CN209897667U

CN209897667U - Encircling fruit picking machine

Info

Publication number: CN209897667U
Application number: CN201822177334.2U
Authority: CN
Inventors: 程清伟; 卓有成; 马学楠; 张女亦; 杨亚清
Original assignee: Guangzhou College of South China University of Technology
Current assignee: Guangzhou College of South China University of Technology
Priority date: 2018-12-21
Filing date: 2018-12-21
Publication date: 2020-01-07
Anticipated expiration: 2028-12-21

Abstract

The utility model relates to an encircling fruit picking machine, the inner ring arm is the tube-shape and is used for the cover to establish in the periphery of trunk, the outer crown plate of outer ring arm encircles along the center pin circumference of inner ring arm and sets up, telescopic machanism includes telescopic cylinder and telescopic guide, each outer crown plate is connected in the outside of inner ring arm through telescopic cylinder respectively, and telescopic cylinder can stretch out and draw back and make outer crown plate radially move along the inner ring arm, telescopic guide connects the bottom surface of outer crown plate and the bottom surface of inner ring arm, crawling mechanism sets up on each outer crown plate and passes the inner ring arm, crawling mechanism's movable pulley butt is in the surface of trunk, the gripper in the fruit picking mechanism sets up on the outer crown plate through the arm, tight locking mechanism includes tight locking cylinder and can pierce the contact pin on tree surface; the encircling fruit picking machine further comprises a control system. The utility model discloses can realize the intelligence of climbing and picking, make it stop on the trunk wantonly, it is high to pick the fruit accuracy.

Description

Encircling fruit picking machine

Technical Field

The utility model relates to the technical field of robots, more specifically say, relate to an embrace formula fruit picking machine.

Background

In the fruit production operation, the fruit picking accounts for 33-50% of the whole operation amount, and farmers manually pick the fruits one by using a picking device for the fruits on higher trees. Farmers firstly observe the position of the fruit under the tree, then approach the picking device to the fruit, manually adjust the position, manually cut the branches and then pick up the fruit. The picking device is often a scissors or a three-grabbing manipulator, and the picking mode has high labor intensity and very low production efficiency. If farmers directly climb trees for picking, great potential safety hazards exist.

In the research on tree climbing machines at home and abroad, the design of mechanisms is mainly carried out from the mechanical structure and the bionic angle, wherein the design mainly comprises the following steps: 1. a novel tree climbing robot Risev3 developed by researchers at American Bingxi Nia university mainly adopts a mechanical structure design, and comprises four feet, wherein needle-shaped protruding teeth are adopted at the positions of the feet of the robot Risev3, so that the robot Risev3 can move on a vertical object conveniently; 2. the snake-shaped robot researched by the university of Kanaiji-Meilong is designed in a bionic angle, is a hexapod robot and can stick and crawl like cockroaches; 3. the Tree bot developed by hong Kong is of the structure of the former two, consists of 3 connecting rods with telescopic functions, and like the crawling of caterpillars, the mechanical claws are provided with related touch sensors, so that the walking is realized.

However, all the three mainstream Tree climbing robots have certain defects, Rise v3 has high requirements on mechanical parts, the snake-shaped robot is expensive in cost and low in automation level, manual control is still needed to complete a series of processes, the work form is single, only Tree climbing is completed, the work efficiency is low, and the stability of the touch sensor of the Tree bot is poor.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problem that a embrace formula fruit picking machine is provided, can realize the intellectuality of climbing and picking, make it stop on the trunk wantonly, pick the fruit accuracy height.

In order to solve the technical problem, the utility model provides an encircling fruit picking machine, it includes inner ring arm, outer loop arm, telescopic machanism, crawl mechanism, locking mechanism and plucks fruit mechanism, the inner ring arm is the tube-shape and is used for the cover to establish in the periphery of trunk, the outer loop arm includes two at least circular-arc outer crown plate, the outer crown plate is followed the center pin circumference of inner ring arm is encircleed and is set up, telescopic machanism includes telescopic cylinder and telescopic guide, each the outer crown plate passes through respectively telescopic cylinder connect in the outside of inner ring arm, just telescopic cylinder can stretch out and draw back and make the outer crown plate follow inner ring arm radial movement, telescopic guide connects the bottom surface of outer crown plate with the bottom surface of inner ring arm, crawl the mechanism setting and pass on each the outer crown plate the inner ring arm, crawl the mechanism includes the movable pulley, The fruit picking mechanism comprises mechanical arms and mechanical claws, the mechanical claws are arranged on the outer ring plate through the mechanical arms, the locking mechanism comprises a locking cylinder and contact pins capable of penetrating into the surface of a tree, the cylinder body of the locking cylinder is arranged on the telescopic guide rail, and the contact pins are arranged on a piston rod of the locking cylinder; the encircling fruit picking machine further comprises a control system, the control system comprises a detection device, the detection device is arranged at the top of the outer annular plate, and the detection device comprises a vision module and an ultrasonic sensor which are used for detecting characteristic data of trees; the transmission module is used for receiving a remote operation instruction sent by the mobile terminal and sending the instruction; the storage module is used for storing the operation instruction received by the transmission module; the processor is used for receiving the instructions sent by the detection device and the transmission module; the processor is respectively electrically connected with the telescopic cylinder, the locking cylinder, the hub motor, the mechanical arm and the mechanical claw.

As a preferred scheme of the present invention, the telescopic cylinder is a spring cylinder, a cylinder body of the spring cylinder is connected to the inner ring arm, and a piston rod of the spring cylinder is connected to the outer ring plate; when the spring in the spring cylinder is in a natural state, the inner diameter of a circular ring formed by each sliding wheel is smaller than the outer diameter of the trunk.

As the utility model discloses preferred scheme, be equipped with pressure sensor on the telescopic cylinder.

As the utility model discloses preferred scheme, the inner ring arm is including the first inner ring plate and the second inner ring plate that all are half cylinder, first inner ring plate with the second inner ring plate both ends loop through the slip grafting and constitute the inner ring arm.

As the utility model discloses preferred scheme, telescopic cylinder is equipped with four and the interval evenly sets up crawl around the mechanism.

As a preferred aspect of the present invention, the mechanical arm includes a base, a first arm, a second arm and a third arm, the one end of the first arm is hinged to the base, the other end of the first arm is hinged to the one end of the second arm, the other end of the second arm is hinged to the one end of the third arm, and the gripper is connected to the other end of the third arm.

As the utility model discloses preferred scheme, the gripper includes along at least three clamping jaw, claw seat and the first actuating mechanism of circumference distribution, the drive of first actuating mechanism the claw seat is rotatory, the clamping jaw sets up on the claw seat, the clamping jaw opens or folds in order to form the chucking groove relatively through second actuating mechanism.

As the utility model discloses preferred scheme, be equipped with the cutting claw that is used for cutting off the carpopodium on the claw seat, the cutting claw sets up the periphery of clamping jaw, the cutting claw is including first claw sword and the second claw sword that the symmetry set up, the cutting edge setting of first claw sword is at its end, the cutting edge setting of second claw sword is at its end, the cutting edge of first claw sword with the cutting edge intermeshing of second claw sword is cuted.

As the preferred scheme of the utility model, the length of first claw sword with the length of second claw sword all is greater than the length of clamping jaw.

As the utility model discloses preferred scheme, the locking cylinder sets up respectively telescopic guide's both sides.

Implement the utility model discloses an encircling fruit picking machine compares with prior art, has following beneficial effect:

the utility model provides an inner ring arm and outer loop arm coaxial arrangement and inner ring arm cover are in the trunk periphery, through setting up the telescopic cylinder who is connected between inner ring arm and outer loop arm, be connected with the movable pulley of rotatable butt in the trunk surface on the outer loop arm, promote the rotation that the outer loop arm cooperated the movable pulley along its radial movement through telescopic cylinder and can make the formula fruit picking machine of embracing climb up along the trunk steadily, and be applicable to the coconut tree of different diameter size, and make outer loop arm and inner ring arm keep just right all the time through telescopic guide, avoid both to take place the dislocation, and telescopic guide can play certain bearing power to telescopic machanism, crawl mechanism and fruit picking mechanism, make the whole atress of picking machine more even, improve structural stability; the contact pin on the locking mechanism penetrates into the surface of a tree to stay at any height without slipping, so that the position deviation is avoided to ensure that the mechanical claw can accurately pick fruits on the tree; furthermore, the utility model discloses still be equipped with control system, can carry out the prejudgement of climbing to trees kind and actual size, information and received operating instruction through the feedback are with real-time adjustment climbing direction and speed, and pick the condition etc. can realize remote operation moreover, realize the climbing and pick intellectuality, can carry out the fruit high-efficiently and pick.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.

Fig. 1 is a schematic structural diagram of an encircling fruit picking machine provided by the present invention;

FIG. 2 is a schematic structural diagram of a fruit removing mechanism and an inner ring arm of the encircling fruit picking machine;

FIG. 3 is a schematic view of the structure of the inner ring arm;

wherein, 1-inner ring arm; 11-a first inner ring plate; 12-a second inner ring plate; 2-outer ring arm; 21-outer ring plate; 3, a telescopic cylinder; 4-a telescopic guide rail; 5-a sliding wheel; 51-a sliding wheel carriage; 6, a mechanical arm; 61-a base; 62-a first arm; 63-a second arm; 64-a third arm; 7-mechanical claw; 71-a clamping jaw; 8-an ultrasonic sensor; 9-locking the cylinder; 91-Pin.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 to 3, the present embodiment provides an encircling fruit picking machine, which includes an inner ring arm 1, an outer ring arm 2, a telescoping mechanism, a crawling mechanism, a locking mechanism, and a fruit picking mechanism, wherein the inner ring arm 1 is cylindrical and is configured to be sleeved on the periphery of a trunk, the outer ring arm 2 includes at least two circular arc-shaped outer ring plates 21, the outer ring plates 21 are circumferentially arranged along a central axis of the inner ring arm 1, the telescoping mechanism includes a telescopic cylinder 3 and a telescopic guide rail 4, each outer ring plate 21 is connected to the outside of the inner ring arm 1 through the telescopic cylinder 3, the telescopic cylinder 3 can stretch to enable the outer ring plates 21 to radially move along the inner ring arm 1, the telescopic guide rail 4 is connected to the bottom surface of the outer ring plate 21 and the bottom surface of the inner ring arm 1, the crawling mechanism is disposed on each outer ring plate 21 and passes through the inner ring arm 1, the crawling mechanism comprises sliding wheels 5, sliding wheel supports 51 and a hub motor which is arranged in the sliding wheels 5 and drives the sliding wheels 5 to rotate, each sliding wheel 5 is arranged on the outer ring plate 21 through the sliding wheel supports 51 and circumferentially arranged along the central axis of the inner ring arm 1, the sliding wheels 5 abut against the outer surface of a trunk, the fruit picking mechanism comprises mechanical arms 6 and mechanical claws 7, the mechanical claws 7 are arranged on the outer ring plate 21 through the mechanical arms 6, the locking mechanism comprises locking cylinders 9 and contact pins 91 capable of penetrating into the surface of a tree, the cylinder bodies of the locking cylinders 9 are arranged on the telescopic guide rails 4, and the contact pins 91 are arranged on piston rods of the locking cylinders 9.

The distance between the sliding wheel 5 and the trunk is adjusted through the telescopic cylinder 3 arranged between the inner ring arm 1 and the outer ring arm 2, so that the sliding wheel 5 can be always attached to the periphery of the trunk in the crawling process, the inner diameter of the inner ring arm 1 is larger than the diameter of the trunk, but the inner diameter of a ring formed by the sliding wheels 5 is smaller than the diameter of the trunk, when the encircling fruit picking machine encircles the trunk, the sliding wheel 5 is pressed outwards by the trunk, the sliding wheel 5 drives the outer ring plate 21 to radially outwards displace, so that the telescopic cylinder 3 and the telescopic guide rail 4 are stretched, the stretched telescopic cylinder 3 has a radially inwards pulling force acting on the outer ring plate 21 and is suitable for coconut trees with different diameters, the sliding wheel 5 firmly clings to the trunk, the outer ring plate 21 and the inner ring arm 1 are always kept right opposite through the telescopic guide rail 4, and the dislocation of the outer ring plate and the inner ring arm is avoided, the telescopic guide rail 4 can exert certain bearing force on the telescopic mechanism, the crawling mechanism and the fruit picking mechanism, so that the whole stress of the picking machine is more uniform, and the structural stability is improved; when the fruit picking machine climbs to reach the fruits, the inserting needle 91 on the locking mechanism penetrates into the surface of the tree to position and stop the fruit picking machine at the height position, so that position deviation is avoided, and the mechanical claw 7 is guaranteed to be capable of picking the fruits on the tree accurately, wherein the encircling type fruit picking machine in the embodiment is mainly applied to climbing of the palmaceae plants, particularly picking the fruits such as coconuts.

Based on the technical scheme, in order to realize intelligent tree climbing and fruit picking and replace manual operation, the encircling fruit picking machine further comprises a control system, the control system comprises a detection device, the detection device is arranged at the top of the outer annular plate 21, and the detection device comprises a visual module and an ultrasonic sensor 8, wherein the visual module is used for detecting characteristic data of trees; the transmission module is used for receiving a remote operation instruction sent by the mobile terminal and sending the instruction; the storage module is used for storing the operation instruction received by the transmission module; the processor is used for receiving the instructions sent by the detection device and the transmission module; the treater respectively with telescopic cylinder 3, locking cylinder 9, in-wheel motor, arm 6 and gripper 7 electric connection, wherein, the treater is STM32 treater.

The detection device feeds detected data back to the processor, the processor can pre-judge tree types, tree sizes, fruit distances and the like, and the processor controls the telescopic cylinder 3, the locking cylinder 9, the hub motor, the mechanical arm 6 and the mechanical claw 7 to move respectively through operation instructions sent by the transmission module and the storage module through the mobile terminal, so that the climbing path, climbing speed, picking modes and the like of the fruit picking machine are accurately controlled; the mobile terminal can be a mobile phone, a tablet personal computer or a computer, the transmission module can be one of Bluetooth, wireless broadband, wireless radio frequency identification, GPRS, GSM, 3G and 4G communication transmission, an operation instruction received by the transmission module is stored in the storage module, and then the operation instruction is sent to the processor through the transmission module to serve as various command instructions, so that remote control is realized.

Illustratively, the telescopic cylinder 3 is a spring cylinder, the cylinder body of the spring cylinder is connected to the inner ring arm 1, and the piston rod of the spring cylinder is connected to the outer ring plate 21; when spring in the spring cylinder is in natural state, each the internal diameter of the ring that sliding wheel 5 formed is less than the external diameter of trunk, guarantees that sliding wheel 5 tightly butts all the time in the periphery of trunk, and is more stable when can making the climbing.

Exemplarily, be equipped with pressure sensor on the telescopic cylinder 3, come the stroke of the piston rod of adjusting spring cylinder through pressure sensor real-time detection spring cylinder's pressure value to adjust the interior annular internal diameter size that each movable pulley 5 formed according to the external diameter size of trunk, guarantee that movable pulley 5 and trunk periphery reach the best butt degree, play certain effect of moving away to avoid possible earthquakes, reduce the vibrations that crawl the in-process and produce.

Exemplarily, the inner ring arm 1 includes a first inner ring plate 11 and a second inner ring plate 12 both in a semicircular cylinder shape, and the first inner ring plate 11 and the second inner ring plate 12 both ends are inserted in order to slide to constitute the inner ring arm 1, so that the fruit picking machine is convenient to install and detach on the trunk, and can bear a large radial tension.

Illustratively, the four telescopic cylinders 3 are uniformly arranged around the crawling mechanism at intervals, so that the stress between the inner ring arm 1 and the outer ring plate 21 is more uniform, and the four telescopic cylinders 3 can provide enough radial tension and pressure on the surface of the trunk.

Illustratively, the mechanical arm 6 includes a base 61, a first arm 62, a second arm 63 and a third arm 64, wherein one end of the first arm 62 is hinged to the base 61, the other end of the first arm 62 is hinged to one end of the second arm 63, the other end of the second arm 63 is hinged to one end of the third arm 64, and the mechanical claw 7 is connected to the other end of the third arm 64. The gripper 7 comprises at least three gripping jaws 71, a gripper seat and a first driving mechanism which are distributed along the circumference, the first driving mechanism drives the gripper seat to rotate, the gripping jaws 71 are arranged on the gripper seat, the gripping jaws 71 are opened or closed relatively through a second driving mechanism to form a clamping groove, the gripper 7 is driven to pick fruits on a tree without dead angles through the matched rotation of the first arm part 62, the second arm part 63 and the third arm part 64, the gripper 7 grasps the fruits through the clamping groove formed by closing the gripping jaws 71 and twists off fruit handles through the rotating clamping groove to pick the fruits, and damage to the fruits in the picking process is avoided.

Exemplarily, be equipped with the cutting claw that is used for cutting off the carpopodium on the claw seat, the cutting claw sets up the periphery of clamping jaw 71, the cutting claw includes first claw sword and the second claw sword that the symmetry set up, the cutting edge of first claw sword sets up at its end, the cutting edge of second claw sword sets up at its end, the cutting edge of first claw sword with the cutting edge intermeshing of second claw sword is cuted, just the length of first claw sword with the length of second claw sword all is greater than the length of clamping jaw 71, cuts off the carpopodium through the cutting claw, avoids plucking down the fruit by force and causes the damage to fruit or trunk.

To better stop the environmentally friendly fruit picking machine on the trunk, the locking cylinders 9 are respectively arranged on both sides of the telescopic guide rail 4.

Illustratively, each outer ring plate 21 is correspondingly connected with one sliding wheel 5, a through hole is formed in the position, corresponding to the sliding wheel 5, of the inner ring arm 1, and the sliding wheel 5 penetrates through the through hole, so that the fruit picking machine can be ensured to better hold the trunk.

In this embodiment, similarly, the fruit picking machine can climb the trunk more stably, two sliding wheels 5 are correspondingly connected to each outer ring plate 21, and the two sliding wheels 5 are respectively disposed at the outer sides of the two ends of the inner ring arm 1.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, therefore, the invention is not limited thereto.

Claims

1. The encircling fruit picking machine is characterized by comprising an inner ring arm, an outer ring arm, a telescopic mechanism, a crawling mechanism, a locking mechanism and a fruit picking mechanism, wherein the inner ring arm is cylindrical and is used for being sleeved on the periphery of a trunk, the outer ring arm comprises at least two circular-arc outer ring plates, the outer ring plates are circumferentially arranged along the central axis of the inner ring arm in an encircling mode, the telescopic mechanism comprises telescopic cylinders and telescopic guide rails, each outer ring plate is connected to the outer portion of the inner ring arm through the telescopic cylinders respectively, the telescopic cylinders can stretch to enable the outer ring plates to move along the radial direction of the inner ring arm, the telescopic guide rails are connected to the bottom surfaces of the outer ring plates and the bottom surface of the inner ring arm, the crawling mechanism is arranged on each outer ring plate and penetrates through the inner ring arm, the crawling mechanism comprises sliding wheels, sliding wheel supports and hub motors which are arranged in the sliding wheels and drive the sliding wheels to rotate, each sliding wheel is arranged on the outer ring plate through the sliding wheel support and circumferentially arranged along the central axis of the inner ring arm in a surrounding mode, the sliding wheel abuts against the outer surface of a trunk, the fruit picking mechanism comprises a mechanical arm and a mechanical claw, the mechanical claw is arranged on the outer ring plate through the mechanical arm, the locking mechanism comprises a locking cylinder and a contact pin capable of penetrating into the surface of a tree, the cylinder body of the locking cylinder is arranged on the telescopic guide rail, and the contact pin is arranged on a piston rod of the locking cylinder;

the encircling fruit picking machine further comprises a control system, the control system comprises a detection device, the detection device is arranged at the top of the outer annular plate, and the detection device comprises a vision module and an ultrasonic sensor which are used for detecting characteristic data of trees; the transmission module is used for receiving a remote operation instruction sent by the mobile terminal and sending the instruction; the storage module is used for storing the operation instruction received by the transmission module; the processor is used for receiving the instructions sent by the detection device and the transmission module;

the processor is respectively electrically connected with the telescopic cylinder, the locking cylinder, the hub motor, the mechanical arm and the mechanical claw.

2. The all-embracing fruit picking machine according to claim 1, wherein the telescopic cylinder is a spring cylinder, a cylinder body of the spring cylinder is connected to the inner ring arm, and a piston rod of the spring cylinder is connected to the outer ring plate; when the spring in the spring cylinder is in a natural state, the inner diameter of a circular ring formed by each sliding wheel is smaller than the outer diameter of the trunk.

3. The fruit picking machine of claim 1, wherein the telescopic cylinder is provided with a pressure sensor.

4. The fruit picking machine of claim 1, wherein the inner ring arm comprises a first inner ring plate and a second inner ring plate which are semi-cylindrical, and two ends of the first inner ring plate and two ends of the second inner ring plate are sequentially inserted in a sliding manner to form the inner ring arm.

5. The wraparound fruit picker according to claim 1, wherein the telescopic cylinders are provided in four and are evenly spaced around the crawling mechanism.

6. The wrap around fruit picker of claim 1, wherein the robotic arm comprises a base, a first arm, a second arm and a third arm, one end of the first arm is hinged to the base, the other end of the first arm is hinged to one end of the second arm, the other end of the second arm is hinged to one end of the third arm, and the gripper is connected to the other end of the third arm.

7. The wraparound fruit picking machine according to claim 1, wherein the gripper comprises at least three gripping jaws circumferentially distributed, a jaw base on which the gripping jaws are provided, and a first driving mechanism which drives the jaw base to rotate, and the gripping jaws are relatively opened or closed by a second driving mechanism to form the gripping grooves.

8. The wraparound fruit picking machine according to claim 7, wherein the claw seat is provided with a cutting claw for cutting off the fruit stem, the cutting claw is arranged on the periphery of the clamping jaw, the cutting claw comprises a first claw knife and a second claw knife which are symmetrically arranged, the cutting edge of the first claw knife is arranged at the tail end of the first claw knife, the cutting edge of the second claw knife is arranged at the tail end of the second claw knife, and the cutting edge of the first claw knife and the cutting edge of the second claw knife are meshed with each other for shearing.

9. The wraparound fruit picking machine of claim 8, wherein the length of the first claw knife and the length of the second claw knife are both greater than the length of the gripping jaw.

10. The fruit picking machine of claim 1, wherein the locking cylinders are respectively disposed on both sides of the telescopic guide rail.