CN218042576U - Fruit picking device - Google Patents

Abstract

The application provides a device is picked to fruit, and the device is picked to fruit includes: a first vehicle body having a traveling mechanism; the multi-shaft manipulator is arranged on the first vehicle body; the flexible collecting claw is arranged at an execution end of the multi-axis manipulator, and the multi-axis manipulator is used for driving the flexible collecting claw to move so as to pick fruits; the collecting frame corresponds to the multi-axis manipulator and is used for placing the fruits picked by the flexible collecting claws; and the visual mechanism is arranged on the first vehicle body and used for acquiring the growing position of the fruit. This application sets up multi-axis manipulator and vision mechanism on first automobile body, and the flexible claw of gathering of multi-axis manipulator configuration can carry out nimble harvesting through the fruit harvesting device of this application of control system control, and the structural integrity of whole device is strong, and is exquisite simple, more is applicable to individual family agriculture or small-scale agricultural production, and degree of automation is high, further sparingly picks the manpower to reduce the peel damage rate by a wide margin, effectively improve and pick the quality.

Description

Fruit picking device

Technical Field

The utility model relates to a pick technical field, particularly, relate to a device is picked to fruit.

Background

Nowadays, the application of the information technology is spread all over, the combination of agriculture and information technology is becoming more compact, and the production and sale of modern agriculture will depend on the information technology to enhance the competitiveness in the market.

At present, the mainstream of mechanized agricultural picking technology is to adopt large-area, gridded and normalized planting schemes and semi-automatic large-scale picking machines for picking, and the main picking modes comprise vibration picking and shear picking.

For example, chinese patent No. cn201920509782.X discloses a vibration-type fruit tree harvester, which includes a fruit tree shaking device, a hydraulic control system, an oil tank, and a counterweight, wherein the fruit tree shaking device is installed at the front end of a tractor, and includes a left side support, a right side support, a main beam frame, a telescopic support beam, a vibration head suspension frame, and a jaw-type vibration head, the hydraulic control system is installed at a position on the right side support of the fruit tree shaking device where a tractor driver can reach, all operations of the fruit tree shaking device are controlled by the hydraulic control system, and driving force of the fruit tree shaking device is supplied by the tractor through a transmission shaft PTO. In order to ensure the front and back suspension balance of the tractor, the oil tank and the counterweight are connected behind the tractor in a three-point manner. The utility model discloses a theory of operation is jaw type vibration head centre gripping trunk, gives jaw type vibration head by tractor power output shaft PTO transmission power, and the built-in eccentric wheel rotation mechanism of drive vibration head pushes away and shakes the fruit tree, makes the fruit shake. The vibration type fruit picking machine improves the fruit picking efficiency to a certain degree, but is usually easy to cause fruit trees and fruits to be damaged due to the fact that the fruit trees and the fruits fall under the action of self gravity. In addition, the fruit is picked in a vibration mode, and a large amount of energy is consumed generally; large volume and high cost.

For example, CN201720982920.7 discloses a fruit thinning, shearing and picking end effector, which uses comb teeth of a combing and shearing device to fix fruit stalks and cut the fruit stalks, so as to effectively improve the picking efficiency and improve the picking quality to a certain extent compared with a shaking mechanism. However, the comb teeth and the shearing structure are rigid structures, the device is easily in rigid contact with fruits in the fruit picking process, the fruit is scratched by the fruit thinning and shearing picking end executing device at a high risk, and after the fruit thinning and shearing picking end executing device cuts off fruit stalks, the fruit falls under the action of gravity and the risk of scratching is still high, so that the fruit picking quality is greatly influenced.

Although the efficiency of the two picking operation modes is effectively improved compared with that of manual picking, the fruits are easily damaged to different degrees in the picking process, and the picking quality is improved to a limited extent; and the large-scale picking machine has large volume, high cost, troublesome operation, low flexibility and poor applicability to small-scale agricultural picking.

SUMMERY OF THE UTILITY MODEL

The application provides a device is picked to fruit, and the structure is nimble, degree of automation is high, can effectively improve and pick the quality, and the application suitability is strong.

The application provides a device is picked to fruit includes: a first vehicle body having a traveling mechanism; a multi-axis robot provided to the first vehicle body; the flexible collecting claw is arranged at the execution end of the multi-shaft mechanical hand, and the multi-shaft mechanical hand is used for driving the picking clamping claw to move so as to pick fruits; the collecting frame corresponds to the multi-axis manipulator and is used for placing the fruits picked by the flexible collecting claws; and the visual mechanism is arranged on the first vehicle body and used for acquiring the growing position of the fruit.

According to the technical scheme, the fruit picking device is provided with the first vehicle body with the travelling mechanism, the multi-shaft manipulator and the vision mechanism are arranged on the first vehicle body, the multi-shaft manipulator is provided with the flexible collecting claw, the fruit picking device is controlled by the control system to pick flexibly, the picking position can be searched and monitored by the vision mechanism conveniently, the control system can perform image processing on an environment image acquired by the vision mechanism to obtain data, the travelling mechanism is controlled to drive the first vehicle body to move to a target position, the multi-shaft manipulator drives the flexible collecting claw to be close to a picking object, the flexible collecting claw and the picking object flexibly grab and limit the position of the picking object, the multi-shaft manipulator drives the flexible collecting claw to move so as to pick the picking object and place the picking object into the collecting frame, and flexible and autonomous picking within a certain range is performed in a circulating mode.

In some embodiments, the collection box comprises: the collecting frame body is in a cylindrical shape with an opening at the upper end; a spiral track wound on an inner circumferential wall of the collection frame body, the spiral track being configured to allow the fruit to enter the collection frame body along the spiral track; the vibration seat is arranged at the bottom of the collecting frame body and used for vibrating the collecting frame body so as to enable the fruits to be dispersed in the collecting frame body.

According to the technical scheme, the spiral tracks are arranged in the collecting frame body along the inner peripheral wall of the collecting frame body, the multi-axis manipulator picks fruits and places the picked fruits on the spiral tracks of the collecting frame body through the flexible collecting claws, the fruits roll on the spiral tracks to enter the collecting box body, the fruits are prevented from being scratched due to collision when being placed in the collecting box, the spiral tracks are arranged to fix the placing position of the multi-axis manipulator, and the multi-axis manipulator always aims at the initial end of the spiral tracks to place the fruits; and set up the vibrations seat in the bottom of collecting the frame, be convenient for carry out intermittent type nature vibrations to collecting the frame body for the fruit in the collection frame can be comparatively even dispersion avoid the fruit to pile up at spiral orbit's end.

In some embodiments, the spiral track comprises horizontal segments and inclined segments which are alternately arranged, and the horizontal segments and the inclined segments are sequentially connected end to end.

Among the above-mentioned technical scheme, the spiral track interval is provided with the horizontal segment, avoids the fruit at spiral decline in-process speed too fast to effectively reduce the fruit and produce the risk of damaging each other because of the impact force is too big.

In some embodiments, the flexible acquisition jaw comprises: the first mounting plate is used for being connected with the driving end of the multi-axis manipulator; the second mounting plate is arranged opposite to the first mounting plate and connected with the first mounting plate; the linear driving assembly is arranged on the second mounting plate; the moving part is arranged at the execution end of the linear driving component and is driven by the linear driving component to linearly reciprocate relative to the second mounting plate; the flexible claw flaps are uniformly distributed around the central axis of the second mounting plate in the circumferential direction, and one end, far away from the central axis of the second mounting plate, of each flexible claw flap is hinged with the second mounting plate; a plurality of connecting rods, with flexible claw lamella one-to-one, every flexible claw lamella is close to the one end and one of the central axis of second mounting panel the connecting rod is articulated, every the connecting rod is kept away from the one end of flexible claw lamella all is articulated with the moving part, and is a plurality of the connecting rod with the pin joint of moving part winds the central axis circumference equipartition of second mounting panel.

In the technical scheme, the flexible picking paw comprises at least three flexible paw pieces which are circumferentially and uniformly distributed around the central axis of the second mounting plate, the flexible paw pieces are hinged to the second mounting plate and the moving part, and the plurality of flexible paw pieces can be controlled to be synchronously opened and closed by controlling the movement of the moving part; and the moving member drives the flexible claw piece to open and close around the hinged shaft of the second mounting plate in a rotating mode, the opening and closing angle and the clamping force of the flexible claw piece can be adjusted by controlling the moving distance of the moving member, and control is facilitated. The movable part drives the flexible claw flaps to clamp the picking object, the flexible claw flaps are in contact with the picking object, and the claw can be effectively prevented from scratching the picking object, so that the risk of damaging the picking object is reduced.

In some embodiments, the linear drive assembly comprises: the screw rod is rotatably arranged on the second mounting plate; the driving nut is arranged on the screw rod and is connected with the movable piece; the motor is arranged between the first mounting plate and the second mounting plate, and the output end of the motor is connected with the screw rod to drive the screw rod to rotate.

Among the above-mentioned technical scheme, rotate on the second mounting panel and set up the lead screw, be equipped with drive nut on the lead screw, can control the position of drive nut on the lead screw through the forward and reverse rotation of control lead screw to drive moving part linear reciprocating motion, the lead screw precision high rigidity is strong, and the lead screw itself plays the effect that certain circumference supported and led to the moving part, effectively improves moving part linear motion's precision and force stability nature, thereby improves the stability that flexible claw lamella opened and shut in step.

In some embodiments, the vision mechanism comprises a holder and a wide-angle camera arranged at an execution end of the holder, and the holder is used for driving the wide-angle camera to rotate.

Among the above-mentioned technical scheme, carry on wide angle camera on the cloud platform, cloud platform drive wide angle camera carries out the multi-angle rotating in the three-dimensional space, and wide angle camera shoots the environment of picking on a large scale to faster, more complete more accurate acquireing operation environment image, confirm fast, change and pick the position, effectively guarantee the comprehensiveness and the accuracy that the environment was judged, reduce and omit the risk, thereby improve the abundant thoroughness of picking.

In some embodiments, the fruit picking apparatus further comprises: and the vision correction assembly is arranged on the multi-axis manipulator and is used for correcting the position of the execution end of the multi-axis manipulator.

Among the above-mentioned technical scheme, set up the vision correction subassembly on the multi-axis manipulator, first automobile body moves to the target position according to the vision recognition of vision mechanism after, control system moves to the target position according to picking object's position control manipulator, because the influence of factors such as first automobile body removal, vision mechanism precision, light, final target position probably has some errors with the position of setting for earlier stage, it can further closely acquire the accurate position of picking object to set up the vision correction subassembly, so that control system carries out the manipulator according to the accurate position of picking object and rectifies, make the flexible picking paw can be more accurate aim at picking object, in order to further improve the picking degree of accuracy of fruit picking device.

In some embodiments, the fruit picking apparatus further comprises: the positioning mechanism is arranged on the first vehicle body and used for marking the position of the first vehicle body; the lower end of the first vehicle body is provided with a plurality of mounting ports around the central axis of the first vehicle body, the mounting ports are recessed from the edge of the first vehicle body to the center of the first vehicle body, and the laser ranging sensors are uniformly distributed on the mounting ports.

Among the above-mentioned technical scheme, set up positioning mechanism on fruit picking device to the actual position of fruit picking device can be monitored at any time to the backstage. A plurality of laser ranging sensors are arranged on the periphery of the first vehicle body, so that the first vehicle body can avoid barriers in an all-dimensional manner; and install laser range finding sensor in the installing port, the setting of installing port plays the guard action to laser displacement sensor, plays dustproof and waterproof effect on the one hand, and on the other hand avoids laser displacement sensor and foreign matter to cause the collision damage.

In some embodiments, the fruit picking apparatus further comprises: the lifting driving mechanism is arranged on the first vehicle body, the multi-axis manipulator is arranged at an execution end of the lifting driving mechanism, and the lifting driving mechanism is used for driving the multi-axis manipulator to lift.

Among the above-mentioned technical scheme, set up lift actuating mechanism on first automobile body for drive multi-axis manipulator goes up and down, effectively increases multi-axis manipulator's stroke operation scope, thereby effectively guarantees the picking height of fruit picking device.

In some embodiments, the fruit picking apparatus further comprises a second vehicle body that operates in synchronization with the first vehicle body, the collection frame being disposed at the second vehicle body.

Among the above-mentioned technical scheme, the collection frame and the multiaxis manipulator separation of fruit picking device set up, when picking, second automobile body and first automobile body can synchronous operation to make collection frame and multiaxis manipulator collocation, can return the discharge alone after collecting the frame and filling up, such structural design avoids on the one hand to collect frame and multiaxis manipulator and concentrates the setting and cause the problem of position interference easily, and on the other hand first automobile body can be with a plurality of second automobile body collocation alternate use, so that further improve and pick efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on these drawings without inventive efforts.

Fig. 1 is a schematic view of the overall structure of a fruit picking apparatus according to some embodiments of the present application;

FIG. 2 is a front cross-sectional view of a capture frame provided in some embodiments of the present application;

fig. 3 is a schematic structural view of a flexible collecting claw of a fruit picking device according to some embodiments of the present application;

FIG. 4 is an enlarged view of portion A shown in FIG. 3;

fig. 5 is a bottom view of a chassis of a fruit picking device provided by some embodiments of the present application;

fig. 6 is a schematic view of the overall structure of a fruit picking apparatus according to still other embodiments of the present application.

An icon: 100-a fruit picking device; 10-a first vehicle body; 11-a chassis; 111-a mounting port; 12-erecting a frame; 13-mecanum wheels; 14-laser ranging sensor; 20-a multi-axis manipulator; 30-flexible collecting claws; 31-a first mounting plate; 32-a second mounting plate; 321-mounting posts; 33-a linear drive assembly; 331-a motor; 332-a screw rod; 333-drive nut; 34-a movable member; 35-a connecting rod; 36-flexible claws; 361-rigid connection; 362-a first wall; 363-a second wall; 364-tension wall; 40-a collection frame; 41-collecting frame body; 411-a stop collar; 42-a spiral track; 421-an inclined section; 422-horizontal segment; 43-vibration seat; 431-a mounting plate; 4311-limit chamber; 4312-limit part; 432-an armature; 433-an electromagnet; 434-spring leaf; 435-a base; 436-a buffer; 50-a vision mechanism; 51-a pan-tilt head; 52-wide angle camera; 60-a vision correction component; 61-a mounting seat; 62-a camera; 70-a positioning mechanism; 71-a first beacon; 72-a second beacon; 80-a lifting driving mechanism; 90-second vehicle body.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "inside" and "outside" are used for indicating the position or positional relationship based on the position or positional relationship shown in the drawings or the position or positional relationship that the product of this application is usually placed when in use, and are only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the device or element to be referred must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

The term "plurality" in this application denotes at least two.

The fruit picking device 100 of the present application may be used to pick fruits such as fruits, oranges, pears, etc., and may also be used to pick vegetables such as tomatoes, etc.

Referring to fig. 1, the present embodiment provides a fruit picking apparatus 100, where the fruit picking apparatus 100 includes a first vehicle body 10, a multi-axis manipulator 20, a flexible collecting claw 30, a collecting frame 40, and a vision mechanism 50, the first vehicle body 10 has a traveling mechanism, and the multi-axis manipulator 20 is disposed on the first vehicle body 10; the flexible collecting claw 30 is arranged at the executing end of the multi-shaft manipulator 20, and the multi-shaft manipulator 20 is used for driving the picking clamping claw to move so as to pick fruits; the collecting frame 40 corresponds to the multi-axis manipulator 20 and is used for placing the fruits picked by the multi-axis manipulator 20; the vision mechanism 50 is provided to the first vehicle body 10 for acquiring the picking position.

The first vehicle body 10 carries the multi-axis robot 20 for movement, and as shown in fig. 1, the first vehicle body 10 may include a base frame 11 and a stand 12 provided on the base frame 11, the robot and the collection frame 40 are provided on the base frame 11, and the pan-tilt 51 is mounted on the stand 12.

Running gear refers to the mechanism that the first automobile body 10 of drive removed, and running gear can refer to AGV's running gear, for example sets up the steering wheel in first automobile body 10 bottom, and the steering wheel can be three, and three steering wheel can be equilateral triangle-shaped and distribute in first automobile body 10, and the steering wheel also can set up four, and four steering wheels are matrix distribution in the bottom of first automobile body 10, and the setting of steering wheel can drive first automobile body 10 rectilinear movement or rotation.

Optionally, the running mechanism includes four mecanum wheels 13, and the four mecanum wheels 13 are distributed in a matrix at the bottom of the chassis 11.

The first vehicle body 10 is driven by the mecanum wheels 13, and the difference between the mecanum wheels 13 and the common wheels is that when the mecanum wheels 13 rotate, an oblique force is generated at the same time due to the presence of oblique driven wheels, and when the rotating speed and direction of the wheels are controlled, the oblique force is enhanced or counteracted, so that the omnidirectional movement of the trolley is realized, the free vector movement can be performed without changing the posture of the first vehicle body 10, the omnidirectional movement function of the first vehicle body 10 and the in-situ rotation function of the first vehicle body 10 can be realized more flexibly and conveniently, and the first vehicle body 10 can keep higher stability in the moving process, thereby effectively ensuring the stability of the first vehicle body 10 in the processes of advancing, retreating, transverse moving and rotating.

The multi-axis manipulator 20 can select a five-axis manipulator, a six-axis manipulator or other manipulators with other axes according to the requirement of the degree of freedom, the flexible picking paw can be driven to flexibly move at multiple angles within the stroke range, and the stroke and the load of the multi-axis manipulator 20 can be adaptively selected according to the growth height and the weight of a picking object.

Illustratively, as shown in fig. 1, the multi-axis robot 20 is a six-axis robot, the flexible picking gripper is mounted at an execution end of a five-axis robot, and a fifth axis of the five-axis robot is a rotation axis for driving the flexible picking gripper to rotate.

The collection frame 40 is used to position the fruit picked by the multi-axis robot 20. It will be appreciated that the collection frame 40 should be positioned within the range of travel of the multi-axis robot 20 in order for the multi-axis robot 20 to position the fruit.

The flexible collecting claw 30 refers to a clamping jaw which can flexibly contact with the fruit compared with a clamping jaw of a rigid structure, such as a clamping jaw made of a flexible material, a flexible adaptive paw and the like.

The vision mechanism 50 is provided on the first vehicle body 10 and is configured to acquire an image of a work environment and a fruit growing position so that the multi-axis robot 20 can accurately move to a target position.

It can be understood that the fruit picking device 100 is necessarily equipped with a control system and an energy supply system, the hardware of the control system can be disposed on the first vehicle body 10, the traveling mechanism, the multi-axis manipulator 20, the flexible collecting claws 30 and the vision mechanism 50 are all electrically connected to the control system, the energy supply system can adopt a rechargeable battery pack to provide electric energy for each driving component of the fruit picking device 100, wherein the control system controls the multi-axis manipulator 20 and the traveling mechanism, which are commonly used in industrial production applications, and the details are not repeated herein.

In some embodiments, the collection frame 40 includes a collection frame body 41, a spiral track 42, and a vibration seat 43, and the collection frame body 41 has a cylindrical shape with an open upper end. A spiral track 42 is coiled on the inner circumferential wall of the collecting frame body 41, and the spiral track 42 is configured to make the fruit enter the collecting frame body 41 along the spiral track 42; the vibration seat 43 is disposed at the bottom of the collecting frame body 41, and is used for vibrating the collecting frame body 41 to disperse the fruits in the collecting frame body 41.

Optionally, as shown in fig. 2, the spiral track 42 includes a horizontal segment 422 and an inclined segment 421 alternately arranged, and the horizontal segment 422 and the inclined segment 421 are sequentially connected end to avoid the fruit from being damaged by too large impact force during falling.

The vibration seat 43 may be disposed on the first vehicle body 10, the vibration seat 43 is configured to apply a vibration force to the collecting frame body 41 to vibrate the collecting frame body 41, for example, as shown in fig. 2, the vibration seat 43 may include a base 435, an electromagnet 433, an armature 432, a mounting plate 431, and spring pieces 434, the base 435 is fixed on the first vehicle body 10, a plurality of buffer parts 436 are mounted at the bottom of the base 435 to achieve a vibration damping effect, the buffer parts 436 may adopt a conventional elastic structure such as a cushion pad, the electromagnet 433 is mounted on the upper surface of the base 435, the mounting plate 431 is disposed above the base 435, a plurality of spring pieces 434 are obliquely disposed between the mounting plate 431 and the base 435, the armature 432 is mounted at the bottom of the mounting plate 431 and corresponds to the electromagnet 433, the mounting plate 431 generates vibration due to interaction between the electromagnet 433 and the armature 432, and the collecting frame 40 is disposed on the mounting plate 431 and vibrates with the mounting plate 431.

Alternatively, the collection frame body 41 and the mounting plate 431 may be detachably provided to facilitate replacement, attachment, and the like of the collection frame body 41.

Can set up on the mounting panel 431 and collect the spacing chamber 4311 of frame body 41's bottom assorted, the diapire of the spacing chamber 4311 of mounting panel 431 sets up bellied spacing portion 4312, the bottom of collecting frame body 41 sets up and spacing portion 4312 assorted spacing ring 411, will collect frame body 41 and place the back on the mounting panel 431, collect frame body 41 spacing in spacing chamber 4311, and spacing portion 4312 and spacing ring 411 block each other, in order to collect frame body 41 spacing on the mounting panel 431, avoid collecting frame body 41 and shift.

In some embodiments, the flexible acquisition jaw 30 includes a first mounting plate 31, a second mounting plate 32, a linear drive assembly 33, a movable member 34, at least three flexible jaw flaps 36, and a plurality of links 35, the first mounting plate 31 being configured to be coupled to the drive end of the multi-axis manipulator 20, the second mounting plate 32 being disposed opposite the first mounting plate 31 and interconnected, the linear drive assembly 33 being disposed on the second mounting plate 32. The movable element 34 is disposed at an actuating end of the linear driving element 33, so as to linearly reciprocate relative to the second mounting plate 32 under the driving of the linear driving element 33. The flexible claw pieces 36 are circumferentially and uniformly distributed around the central axis of the second mounting plate 32, one end, away from the central axis of the second mounting plate 32, of each flexible claw piece 36 is hinged to the second mounting plate 32, the plurality of connecting rods 35 are in one-to-one correspondence with the flexible claw pieces 36, one end, close to the central axis of the second mounting plate 32, of each flexible claw piece 36 is hinged to one connecting rod 35, one end, away from the flexible claw pieces 36, of each connecting rod 35 is hinged to the movable piece 34, and the hinge points of the plurality of connecting rods 35 and the movable piece 34 are circumferentially and uniformly distributed around the central axis of the second mounting plate 32.

The first mounting plate 31 and the second mounting plate 32 may be circular, rectangular or other shapes, the first mounting plate 31 and the second mounting plate 32 are connected as a whole, for example, as shown in the figure, the first mounting plate 31 and the second mounting plate 32 are both circular plates, and the first mounting plate 31 and the second mounting plate 32 are coaxially arranged, and the circular first mounting plate 31 and the circular second mounting plate 32 can effectively avoid interference with peripheral mechanisms.

At least three flexible claws 36 are provided, and illustratively, three flexible claws 36 and three flexible claws 35 are provided, and the three flexible claws 36 are evenly distributed around the central axis of the second mounting plate 32.

The movable member 34 is disposed at an executing end of the linear driving element 33 to reciprocate linearly under the driving of the linear driving element 33, and the movable member 34 may be a plate-shaped structure.

Illustratively, as shown in fig. 3 and 4, the movable member 34 is a circular plate-shaped structure, the diameter of the movable member 34 is smaller than that of the second mounting plate 32, the movable member 34 and the second mounting plate 32 are coaxially arranged, three mounting posts 321 which are in one-to-one correspondence with the flexible claws 36 and extend along the central axis of the second mounting plate 32 toward the movable member 34 are arranged on the periphery of the second mounting plate 32, the outer ends of the flexible claws 36 are hinged to the mounting posts 321, the inner ends of the flexible claws are hinged to connecting rods 35, one ends of the connecting rods 35, which are far away from the flexible claws 36, are hinged to the movable member 34, and the three connecting rods 35 are hinged to the same circumference of the movable member 34.

When the movable piece 34 is close to the second mounting plate 32, the connecting rod 35 pulls the flexible claws 36, the three flexible claws 36 rotate around the mounting column 321 centripetally to close, and when the movable piece 34 is far away from the second mounting plate 32, the connecting rod 35 pushes the flexible claws 36, and the three flexible claws 36 rotate around the mounting column 321 vest to open.

The plurality of flexible claw flaps 36 can be controlled to be synchronously opened and closed by controlling the movement of the moving part 34, on one hand, the structure effectively saves a power source, on the other hand, the opening and closing synchronism of the three flexible claw flaps 36 is effectively ensured, and the force application balance of clamping and releasing of the flexible claw is favorably ensured; moreover, the moving member drives the flexible claw piece 36 to rotate around the hinge shaft of the second mounting plate 32 to open and close, and the opening and closing angle and the clamping force of the flexible claw piece 36 can be adjusted by controlling the moving distance of the moving member 34, so that the control is convenient.

The flexible claws 36 may be flexible adaptive fingers or other conventional grasping fingers, for example, as shown in fig. 2, the flexible claws 36 are flexible adaptive fingers, and the flexible adaptive fingers include: rigid connection piece 361 and flexible piece, rigid connection piece 361 are articulated with erection column 321 and moving part 34, and rigid connection piece 361 can be the part that has structural strength's material such as metal, rigid plastic to guarantee the connection stability and the drive accuracy that opens and shuts of flexible piece. The flexible member is mounted on a rigid connecting member 361, the structure of the flexible member may include a first wall 362, a second wall 363 and a pulling force wall 364, one end of the first wall 362 is connected with one end of the second wall 363, the first wall 362 forms a predetermined included angle with the second wall 363, the predetermined included angle may be 15-20 °, one ends of the first wall 362 and the second wall 363 away from the predetermined included angle are connected with the rigid connecting member 361, so that the whole flexible claw flap 36 forms a triangle-like structure, the first wall 362 is close to the central axis of the second mounting plate 32 to be contacted with the fruit, a plurality of pulling force walls 364 are uniformly distributed between the first wall 362 and the second wall 363 along the extending direction of the first wall 362, and the plurality of pulling force walls 364 are perpendicular to the first wall 362, and the pulling force walls 364 connect the first wall 362 with the second wall 363.

Wherein, the material of flexible piece can be the rubber material, and the flexible piece can integrated into one piece or adopt 3D printing technique to print and form.

When fruit is grabbed, the linear driving assembly 33 drives the movable piece 34 to be close to the second mounting plate 32, the three flexible claw flaps 36 are folded in a centripetal rotating mode, in the folding process, the first walls 362 of the three flexible pieces are gradually contacted with the fruit and deform due to the shape of the fruit, the first walls 362 deform to drive the tension walls 364, the tension walls 364 pull the second walls 363 to deform, along with the aggravation of the folding degree, the first walls 362 deform to aggravate the deformation of the second walls 363, and until the vertex angles of the first walls 362 and the second walls 363 are attached to the fruit, so that the fruit is wrapped in a flexible contact mode. When the fruit is lowered, the linear drive assembly 33 drives the movable plate away from the second mounting plate 32, the flexible claws 36 are rotated to gradually withdraw, and the first wall 362 and the second wall 363 gradually return to their shapes until they are completely removed from the fruit.

Alternatively, the linear drive assembly 33 may include: the screw rod 332, the driving nut 333 and the motor 331 are arranged, and the screw rod 332 is rotatably arranged on the second mounting plate 32; the driving nut 333 is arranged on the screw rod 332, and the driving nut 333 is connected with the movable piece 34; the motor 331 is disposed between the first mounting plate 31 and the second mounting plate 32, and an output end of the motor 331 is connected to the screw rod 332 to drive the screw rod 332 to rotate.

Illustratively, as shown in fig. 3 and fig. 4, the lead screw 332 is coaxial with the second mounting plate 32, the movable member 34 is coaxially and fixedly connected with the driving nut 333, the motor 331 is installed between the first mounting plate 31 and the second mounting plate 32, one end of the lead screw 332, which is far away from the motor 331, penetrates through the second mounting plate 32 and extends for a certain length, one end of the lead screw 332, which is far away from the motor 331, is provided with a limit button, the driving nut 333 is sleeved on the lead screw 332 and is located between the second mounting plate 32 and the limit button, and the limit button is used for limiting a moving distance of the driving nut 333 on the lead screw 332.

The screw rod 332 is rotatably arranged on the second mounting plate 32, the screw rod 332 is provided with the driving nut 333, and the position of the driving nut 333 on the screw rod 332 can be controlled by controlling the forward and reverse rotation of the screw rod 332, so that the moving part 34 is driven to linearly reciprocate, the precision of the screw rod 332 is high in rigidity, the screw rod 332 plays a certain circumferential supporting and guiding role on the moving part 34, the precision and the stress stability of the linear motion of the moving part 34 are effectively improved, and the stability of synchronous opening and closing of the flexible claw flaps 36 is improved.

In some embodiments, as shown in fig. 1, vision mechanism 50 includes a pan-tilt 51 and a wide-angle camera 52 disposed at an execution end of pan-tilt 51, and pan-tilt 51 is used for driving wide-angle camera 52 to rotate.

Carry on wide angle camera 52 on cloud platform 51, cloud platform 51 drive wide angle camera 52 carries out the multi-angle rotating in the three-dimensional space, and wide angle camera 52 shoots the picking environment on a large scale to faster, more complete more accurate acquireing operation environment image, confirm fast, change and pick the position, effectively guarantee the comprehensiveness and the accuracy that the environment was judged, reduce and omit the risk, thereby improve the abundant thoroughness of picking. Set up cloud platform 51 in grudging post 12, can effectively guarantee the monitoring height and the width of vision mechanism 50, avoid manipulator or other structures to cause image acquisition to interfere vision mechanism 50.

For more accurate determination of the fruit position, the wide-angle camera 52 may employ a binocular camera, which includes a color camera for finding the fruit and a Tof camera for obtaining the distance of the fruit found by the color camera, and the Tof camera and the color camera jointly identify and position the fruit to improve the accuracy of fruit identification and distance judgment.

It will be appreciated that the control system is necessarily provided with an image processor to which the images captured by wide angle camera 52 are transmitted and which processes the images.

In some embodiments, the fruit picking apparatus 100 further comprises a vision correction assembly 60, the vision correction assembly 60 being disposed on the multi-axis robot 20 for correcting the position of the executing end of the multi-axis robot 20.

It is to be understood that the vision correction assembly 60 may include a camera 62, the camera 62 being electrically connected to a control system or controller of the multi-axis robot 20. Illustratively, as shown in fig. 1, a camera 62 is erected on the fourth shaft of the five-shaft manipulator through a mounting seat 61, so as to move synchronously with a flexible collecting claw 30 installed at the execution end of the five-shaft manipulator, after the five-shaft manipulator moves to a target picking position and is posed, the camera 62 collects images, a control system checks whether the angle and the distance of the execution end of the five-shaft manipulator are matched with the actual position of a fruit, and if an error exists, the position of the execution end of the five-shaft manipulator is corrected according to the actual position of the fruit, so as to further improve picking precision and reduce fruit damage risk.

The vision correction assembly 60 is arranged on the multi-axis manipulator 20, after the first vehicle body 10 moves to a target position according to the vision recognition of the vision mechanism 50, the control system controls the manipulator to move to the target position according to the position of the picking object, and because the first vehicle body 10 moves, the precision of the vision mechanism 50, light and other factors influence, the final target position may have some errors with the earlier set position, the vision correction assembly 60 is arranged to further obtain the accurate position of the picking object in a short distance, so that the control system can correct the manipulator according to the accurate position of the picking object, the flexible picking paw can be more accurately aligned with the picking object, and the picking accuracy of the fruit picking device 100 is further improved.

In some embodiments, the fruit picking apparatus 100 further comprises a positioning mechanism 70, the positioning mechanism 70 being disposed on the first vehicle body 10 for identifying the position of the first vehicle body 10.

Alternatively, the positioning mechanism 70 may use a beacon, which may use a bluetooth beacon, a GPS beacon, a WIFI beacon, or the like. Specifically, as shown in fig. 5, three first beacons 71 distributed in an isosceles triangle shape may be disposed at the bottom of the first vehicle body 10, a fixed second beacon 72 is disposed in a signal transceiving range of the first beacon 71 as a detection origin, a side length and an included angle of a triangle formed by the three first beacons 71 are known, when the position of the first vehicle body 10 is confirmed, signal transmission is performed between the second beacon 72 and the three first beacons 71, distances between the second beacon 72 and the three first beacons 71 are obtained, and actual coordinates and angles of the first vehicle body 10 can be obtained by using a triangle pythagorean theorem.

The positioning mechanism 70 is arranged on the fruit picking device 100, so that the control system can monitor the actual position of the fruit picking device 100 at any time, and the first vehicle body 10 is positioned by adopting a plurality of beacons, the structure is simple, the cost is low, and the detection stability is high.

Optionally, the fruit picking apparatus 100 may further include a plurality of laser ranging sensors 14, the plurality of laser ranging sensors 14 being distributed around the bottom frame 11.

Alternatively, as shown in fig. 1, four corners of the bottom frame 11 are provided with one mounting opening 111, the mounting openings 111 are recessed from the edge of the bottom frame 11 to the center of the bottom frame 11, eight laser ranging sensors 14 are provided, and the eight laser ranging sensors 14 are uniformly distributed in the four mounting openings 111, that is, two laser ranging sensors 14 are mounted in each mounting opening 111.

It can be understood that, the two laser distance measuring sensors 14 of the same mounting opening 111 are oriented perpendicular to each other and are oriented to different sides of the first vehicle body 10, for example, the two laser distance measuring sensors 14 of the mounting opening 111 mounted on the rear right side of the first vehicle body 10, one laser distance measuring sensor 14 is oriented to the rear of the first vehicle body 10, and the other laser distance measuring sensor 14 is oriented to the right side of the first vehicle body 10, so that the eight laser distance measuring sensors 14 all include the periphery of the first vehicle body 10 in the monitoring range, so that the first vehicle body 10 can avoid obstacles in all directions and in time.

The four corners of the bottom frame 11 are provided with mounting openings 111 which are recessed towards the center direction of the bottom frame 11, the laser ranging sensors 14 are mounted in the mounting openings 111, the laser displacement sensors are protected by the mounting openings 111, on one hand, the dustproof and waterproof effects are achieved, and on the other hand, the laser displacement sensors are prevented from being collided and damaged with foreign matters.

In some embodiments, as shown in fig. 1, the fruit picking apparatus 100 further comprises: and a lifting driving mechanism 80 provided to the first vehicle body 10, wherein the multi-axis robot 20 is provided to an execution end of the lifting driving mechanism 80, and the lifting driving mechanism 80 is configured to drive the multi-axis robot 20 to lift.

Alternatively, the lifting driving mechanism 80 may use a conventional lifting driving structure such as a scissor lifting structure, a screw lifter, an electric cylinder, a hydraulic cylinder, etc., and the lifting driving mechanism 80 may select a suitable specification according to the load and the stroke requirement. Illustratively, the elevation driving mechanism 80 uses an electric cylinder, a cylinder body of which is fixed to the first vehicle body 10, and an actuating end of which is disposed upward to drive the multi-axis robot 20 to be elevated, and it is understood that the electric cylinder is electrically connected to the control system so as to adjust the height of the multi-axis robot 20 by flexibly controlling the amount of extension and retraction of the electric cylinder.

In the above technical solution, the lifting driving mechanism 80 is disposed on the first vehicle body 10 for driving the multi-axis manipulator 20 to lift, so as to effectively increase the stroke operation range of the multi-axis manipulator 20, thereby effectively ensuring the picking height of the fruit picking device 100.

In still other embodiments, as shown in fig. 6, the fruit picking apparatus 100 may further include a second vehicle body 90, and the collection frame 40 is provided to the second vehicle body 90.

It is understood that the second vehicle body 90 may have the same structure as the first vehicle body 10. The first vehicle body is used for independently arranging the acquisition frame on the second vehicle body 90, when picking is carried out, the first vehicle body 10 and the second vehicle body 90 can be controlled to synchronously run through the control system, the positions and the angles of the first vehicle body 10 and the second vehicle body 90 are confirmed through the beacon arranged on the first vehicle body 10 and the beacon arranged on the second vehicle body 90, then the first vehicle body 10 is used as an original point, the direction and the angle of the second vehicle body 90 are set by taking the traveling direction and the angle of the first vehicle body 10 as references, and the purpose of synchronous control running is achieved.

In addition, after the collection frame 40 of the second vehicle body 90 is full, the control system can control the second vehicle body 90 to drive the collection frame to return independently for unloading; certainly, a first vehicle body 10 can cooperate with a plurality of second vehicle bodies 90 to perform cooperative operation, when the collecting frame of one second vehicle body 90 is full of fruits and leaves the first vehicle body 10, the second vehicle body 90 carries the collecting frame 40 to continue to match with the first vehicle body 10 for picking, so as to further improve the picking efficiency.

It should be noted that the main control part of the control system of the present application may be composed of raspberry pi and Arduino, the adopted Arduino version may be UNO, the Arduino UNO controller may be an ATmega328P-PU single chip microcomputer produced by Atmel corporation, the supply voltage is 5v, and the pins 0-13 are digital pins, and have a digital signal input and output function. Pins A0 to A5 are analog man input pins, have the man input function of analog signals, and have the man input and output functions of digital signals, the pin numbers are 14 to 19 respectively, and IOREF is a man input/output port voltage reference pin. Adopt ROS operation multi-axis manipulator 20, calculate processing positioning information to and send driving system's instruction to Arduino, use Arduino to operate running gear and carry out first automobile body 10 and remove. In addition, a plurality of common interfaces electrically connected to the control system may be provided on the first vehicle body 10, so as to facilitate quick docking of the lifting drive mechanism 80, the multi-axis manipulator 20, the vision mechanism 50, and other execution components on the first vehicle body 10 with the control system.

This application sets up first automobile body 10 that has running gear, set up multiaxis manipulator 20 and vision mechanism 50 on first automobile body 10, multiaxis manipulator 20 disposes flexible collection claw 30, fruit picking device 100 of this application can carry out nimble harvesting through control system control, wherein, vision mechanism 50 is convenient for look for the position of fruit, control system can carry out image processing to the environmental image that vision mechanism 50 acquireed and obtain data, and control running gear drives first automobile body 10 and moves to the target location, multiaxis manipulator 20 drive flexible collection claw 30 is close to the picking object, multiaxis manipulator 20 drive flexible collection claw 30 motion, in order to pick the fruit and place into the collecting box, the collecting box has spiral track 42, the fruit freely rolls off after placing on spiral track 42, further reduce the risk of fruit scratch, the collecting box is provided with vibrations seat 43, avoid the fruit to pile up at the end of spiral track 42. The whole fruit picking device 100 is strong in structural integration, exquisite and simple, is more suitable for individual household agriculture or small-scale agricultural production, is high in automation degree, further saves picking manpower, greatly reduces damage rate, and effectively improves picking quality.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent final stage, improvement, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A fruit picking device, comprising:

a first vehicle body having a traveling mechanism;

a multi-axis robot provided to the first vehicle body;

the flexible collecting claw is arranged at the execution end of the multi-axis manipulator, and the multi-axis manipulator is used for driving the flexible collecting claw to move so as to pick fruits;

the collecting frame corresponds to the multi-shaft mechanical arm and is used for placing the fruits picked by the flexible collecting claws;

and the visual mechanism is arranged on the first vehicle body and used for acquiring the growing position of the fruit.

2. The fruit picking device of claim 1, wherein the collection frame comprises:

the collecting frame body is in a cylindrical shape with an opening at the upper end;

a spiral track wound on an inner circumferential wall of the collection frame body, the spiral track being configured to allow the fruit to enter the collection frame body along the spiral track;

the vibration seat is arranged at the bottom of the collecting frame body and used for vibrating the collecting frame body so as to enable the fruits to be dispersed in the collecting frame body.

3. Fruit picking device according to claim 2, characterised in that the helical track comprises alternately arranged horizontal and inclined sections, which are connected end to end in sequence.

4. The fruit picking device of claim 1, wherein the flexible collection claw comprises:

the first mounting plate is used for being connected with the driving end of the multi-axis manipulator;

the second mounting plate is arranged opposite to the first mounting plate and is connected with the first mounting plate;

the linear driving assembly is arranged on the second mounting plate;

the moving part is arranged at the execution end of the linear driving component and is driven by the linear driving component to linearly reciprocate relative to the second mounting plate;

the flexible claw flaps are uniformly distributed around the central axis of the second mounting plate in the circumferential direction, and one end, far away from the central axis of the second mounting plate, of each flexible claw flap is hinged with the second mounting plate;

a plurality of connecting rods, with flexible claw lamella one-to-one, every flexible claw lamella is close to the one end and one of the central axis of second mounting panel the connecting rod is articulated, every the connecting rod is kept away from the one end of flexible claw lamella all is articulated with the moving part, and is a plurality of the connecting rod with the pin joint of moving part winds the central axis circumference equipartition of second mounting panel.

5. The fruit picking apparatus of claim 4, wherein the linear drive assembly comprises:

the screw rod is rotatably arranged on the second mounting plate;

the driving nut is arranged on the screw rod and is connected with the movable piece;

the motor is arranged between the first mounting plate and the second mounting plate, and the output end of the motor is connected with the screw rod to drive the screw rod to rotate.

6. The fruit picking device of claim 1, wherein the vision mechanism comprises a pan-tilt and a wide-angle camera disposed at an actuation end of the pan-tilt, the pan-tilt being configured to drive the wide-angle camera to rotate.

7. The fruit picking device of claim 1, further comprising:

and the vision correction assembly is arranged on the multi-axis manipulator and is used for correcting the position of the execution end of the multi-axis manipulator.

8. The fruit picking device of claim 1, further comprising:

the positioning mechanism is arranged on the first vehicle body and used for marking the position of the first vehicle body;

the lower end of the first vehicle body is provided with a plurality of mounting ports around the central axis of the first vehicle body, the mounting ports are recessed from the edge of the first vehicle body to the center of the first vehicle body, and the laser ranging sensors are uniformly distributed on the mounting ports.

9. The fruit picking device of claim 1, further comprising:

the lifting driving mechanism is arranged on the first vehicle body, the multi-axis manipulator is arranged at an execution end of the lifting driving mechanism, and the lifting driving mechanism is used for driving the multi-axis manipulator to lift.

10. Fruit picking device according to any of claims 1 to 9, characterised in that the fruit picking device further comprises a second vehicle body, the collection frame being provided to the second vehicle body.

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