CN214676643U

CN214676643U - Robot for automatically picking fruits

Info

Publication number: CN214676643U
Application number: CN202023048535.6U
Authority: CN
Inventors: 王波; 孙耀; 李旺旺; 屈一鸣; 方宇攀
Original assignee: Anhui Institute of Information Engineering
Current assignee: Anhui Institute of Information Engineering
Priority date: 2020-12-17
Filing date: 2020-12-17
Publication date: 2021-11-12
Anticipated expiration: 2030-12-17

Abstract

The utility model discloses a robot for automatic fruit picking, a robot for automatic fruit picking includes the base of portable setting, along vertical direction telescopically set up in elevating system on the base, at least part for the base rotationally set up in cutting mechanism on the elevating system, and with cutting mechanism links to each other and is used for collecting the fruit collection mechanism of the fruit under the cutting mechanism was picked. The multi-direction adjustment can be carried out, the adjustment performance is effectively improved, the whole operability space is improved, and the labor intensity of operators is greatly reduced.

Description

Robot for automatically picking fruits

Technical Field

The utility model relates to an automatic assembly field is picked to fruit, specifically relates to a robot for automatic fruit of picking.

Background

China is a big agricultural country, and mechanization and intellectualization of agricultural equipment are inevitable trends for development to realize agricultural modernization. Fruit picking is the most time-consuming and labor-consuming link in the fruit production chain. The fruit picking operation has strong seasonality, high labor intensity and high cost. At present, domestic fruit picking is basically finished manually, the picking efficiency is low, and the cost accounts for 50-70% of the cost.

The current research situation of fruit picking machines at home and abroad is observed, and the current technology is not mature yet and still is in a transitional stage from experiment to popularization. A lot of current harvesting devices still only pick some simple fruits, adopt and be similar to hand and hold style and blade scribing etc. and the adjustability in the position is relatively poor, cause certain damage to fruit easily to, often still need the operator to raise the head and operate, the health produces the discomfort easily.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned prior art, the utility model discloses an it is simple relatively to overcome among the prior art fruit picking device structure, and is relatively poor in the adjustability in position, brings certain damage and the great scheduling problem of operator working strength for the picking of fruit easily to provide one kind and can carry out diversified regulation, effectively improve the regulation nature, improve holistic maneuverability space, greatly reduced operator's intensity of labour's the robot that is used for automatic picking fruit.

In order to achieve the above object, the utility model provides a robot for automatic fruit picking, a robot for automatic fruit picking includes the base of portable setting, along vertical direction telescopically set up in elevating system on the base, at least part for the base rotationally set up in cutting mechanism on the elevating system, and with cutting mechanism links to each other and is used for collecting the fruit collection mechanism of the fruit that cutting mechanism picked down.

Preferably, the lifting mechanism comprises a folding structure which is arranged on the base in a telescopic manner along the vertical direction, and a hydraulic driving structure which is arranged on the base, connected with the folding structure and used for driving the folding structure to extend or contract.

Preferably, the cutting mechanism comprises a stand column fixedly arranged on the lifting mechanism, a rotating part arranged at the end part of the stand column, and a rotary cutting assembly telescopically arranged on the rotating part along the horizontal direction through a hydraulic rod; wherein the content of the first and second substances,

the rotating part comprises a rotating box body which can be arranged on the stand column in a self-rotating mode, and a rotating motor which is fixedly arranged on the rotating box body, the output end of the rotating motor is connected with a first rotating gear, the first rotating gear is meshed with a second rotating gear which is fixedly connected to the rotating box body, and the second rotating gear and the stand column can be arranged in a self-rotating mode and are coaxial with the rotating box body.

Preferably, the rotary cutting assembly comprises a driving motor arranged on the movable end of the hydraulic rod and a blade connected with the driving motor through a gear set, and a gear box is further sleeved outside the gear set.

Preferably, the fruit collection mechanism includes a funnel located directly below the blade, a fruit box disposed on the base, and a delivery tube communicating the funnel with the fruit box.

Preferably, still be provided with the support cover on the gyration box, the expansion end of hydraulic stem runs through support cover extension setting, just one side of the expansion end of hydraulic stem still is provided with the clamping ring, the funnel connect in on the clamping ring.

Preferably, the robot for automatically picking fruits further comprises a control mechanism, wherein the control mechanism at least comprises a fruit identification unit which is arranged on the cutting mechanism and used for identifying the fruits, and a cutting control unit which is used for controlling the cutting mechanism to cut the fruits.

Preferably, the base at least comprises a frame and a bottom plate arranged on the frame, and the frame is provided with a plurality of groups of wheels.

Preferably, the wheels are two groups, and a differential is arranged on the group of wheels on the rear side.

Through the technical scheme, the utility model discloses a movable setting of base realizes the expansion and the controllability of the moving range of whole robot to, and, based on the elevating system of flexible setting and the cutting mechanism of rotation setting, can realize diversified position regulation and control in the selected range, greatly reduced operating personnel need the problem of raising the head operation itself, and, can carry out corresponding regulation and control in the selected range, improve the controllability to fruit cutting process greatly, reduce the influence to fruit; further set up in the continuous fruit collection mechanism of cutting mechanism, can effectively realize the collection to fruit, improve holistic picking efficiency.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of a robot for automatically picking fruits in one of the orientations provided by the present invention;

fig. 2 is a schematic structural diagram of a robot for automatically picking fruits in another orientation provided by the present invention;

fig. 3 is a schematic structural diagram of the lifting mechanism provided by the present invention in one of the orientations;

fig. 4 is a schematic structural view of the lifting mechanism in another orientation provided by the present invention;

fig. 5 is a schematic view of the internal structure of the cutting mechanism and the fruit collecting mechanism provided by the present invention;

fig. 6 is a schematic structural diagram of a cutting mechanism and a fruit collecting mechanism provided by the present invention;

FIG. 7 is a schematic view of the cutting mechanism and fruit collection mechanism in another orientation provided by the present invention;

fig. 8 is a working schematic diagram of the hydraulic workstation provided by the present invention;

fig. 9 is a working schematic diagram of the control mechanism provided by the present invention.

Description of the reference numerals

1-storage battery box 2-base

3-hydraulic drive structure 4-cutting mechanism

5-fruit collecting mechanism 6-lifting mechanism

7-hydraulic work station 8-hydraulic cylinder

9-lifting top plate 10-folding piece

11-lifting bottom plate 12-upright post

13-mounting bearing 14-rotary box

15-rotating electric machine 16-first rotating gear

17-second rotating gear 18-hydraulic lever

19-drive motor 20-gear set

21-gearbox 22-blade

23-support sleeve 24-fastening ring

25-funnel 26-fruit box

27-delivery pipe 28-seat body

29-cylinder 30-hand operated direction valve

31-check valve 32-overflow valve

33-hydraulic motor 34-oil tank

35-oil filter screen 36-gear pump

37-pressure gauge 38-one-way throttle valve.

Detailed Description

The following describes the embodiments of the present invention in detail. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.

As shown in fig. 1-9, the utility model provides a robot for automatically picking fruits, specifically, as shown in fig. 1 and 2, including battery box 1, base 2, hydraulic drive structure 3, cutting mechanism 4, fruit collection mechanism, elevating system.

Battery box 1: the battery box 1 is composed of two groups of batteries, the main function of the battery box is to provide power for the forward movement of the base 2, and workers can move the picking robot to a working area only by operating a handlebar to control the direction. The battery box 1 also provides energy for a motor of the hydraulic workstation 7, and then the cutting mechanism 4 and the lifting mechanism 6 are completed.

Base 2: the four-wheel-drive vehicle comprises a vehicle frame and a bottom plate arranged on the vehicle frame, wherein the vehicle frame is of a steel structure and is provided with four wheels, and a power component for driving the wheels to move is further arranged (the power component can adopt a vehicle-type driving component which can be understood by a person skilled in the art). Further, a differential may be further provided in consideration of the wheel rotation speed at the time of turning. The power component drives the rear wheels through the differential mechanism, and the problem that the rotating speeds of the wheels on two sides are unequal when the vehicle turns is solved. The front wheel is provided with a steering mechanism, and an operator can flexibly operate the steering mechanism through a handle on a handlebar.

Further, as shown in fig. 3 and 4, the hydraulic workstation 7 in the lifting mechanism 6 provides hydraulic oil to drive the piston rod of the hydraulic cylinder 8 to advance, so as to push the folding member 10 to ascend, a lifting top plate 9 is arranged on the top of the lifting mechanism 6 for installing the cutting mechanism 4, and a lifting bottom plate 11 is arranged on the bottom of the lifting mechanism. The lifting mechanism 6 can be lifted up to 1500 mm. Together with the height of the carriage and the height of the cutting mechanism 4, 3500 mm above the ground fruit are within the picking range.

The structure and principle of the cutting mechanism 4 are shown in fig. 5 and fig. 6, when the lifting mechanism 6 lifts the cutting mechanism 4 to the working range, the cutting mechanism 4 can find the fruit according to a binocular recognition system in a sensor, the movable end of the hydraulic rod 18 is driven to advance, the fruit stem of the fruit is cut off by the blade 22 driven by the driving motor 19, then the fruit falls into the funnel 25 and falls into the fruit box 26 along the conveying pipe 27 by means of gravity, and therefore a picking process is completed.

Specifically, the rotating motor 15 fixed on the revolving box 14 drives the first rotating gear 16 to rotate, and further drives the second rotating gear 17 to rotate (of course, the first rotating gear 16 and the second rotating gear 17 can be rotatably mounted on the revolving box 14 or the upright post 12 through the mounting bearing 13 to avoid displacement or falling), because the upright post 12 is fixed (can be mounted on the lifting mechanism 6 through the seat 28), the revolving box 14 rotates itself to make the blade 22 approach the fruit. The movable end of the hydraulic lever 18 may extend 400 mm also to bring the blade 22 close to the fruit. Considering the need of picking fruit, the upper mechanism of the cutting mechanism 4 can be rotated 180 degrees, and the piston rod (i.e. the movable end) of the hydraulic rod 18 can be extended forward by 400 mm. The blade 22 may be connected to the driving motor 19 through a gear set 20, and further, a gear box 21 may be provided outside the gear set 20.

Collecting picked fruits: as shown in fig. 5, when the stem of the fruit is cut by the blade 22, it falls into the hopper 25 and then into the fruit box 26 by following the duct 27. The funnel 25 and the delivery pipe 27 are made of flexible materials, so that the fruit can be prevented from being damaged in the falling process.

The specific working mode of the structure is as follows: firstly, an operator holds a handlebar to push the bicycle to the position below a fruit tree to be picked, then the cutting mechanism 4 is lifted to the working range of the operator through the lifting mechanism 6, the lifting mechanism 6 can automatically identify fruits through the binocular identification system, and then the lifting mechanism 6 can pick the fruits and place the fruits into the fruit box 26 in front of the bicycle. After the fruits in the range needing to be picked are picked, the cart is pushed to the next area needing to be picked, and picking work is continued.

The working principle of the hydraulic workstation 7 is shown in fig. 8, and the hydraulic workstation mainly comprises an oil tank 34, an oil filter screen 35, a hydraulic motor 33, a gear pump 36, an overflow valve 32, a pressure gauge 37, a one-way valve 31, a manual reversing valve 30, a one-way throttle valve 38, a cylinder 29, an oil pipe and the like. The hydraulic work station 7 mainly provides hydraulic oil for the hydraulic cylinder 7 of the lifting mechanism 6 and the hydraulic rod 18 of the cutting mechanism 4 as power, so that corresponding actions are completed. In addition, one-way throttle valves 38 are provided in both the oil feed and return paths of the hydraulic cylinder 7 and the hydraulic rod 18 for controlling the speed of the piston rod advancing and retreating.

Further, the control mechanism may be any suitable type that can be realized and used by those skilled in the art, for example, the control mechanism may be an AT89C52 single chip microcomputer, the identification process of the fruit may be specifically driven by a TCS3200 driving module, the color is collected based on the TCS3200, and after a signal is fed back to the AT89C52 single chip microcomputer, the corresponding electric driving structure is controlled to perform picking operation. The working principle of the AT89C52 single chip microcomputer can be specifically shown in fig. 9. Of course, the present application is not so limited and any suitable control-type structure that one of ordinary skill in the art would understand and use may be used herein.

The picking robot in the present application is directed to all fruits (which are specifically exemplified as one of the colors) that grow on trees and have red fruits when they are ripe, and can be used for picking more fruits (naturally, ripe fruits of different colors can be identified specifically by corresponding adjustment). The optimal implementation mode of the whole structure can further integrate the technologies of machinery, electronics, information, intelligent technology, mechanical structure, visual image processing, sensing technology, control technology and the like, a semi-automatic walking structure is integrally designed, and a wheel type walking mechanism is further adopted when a moving structure is designed, so that the vehicle can conveniently act under different soil terrain conditions in the field. Meanwhile, the placement positions of the fruit box 26, the control console and the cutting mechanism 4 are designed through calculation, so that the manual control operation is simpler and more efficient. The handle can be further designed to be convenient to hold by hands, and a structure which is easy to hold by a worker can be further arranged on the handle for manually controlling the direction, so that the direction control is simple and labor-saving. The fruit picking module can be further provided with a spherical coordinate cutting mechanism 4, and a sensor for identifying ripe fruits to realize accurate picking of the ripe fruits. In particular, in one arrangement, the walking speed is controlled at 1m/s, which can achieve 10 minutes of picking up one tree.

The above detailed description describes the preferred embodiments of the present invention, but the present invention is not limited to the details of the above embodiments, and the technical idea of the present invention can be within the scope of the present invention, and can be right to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and in order to avoid unnecessary repetition, the present invention does not need to describe any combination of the features.

In addition, various embodiments of the present invention can be combined arbitrarily, and the disclosed content should be regarded as the present invention as long as it does not violate the idea of the present invention.

Claims

1. A robot for automatically picking fruits is characterized by comprising a base, a lifting mechanism, a cutting mechanism and a fruit collecting mechanism, wherein the base is movably arranged, the lifting mechanism is arranged on the base in a telescopic mode along the vertical direction, the cutting mechanism is at least partially arranged on the lifting mechanism in a rotating mode relative to the base, and the fruit collecting mechanism is connected with the cutting mechanism and is used for collecting fruits picked by the cutting mechanism.

2. A robot for automatically picking fruit according to claim 1, wherein the lifting mechanism comprises a folding structure telescopically arranged on the base in a vertical direction, and a hydraulic driving structure arranged on the base and connected with the folding structure for driving the folding structure to extend or retract.

3. A robot for automatically picking fruit according to claim 1 or 2, characterized in that the cutting mechanism comprises a column fixedly arranged on the lifting mechanism, a rotating part arranged at the end of the column, and a rotary cutting assembly telescopically arranged on the rotating part along the horizontal direction by a hydraulic rod; wherein the content of the first and second substances,

4. A robot for automatically picking fruit according to claim 3, characterized in that the rotary cutting component comprises a driving motor arranged on the movable end of the hydraulic rod and a blade connected with the driving motor through a gear set, and the gear set is sleeved with a gear box.

5. A robot for automatically picking fruit according to claim 4, wherein the fruit collection mechanism includes a funnel located directly below the blade, a fruit box disposed on the base, and a duct communicating the funnel and the fruit box.

6. A robot for automatically picking fruits according to claim 5, wherein a support sleeve is further arranged on the rotary box body, the movable end of the hydraulic rod extends through the support sleeve, a fastening ring is further arranged on one side of the movable end of the hydraulic rod, and the funnel is connected to the fastening ring.

7. A robot for automatically picking fruit according to claim 1 or 2, further comprising a control mechanism including at least a fruit recognition unit for recognizing fruit provided on the cutting mechanism, and a cutting control unit for controlling the cutting mechanism to cut.

8. A robot for automatically picking fruit according to claim 1 or 2, characterized in that the base comprises at least a frame and a bottom plate arranged on the frame, and the frame is provided with a plurality of groups of wheels.

9. A robot for automatic fruit picking according to claim 8, characterised in that the wheels are in two sets and a differential is provided on the set of wheels on the rear side.