CN216087714U - Automatic picking robot for oranges - Google Patents

Automatic picking robot for oranges Download PDF

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Publication number
CN216087714U
CN216087714U CN202122746640.5U CN202122746640U CN216087714U CN 216087714 U CN216087714 U CN 216087714U CN 202122746640 U CN202122746640 U CN 202122746640U CN 216087714 U CN216087714 U CN 216087714U
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China
Prior art keywords
connecting rod
hinged
cutter
frame
picking
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CN202122746640.5U
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Chinese (zh)
Inventor
钟鸣
阴贺生
黄博
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Biji Shark Weihai Robot Technology Co ltd
Harbin Institute of Technology Weihai
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Biji Shark Weihai Robot Technology Co ltd
Harbin Institute of Technology Weihai
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Priority to CN202122746640.5U priority Critical patent/CN216087714U/en
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Abstract

The utility model relates to an automatic citrus picking robot, which solves the technical problems of low efficiency and high labor cost when the existing manual scissors are used for picking citrus, and comprises a wheeled robot moving chassis, a control system connecting frame, a cooperative mechanical arm connecting frame, a control circuit board, a cooperative mechanical arm and a picking actuator, wherein the control system connecting frame is fixedly connected with a top platform of the wheeled robot moving chassis; the picking actuator comprises a frame, a cylinder, a motor bracket, a screw rod motor, a nut seat, four left connecting rods, four right connecting rods, a first cutter and a second cutter. The utility model is widely used for picking fruits such as oranges, apples and tomatoes.

Description

Automatic picking robot for oranges
Technical Field
The utility model relates to the technical field of fruit picking, in particular to an automatic picking robot for oranges.
Background
Fruit picking is an important link of orchard production management, more and more technicians begin to conduct automatic picking exploration and research, labor intensity of workers is reduced, production efficiency and economic benefits are improved, and the fruit picking method has important significance in promoting agricultural modernization development of China.
Oranges are the general names of oranges, mandarins, oranges, kumquats, pomelos, poncirus trifoliata and the like, China is one of important origin places of the oranges, and the oranges are rich in resources and various in excellent varieties. The orange has the growth characteristics that: the distance between oranges and tangerines is smaller, and the stalk of oranges and tangerines is more hard, and there may be the arbitrary direction in space (the orientation of oranges and tangerines is various) in the position of the stalk of oranges and tangerines, mainly relies on artifical manual use scissors to cut the stalk at present, has the technical problem that inefficiency, cost of labor is high.
Disclosure of Invention
The utility model provides an automatic picking robot for oranges, which is high in efficiency and can automatically pick oranges, and aims to solve the technical problems of low efficiency and high labor cost when the existing scissors are manually used for picking oranges.
The utility model discloses an automatic citrus picking robot, which comprises a wheeled robot moving chassis, a control system connecting frame, a cooperative mechanical arm connecting frame, a control circuit board, a cooperative mechanical arm and a picking actuator, wherein the control system connecting frame is fixedly connected with a top platform of the wheeled robot moving chassis;
the picking actuator comprises a frame, a cylinder, a first rubber roller, a second rubber roller, a motor bracket, a screw rod motor, a nut seat, a first left connecting rod, a second left connecting rod, a third left connecting rod, a fourth left connecting rod, a first connecting shaft, a second connecting shaft, a first right connecting rod, a second right connecting rod, a third right connecting rod, a fourth right connecting rod, a first cutter, a second cutter, a first cutter seat and a second cutter seat, wherein the motor bracket is fixedly connected with the frame, the screw rod motor is fixedly connected with the motor bracket, the nut seat is connected with a screw rod of the screw rod motor, one end of the first left connecting rod is hinged with the left side of the nut seat, one end of the second left connecting rod is hinged with the left side of the nut seat, the other end of the first left connecting rod is hinged with the left end of the first connecting shaft, the other end of the second left connecting rod is hinged with the left end of the second connecting shaft, and the lower end of the third left connecting rod is hinged with the left end of the first connecting shaft, the lower end of the fourth left connecting rod is hinged with the left end of the second connecting shaft, the middle of the third left connecting rod is hinged with the left side of the top of the frame, and the upper part of the third left connecting rod is arc-shaped; the middle part of the fourth left connecting rod is hinged with the left side of the top of the frame, and the upper part of the fourth left connecting rod is arc-shaped; one end of a first right connecting rod is hinged with the right side of the nut seat, one end of a second right connecting rod is hinged with the right side of the nut seat, the other end of the first right connecting rod is hinged with the right end of a second connecting shaft, the other end of the second right connecting rod is hinged with the right end of the first connecting shaft, the lower end of a third right connecting rod is hinged with the right end of the second connecting shaft, the lower end of a fourth right connecting rod is hinged with the right end of the first connecting shaft, the middle part of the third right connecting rod is hinged with the right side of the top of the frame, and the upper part of the third right connecting rod is arc-shaped; the middle part of the fourth right connecting rod is hinged with the right side of the top of the frame, and the upper part of the fourth right connecting rod is arc-shaped; the first cutter holder is fixedly connected between the upper end of the fourth left connecting rod and the upper end of the third right connecting rod, and the second cutter holder is fixedly connected between the upper end of the third left connecting rod and the upper end of the fourth right connecting rod; the first cutter is fixedly connected with the first cutter holder, and the second cutter is fixedly connected with the second cutter holder; the cylinder is fixedly connected with the top of the frame; the cylinder is positioned between the third left connecting rod and the third right connecting rod, and the cylinder is positioned between the fourth left connecting rod and the fourth right connecting rod; one end of the first rubber roll is rotatably connected with the upper end of the fourth left connecting rod, and the other end of the first rubber roll is rotatably connected with the upper end of the third right connecting rod; one end of the second rubber roller is rotatably connected with the upper end of the third left connecting rod, and the other end of the second rubber roller is rotatably connected with the upper end of the fourth right connecting rod; the first rubber roller is positioned below the first cutter, and the second rubber roller is positioned below the second cutter.
Preferably, the frame of the picking actuator is connected with an upper optical coupler and a lower optical coupler, and the side surface of the nut seat is connected with a first induction sheet and a second induction sheet.
The automatic picking machine has the advantages of replacing manual picking, realizing automatic picking, greatly reducing labor cost and improving picking efficiency.
Further features and aspects of the present invention will become apparent from the following description of specific embodiments with reference to the accompanying drawings.
Drawings
Fig. 1 is an isometric view of an automatic citrus picking robot;
fig. 2 is an isometric view of an automatic citrus picking robot;
fig. 3 is an isometric view of an automatic citrus picking robot;
fig. 4 is an isometric view of an automatic citrus picking robot;
FIG. 5 is a front view of an automatic citrus picking robot;
FIG. 6 is a side view of an automatic citrus picking robot;
fig. 7 is a perspective view of a picking actuator;
FIG. 8 is a front view of the picking actuator of FIG. 7;
fig. 9 is a top view of the picking actuator of fig. 7;
fig. 10 is a bottom view of the picking actuator of fig. 7;
FIG. 11 is a right side view of the picking actuator of FIG. 7;
fig. 12 is a left side view of the picking actuator of fig. 7;
fig. 13 is a perspective view of the picking actuator of fig. 7;
fig. 14 is a perspective view of the picking actuator of fig. 7;
fig. 15 is a perspective view of the picking actuator of fig. 7;
FIG. 16 is a view showing a connection relationship between the first cutter and the first cutter holder;
FIG. 17 is a top view of the structure shown in FIG. 16;
FIG. 18 is a sectional view taken in the direction A-A of FIG. 17;
FIG. 19 is a schematic structural view of a cylinder;
FIG. 20 is a schematic view of the picking actuator of FIG. 15 with the cylinder removed;
FIG. 21 is a top view of the structure shown in FIG. 20;
FIG. 22 is a schematic view of the picking actuator of FIG. 7 with the cutters closed;
FIG. 23 is a front view of the structure shown in FIG. 22;
FIG. 24 is a perspective view from another perspective of the structure shown in FIG. 23;
FIG. 25 is a perspective view from another perspective of the structure shown in FIG. 23;
FIG. 26 is an enlarged fragmentary view at P in FIG. 25;
FIG. 27 is a schematic view of fruit entering the drum of the picking actuator;
FIG. 28 is a schematic view of the picking actuator of FIG. 27 with the cutters in a closed position;
FIG. 29 is a rear elevational view of the structure illustrated in FIG. 28;
fig. 30 is a partial enlarged view at S in fig. 29.
The symbols in the drawings illustrate that:
100. the wheeled robot comprises a wheeled robot moving chassis, 200, a control system connecting frame, 300, a cooperative mechanical arm connecting frame, 300-1, a top plate, 400, a control circuit board, 500, a cooperative mechanical arm, 800, a picking actuator and 900, a binocular camera; 1. the automatic cutting machine comprises a frame, 2. a motor bracket, 3. a screw rod motor, 3-1. a screw rod, 4. a nut seat, 5. a first left connecting rod, 6. a second left connecting rod, 7. a third left connecting rod, 8. a fourth left connecting rod, 9. a connecting shaft II, 10. a connecting shaft I, 11. a first right connecting rod, 12. a second right connecting rod, 13. a third right connecting rod, 14. a fourth right connecting rod, 15. a first cutter, 16. a second cutter, 17. a first cutter holder, 18. a second cutter holder, 19. a first cutter connecting plate, 20. a second cutter connecting plate, 21. a first rubber roller, 22. a second rubber roller, 23. a cylinder, 24. a screw, 25. a citrus, 25-1. a fruit handle, 26. an upper optical coupler, 27. a lower optical coupler, 28. a first induction sheet and 29. a second induction sheet.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1 to 6, the automatic citrus picking robot includes a wheeled robot moving chassis 100, a control system connecting frame 200, a cooperative mechanical arm connecting frame 300, a control circuit board 400, a cooperative mechanical arm 500, a picking actuator 800 and a binocular camera 900, wherein the control system connecting frame 200 is fixedly connected with a top platform of the wheeled robot moving chassis 100, the cooperative mechanical arm connecting frame 300 is fixedly connected with the top platform of the wheeled robot moving chassis 100, the control circuit board 400 is installed on the control system connecting frame 200, the cooperative mechanical arm 500 is fixedly installed on the top of the cooperative mechanical arm connecting frame 300, the picking actuator 800 is fixedly installed at the end of the cooperative mechanical arm 500, and the binocular camera 900 is fixedly installed on the picking actuator 800. Electrically, the binocular camera 900 is connected to the control circuit board 400 through a signal line (or the binocular camera 900 communicates with the control circuit board 400 through a wireless transmission mode), the motor in the picking actuator 800 is connected to the control circuit board 400 through a signal line, the control circuit board 400 can control the cooperating mechanical arm 500 to move, and the control circuit board 400 can control the picking actuator 800 to move.
As shown in fig. 7-19, the picking actuator 800 comprises a frame 1, a motor support 2, a feed screw motor 3, a nut seat 4, a first left side connecting rod 5, a second left side connecting rod 6, a third left side connecting rod 7, a fourth left side connecting rod 8, a connecting shaft two 9, a connecting shaft one 10, a first right side connecting rod 11, a second right side connecting rod 12, a third right side connecting rod 13, a fourth right side connecting rod 14, a first cutter 15, a second cutter 16, a first cutter seat 17, a second cutter seat 18, a first cutter connecting plate 19, a second cutter connecting plate 20, a first rubber roller 21, a second rubber roller 22 and a cylinder 23, wherein the motor support 2 is fixedly connected with the frame 1, the feed screw motor 3 is fixedly connected with the motor support 2, the nut seat 4 is connected with a feed screw 3-1 of the feed screw motor 3, one end of the first left side connecting rod 5 is hinged with the left side of the nut seat 4, one end of the second left side connecting rod 6 is hinged with the left side of the nut seat 4, the other end of the first left connecting rod 5 is hinged with the left end of a first connecting shaft 10, the other end of the second left connecting rod 6 is hinged with the left end of a second connecting shaft 9, the lower end of a third left connecting rod 7 is hinged with the left end of the first connecting shaft 10, the lower end of a fourth left connecting rod 8 is hinged with the left end of the second connecting shaft 9, the middle of the third left connecting rod 7 is hinged with the left side of the top of the frame 1, and the upper part of the third left connecting rod 7 is arc-shaped; the middle part of the fourth left connecting rod 8 is hinged with the left side of the top of the frame 1, and the upper part of the fourth left connecting rod 8 is arc-shaped; one end of a first right connecting rod 11 is hinged with the right side of the nut seat 4, one end of a second right connecting rod 12 is hinged with the right side of the nut seat 4, the other end of the first right connecting rod 11 is hinged with the right end of a second connecting shaft 9, the other end of the second right connecting rod 12 is hinged with the right end of a first connecting shaft 10, the lower end of a third right connecting rod 13 is hinged with the right end of the second connecting shaft 9, the lower end of a fourth right connecting rod 14 is hinged with the right end of the first connecting shaft 10, the middle part of the third right connecting rod 13 is hinged with the right side of the top of the frame 1, and the upper part of the third right connecting rod 13 is arc-shaped; the middle part of the fourth right link 14 is hinged with the right side of the top of the frame 1, and the upper part of the fourth right link 14 is arc-shaped. The first knife holder 17 is fixedly connected between the upper end of the fourth left connecting rod 8 and the upper end of the third right connecting rod 13 through screws, and the second knife holder 18 is fixedly connected between the upper end of the third left connecting rod 7 and the upper end of the fourth right connecting rod 14 through screws. Placing the first cutter 15 on the first cutter seat 17, pressing the first cutter connecting plate 19 on the first cutter 15, and sequentially penetrating the first cutter connecting plate 19 and the first cutter 15 through two screws 24 to be connected with the threaded hole in the first cutter seat 17, so that the first cutter 15 is fixedly arranged on the first cutter seat 17; similarly, the second cutter 16 is placed on the second cutter holder 18, the second cutter connecting plate 20 is pressed on the second cutter 16, and two screws sequentially penetrate through the second cutter connecting plate 20 and the second cutter 16 and then are connected with the threaded hole in the second cutter holder 18, so that the second cutter 16 is fixedly mounted on the second cutter holder 18. One end of the first rubber roller 21 is rotatably connected with the upper end of the fourth left connecting rod 8, the other end of the first rubber roller 21 is rotatably connected with the upper end of the third right connecting rod 13, and the first rubber roller 21 is positioned below the first cutter 15. One end of the second rubber roller 22 is rotatably connected with the upper end of the third left connecting rod 7, the other end of the second rubber roller is rotatably connected with the upper end of the fourth right connecting rod 14, and the second rubber roller 22 is positioned below the second cutter 16. The bottom 23-1 of the cylinder 23 is fixedly mounted on the top of the frame 1 using screws, the cylinder 23 being located between the third left link 7 and the third right link 13, and the cylinder 23 also being located between the fourth left link 8 and the fourth right link 14.
The third left link 7 and the fourth left link 8 of the picking actuator shown in fig. 7-15 are in an open state, and the third right link 13 and the fourth right link 14 are in an open state, at this time, the first cutter 15 and the second cutter 16 are in a separated state, and a certain distance is reserved between the first cutter 15 and the second cutter 16. When the screw rod motor 3 works to drive the nut seat 4 to move upwards (to the top direction of the frame 1), the nut seat 4 drives the first left connecting rod 5 and the third left connecting rod 7 to be linked, meanwhile, the second left connecting rod 6 and the fourth left connecting rod 8 are linked, the first right connecting rod 11 and the third right connecting rod 13 are linked, the second right connecting rod 12 and the fourth right connecting rod 14 are linked, as shown in fig. 22-26, so that the third left connecting rod 7 and the fourth left connecting rod 8 are in a folding state, the third right connecting rod 13 and the fourth right connecting rod 14 are in a folding state, the first cutter 15 and the second cutter 16 are in a folding state, and the first cutter 15 and the second cutter 16 are in a shearing action in a crossed and staggered mode. The frame 1 is fixedly mounted at the end of a cooperating robotic arm 500. The binocular camera 900 is fixedly connected to the frame 1 through a bracket.
The working process of the automatic picking robot for oranges is described as follows:
the wheel-type robot moving chassis 100 moves to move the whole robot to the side of the fruit tree, in the initial state, the two cutters of the picking actuator are in a separated state (as shown in fig. 7), the control system sends out instructions to control the cooperative mechanical arm to act to drive the whole picking actuator to move, approach and align the citrus on the fruit tree, so that the citrus 25 on the fruit tree enters the cylinder 23 of the picking actuator, the fruit handle 25-1 of the citrus 25 is exposed outside the cylinder 23 (the whole picking actuator and the cylinder therein can be aligned with the citrus in the horizontal direction, can also be aligned with the citrus in an upward inclined manner by taking the horizontal plane as a reference, and can also be aligned with the citrus in an downward inclined manner by taking the horizontal plane as a reference, that is, the picking actuator can be suitable for the citrus growing in any direction), next, the screw motor 3 works to move the nut seat 4 upward, and the first cutters 15 and the second cutters 16 are folded to the state shown in fig. 28-30, the first cutter 15 and the second cutter 16 are crossed and staggered to cut off the stems 25-1 of the oranges 25, and the oranges 25 fall into the cylinder, so that the picking is completed. Then, the whole picking actuator driven by the cooperative mechanical arm moves to a designated fruit collecting position, the mechanical arm enables the whole picking actuator to be in an inclined state, the screw motor 3 rotates reversely to enable the picking actuator to return to an initial state, the third left connecting rod 7 and the fourth left connecting rod 8 are opened, the third right connecting rod 13 and the fourth right connecting rod 14 are opened, the two cutters are separated, and fruits in the cylinder 23 freely fall to the fruit collecting position.
In the picking process, in the process that the first cutter 15 and the second cutter 16 are gradually closed, the first rubber roller 21 and the second rubber roller 22 can extrude the surface of the citrus, so that the citrus can enter the cylinder 23 more reliably and smoothly.
In order to more accurately control the displacement of the nut seat, that is, in order to more accurately control the distance between the two cutters, as shown in fig. 23 and 25, an upper optical coupler 26 and a lower optical coupler 27 are installed on the frame 1, a first induction sheet 28 and a second induction sheet 29 are installed on the side surface of the nut seat 4, when the nut seat 4 moves upwards, the first induction sheet 28 triggers the upper optical coupler 26, the upper optical coupler 26 sends a signal to an external controller, the external controller instructs the lead screw motor 3 to stop rotating, and at this time, the nut seat 4 is located at the upper limit position. When the nut seat 4 moves downwards, the second induction sheet 29 triggers the lower optical coupler 27, the lower optical coupler 27 sends a signal to an external controller, the external controller instructs the screw rod motor 3 to stop rotating, and the nut seat is located at the lower limit position at the moment.
The above description is only for the purpose of illustrating preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention.

Claims (2)

1. An automatic citrus picking robot is characterized by comprising a wheeled robot moving chassis, a control system connecting frame, a cooperative mechanical arm connecting frame, a control circuit board, a cooperative mechanical arm and a picking actuator, wherein the control system connecting frame is fixedly connected with a top platform of the wheeled robot moving chassis, the cooperative mechanical arm connecting frame is fixedly connected with the top platform of the wheeled robot moving chassis, the control circuit board is connected with the control system connecting frame, the cooperative mechanical arm is fixedly connected with the top of the cooperative mechanical arm connecting frame, and the picking actuator is fixedly connected with the tail end of the cooperative mechanical arm;
the picking actuator comprises a frame, a cylinder, a first rubber roller, a second rubber roller, a motor support, a screw rod motor, a nut seat, a first left connecting rod, a second left connecting rod, a third left connecting rod, a fourth left connecting rod, a first connecting shaft, a second connecting shaft, a first right connecting rod, a second right connecting rod, a third right connecting rod, a fourth right connecting rod, a first cutter, a second cutter, a first cutter seat and a second cutter seat, wherein the motor support is fixedly connected with the frame, the screw rod motor is fixedly connected with the motor support, the nut seat is connected with a screw rod of the screw rod motor, one end of the first left connecting rod is hinged with the left side of the nut seat, one end of the second left connecting rod is hinged with the left side of the nut seat, the other end of the first left connecting rod is hinged with the left end of the first connecting shaft, the other end of the second left connecting rod is hinged with the left end of the second connecting shaft, the lower end of the third left connecting rod is hinged with the left end of the first connecting shaft, the lower end of the fourth left connecting rod is hinged with the left end of the second connecting shaft, the middle of the third left connecting rod is hinged with the left side of the top of the frame, and the upper part of the third left connecting rod is arc-shaped; the middle part of the fourth left connecting rod is hinged with the left side of the top of the frame, and the upper part of the fourth left connecting rod is arc-shaped; one end of the first right connecting rod is hinged with the right side of the nut seat, one end of the second right connecting rod is hinged with the right side of the nut seat, the other end of the first right connecting rod is hinged with the right end of the second connecting shaft, the other end of the second right connecting rod is hinged with the right end of the first connecting shaft, the lower end of the third right connecting rod is hinged with the right end of the second connecting shaft, the lower end of the fourth right connecting rod is hinged with the right end of the first connecting shaft, the middle part of the third right connecting rod is hinged with the right side of the top of the frame, and the upper part of the third right connecting rod is arc-shaped; the middle part of the fourth right connecting rod is hinged with the right side of the top of the frame, and the upper part of the fourth right connecting rod is arc-shaped; the first cutter holder is fixedly connected between the upper end of the fourth left connecting rod and the upper end of the third right connecting rod, and the second cutter holder is fixedly connected between the upper end of the third left connecting rod and the upper end of the fourth right connecting rod; the first cutter is fixedly connected with the first cutter holder, and the second cutter is fixedly connected with the second cutter holder; the cylinder is fixedly connected with the top of the frame; the cylinder is positioned between the third left connecting rod and the third right connecting rod, and the cylinder is positioned between the fourth left connecting rod and the fourth right connecting rod; one end of the first rubber roller is rotatably connected with the upper end of the fourth left connecting rod, and the other end of the first rubber roller is rotatably connected with the upper end of the third right connecting rod; one end of the second rubber roller is rotatably connected with the upper end of the third left connecting rod, and the other end of the second rubber roller is rotatably connected with the upper end of the fourth right connecting rod; the first rubber roller is positioned below the first cutter, and the second rubber roller is positioned below the second cutter.
2. The automatic citrus picking robot according to claim 1, wherein an upper optical coupler and a lower optical coupler are connected to a frame of the picking actuator, and a first sensing piece and a second sensing piece are connected to the side surface of the nut seat.
CN202122746640.5U 2021-11-10 2021-11-10 Automatic picking robot for oranges Active CN216087714U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202122746640.5U CN216087714U (en) 2021-11-10 2021-11-10 Automatic picking robot for oranges

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202122746640.5U CN216087714U (en) 2021-11-10 2021-11-10 Automatic picking robot for oranges

Publications (1)

Publication Number Publication Date
CN216087714U true CN216087714U (en) 2022-03-22

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CN202122746640.5U Active CN216087714U (en) 2021-11-10 2021-11-10 Automatic picking robot for oranges

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CN (1) CN216087714U (en)

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