CN211353149U

CN211353149U - Picking execution terminal device and fruit picking machine

Info

Publication number: CN211353149U
Application number: CN201920720179.6U
Authority: CN
Inventors: 杨庆华; 张建军
Original assignee: Huzhou Haobo Intelligent Technology Co ltd
Current assignee: Huzhou Haobo Intelligent Technology Co ltd
Priority date: 2019-05-20
Filing date: 2019-05-20
Publication date: 2020-08-28
Anticipated expiration: 2029-05-20

Abstract

The utility model relates to a field is picked to the intelligence, especially relates to a pick and carry out end device and fruit picking machine. The picking execution end device comprises an air inlet, a vacuum suction port for extracting air and a fruit dropping outlet for allowing fruits to fall, an outer pipe wraps the outer portion of the inner pipe, the rear ends of the inner pipe and the outer pipe are both connected with a rear end extension portion, an air guide member is arranged at the end of the inner pipe, a wind shielding wall is connected with the joint of the air guide member and the inner pipe downwards, the wind shielding wall is arranged on the inner side of the connecting end face of the rear end extension portion, the outer side of the wind shielding wall is connected with the outer pipe, and the inner side of the wind shielding wall is connected with the inner; the vacuum suction port is arranged on the outer pipe or the rear end extension part; and a fruit falling door is arranged at the fruit falling outlet. The utility model discloses air at air guide department forms the arc air flow section, gives the power that fruit upwards promoted at fruit whereabouts in-process, alleviates the free fall effect of fruit whereabouts, alleviates the damage that the fruit probably produced at the results in-process.

Description

Picking execution terminal device and fruit picking machine

Technical Field

The utility model relates to a field is picked to the intelligence, especially relates to a pick and carry out end device and fruit picking machine.

Background

Fruit picking and harvesting is still largely a manual process. In orchards where the fruit grows on trees (such as apples, pears, apricots, peaches, etc.), farm workers may move ladders near the trees, climb ladders, pick the fruit, and transfer the fruit to temporary storage such as baskets. After the worker has picked all of the mature fruit in that location, the worker climbs down and moves the ladder to another location, and then repeats the process as many times as necessary. This process has high labor requirements, which results in high operating costs, thereby reducing the profit earned by the farmer.

The domestic utility model patent with application number CN201580075405.4 discloses an end effector for robot harvesting, which specifically discloses an end effector comprising a vacuum generating subsystem and being connected to the vacuum generating subsystem. The end effector has: a first tube having a first diameter; and a second tube having a second diameter smaller than the first diameter so that the second tube is fitted inside the first tube. The utility model discloses a mode is picked through suction, has improved greatly and has picked efficiency. However, in the picking and fruit dropping process by using the suction picking method, there is still a possibility of fruit damage, and effectively preventing the damage caused in the fruit harvesting process is an important link for ensuring the picking quality, so that a picking execution end device capable of further reducing the fruit damage caused in the picking process needs to be designed.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the application provides a picking execution terminal device and a fruit picking machine.

A picking execution end device comprises an air inlet, a vacuum suction port for extracting air and a fruit dropping outlet for allowing fruits to fall, wherein an outer pipe wraps an inner pipe, the rear ends of the inner pipe and the outer pipe are both connected with a rear end extension part, the end of the inner pipe is provided with a wind guide part, a wind blocking wall is downwards connected to the joint of the wind guide part and the inner pipe, the wind blocking wall is arranged on the inner side of the connecting end surface of the rear end extension part, the outer side of the wind blocking wall is connected with the outer pipe, and the inner side of the wind blocking wall is connected with the inner pipe; the vacuum suction port is arranged on the outer pipe or the rear end extension part; and a fruit falling door is arranged at the fruit falling outlet.

In the technical scheme, the picking execution terminal device is designed to be provided with an air inlet, a vacuum suction port and a fruit dropping outlet, the vacuum suction port is connected with a vacuum generating system, air is sucked out from the vacuum suction port, fruits enter the picking execution terminal device from the air inlet, and the fruits drop out from the fruit dropping outlet through the whole picking execution terminal device to be collected by a harvesting system. The vacuum suction port is arranged on the outer pipe or the rear end extension part, air can be sucked out from the vacuum suction port through the gap space between the outer pipe and the inner pipe, and new air enters the vacuum suction port through the air inlet. Meanwhile, the air guide piece at the tail end of the inner pipe changes the flowing direction of air in the extending part at the rear end, the air at the air guide piece forms an arc-shaped air flowing section, an upward lifting force is given to the fruits to a certain extent in the falling process of the fruits, the free falling effect of the fruits is reduced, and the damage possibly generated in the fruit harvesting process is reduced.

Preferably, a connecting port is arranged at the connecting position of the connecting end face and the outer pipe;

the side direction is provided with in the connecting port the inner tube direction the wind-break wall, the wind-break wall is U type wind-break wall, U type outside edge with the outer tube the connecting face is connected, the inboard edge of U type with interior union coupling, the plane on the U type with the air guide is connected.

Preferably, the vacuum suction port is connected with a suction pipe, and the suction pipe is attached to the inner side of the outer pipe or the inner side of the rear end extension part.

Preferably, the air inlet front end is fitted with a detachable modular picking head, the detachable modular picking head front end being provided with a flexible lip ring.

Preferably, a fruit dropping inductor is arranged on the inner wall of the rear end extension part.

Preferably, the fruit dropping door is provided with an opening and closing driving device.

A fruit picking machine comprising a picking performing end device, parallel robots connected to the picking performing end device, a vacuum generating system to provide suction to the picking performing end device, a harvesting system for picking harvest; the harvesting system comprises a harvesting channel connected with the fruit drop outlet and an end harvesting device connected with the harvesting channel; the vacuum generating system comprises a vacuum generator, a suction pipe connected to the vacuum suction port, and a trauma reducing air passage pipe connected to the harvesting passage; the vacuum generator includes a vacuum pumping section and a deceleration gas output section, the suction pipe is connected with the vacuum pumping section, and the injury reduction gas duct is connected with the deceleration gas output section and attached to the inside of the harvesting passage. Preferably, the trauma reducing airway tube is attached to the inside of the harvesting passageway.

Preferably, the trauma reducing airway tube is connected to the body of the harvesting channel or to the bottom of the harvesting channel.

Preferably, a detachable temporary garbage storage device is further arranged between the vacuum pumping part and the vacuum suction port. Picking execution end device.

Preferably, an auxiliary vision camera is arranged on the picking execution end device.

In conclusion, the beneficial effects of the technical scheme are as follows:

1. there is a gap space between the outer pipe and the inner pipe except for the connection portion, the vacuum suction port is provided on the outer pipe or the rear-end extension portion, air can be sucked out from the vacuum suction port through the gap space between the outer pipe and the inner pipe, and new air enters through the air inlet. Meanwhile, the air guide piece at the tail end of the inner pipe changes the flowing direction of air in the extending part at the rear end, the air at the air guide piece forms an arc-shaped air flowing section, an upward lifting force is given to the fruits to a certain extent in the falling process of the fruits, the free falling effect of the fruits is reduced, and the damage possibly generated in the fruit harvesting process is reduced.

2. The arc-shaped air flow section can also change the falling path of the fruit due to the action of air flow, shorten the distance of the falling parabola of the fruit in the horizontal direction, reduce the probability that the fruit falling parabola is too long in the horizontal direction and collides with the extending part at the rear end to damage the rear wall, and further reduce the fruit damage caused in the picking falling process.

3. The damage-reducing air duct tube applies upward force to the fruits when the fruits fall, reduces or even counteracts the free falling bodies of the fruits, protects the fruits at the stage that the fruits enter the fruit collecting system, and prevents the fruits from being damaged by collision when falling.

4. Can dismantle modularization picking head can be in nimble installation at the inner tube front end, uses the modularization picking head that corresponds according to the condition of actually picking the fruit in the in-service use, can dismantle simultaneously and be provided with flexible lip valve ring on the modularization picking head, when picking the fruit, in the suction picking in-process in the initial stage, give flexible blockking, reduce the damage to the fruit when suction is too big.

5. Vacuum bleed portion with still be provided with detachable rubbish temporary storage device between the vacuum suction port, in long-term use, probably brought branch, leaf and some rubbish into in the picking process, detachable rubbish temporary storage device provides the possibility of dismantling and clear away rubbish, leaves rubbish in the rubbish temporary storage device simultaneously with rubbish, has prevented to get into the possibility of vacuum bleed portion, prolongs the working life of vacuum bleed portion.

Drawings

Fig. 1 is a structural diagram of a picking execution end device of the utility model;

fig. 2 is a schematic view of a flexible injury-reducing airflow ring in a picking performing end-point device of the present invention;

fig. 3 is a schematic view of another form of a flexible injury reduction airflow ring in a picking performing tip device of the present invention;

fig. 4 is a cross-sectional view of a picking performing end device of the present invention;

FIG. 5 is a partial cross-sectional view of the dropped fruit collection system of the present invention;

fig. 6 is a side view of a picking performing end device of the present invention;

FIG. 7 is a schematic cross-sectional view at AA in FIG. 6;

FIG. 8 is a schematic cross-sectional view at BB of FIG. 6;

FIG. 9 is a partial cross-sectional view of another embodiment of the fallen fruit collection system of the present invention;

fig. 10 is a schematic view of the garbage temporary storage device of the present invention.

Wherein, 1-an air inlet, 11-an outer pipe, 12-an inner pipe, 121-an air guide, 122-an air isolating reinforcing rib, 13-a rear end extension part, 131-a connecting end face, 1311-a connecting port, 132-a wind shield wall, 133-a fruit dropping door, 1331-an opening and closing driving device, 134-a fruit dropping injury reduction rear wall, 2-a vacuum suction port, 3-a fruit dropping outlet, 4-a fruit dropping inductor, 5-a flexible injury reduction airflow ring, 51-a horizontal airflow section, 52-an airflow lifting section, 53-an airflow extraction section, 6-an airflow cavity, 7-a vacuum generating system, 71-a vacuum generator, 711-a vacuum air extraction part, 712-a vacuum air conveying part, 72-an air suction pipe, 73-an injury reduction air channel pipe and 74-a garbage temporary storage device, 8-harvesting system, 81-harvesting channel, 9-detachable modular picking head, 91-flexible lip ring, 10-auxiliary sensing device.

Detailed Description

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless otherwise defined, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that the conventional terms should be interpreted as having a meaning that is consistent with their meaning in the relevant art and this disclosure. This disclosure is to be considered as an example of the invention and is not intended to limit the invention to the particular embodiments.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element to which the term refers must have a specific position, 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 the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. Such as "horizontal" simply means that its orientation is more horizontal than "vertical," and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

Example 1

As shown in fig. 1 to 4, a picking performing end device comprises an air inlet 1 arranged at the front end of an inner tube 12, a vacuum suction port 2 for extracting air and a fruit dropping outlet 3 for allowing fruits to drop, wherein the inner tube 12 is wrapped by an outer tube 11, the rear ends of the inner tube 12 and the outer tube 11 are both connected with a rear end extension part 13, the end of the inner tube 12 is provided with an air guide member 121, the air guide member 121 is inserted into the rear end extension part 13, the vacuum suction port 2 is arranged on the outer tube 11 or the rear end extension part 13, and the fruit dropping outlet 3 is provided with a fruit dropping door 133.

Picking performing end unit is designed with an air inlet 1, a vacuum suction opening 2 and a fruit drop outlet 3, the vacuum suction opening 2 being connected to a vacuum generating system 7 from which air is sucked out, the fruit entering the picking performing end unit from the air inlet 1, falling out through the fruit drop outlet 3 through the whole picking performing end unit to be collected by a harvesting system 8. An inner tube 12 and an outer tube 11 which are sleeved with each other, the inner diameter of the outer tube 11 is larger than the outer diameter of the inner tube 12, a gap space exists between the outer tube 11 and the inner tube 12 except for a connecting part, the vacuum suction port 2 is arranged on the outer tube 11 or the rear end extension part 13, air can be sucked out from the vacuum suction port 2 through the gap space between the outer tube 11 and the inner tube 12, and new air enters through the air inlet 1. Meanwhile, the air guide member 121 at the tail end of the inner pipe changes the flowing direction of air in the rear end extension part 13, and the air at the air guide member 121 forms an arc-shaped air flowing section, namely the air flow lifting section 52, so that an upward lifting force is given to the fruits to a certain extent in the falling process of the fruits, the free falling effect of the fruits is reduced, and the possible damage of the fruits in the harvesting process is reduced. While said drop door 133, which is tightly closed, is present in the whole system, cooperating with other structures, so that the interior of the picking performing end device is brought into a vacuum negative pressure state.

From the view point of air flow, air enters from the air inlet 1 and then passes through the horizontal air flow section 51 formed by the inner cavity of the inner tube 12, the upper part of the rear end of the inner tube 12 extends towards the rear end extension part 13 to be connected with the air guide member 121, and the air guide member 121 changes the air flow direction to form the air flow lifting section 52. The air flow lifting section 52 sucks air along the lower surface of the air guide member 121, and is drawn away by the vacuum generating system 7 along the upper surface of the air guide member 121. The airflow forms an airflow lifting section 52 with a lifting function on fallen fruits at the air guide member 121, so that a force resisting the free falling body can be provided during the free falling of the fallen fruits, and the damage of the fallen fruits during the falling process can be reduced.

The vacuum suction port 2 is connected with a vacuum pumping part 71 of the vacuum generating system 7 to pump air to form an air flow pumping section 53.

The horizontal airflow section 51, the airflow lifting section 52 and the airflow extraction section 53 are sequentially connected to form an unclosed flexible injury reduction airflow ring 5.

The horizontal air flow section 51, the air flow lifting section 52 and the air flow extracting section 53 are sequentially connected to form an unclosed flexible injury reduction air flow ring 5, and a complete picking air flow effect is formed when fruits are picked, wherein an air flow pressure difference between an upper air flow and a lower air flow is formed at the air flow lifting section 52, an upward lifting force is generated on the fruits, the free falling body effect when the fruits fall after being picked is resisted, and the fruit injury caused in the picking falling process is reduced.

The front end of the outer tube 11 is connected with the front part of the inner tube 12 in a sealing way, and the rear end of the inner tube 12, the rear end of the outer tube 11 and the rear end extension part 13 are connected to form an airflow cavity 6 allowing airflow to flow in a single direction. Fig. 6 is a side view of the present invention, fig. 7 is a schematic cross-sectional view at AA in fig. 6, the AA connection line is in the rear end extension 13, and a part of the gas flow chamber 6 can be seen from the cross-section; fig. 8 shows a schematic cross-sectional view at BB in fig. 6, where the BB connecting line, which cuts the outer tube 11 and the inner tube 12, can be seen in cross-section partially through the airflow chamber 6. Referring to fig. 7 and 8, the airflow chamber 6 is closed at the front end and opened at the rear end, and in combination with the above, the airflow chamber 6 is further provided with the vacuum suction port 2, under the action of the suction force of the vacuum generating system 7, the vacuum suction port 2 performs suction work to the vacuum generating system 7, and air can enter from the air inlet 1, pass through the end of the inner tube 12, and is sucked from the vacuum suction port 2 through the airflow chamber 6.

Wherein, after the suction force is provided by the suction force providing system 3 connected with the vacuum suction port 2, the airflow chamber 6 is sucked from the front end of the inner tube 12 due to the suction force, and then the airflow flows to the airflow chamber 6 from the rear end extension part 13, as shown in fig. 2, an unclosed annular airflow is formed, and the fruit damage caused in the picking process is further reduced due to the fact that the airflow forms negative air pressure on the upper part and the lower part of the picking implement terminal device and is subjected to an upward pulling force after the fruit enters the rear end extension part 13, namely the upward pulling force generated at the airflow lifting section 52.

The outer tube 11 and the inner tube 12 are connected to a connecting surface 131 at the front end of the rear end extension part 13; a wind-blocking wall 132 is arranged on the connecting surface 131 towards the inner pipe 12; the U-shaped outer side of the wind-break wall 132 is connected with the outer tube 11 and the connecting surface 131; the U-shaped inner side of the wind-break wall 132 is connected with the inner pipe 12; the U-shaped upper plane of the wind blocking wall 132 is connected to the wind guide member 121.

The wind-break wall 132 is a U-shaped connecting surface, the U-shaped inner side of the wind-break wall 132 is connected with the inner tube 12, and the U-shaped outer side of the lower connecting surface 132 is connected with the outer tube 11. The wind-blocking wall 132 is used for hermetically connecting the lower part of the rear end of the outer tube 11 with the lower part of the rear end of the inner tube 12, blocking air from being directly sucked from the lower part of the airflow cavity 6 formed between the outer tube 11 and the inner tube 12, only allowing air to be sucked from the upper back of the airflow cavity 6, reducing the sectional area of an air suction inlet, accelerating the flow velocity of air, facilitating the formation of upper air negative pressure, and applying a force for lifting fruits upwards through the upper air negative pressure in the fruit falling process to resist free falling bodies and reduce fruit damage in the picking process. Meanwhile, the falling path of the fruit in the falling process can be changed to a certain extent, and the probability that the fruit is bruised due to the fact that the fruit falls to the rear wall 134 with the damage reduced when the fruit falls due to overlong horizontal distance of the fruit falling parabola is reduced.

An air guide member 121 is arranged at the upper part of the rear end of the inner tube 12 in a protruding manner. Due to the design, the air guide member 121 extends out, the length of the horizontal air flow section 51 can be shortened to a certain extent, the length is shortened, namely the retention time of the fruit in a suction acceleration area is shortened in a reasonable range, the acceleration obtained by the fruit under the action of suction under the work of the vacuum generation system 7 can be avoided less, meanwhile, the air guide member 121 forms better transition in the rear end extension part 13, and the flexible air pressure difference formed by the air guide member 121 and the annular air flow can generate the injury reduction effect on the fruit dropping process.

As shown in fig. 2, a wind-isolating reinforcing rib 122 is downwardly arranged at a central line of a lower portion of the inner tube 12, a lower end of the wind-isolating reinforcing rib 122 is connected with an inner wall of the outer tube 11, and a rear end of the wind-isolating reinforcing rib 122 is connected with the U-shaped wind-blocking wall 132. The air-isolating reinforcing ribs 122 stably reinforce the fixation of the inner tube 12 and the outer tube 11, and simultaneously, two symmetrical ventilations can be formed, thereby reducing the interference between the two vacuum suction ports 2 during air suction.

Example 2

Based on embodiment 1, the difference from embodiment 1 is that:

as shown in fig. 2, the vacuum suction port 2 is provided on the outer tube 11, attached to the inside of the outer tube 11.

At this time, the vacuum suction port 2 is located in front of the fruit drop outlet 3 in the horizontal direction, i.e., the airflow elevating section 52 is a U-shaped section in the counterclockwise rotating flow direction.

Example 3

Based on embodiment 1, the difference from embodiment 1 is that:

as shown in fig. 3, the vacuum suction port 2 is provided at the upper end of the rear-end extension 13, attached to the inside of the rear-end extension 13.

At this time, the vacuum suction port 2 is located behind the fruit drop outlet 3 or at the same position as the fruit drop outlet 3 in the horizontal direction, i.e. the air flow lifting section 52 is a U-shaped section with an upward U-shaped opening.

Example 4

Based on embodiment 1, the difference from embodiment 1 is that:

as shown in fig. 1, the inner tube 12 is fitted at its front end with a detachable modular picking head 9, the detachable modular picking head 9 being provided at its front end with a flexible lip ring 91.

Since it is desirable that a single picker can be used with different types of fruit in view of the cost of the work, a removable modular picker head 9 arrangement is provided which allows for the replacement of different removable modular picker heads 9 in the event that different fruit is picked. The assembling mode can be inserting and buckling or meshing.

The flexible lip valve ring is arranged, when fruits are picked, in the early stage suction picking process, flexible blocking is provided, and damage to the fruits when the suction is too large is reduced.

Example 5

Based on embodiment 1, the difference from embodiment 1 is that:

as shown in fig. 2 and 3, a fruit dropping sensor 4 is arranged on the inner wall of the rear end extension part 13; a fruit dropping door 133 is arranged below the fruit dropping outlet 13. When the fruit falling sensor 4 senses that the fruit falls, the opening and closing driving device 1331 controls the opening of the fruit falling door 133, and the opening mode of the opening and closing driving device has multiple types, can be driven by oil pressure or a motor, and can also be directly provided with a spring switch door.

Further, the drop door 133 needs to have a certain sealing property, and the drop outlet 3 can be tightly sealed when the drop door 133 is closed. During the actual harvesting process, when the falling fruit sensor 4 detects a falling fruit, the fruit falling gate 133 is triggered to be opened, and the fruit falling gate 133 is closed immediately after the fruit passes through the fruit falling gate 133. In the process, when fruits are sucked into the picking execution end device, acceleration is obtained under the action of air suction, the fruits pass through the horizontal air flow section 51 of the inner pipe 11, are relatively decelerated and resist the action of free falling bodies in the rear end extension part 13 under the action of upward pulling force in the air flow lifting section 52 caused by air negative pressure, but when the fruit falling door 133 is opened, the air negative pressure is weakened or even disappears, the fruits fall, after the fruits successfully pass through the fruit falling door 133, the fruit falling door 133 is immediately closed, and certain tightness is needed in the closed state of the fruit falling door 133, the fruit falling outlet 3 can be tightly sealed, and only after the fruit falling door is tightly sealed, the air negative pressure can be formed again, and picking and harvesting work is continued.

The rear end of the rear end extension part 13 is provided with a fruit drop injury reduction rear wall 134, the fruit drop injury reduction rear wall 134 is made of flexible materials and has a certain thickness, and when a falling parabola of a fruit is too long and the fruit hits the fruit drop injury reduction rear wall 134, damage to the fruit after the fruit hits the fruit drop injury reduction rear wall 134 in the falling process can be flexibly reduced.

Example 6

Based on embodiment 1, the difference from embodiment 1 is that:

this embodiment is a whole fruit picking apparatus with multiple functional systems including the picking performing end devices of embodiment 1, a vacuum generating system 7 to provide suction to the picking performing end devices, a harvesting system 8 for picking harvest.

As shown in fig. 1 and 5, the harvesting system 8 includes a harvesting channel 81 connected to the fruit drop outlet 3 and an end harvesting device connected to the harvesting channel 81, and the final fruit enters the end harvesting device after passing through the harvesting channel 81. It can also be further extended to design the end harvesting device before entering it to achieve sorting in and collecting different sizes of the end harvesting device according to different sizes of fruits through cooperation of mechanical structure and calculation method.

The vacuum generating system 7 comprises a vacuum generator 71, a suction pipe 72 connected to the vacuum suction port 2, a trauma reducing air duct 73 connected to the harvesting air duct 81;

the vacuum generator 71 includes a vacuum suction part 711 and a vacuum gas transfer part 712, the suction pipe 72 is connected to the vacuum suction part 711, and the flaw reduction gas passage pipe 73 is connected to the vacuum gas transfer part 712.

The trauma reducing airway tube 73 blows air into the harvest channel 81 as the fruit falls. The fruit is protected when entering a fruit collection system, and the fruit is prevented from being bruised and bruised when falling.

Furthermore, the damage-reducing air duct 73 connected to the fallen fruit collecting system 8 has at least one air duct for applying an upward pushing force to the fruit when the fruit falls, and a plurality of air ducts can be designed and used in combination according to actual needs.

The trauma reducing airway tube 73 is attached to the inside of the harvesting channel 81. Wherein the trauma reducing airway tube 73 does not restrict the device to the middle or bottom of the harvest channel 81. As shown in fig. 9, the trauma reducing airway tube 73 connected to the fallen fruit collecting system 8 may also be provided at the bottom of the fallen fruit collecting system 8, i.e., at the end of the harvesting channel 81.

Furthermore, a detachable temporary garbage storage device is arranged between the vacuum pumping part 711 and the vacuum suction port 2. Vacuum portion 711 with still be provided with detachable rubbish temporary storage device between vacuum suction port 2, in long-term use, probably brought branch, leaf and some rubbish into in the picking process, detachable rubbish temporary storage device provides the possibility of dismantling and driving rubbish, leaves rubbish in the rubbish temporary storage device simultaneously with rubbish, has prevented to get into the possibility of vacuum portion 711, prolongs the working life of vacuum portion 711.

Example 7

Based on embodiment 1, the difference from embodiment 1 is that: this example is a fruit picker comprising the fruit picker of example 1.

A fruit picking machine comprising a picking performing end device as described in example 1, a parallel robot connected to the picking performing end device, a vacuum generating system 7 providing suction to the picking performing end device, a harvesting system 8 for picking harvest. During the actual picking process, the vacuum generating system 7 works, the picking execution end device generates inward suction force, fruits are sucked, and the fruits pass through the interior of the picking execution end device and then enter the harvesting system 8 through the fruit dropping outlet 3, and finally are collected into the end harvesting device 82. Wherein the end harvesting device 82 is preferably a fruit collection sorting basket.

The harvesting system 8 comprises a harvesting channel 81 connected to the drop outlet 3 and an end harvesting device 82 connected to the harvesting channel 81.

The vacuum generating system 7 comprises a vacuum generator 71, a suction pipe 72 connected to the vacuum suction opening 2, a trauma reducing air duct 73 connected to the harvesting channel 81.

The vacuum generator 71 includes a vacuum suction part 711 and a deceleration gas output part 712, the suction pipe 72 is connected to the vacuum suction part 711, and the injury reduction gas passage pipe 73 is connected to the deceleration gas output part 712 and attached to the inside of the harvesting passage 81.

Further, the trauma reducing airway tube 73 is connected to the body of the harvesting channel 81 or the bottom of the harvesting channel 81.

Example 8

Based on example 7, the difference from example 7 is that: as shown in fig. 10, a detachable temporary garbage storage 74 is further disposed between the vacuum suction part 711 and the vacuum suction port 2. In picking work, part of tree branches and residual leaves and garbage may be mixed in the process of sucking the fruits and enter the vacuum generating system 7, in order to ensure the normal work of the vacuum generating system 7, the garbage temporary storage device 74 is additionally arranged in the vacuum generating system 7, part of tree branches and residual leaves and garbage mixed in the process of sucking the fruits are temporarily collected in the garbage temporary storage device 74, and the vacuum air exhaust part 711 is protected. When the garbage in the garbage temporary storage device 74 reaches a certain load, the garbage temporary storage device 74 is removed or a garbage dumping opening of the garbage temporary storage device 74 is opened to remove the garbage.

Example 9

Based on example 7, the difference from example 7 is that: as shown in fig. 1, the picking performing end device is provided with an auxiliary sensing device 10.

Generally, the picking equipment is provided with a monocular or binocular vision system, an auxiliary sensing device 10 is preferably an auxiliary vision camera which is designed on the picking execution end device, and one more camera is designed compared with the traditional design, so that a novel multi-eye vision system is formed. The added auxiliary vision camera 10 has a further vision confirmation effect, on the basis of the original vision judgment, the vision image acquisition is carried out through the added auxiliary vision camera 10, a picking face of a fruit tree is judged to have 10 fruits by a vision system in the early stage, after the confirmed 10 fruits are picked, the fruits hidden behind the 10 fruits appear, at the moment, after the front end of the auxiliary vision camera 10 is identified, the picking is continued, the preliminary vision judgment in the early stage is not needed, the energy consumption is reduced, and meanwhile, the actions of the parallel robot can be reduced. In addition, the auxiliary sensing device 10 is additionally arranged, so that blind areas which cannot be acquired by the transmission monocular or binocular cameras can be acquired, and picking is more accurate.

Further, the auxiliary sensing device 10 may also be an auxiliary sensing device such as an infrared detection device, a thermal imaging detection camera, or a sonar scanning device at a later stage.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various changes or modifications within the scope of the appended claims.

Claims

1. A picking execution end device comprises an air inlet (1), a vacuum suction port (2) used for extracting air and a fruit dropping outlet (3) allowing fruits to fall, an outer pipe (11) wraps an inner pipe (12), the rear ends of the inner pipe (12) and the outer pipe (11) are connected with a rear end extension part (13), the picking execution end device is characterized in that an air guide part (121) is arranged at the tail end of the inner pipe (12), a wind shielding wall (132) is connected with the joint of the air guide part (121) and the inner pipe (12) downwards, the wind shielding wall (132) is arranged on the inner side of a connecting end surface (131) of the rear end extension part (13), the outer side of the wind shielding wall (132) is connected with the outer pipe (11), and the inner side of the wind shielding wall is connected with the inner pipe (12);

the vacuum suction port (2) is arranged on the outer pipe (11) or the rear end extension part (13);

a fruit dropping door (133) is arranged at the fruit dropping outlet (3).

2. A picking performing end device according to claim 1, characterized in that a connection port (1311) is provided at the connection of the connection end surface (131) and the outer tube (11);

the inner side of the connecting port (1311) is provided with the wind-blocking wall (132) in the direction of the inner pipe (12), the wind-blocking wall (132) is a U-shaped wind-blocking wall, the outer side edge of the U shape is connected with the outer pipe (11) and the connecting end face (131), the inner side edge of the U shape is connected with the inner pipe (12), and the upper plane of the U shape is connected with the air guide piece (121).

3. A picking performing end device according to claim 2, characterized in that a suction pipe (72) is connected at the vacuum suction opening (2), the suction pipe (72) being attached to the inside of the outer tube (11) or the inside of the rear end extension (13).

4. A picking performing tip device according to claim 1, c h a r a c t e r i z e d in that the air inlet (1) front end is fitted with a detachable modular picking head (9), the detachable modular picking head (9) front end being provided with a flexible lip ring (91).

5. A picking performing end device according to claim 1, characterised in that the inner wall of the rear end extension (13) is provided with a fruit drop inductor (4).

6. A picking performing end device according to claim 5, characterised in that the drop door (133) is provided with opening and closing drive means (1331).

7. A fruit picking machine comprising a picking performing end device according to claim 1, parallel robots connected to the picking performing end device, a vacuum generating system (7) providing suction to the picking performing end device, a harvesting system (8) for picking harvest;

the harvesting system (8) comprises a harvesting channel (81) connected to the drop outlet (3) and an end harvesting device connected to the harvesting channel (81);

the vacuum generating system (7) comprises a vacuum generator (71), an air suction pipe (72) connected to the vacuum suction opening (2), and a trauma reducing air duct pipe (73) connected to the harvesting passage (81);

the vacuum generator (71) comprises a vacuum suction part (711) and a deceleration gas output part (712), the suction duct (72) is connected with the vacuum suction part (711), and the injury reduction gas duct pipe (73) is connected with the deceleration gas output part (712) and attached to the inside of the harvesting channel (81).

8. A fruit picking machine according to claim 7, characterised in that the trauma reducing airway tube (73) is connected to the tube shaft of the harvesting channel (81) or to the bottom of the harvesting channel (81).

9. A fruit picking machine as claimed in claim 7, characterised in that a removable temporary waste storage device (74) is provided between the vacuum extraction section (711) and the vacuum suction (2), the picking implement end device.

10. Fruit picking machine according to claim 7, characterised in that the picking performing end device is provided with auxiliary sensing means (10).