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Multi-arm type harvesting robot and picking method thereof

A robot and arm-type technology, applied in the direction of picking machines, harvesters, manipulators, etc., can solve the problems of low work efficiency and achieve the effect of improving work efficiency and shortening the picking time

Pending Publication Date: 2019-05-28
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the current development situation, most picking robots use a single robotic arm and a single end effector for agricultural work, and the work efficiency is not high

Method used

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  • Multi-arm type harvesting robot and picking method thereof
  • Multi-arm type harvesting robot and picking method thereof
  • Multi-arm type harvesting robot and picking method thereof

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Embodiment

[0025] Such as Figure 1 to Figure 2 As shown, a multi-arm type harvesting robot includes a picking robot arm system and a chassis system 7, and the picking robot arm system includes a picking robot arm group, a working platform 6, and a fruit storage device, and the picking robot arm group includes An upper-layer picking robot arm group 1 and a lower-layer picking robot arm group 2 each provided with four robotic arms, a guide rail slider mechanism 3 is installed on the working platform 6, and an upper-layer picking robot arm group 1 is carried. The fruit storage device is installed at the lower end of the picking robot arm group, and includes a connected fruit storage device 5 and a fruit collection device 4 . The upper layer picking robot arm group 1 adopts the method of vertical installation; the lower layer picking robot arm group 1 is installed on the side of the working platform 6 and adopts the method of horizontal installation.

[0026] Specifically, there is a certa...

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PUM

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Abstract

The invention provides a multi-arm type harvesting robot and a picking method thereof. The multi-arm type harvesting robot is composed of a harvesting system and a chassis system. The harvesting system is loaded on the chassis system to complete a picking task of fruit in an orchard. The harvesting system is composed of a picking mechanical arm group, a working platform and a fruit collecting andstorage device, the picking mechanical arm group realizes a multi-station, layering and blocking picking task; and a fruit harvesting device completes a task of fruit collection. A layering and blocking picking strategy based on 'a plurality of epencephalons and a brain' edge computing is proposed, the picking efficiency is high, and interference is small. According to the multi-arm type harvesting robot, mechanical arms are arranged in layers and coordinately work, each mechanical arm can independently complete the integrated actions such as pomelo picking, debagging, collecting, clearing, and transporting, and the multi-station picking task is achieved.

Description

technical field [0001] The invention relates to the field of agricultural picking, in particular to a multi-arm harvesting robot and a picking method thereof. Background technique [0002] Fruit picking is the most time-consuming and labor-intensive link in agricultural production, and it is labor-intensive. In particular, fruit picking is almost all done manually, and the labor involved accounts for about half of the labor in the entire fruit and vegetable planting link. 50%~70% of the investment. With the continuous improvement of the quality of life, people have higher and higher requirements for fruits and vegetables. Fruits and vegetables need to be picked in time after they are ripe. This not only puts forward higher requirements for workers, but also increases labor intensity. Manual picking may also be dangerous. Even though some parts of agriculture can be mechanized, and developed countries have achieved a high degree of automation in facility agriculture, the pic...

Claims

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Application Information

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IPC IPC(8): A01D46/30B25J5/00B25J9/16B25J11/00
Inventor 张勤刘丰溥黎业钲刘嘉超胡宇虹乐晓亮
Owner SOUTH CHINA UNIV OF TECH
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