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Self-propelled orchard picking robot

A picking robot, self-propelled technology, applied in the field of agricultural robots, can solve the problem of low self-adaptive ability, achieve the effect of reducing movement, avoiding damage, and expanding the picking range

Pending Publication Date: 2022-07-12
SHANDONG ACADEMY OF AGRI MACHINERY SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a self-propelled orchard picking robot, which is equipped with a manipulator-assisted mobile platform, which can make the manipulator move in the three directions of x, y, and z, and expand the picking of the manipulator. range, the Y-axis carriage can move in two stages, which refines the moving distance of the manipulator and improves the adaptability of the manipulator. The fruit delivery mechanism can follow the movement of the manipulator. There is a problem of low adaptive capacity of fruit picking robots

Method used

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Embodiment 1

[0032] In a typical embodiment of the present invention, as Figure 1-Figure 5 As shown, a self-propelled orchard picking robot is proposed, including: a walking chassis 1 , a manipulator-assisted mobile platform 2 , a fruit conveying mechanism 3 , a manipulator 4 and a vision system 5 .

[0033] Among them, the walking chassis 1 is a crawler-type walking chassis, the manipulator auxiliary mobile platform 2 and the fruit conveying mechanism 3 are relatively fixedly arranged on both sides of the walking chassis 1, and the manipulator 4 and the vision system 5 are arranged on the manipulator auxiliary mobile platform 2.

[0034] Specifically, as figure 2 , image 3 As shown, the robot-assisted mobile platform 2 is composed of an X-axis carriage 6, a Y-axis carriage and a Z-axis carriage 9, wherein the Y-axis carriage is further divided into a first Y-axis carriage 7 and a second Y-axis carriage 8.

[0035] The X-axis carriage 6 is fixedly arranged on one side of the travelin...

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Abstract

The invention discloses a self-propelled orchard picking robot, and belongs to the technical field of agricultural robots, the self-propelled orchard picking robot comprises a walking chassis, and a manipulator auxiliary moving platform and a fruit conveying mechanism which are opposite are fixedly arranged at the top of the walking chassis; the mechanical arm auxiliary moving platform comprises an X-axis sliding frame, a first Y-axis sliding frame and a Z-axis sliding frame which are sequentially connected, the Z-axis sliding frame is connected with a second Y-axis sliding frame, and a mechanical arm is fixedly arranged at the end of the second Y-axis sliding frame. The fruit conveying mechanism comprises a telescopic pipe assembly, and the telescopic pipe assembly can stretch out, draw back and move so as to be kept below the mechanical arm all the time.

Description

technical field [0001] The invention relates to the technical field of agricultural robots, in particular to a self-propelled orchard picking robot. Background technique [0002] The statements herein merely provide background related to the present invention and do not necessarily constitute prior art. [0003] With the development of computer technology, artificial intelligence technology and automatic control technology, robots are gradually entering the field of agricultural production. Since the mid-1980s, western developed countries have done a lot of work on the research of picking robots, and have successfully tested a variety of harvesting and picking robots with artificial intelligence, such as apple picking robots, citrus picking robots, grape picking robots, etc. [0004] The inventors found that although the existing fruit picking robot can replace the manpower for fruit picking, it is easily limited by external conditions, resulting in low picking efficiency. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30
CPCA01D46/30Y02P60/12
Inventor 牛萌萌方会敏李青龙康建明沈景新王少伟
Owner SHANDONG ACADEMY OF AGRI MACHINERY SCI
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