CN117859517A

CN117859517A - Picking device and picking robot

Info

Publication number: CN117859517A
Application number: CN202310249414.7A
Authority: CN
Inventors: 余传佩
Original assignee: Jiujiang Vocational and Technical College
Current assignee: Jiujiang Vocational and Technical College
Priority date: 2022-03-16
Filing date: 2023-03-15
Publication date: 2024-04-12
Also published as: CN116058178A; CN117859518A

Abstract

The application discloses picking device and picking robot, including base, upper cover, lower cover, and cutting member, the rear end of upper cover and lower cover respectively with the base rotates to be connected in order can form open state and closed state, the cutting member sets up the front end of upper cover, and outstanding in the lower limb of upper cover, in order to be in upper cover and lower cover follow cut the fruit down when opening state switches to closed state. Through the technical scheme, the repeated lifting and lowering actions of the traditional mechanical arm are avoided, the picking efficiency is improved, and the risk of bumping other fruits is reduced.

Description

Picking device and picking robot

Technical Field

The present application relates to the field of picking, and more particularly, to a picking device and picking robot.

Background

With the development of agricultural modernization, mechanization and intelligence of agricultural equipment are the necessary trend of development. The picking robot is an important type of agricultural robot, and has the functions of reducing labor intensity and cost of workers, improving labor productivity and product quality and guaranteeing fruit harvesting efficiency, so that the picking robot has great development potential.

The picking robot in the prior art is generally composed of a transport vehicle, a manipulator and a mechanical arm, wherein the manipulator is carried on the transport vehicle, the manipulator picks fruits from fruit trees, and the picked fruits are placed in the transport vehicle through the mechanical arm to finish picking. However, in the picking process, the time taken from picking fruits to placing by the mechanical arm is long, and the picking efficiency is low. And the mechanical arm frequently rises and falls, so that other fruits are easy to bump down.

Therefore, how to reduce the amplitude of the picking motion provides a picking device with higher picking efficiency and smaller picking motion amplitude is a technical problem to be solved in the field.

Disclosure of Invention

In view of this, the present application proposes a picking device and a picking robot to solve the above technical problems.

According to the technical scheme of this application, put forward a picking device, including base, upper cover, lower cover and cutting member, the rear end of upper cover and lower cover respectively with the base rotates to be connected in order to form open state and closed state, the cutting member sets up the front end of upper cover, and outstanding in the lower limb of upper cover, in order to can upper cover and lower cover follow open state switches to the closed state with the fruit when cutting down.

Preferably, the upper cover and the base are hinged at a first hinge point, the base is provided with a telescopic device, and the telescopic device and the upper cover are hinged at a third hinge point so as to drive the upper cover to rotate around the first hinge point through the telescopic device.

Preferably, the lower cover is hinged to the base at a second hinge point, the upper cover has a first tooth portion disposed around the first hinge point, the lower cover has a second tooth portion disposed around the second hinge point, and the first tooth portion is engaged with the second tooth portion.

Preferably, a picking mechanism is included, the picking mechanism having an extended state in which the picking mechanism can protrude from the front side of the lower cover, and a bent state in which the picking mechanism can be rolled up to pick up fruits and held in a space formed by the inner walls of the upper cover and the lower cover.

Preferably, the pickup mechanism includes a fixing portion mounted to the lower cover, an arm portion having teeth for capturing fruits, a claw portion connected to the fixing portion through the arm portion, and a driving portion for driving bending of the arm portion.

Preferably, the arm portion includes a plurality of connection arms, and a plurality of connection arms and a plurality of claw portions are hinged by a connection member so as to achieve bending of the arm portion.

Preferably, the connector has a limiting structure to limit the rotational amplitude of the connector.

Preferably, the pick-up mechanism includes a traction rope and an elastic member mounted to the claw portion and the arm portion, the elastic member being biased toward the extended state against rotation of the link member, one end of the traction rope being connected to the tooth, the other end being pulled by the driving portion to bend the arm portion and the claw portion.

Preferably, the driving part comprises a rotary driver and a winding roller, the rotary driver drives the winding roller to rotate, and the traction rope is wound on the winding roller.

According to another technical scheme of this application, still provide a picking robot, including the conveyor who is used for carrying the fruit, remove the portion, be used for storing the storage portion of fruit and pick the device as above, storage portion with conveyor install in remove the portion, pick the device install in conveyor's top, the space that upper cover and lower cover's inner wall formed pass through conveyor with storage portion intercommunication.

According to the technical scheme of this application to this picking device replaces the manipulator to pick the fruit, is convenient for the separation of fruit and branch through the cutting member to transmit the fruit through the throat, avoided the repeated action of putting down of lifting up of arm, improved picking efficiency, reduced the risk of bumping other fruits.

Additional features and advantages of the present application will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

FIG. 1 is a schematic view of a picking apparatus according to one embodiment of the present application;

FIG. 2 is a schematic view of a portion of a picking device according to one embodiment of the present application;

fig. 3 is a schematic view of a pick-up mechanism according to one embodiment of the present application.

Description of the reference numerals

21: a base;

22: an upper cover;

23: a lower cover;

24: a pick-up mechanism;

25: a cutting member;

26: a throat;

27: a telescoping device;

211: a first hinge point;

212: a second hinge point;

213: a third hinge point;

241: a fixing part;

242: a claw portion;

243: a connecting arm;

244: a connecting piece;

245: an elastic member;

246: a rotary driver;

247: a winding roller;

248: a traction rope;

2421: teeth.

Detailed Description

The terms "first," "second," and the like, as used in this application, are used for distinguishing between different features and not for limiting the application. The terms may be interchanged under different operating conditions.

The technical solutions of the present application will be described in detail below with reference to the accompanying drawings in combination with embodiments.

According to an aspect of the present application, there is provided a picking apparatus comprising a base 21, an upper cover 22, a lower cover 23, and a cutter 25, rear ends of the upper and lower covers 22 and 23 are rotatably connected with the base 21, respectively, to enable an open state and a closed state, and the cutter 25 is provided at a front end of the upper cover 22 and protrudes from a lower edge of the upper cover 22 to enable cutting of fruits when the upper and lower covers 22 and 23 are switched from the open state to the closed state.

In this embodiment, as shown in fig. 1, the upper cover 22 and the lower cover 23 can define an inner space, and rear ends of the upper cover 22 and the lower cover 23 can be rotatably fixed to the base 21 by means of a rotation shaft or the like so that front ends of the upper cover 22 and the lower cover 23 are separated from each other by rotation, thereby opening the inner space and putting the inner space in an open state in which fruits to be picked up can enter the open space. The upper cover 22 and the lower cover 23 can be closed by rotating the front ends of the upper cover 22 and the lower cover 23 toward each other, and the cutter 25 located at the front end of the upper cover 22 can cut off the stems of the fruits. Wherein the cutting member 25 may be a member having a sharp cutting portion such as a knife, etc., to separate the fruit from the fruit tree such that the fruit enters the interior of the picking apparatus. The fruit may then enter the conveyor through a throat 26 disposed in the interior space to transport the fruit, for example, through a conduit or the like, to a storage location, thereby completing the picking of the fruit. The picking process does not need to repeatedly lift and put down the mechanical arm like the traditional mechanical arm so as to transfer the fruits from the fruit trees to the storage position, thereby greatly improving the picking efficiency and reducing the risk of bumping down other fruits.

The opening and closing of the upper cover 22 and the lower cover 23 may be in various suitable forms to facilitate picking up fruits. According to a preferred embodiment, the upper cover 22 is hinged to the base 21 at a first hinge point 211, the base 21 is provided with a telescopic device 27, and the telescopic device 27 is hinged to the upper cover 22 at a third hinge point 213, so that the upper cover 22 is driven to rotate around the first hinge point 211 by the telescopic device 27. According to the technical scheme, the telescopic device 27 can be a telescopic device such as a pneumatic rod, a hydraulic rod and the like, the telescopic part of the telescopic device is hinged with the third hinge point 213 at the rear end of the upper cover 22, so that the telescopic device 27 and the upper cover 22 form a lever taking the first hinge point 211 as a fulcrum, and the telescopic device 27 stretches to drive the third hinge point 213 to rotate around the first hinge point 211, so that the upper cover 22 and the lower cover 23 are controlled to open and close.

In order to enable the telescopic device 27 to have a greater opening of the upper cover 22 and the lower cover 23 with the same telescopic stroke, according to a preferred embodiment, as shown in fig. 2, the lower cover 23 is hinged to the base 21 at a second hinge point 212, the upper cover 22 has a first tooth 221 arranged around the first hinge point 211, and the lower cover 23 has a second tooth 231 arranged around the second hinge point 212, the first tooth 221 being engaged with the second tooth 231. Through this technical scheme, upper cover 22 and lower cover 23 are linked through the meshing of first tooth portion 221 and second tooth portion 231, specifically, first tooth portion 221 is rotatory around first pin joint 211 equally when upper cover 22 is rotatory around first pin joint 211, and the second tooth portion 231 of meshing with first tooth portion 221 rotates in opposite direction to drive lower cover 23 and rotate around second pin joint 212 with the opposite direction of rotation of upper cover 22, have bigger aperture through upper cover 22 rotation alone, the fruit of picking up of being convenient for more.

To improve the picking efficiency of fruits, according to a preferred embodiment, as shown in fig. 1 and 3, the picking device includes a picking mechanism 24, the picking mechanism 24 having an extended state in which the picking mechanism 24 is installed in the lower cover 23, and a bent state in which the picking mechanism 24 is capable of being protruded from the front side of the lower cover 23, and in which the picking mechanism 24 is capable of being rolled up to pick up fruits and held in a space formed by the inner walls of the upper cover 22 and the lower cover 23. By this means, at least a part of the picking mechanism 24 has a changeable shape, when the upper cover 22 and the lower cover 23 are opened, the picking mechanism 24 can extend out of the lower cover 23, and the picking mechanism 24 can contact the fruits by various modes such as grabbing, hooking and the like to pick the fruits. After picking up the fruit, the picking mechanism 24 is controlled to bend to bring the fruit into the inner space, the fruit is cut when the upper cover 22 and the lower cover 23 are closed, the fruit is pulled inwards by the picking mechanism 24 to enable the stem of the fruit to be in a tight state under the pulling force, the cutting of the cutting piece 25 is more convenient, the fruit can be moved to the throat 26 through the bent picking mechanism 24, the fruit is convenient to convey, and the picking efficiency is improved.

The picking mechanism 24 may be in a suitable form in order to pick up fruits, according to a preferred embodiment, as shown in fig. 2, the picking mechanism 24 includes a fixing portion 241, an arm portion, a claw portion 242, and a driving portion, the fixing portion 241 is mounted to the lower cover 23, the arm portion is of a bendable structure, the claw portion 242 has teeth 2421 for capturing fruits, the claw portion 242 is connected to the fixing portion 241 through the arm portion, and the driving portion is used for driving bending of the arm portion. By this solution, wherein the teeth 2421 can have a curved shape, in order to catch on the fruit. Wherein the claw 242 may have a plurality of teeth 2421, in practice, the claw 242 protrudes close to the picked fruit, the fruit is caught by the teeth 2421, and the stem of the fruit is fitted into the gaps between the plurality of teeth 2421, fixing the fruit. The arm portion may be controlled to extend and bend by a driving means such as a motor, a hydraulic lever or the like to feed the fruit picked up by the claw 242 into the internal space, during which the fruit is sequentially moved from the teeth 2421 to the arm portion to the stationary portion, and finally the fruit is fed into the throat 26 to be conveyed to the storage position by the conveying means.

The arm may be of a suitable form to effect deformation of its bending and stretching, and according to a preferred embodiment, as shown in fig. 3, the arm comprises a plurality of connecting arms 243, the plurality of connecting arms 243 being hinged between each other and the connecting arms 243 and the claw 242 by means of a connecting member 244 to effect bending of the arm. By this means, the link 244 is rotatable along an axis perpendicular to the extending direction of the pick-up mechanism 24 and parallel to the arm width direction, and both ends of the link 244 are respectively connected with different link arms 243 or claw portions 242 so that hinge forms are formed between the link arms 243 and between the claw portions 242 and the link arms 243, thereby enabling bending between the link arms 243 and between the claw portions 242 and the link arms 243.

If the arm is excessively bent, for example, in an extended state, the claw 242 picking up the fruit is bent downward by gravity, which may cause the fruit to fall off, the link 244 has a stopper structure according to a preferred embodiment to limit the rotation range of the link 244 in order to prevent such a situation. Through this technical scheme, the spacing opening and shutting of connecting piece 244, the angle of opening and shutting is between 0 ° and 180 ° for example, and a plurality of connecting pieces 244 are fixed with linking arm 243 and claw 242 with the same direction of opening and shutting to make the arm can resist further deformation through stop gear under the state of stretching from crooked to full extension, avoided excessively crooked fruit to drop.

The picking mechanism 24 may be controlled to bend by means of a suitable manner, according to a preferred embodiment the picking mechanism 24 comprises a pull-cord 248 and an elastic member 245, the elastic member 245 being mounted to the claw 242 and the arm, against rotation of the connecting member 244 to bias the arm towards the extended state, the pull-cord 248 being connected at one end to the teeth 2421 and being pulled at the other end by the driving part to bend the arm and the claw 242. Wherein, to achieve a similar type of action to the rolling of the tongue, the elastic member 245 may be mounted at a position lower than the rotational axis of the connecting member 244 (based on the extended state), for example, may be mounted at the bottom of the pick-up mechanism 24. Specifically, one end of the elastic member 245 is connected to the bottom of the claw 242, and the other end is connected to the bottom of the connecting arm 243 closest to the fixing portion 241, and the connecting arm 243 and the claw 242 are always biased to the extended state by the tensile force generated by the tensile deformation of the elastic member 245, and when the elastic member is deformed from the extended state to the bent state, the claw 242 and the connecting arm 243 are retracted from the upper side to realize the tongue-like action. In addition, one end of the pull-cord 248 is connected to the teeth 2421, and the other end is connected to a driving part, wherein the connection position of the pull-cord 248 and the claw 242 is higher than the rotation axis of the link 244 (based on the extended state), and the driving part can pull the pull-cord 248 by, for example, rotation, traction, or the like, and the claw 242 and the link arm 243 are deformed from the extended state to the bent state against the elastic force of the elastic member 245 by pulling the pull-cord 248.

The drive portion may be of a suitable form to facilitate manipulation of the pull-cord 248, and according to a preferred embodiment, includes a rotary driver 246 and a take-up roller 247, the rotary driver 246 driving rotation of the take-up roller 247, the pull-cord 248 being wound around the take-up roller 247. By this solution, the rotary actuator 246 controls the retraction of the pull-cord 248 by the direction of rotation, thereby controlling the bending and stretching of the entire picking mechanism 24.

To increase the flexibility of the picking mechanism 24, according to a preferred embodiment, as shown in fig. 3, the connection 244 may have a plurality of rotational axes, e.g. further comprising a vertical rotational axis on the basis of a horizontal rotational axis, on the basis of which the picking mechanism 24 can oscillate in addition to the original bending-stretching deformation. To control the motion of the pickup mechanism 24, a plurality of pull-cords 248 may be respectively connected to a plurality of teeth 2421, such as two pull-cords 248 shown in fig. 3, respectively, the plurality of rotary drivers 246 respectively operate different pull-cords 248, and a plurality of elastic members 245 may be respectively mounted on two sides of the arm portion below the arm portion along the extending direction of the pickup mechanism 24, respectively, so that the arm portion can be biased in the extending direction by the pulling force of the elastic members 245, and the plurality of rotary drivers 246 respectively pull or release the different pull-cords 248 to different extents, so as to enable the pickup mechanism 24 to achieve different postures.

According to another aspect of the present application, there is also provided a picking robot including a conveying device for conveying fruits, a moving part, a storing part for storing fruits, and a picking device as described above, the storing part and the conveying device being mounted to the moving part, the picking device being mounted to a top of the conveying device, a space formed by inner walls of the upper cover 22 and the lower cover 23 being communicated with the storing part through the conveying device. According to the technical scheme, in the picking process, a picking robot firstly moves to the approximate area of fruits to be picked on the ground through a moving part, then the picking device is moved to the fruits to be picked through adjusting a conveying device to pick the fruits, the upper cover 22 and the lower cover 23 are opened, the fruits are kept in the inner space, the upper cover 22 and the lower cover 23 are closed, stems of the fruits are cut off through a cutting piece 25 to finish picking, and the picked fruits are conveyed from the picking device to a storage part through a conveying guide pipe of the conveying device to finish picking once. The picking efficiency is greatly improved, and the risk of bumping other fruits is reduced.

Wherein, can set up picking robot's outward appearance to make it have the appearance of animal (for example giraffe), picking device can form the mouth of animal, thereby has the effect that the animal eaten when picking, in order to increase amusement, sight.

The preferred embodiments of the present application have been described in detail above, but the present application is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present application within the scope of the technical concept of the present application, and all the simple modifications belong to the protection scope of the present application.

In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described in detail.

Moreover, any combination of the various embodiments of the present application may be made without departing from the spirit of the present application, which should also be considered as disclosed herein.

Claims

1. The utility model provides a picking device, its characterized in that includes base (21), upper cover (22), lower cover (23), and cutting member (25), the rear end of upper cover (22) and lower cover (23) respectively with base (21) rotate and be connected in order to form open condition and closed condition, cutting member (25) set up in the front end of upper cover (22) and protrude in the lower limb of upper cover (22) in order to cut off the fruit when upper cover (22) and lower cover (23) switch over from open condition to closed condition.

2. Picking device according to claim 1, wherein the upper cover (22) is hinged to the base (21) at a first hinge point (211), the base (21) being provided with a telescopic device (27), the telescopic device (27) being hinged to the upper cover (22) at a third hinge point (213) for driving the upper cover (22) to rotate about the first hinge point (211) by means of the telescopic device (27).

3. Picking device according to claim 2, wherein the lower cover (23) is hinged to the base (21) at a second hinge point (212), the upper cover (22) having a first tooth (221) arranged around the first hinge point (211), the lower cover (23) having a second tooth (231) arranged around the second hinge point (212), the first tooth (221) being in engagement with the second tooth (231).

4. A picking device according to any one of claims 1 to 3, comprising a picking mechanism (24), the picking mechanism (24) having an extended state in which the picking mechanism (24) is mounted within the lower cover (23) and a bent state in which the picking mechanism (24) is able to extend out of the front side of the lower cover (23) and in which the picking mechanism (24) is able to be rolled up to pick up fruit and held in a space formed by the inner walls of the upper cover (22) and the lower cover (23).

5. The picking device according to claim 4, wherein the picking mechanism (24) comprises a fixing portion (241), an arm portion, a claw portion (242) and a driving portion, the fixing portion (241) is mounted to the lower cover (23), the arm portion is of a bendable structure, the claw portion (242) has teeth (2421) for capturing fruits, the claw portion (242) is connected to the fixing portion (241) through the arm portion, and the driving portion is used for driving bending of the arm portion.

6. The picking device according to claim 5, wherein the arm comprises a plurality of connecting arms (243), a plurality of said connecting arms (243) being hinged between each other and between the connecting arms (243) and the claw (242) by means of a connecting piece (244) for effecting bending of the arm.

7. The picking device of claim 6, wherein the connector (244) has a limiting structure to limit the rotational amplitude of the connector (244).

8. The picking device according to claim 7, wherein the picking mechanism (24) comprises a pull cord (248) and an elastic member (245), the elastic member (245) being mounted to the claw (242) and the arm, the arm being biased towards an extended state against rotation of the connecting member (244), the pull cord (248) being connected at one end to the tooth (2421) and being pulled at the other end by the driving portion to bend the arm and the claw (242).

9. The picking device according to claim 8, wherein the driving part comprises a rotary driver (246) and a winding roller (247), the rotary driver (246) drives the winding roller (247) to rotate, and the hauling cable (248) is wound around the winding roller (247).

10. A picking robot comprising a conveying device for conveying fruits, a moving part, a storage part for storing fruits, and a picking device according to any one of claims 1 to 9, wherein the storage part and the conveying device are mounted on the moving part, the picking device is mounted on top of the conveying device, and a space formed by inner walls of the upper cover (22) and the lower cover (23) is communicated with the storage part through the conveying device.