Orderly fruit putting system for slender melon picking robot

Abstract

The invention discloses an orderly fruit putting system for a slender melon picking robot, and relates to the field of agricultural robots. The system is composed of a fruit box flexible inclining mechanism, a flexible lifting mechanism and a mechanical arm translation mechanism. By means of an elastic translating follower, a fruit box is made to incline back on to a picking area, and the fruit box is made to rise and fall. When operation is conducted, a mechanical arm clamps slender melons to reach the portion above the fruit box and then inclines downwards to move to the lifting end of the fruit box, and then the slender melons are made to lie down in a groove of the fruit box. The fruit box is gradually laid flat and fallen off along with increase of slender melons inside the fruit box, falling of the fruit box and the stack height of the slender melons inside the fruit box mutually compensate, it is guaranteed that the mechanical arm puts fruits repeatedly and orderly according to the fixed position and action, and the phenomenon that after the stack height is increased, the slender melons fall out of the box is prevented. Accordingly, the orderly, full-box and lossless fruit putting of the slender melons is achieved only through matching of elastic translating follower-based flexible fruit box inclination and lifting, the structure and control are simple, the fruit putting operation efficiency is greatly improved, and the back-and-forth fruit discharging frequency of the picking robot is effectively decreased.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to an orderly fruit releasing system for a slender melon picking robot. Background technique [0002] At present, the picking robot technology has carried out key research on fruit identification and positioning, end picking methods and equipment, hand-eye coordination, etc. in the fruit picking process, but the problem of fruit storage on the robot body after picking has not received sufficient attention. In fact, the high-efficiency and non-destructive storage of fruits in fruit boxes after picking has high requirements for robots and has an important impact on the operating performance of picking robots. For spherical fruits such as tomatoes, apples, and citrus, or non-slender strip-shaped fruits such as sweet peppers and pears, the fruit can be released without damage by controlling the height of the end-effector to release the fruit, and the fruit box can be filled without sp...

AI Technical Summary

Problems solved by technology

However, it is very critical and challenging to release the slender melons and fruits after they are picked. Putting them into the fruit box at will by the robotic arm will cause adverse effects:

[0003] (1) Due to the process that the bottom of the slender fruit touches the bottom of the box and then lies down, it is difficult to ensure the height of the ground between the bottom of the fruit and the bottom of the box due to the length difference when placing the fruit, resulting in random bouncing of the fruit in all directions and lying down. The situation becomes more complicated and serious after the fruit gradually increases;

[0004] (2) The slender fruit can be placed in any position in the fruit box, and the fruit placement is more chaotic. The fruit collides with each other, making it difficult to guarantee the occurrence of damage, and it is even more difficult to effectively use the space of the fruit box to achieve efficient storage. For the robot picking operation performance has a major impact

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