Intelligent picking and transporting robot for orchard and working method thereof

Abstract

The invention discloses an intelligent picking and transporting robot for an orchard and a working method thereof, and relates to the technical field of fruit robot picking. A vehicle body is provided with a conveying inclined pipe, a lifting assembly, an anti-falling hopper, a driving assembly, an auxiliary anti-falling mechanism and a material collecting mechanism; and the anti-falling hopper comprises two arc-shaped anti-leakage frames and two arc-shaped anti-leakage pieces. According to the intelligent picking and transporting robot, by arranging multiple manipulators, the conveying inclined pipe, the lifting assembly, the anti-falling hopper, the driving assembly, the auxiliary anti-falling mechanism and the material collecting mechanism, fruits are subjected to anti-falling treatment and collecting treatment, the multiple manipulators can jointly pick the fruits from fruit trees from the ring sides of the fruit trees and work at the same time, and therefore the picking efficiency and speed are improved, and the damage rate of products is reduced; and by arranging the arc-shaped anti-leakage frames, the arc-shaped anti-leakage pieces, semi-arc-shaped supports and semi-arc-shaped elastic pads, the fruits are subjected to anti-falling treatment, the purpose of laterally wrapping trunks is achieved so as to adapt to fruit trees of different diameters and fruit trees with uneven surfaces, and the better picking anti-falling purpose is achieved.

Description

technical field [0001] The invention relates to the technical field of robot fruit picking, in particular to an orchard intelligent picking and transportation robot and a working method thereof. Background technique [0002] A robot is a machine device that performs work automatically. In an ever-changing era, a robot plays a vital role as an assistant. It can be used to assist or replace human work, such as production, construction, or dangerous work. , is one of the advanced manifestations of modern technology. In the agricultural planting industry, fruit planting is one of them. After apples and other fruits mature on fruit trees, workers need to pick them. Fruit trees are picked, this method is more dangerous, workers may accidentally fall from the fruit tree, resulting in injury, or pull the fruit from the tree by using a picking frame under the tree, this method of picking is easy to cause the fruit to fall on the ground falling on the ground, causing some damage to t...

AI Technical Summary

Problems solved by technology

[0002] A robot is a machine device that performs work automatically. In an ever-changing era, a robot plays a vital role as an assistant. It can be used to assist or replace human work, such as production, construction, or dangerous work. , is one of the advanced manifestations of modern technology. In the agricultural planting industry, fruit planting is one of them. After apples and other fruits mature on fruit trees, workers need to pick them. Fruit trees are picked, this method is more dangerous, workers may accidentally fall from the fruit tree, resulting in injury, or pull the fruit from the tree by using a picking frame under the tree, this method of picking is easy to cause the fruit to fall on the ground falling on the ground, causing some damage to the surface or inside of the fruit at the same time, and hitting other workers is also likely to cause injury;

[0003] In the patent application number CN2018107778163, a picking robot is disclosed, which cuts the branches of the fruit through the first cutting knife and the second cutting knife, and then the fruit falls into the collection net so as to realize the picking and anti-dropping of the fruit. The fruit inlet of the net is limited to one end. When the fruit is cut, the fruit will fall from the first cutting knife and the second cutting knife. The outside of the fruit mouth causes damage to the fruit, and the efficiency of picking by a single robot and a single manipulator is too low. If multiple robots and multiple manipulators pick, it will increase the cost of the enterprise. When it is improved, it is found that due to the different diameters of fruit trees 1. Different vertical heights and uneven surfaces cause the picking efficiency of the picking robot to be too slow, resulting in the problem that the fruit is easy to fall to the ground;

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