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Intelligent picking robot capable of preventing fruits from being damaged

A technology for picking robots and fruits, applied in the field of agricultural robots, can solve the problems of slow picking efficiency, large size, and low reliability of robotic arms, and achieve the effects of reduced failure rate, high picking accuracy, and reasonable collocation

Active Publication Date: 2019-05-21
河南工学院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide an intelligent picking robot that prevents fruit damage, to overcome the defects of slow picking efficiency, low reliability of the mechanical arm and large size of the fruit picking robot in the prior art

Method used

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  • Intelligent picking robot capable of preventing fruits from being damaged
  • Intelligent picking robot capable of preventing fruits from being damaged
  • Intelligent picking robot capable of preventing fruits from being damaged

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030]An intelligent picking robot for preventing fruit damage according to the present invention includes a mobile unit, a fruit picking unit, a detection unit and a processor unit, the moving unit includes a chassis 1, the fruit picking unit includes a first base 3, and the first base 3 is installed on the chassis 1 A fixed frame 4 is installed on the first base 3, a top plate 5 and a first fixed flange 6 are installed on the top and bottom of the fixed frame 4 respectively, the first fixed flange 6 is tightly connected with the first base 3 through bolts and nuts, and the top plate 5 The first rotating electrical machine 7 and the second rotating electrical machine 8 are fixedly installed, and the first rotating electrical machine 7 and the second rotating electrical machine 8 comprise a first rotating shaft and a second rotating shaft respectively, and the bottom of the first rotating shaft and the bottom of the second rotating shaft are respectively equipped with a large ge...

Embodiment 2

[0032] In a preferred embodiment, the visual sensor 49 is a camera with a position positioning function, the camera is used for visual recognition, the processor unit includes an image processor and a robot processor, the image processor is connected to the camera and the robot processor, and the robot processor Connect distance sensors and multiple position sensors. The quantity of the fruit-picking unit is two, and the two fruit-picking units are on both sides of the detection unit.

[0033] In a preferred embodiment, the robot processor is also connected to the first rotary motor 7, the second rotary motor 8, the third rotary motor 30, the fourth rotary motor 21, the fifth rotary motor 40, the first cylinder 19, the second cylinder 26. The chassis motor sends instructions according to the position information.

Embodiment 3

[0035] In a preferred embodiment, crawler belts 2 are installed on both sides of the bottom of the chassis 1, and the crawler belts 2 are connected to the chassis motor. The first base 3 is fixedly connected to the chassis 1 through a scissor lift frame 41. 3 is fixedly connected with chassis 1.

[0036] In a preferred embodiment, fruit baskets 47 are respectively installed at both ends of the chassis 1 , and a sponge layer is laid inside the fruit baskets 47 .

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Abstract

The invention discloses an intelligent picking robot capable of preventing fruits from being damaged, which comprises a moving unit, a fruit picking unit, a detection unit and a processor unit, wherein the moving unit comprises a chassis, the fruit picking unit comprises a first base, a fixing frame is arranged on the first base, the top and bottom of the fixing frame are respectively provided with a top plate, the top plate is fixedly provided with a first rotating motor and a second rotating motor, the fruit picking unit also comprises a first turntable and a rotating arm, the rotating arm comprises a second base, the second base is provided with a first rotating arm, a second rotating arm and a third rotating arm, a manipulator is arranged on the third rotating arm; the detection unit comprises a second turntable; a straight rod is arranged on the second turntable; a rotating rod is arranged on the straight rod; the rotating rod is hinged with the straight rod through a fifth rotating motor; a vision sensor is arranged at the top of the rotating rod; and position sensors are arranged on the manipulator and the chassis. According to the intelligent picking robot, the picking efficiency is greatly improved, meanwhile, the manipulator is high in reliability and small in size, and the operation is flexible.

Description

technical field [0001] The invention relates to the technical field of agricultural robots, in particular to an intelligent picking robot for preventing fruit damage. Background technique [0002] In the field of agriculture, fruit picking requires considerable manpower and material resources. Under the wave of industrial production, it has become a trend to realize the mechanization of fruit picking. At present, fruit picking robots have appeared in the field of fruit picking. As an important type of agricultural robots, fruit picking robots have great development potential. Picking robots are one of the important equipment for precision agriculture in the 21st century and the development direction of future intelligent agricultural machinery. Picking robot is an automatic mechanical harvesting system with perception ability for fruits and vegetables, which can be programmed to complete the picking, transshipment, packing and other related tasks of these crops. It is a coll...

Claims

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Application Information

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IPC IPC(8): A01D46/30
Inventor 张峰阴伟锋吴豪琼张建霞崔鹏伟张涛田坤
Owner 河南工学院
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