buffer pad and the center line of the guide plate are on the same vertical plane, the width of the inclined plate is equal to the width of the interior of the hopper, and the center line of the inclined plate and the center line of the hopper are on the same vertical plane.

Preferably, pick the structure and constitute by mounting groove, colloidal block, slot and cutter, the mounting groove is equidistant to be inlayed in the inside of gripper, the inside fixedly connected with colloidal block of mounting groove, the slot is inlayed in one side of the inside one end of gripper, cutter fixed connection is in one side of the inside one end of gripper, cutter and slot swing joint.

Preferably, the height of the cutter is smaller than the height inside the slot, and the center line of the colloid block and the center line of the mounting slot are on the same vertical plane.

Preferably, the width of the colloid block is greater than that of the gripper, the width of the inside of the mounting groove is equal to that of the gripper, the length of the cutter is less than that of the inside of the slot, the width of the inside of the slot is equal to that of the gripper, the center line of the slot and the center line of the cutter are on the same vertical plane, and the center line of the cutter and the center line of the gripper are on the same vertical plane.

Preferably, shedding mechanism comprises hinge groove, movable rod, electric telescopic handle, push rod, fly leaf and connecting axle, hinge groove fixed connection is at the both ends of hopper bottom one side, the inside swing joint in hinge groove has the fly leaf, the one end swing joint of fly leaf has the connecting axle, electric telescopic handle fixed connection is in the inside bottom of organism, electric telescopic handle and connecting axle fixed connection, the movable rod activity articulates the both ends in the inside bottom one side of organism, one side activity hinge of movable rod has the push rod, the push rod is articulated with the fly leaf activity.

Preferably, the width of the connecting shaft is greater than that of the electric telescopic rod, and the center line of the movable rod and the center line of the push rod are on the same vertical plane.

Preferably, the length of the movable rod is smaller than that of the inside of the machine body, the center line of the movable rod and the center line of the push rod are on the same vertical plane, the center line of the hinge groove and the center line of the movable plate are on the same vertical plane, and the center line of the connecting shaft and the center line of the electric telescopic rod are on the same vertical plane.

Compared with the prior art, the invention has the beneficial effects that: the orange picking robot not only realizes reduction of the damage rate of oranges and quick picking of the oranges, but also realizes automatic discharging after picking;

(1) by arranging the inclined plate, the elastic clamping block, the discharge hole, the baffle, the guide plate and the buffer pad, when the oranges are picked by the mechanical claw and placed into the hopper, the oranges can fall on the buffer pad at the top end of the guide plate firstly, the buffer pad can buffer the falling oranges to prevent the oranges from falling to cause damage, then the oranges fall into the hopper along the inclined guide plate, the oranges are guided into one side of the hopper along the inclined plate, the hopper is inclined to enable the oranges to move to one side of the inside of the hopper during discharging, the oranges press the baffle, the elastic clamping block is separated from the inside of the discharge hole, the baffle is opened to enable the oranges to be led out from the discharge hole, the purposes of preventing the oranges from being damaged and not affecting discharging after the oranges are picked are achieved;

(2) by arranging the mounting groove, the colloid blocks, the slots and the cutters, when an orange is picked, a plurality of groups of induction cameras outside the machine body can automatically induce the outside of the orange and then control the electric mechanical arm and the mechanical claw to move for picking, when the mechanical claw picks the orange, the cutters at one end of the mechanical claw quickly push branches connected with the orange on the orange tree when the mechanical claw contracts and insert the branches into the slots at the other end of the mechanical claw for quickly cutting the branches of the orange tree, unnecessary damage to the orange tree due to the fact that the unnecessary branches are torn down can be prevented, the colloid blocks in the mechanical claw improve friction force to prevent the orange from falling off, damage to the orange during clamping can be prevented, the quick cutting of the branches can be realized, and the orange is prevented from falling off;

(3) through being provided with the hinge groove, the movable rod, electric telescopic handle, the push rod, fly leaf and connecting axle, after picking the completion, when needing to unload, start electric telescopic handle and make electric telescopic handle stretch out, electric telescopic handle promotes the connecting axle motion, the connecting axle drives the fly leaf motion, the fly leaf drives push rod and movable rod extension again, after push rod and movable rod are stretched out completely, electric telescopic handle lasts the extension and drives the fly leaf and use the tie point of push rod and fly leaf as the centre of a circle upset, the fly leaf drives one side of top hopper and rises, thereby derive the inside orange of hopper, realized can automatic unloading.

Drawings

FIG. 1 is a schematic front sectional view of the present invention;

FIG. 2 is a schematic top view of the connecting shaft of the present invention;

FIG. 3 is an enlarged partial cross-sectional view taken at A in FIG. 1 according to the present invention;

FIG. 4 is a schematic top view of the hopper of the present invention;

FIG. 5 is a front view of the gripper of the present invention;

FIG. 6 is a schematic top view of the cutter of the present invention;

fig. 7 is a schematic bottom view of the slot of the present invention.

In the figure: 1. an electric mechanical arm; 2. picking structures; 201. mounting grooves; 202. a colloidal mass; 203. a slot; 204. a cutter; 3. a gripper; 4. a discharge mechanism; 401. a hinge slot; 402. a movable rod; 403. an electric telescopic rod; 404. a push rod; 405. a movable plate; 406. a connecting shaft; 5. a drive assembly; 6. an induction camera; 7. a body; 8. a sloping plate; 9. an elastic clamping block; 10. a discharge port; 11. a baffle plate; 12. a guide plate; 13. a cushion pad; 14. and (4) a hopper.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1: referring to fig. 1-7, an orange picking robot comprises an electric mechanical arm 1 and a machine body 7, wherein one side of the top end of the machine body 7 is movably connected with the electric mechanical arm 1, one side of the electric mechanical arm 1 is movably connected with a mechanical claw 3, a picking structure 2 is arranged inside the mechanical claw 3, a discharging mechanism 4 is arranged inside the machine body 7, the bottom end of the machine body 7 is fixedly connected with a driving assembly 5, two sides of the machine body 7 and two sides of the two ends are respectively and fixedly connected with a group of induction cameras 6, the top end of the machine body 7 is movably hinged with a hopper 14, and a protective structure is arranged inside the hopper 14;

referring to fig. 1-7, the orange picking robot further comprises a protection structure, the protection structure comprises a guide plate 12, the guide plate 12 is fixedly connected to one side inside a hopper 14, a cushion pad 13 is fixedly connected to the top end of the guide plate 12, an inclined plate 8 is fixedly connected to the bottom end inside the hopper 14, a discharge hole 10 is embedded in one side of the hopper 14, a baffle 11 is movably hinged to one side of the hopper 14, an elastic clamping block 9 is fixedly connected to the bottom end of one side of the baffle 11, and the elastic clamping block 9 is movably connected with the discharge hole 10;

the length of the guide plate 12 is smaller than that of the interior of the hopper 14, the height of the baffle plate 11 is larger than that of the interior of the discharge port 10, the width of the baffle plate 11 is larger than that of the interior of the discharge port 10, the height of the interior of the discharge port 10 is smaller than that of the interior of the hopper 14, the width of the elastic clamping block 9 is smaller than that of the interior of the discharge port 10, and the height of the baffle plate 11 is smaller than that of the hopper 14;

the central line of the guide plate 12 and the central line of the hopper 14 are on the same vertical plane, the width of the guide plate 12 is equal to the width of the interior of the hopper 14, the width of the interior of the discharge port 10 is smaller than the width of the interior of the hopper 14, the central line of the buffer cushion 13 and the central line of the guide plate 12 are on the same vertical plane, the width of the inclined plate 8 is equal to the width of the interior of the hopper 14, and the central line of the inclined plate 8 and the central line of the hopper 14 are on the same vertical plane;

specifically, as shown in fig. 1 and 4, when picking, after the orange is picked by the gripper 3 and placed inside the hopper 14, the orange will fall on the cushion pad 13 at the top end of the guide plate 12 first, the cushion pad 13 can cushion the falling orange to prevent the orange from falling and causing damage, then the orange falls inside the hopper 14 along the inclined guide plate 12, the orange is guided into one side inside the hopper 14 along the inclined plate 8, and the hopper 14 is inclined to move the orange to one side inside the hopper 14 during discharging, the orange presses the baffle 11 to separate the elastic fixture block 9 from the inside of the discharge hole 10, so that the baffle 11 opens the orange to be led out from the discharge hole 10, and the orange can be prevented from being damaged and not affecting discharging after the orange is picked.

Example 2: the picking structure 2 consists of a mounting groove 201, a colloid block 202, a slot 203 and a cutter 204, wherein the mounting groove 201 is embedded in the mechanical claw 3 at equal intervals, the colloid block 202 is fixedly connected in the mounting groove 201, the slot 203 is embedded in one side of one end in the mechanical claw 3, the cutter 204 is fixedly connected to one side of one end in the mechanical claw 3, and the cutter 204 is movably connected with the slot 203;

the height of the cutter 204 is smaller than the height inside the slot 203, and the center line of the colloid block 202 and the center line of the mounting groove 201 are on the same vertical plane;

the width of the colloid block 202 is greater than that of the mechanical claw 3, the width inside the mounting groove 201 is equal to that of the mechanical claw 3, the length of the cutter 204 is less than that inside the slot 203, the width inside the slot 203 is equal to that of the mechanical claw 3, the center line of the slot 203 and the center line of the cutter 204 are on the same vertical plane, and the center line of the cutter 204 and the center line of the mechanical claw 3 are on the same vertical plane;

specifically, as shown in fig. 1, fig. 3, fig. 5, fig. 6 and fig. 7, when an orange is picked, the multiple groups of sensing cameras 6 outside the machine body 7 can automatically sense the outside of the orange and then control the electric mechanical arm 1 and the gripper 3 to move to pick the orange, when the gripper 3 picks the orange, the cutter 204 at one end of the gripper 3 rapidly pushes the branch connected with the orange on the orange tree when the gripper 3 contracts, and the branch is inserted into the slot 203 at the other end of the gripper to rapidly cut the branch of the orange tree, so that unnecessary damage to the orange can be prevented, the colloid block 202 inside the gripper 3 improves friction force to prevent the orange from falling off, the orange can be prevented from being damaged during clamping, the quick cutting of the branch can be realized, and the orange can be prevented from falling off.

Example 3: the discharging mechanism 4 is composed of a hinged groove 401, a movable rod 402, an electric telescopic rod 403, a push rod 404, a movable plate 405 and a connecting shaft 406, the hinged groove 401 is fixedly connected to two ends of one side of the bottom end of the hopper 14, the movable plate 405 is movably connected inside the hinged groove 401, one end of the movable plate 405 is movably connected with the connecting shaft 406, the electric telescopic rod 403 is fixedly connected to the bottom end inside the machine body 7, the electric telescopic rod 403 is fixedly connected with the connecting shaft 406, the movable rod 402 is movably hinged to two ends of one side of the bottom end inside the machine body 7, one side of the movable rod 402 is movably hinged to the push rod 404, and the push rod 404 is movably hinged to the movable plate 405;

the width of the connecting shaft 406 is greater than that of the electric telescopic rod 403, and the center line of the movable rod 402 and the center line of the push rod 404 are on the same vertical plane;

the length of the movable rod 402 is smaller than the length of the inside of the machine body 7, the center line of the movable rod 402 and the center line of the push rod 404 are on the same vertical plane, the center line of the hinge slot 401 and the center line of the movable plate 405 are on the same vertical plane, and the center line of the connecting shaft 406 and the center line of the electric telescopic rod 403 are on the same vertical plane;

specifically, as shown in fig. 1 and fig. 2, after picking is completed and discharging is required, the electric telescopic rod 403 is started to extend the electric telescopic rod 403, the electric telescopic rod 403 pushes the connecting shaft 406 to move, the connecting shaft 406 drives the movable plate 405 to move, the movable plate 405 drives the push rod 404 and the movable rod 402 to extend, after the push rod 404 and the movable rod 402 are completely extended, the electric telescopic rod 403 continuously extends to drive the movable plate 405 to turn over around a connecting point of the push rod 404 and the movable plate 405, and the movable plate 405 drives one side of the top hopper 14 to rise, so that oranges in the hopper 14 are guided out, and automatic discharging is achieved.

The working principle is as follows: when the orange picking machine is used, firstly, when oranges are picked, a plurality of groups of induction cameras 6 outside a machine body 7 can automatically induce the outer parts of the oranges, then the electric mechanical arm 1 and the mechanical claw 3 are controlled to move to pick the oranges, when the mechanical claw 3 picks the oranges, the cutter 204 at one end of the mechanical claw 3 quickly pushes branches connected with the oranges on the oranges tree and inserts the branches into the slot 203 at the other end of the mechanical claw 3 to quickly cut the branches of the oranges, the rubber block 202 in the mechanical claw 3 improves the friction force to prevent the oranges from falling off and damage during clamping, when the oranges are picked off by the mechanical claw 3 and placed in the hopper 14, the oranges firstly fall on the cushion 13 at the top end of the guide plate 12, the cushion 13 can cushion the falling oranges to prevent the oranges from falling off and damaging, and then the oranges fall into the hopper 14 along the inclined guide plate 12, at one side of the inclined plate 8, which is led into the hopper 14, after picking is completed, when unloading is required, the electric telescopic rod 403 is started to enable the electric telescopic rod 403 to extend out, the electric telescopic rod 403 pushes the connecting shaft 406 to move, the connecting shaft 406 drives the movable plate 405 to move, the movable plate 405 drives the push rod 404 and the movable rod 402 to extend, after the push rod 404 and the movable rod 402 are completely extended, the electric telescopic rod 403 continuously extends to drive the movable plate 405 to turn over around a connecting point of the push rod 404 and the movable plate 405, the movable plate 405 drives one side of the top hopper 14 to rise, an orange moves to one side of the inside of the hopper 14, the orange presses the baffle 11 down, the elastic clamping block 9 is separated from the inside of the discharge port 10, the baffle 11 is opened, the orange can be led out from the discharge port 10, and discharging is completed.

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 an orange picking robot, includes electric mechanical arm (1) and organism (7), its characterized in that: one side swing joint on organism (7) top has electric mechanical arm (1), one side swing joint of electric mechanical arm (1) has gripper (3), the inside of gripper (3) is provided with picks structure (2), the inside of organism (7) is provided with shedding mechanism (4), the bottom fixedly connected with drive assembly (5) of organism (7), the both sides of organism (7) and the both sides at both ends are a set of response camera (6) of fixedly connected with respectively, the top activity hinge of organism (7) has hopper (14), the inside of hopper (14) is provided with protective structure.

2. An orange picking robot according to claim 1, characterized in that: protective structure includes baffle (12), baffle (12) fixed connection is in the inside one side of hopper (14), the top fixedly connected with blotter (13) of baffle (12), the inside bottom fixedly connected with swash plate (8) of hopper (14), one side of hopper (14) is inlayed and is had discharge gate (10), one side activity hinge joint of hopper (14) has baffle (11), bottom fixedly connected with elasticity fixture block (9) of baffle (11) one side, elasticity fixture block (9) and discharge gate (10) swing joint.

3. An orange picking robot according to claim 2, characterized in that: the length of baffle (12) is less than the inside length of hopper (14), the height of baffle (11) is greater than the inside height of discharge gate (10), the width of baffle (11) is greater than the inside width of discharge gate (10), the inside height of discharge gate (10) is less than the inside height of hopper (14), the width of elasticity fixture block (9) is less than the inside width of discharge gate (10), the height of baffle (11) is less than the height of hopper (14).

4. An orange picking robot according to claim 2, characterized in that: the center line of guide plate (12) and the center line of hopper (14) are on same vertical plane, the width of guide plate (12) equals the inside width of hopper (14), the inside width of discharge gate (10) is less than the inside width of hopper (14), the center line of blotter (13) and the center line of guide plate (12) are on same vertical plane, the width of swash plate (8) equals the inside width of hopper (14), the center line of swash plate (8) and the center line of hopper (14) are on same vertical plane.

5. An orange picking robot according to claim 1, characterized in that: pick structure (2) and constitute by mounting groove (201), colloidal piece (202), slot (203) and cutter (204), the equidistant inside of inlaying at gripper (3) of mounting groove (201), the inside fixedly connected with colloidal piece (202) of mounting groove (201), one side at gripper (3) inside one end is inlayed in slot (203), cutter (204) fixed connection is in one side of gripper (3) inside one end, cutter (204) and slot (203) swing joint.

6. An orange picking robot according to claim 5, characterized in that: the height of the cutter (204) is smaller than the height inside the slot (203), and the center line of the colloid block (202) and the center line of the mounting groove (201) are on the same vertical plane.

7. An orange picking robot according to claim 5, characterized in that: the width of the colloid block (202) is larger than that of the mechanical claw (3), the width of the interior of the mounting groove (201) is equal to that of the mechanical claw (3), the length of the cutter (204) is smaller than that of the interior of the slot (203), the width of the interior of the slot (203) is equal to that of the mechanical claw (3), the center line of the slot (203) and the center line of the cutter (204) are on the same vertical plane, and the center line of the cutter (204) and the center line of the mechanical claw (3) are on the same vertical plane.

8. An orange picking robot according to claim 1, characterized in that: discharge mechanism (4) comprise hinge groove (401), movable rod (402), electric telescopic handle (403), push rod (404), fly leaf (405) and connecting axle (406), hinge groove (401) fixed connection is at the both ends of hopper (14) bottom one side, the inside swing joint of hinge groove (401) has fly leaf (405), the one end swing joint of fly leaf (405) has connecting axle (406), electric telescopic handle (403) fixed connection is in the inside bottom of organism (7), electric telescopic handle (403) and connecting axle (406) fixed connection, movable rod (402) activity hinge at the both ends of organism (7) inside bottom one side, one side activity hinge of movable rod (402) has push rod (404), push rod (404) and fly leaf (405) activity hinge.

9. An orange picking robot according to claim 8, characterized in that: the width of the connecting shaft (406) is larger than that of the electric telescopic rod (403), and the center line of the movable rod (402) and the center line of the push rod (404) are on the same vertical plane.

10. An orange picking robot according to claim 8, characterized in that: the length of the movable rod (402) is smaller than the length of the interior of the machine body (7), the center line of the movable rod (402) and the center line of the push rod (404) are on the same vertical plane, the center line of the hinge groove (401) and the center line of the movable plate (405) are on the same vertical plane, and the center line of the connecting shaft (406) and the center line of the electric telescopic rod (403) are on the same vertical plane.

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