Picking robot

Abstract

The invention discloses a picking robot, and relates to the technical field of robots, the picking robot comprises a moving trolley, an arch-shaped frame is mounted in the middle of the upper side of the moving trolley, the picking robot further comprises a picking steering mechanism, a bending fine adjustment mechanism, a visual camera and a picking mechanism, and the picking steering mechanism is mounted in the center of the top of the arch-shaped frame; the top of the picking steering mechanism is connected with a picking height adjusting mechanism, and the top of the picking height adjusting mechanism is connected with a swing control mechanism. The bending fine adjustment mechanism comprises a bending power assembly and a bending cylinder. The top of the swing control mechanism is connected with the bottom end of the bending cylinder through the bending power assembly. According to the picking robot, fruits are picked in the mode that the fruits are clamped and then rotated, the fruits are prevented from being damaged, the picked fruits fall down along the corrugated rubber pipe, the fruits are buffered and borne through the fruit falling anti-collision mechanism, and the situation that the fruits fall down along the corrugated rubber pipe too fast, and consequently the fruits are collided and damaged is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a picking robot. Background Art

[0002] At present, fruit picking is the most time-consuming and labor-intensive link in the fruit production chain. Some fruit trees are high, and manual climbing to pick them is dangerous. In order to save manpower and improve the efficiency of fruit picking, picking robots are used in the prior art to replace manual picking of fruits. However, the existing picking robots use a harvesting mechanism in conjunction with a pipe for fruit falling to pick fruits. The harvesting mechanism cuts off the fruits, and the fruits fall into the pipe. However, the fruit trees have many branches, and the harvesting mechanism and the pipe are large in size. It is not easy to move back and forth in the branches of the fruit trees, which affects the picking of fruits. In addition, the fruits are easily damaged when the harvesting mechanism is used to cut off the fruits. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a picking robot. The robot adopts the method of clamping the fruit and then rotating it to pick the fruit, so as to avoid the fruit being cut and affecting the quality. The clamping unloading mechanism can avoid the fruit being clamped and damaged. The picked fruit falls along the corrugated rubber hose, and the fruit falling anti-collision mechanism is used to buffer and receive the fruit, so as to avoid the fruit being damaged by collision due to the fruit falling too fast along the corrugated rubber hose. The corrugated rubber hose is arranged inside the swing cylinder, the lifting cylinder and the rotating cylinder, so that the picking structure on the top of the picking robot is reduced in size and can be easily moved back and forth in the branches of the fruit trees, which can improve the fruit picking efficiency, save time and labor, and can effectively solve the problems in the background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a picking robot, comprising a mobile trolley, an arch frame is installed on the middle part of the upper side of the mobile trolley, and further comprising: A picking steering mechanism is installed at the top center of the arch frame, and the top of the picking steering mechanism is connected to a picking height adjustment mechanism, and the top of the picking height adjustment mechanism is connected to a swing control mechanism; The bending fine-tuning mechanism comprises a bending power assembly and a bending cylinder, wherein the top of the swing control mechanism is connected to the bottom of the bending cylinder through the bending power assembly; A visual camera is installed on the side of the bending cylinder through a camera frame; The picking mechanism includes a picking cylinder and a clamping and rotating integrated component. The diameter of the picking cylinder is larger than the diameter of the bending cylinder. The top of the bending cylinder passes through the bottom of the picking cylinder and extends to the inner side of the picking cylinder. The bending cylinder is fixedly connected to the picking cylinder, and the bending cylinder and the picking cylinder are arranged concentrically. The clamping and rotating integrated component is installed on the inner side of the picking cylinder.

[0005] The mobile trolley adopts the trolley that can move automatically in the existing technology. The mobile trolley is used to move in the orchard. The arch frame is used to install the picking steering mechanism. The picking steering mechanism is used to drive the picking height adjustment mechanism, the swing control mechanism, the bending fine-adjustment mechanism and the picking mechanism to rotate, which can change the direction of the picking mechanism. The picking height adjustment mechanism can change the height of the swing control mechanism so that the picking mechanism can pick fruits at a specific height. The swing control mechanism is used to drive the bending fine-adjustment mechanism and the picking mechanism to swing, so that the picking mechanism can get close to the fruit, the bending fine-adjustment mechanism and the picking mechanism can be bent. The folding and fine-tuning mechanism is used to fine-tune the position of the picking mechanism so that the top of the picking mechanism is close to the lower side of the fruit. The visual camera is used for filming, and the visual solution in the prior art is used to identify the fruit. Then, with the help of the picking steering mechanism, the picking height adjustment mechanism, the swing control mechanism and the bending and fine-tuning mechanism, the picking tube in the picking mechanism is gradually sleeved on the outside of the fruit. The clamping and rotating integrated component clamps the fruit and drives the fruit to rotate at the same time to separate the fruit stalk from the fruit branch. Then, the clamping and rotating integrated component is tightened to release the fruit, and the fruit can be picked.

[0006] Furthermore, the clamping and rotating integrated component includes a circular sleeve, an outer gear ring, a positioning shaft, a torsion spring, an arc clamping plate, a triangular block and a convex plate, the outer circumferential side of one end of the bending cylinder located in the picking cylinder is rotatably sleeved with the outer gear ring, the side surface of the outer gear ring is movably connected to one end of the two arc clamping plates through two positioning shafts, the two positioning shafts are symmetrically distributed about the center of the outer gear ring, and each positioning shaft is sleeved with a torsion spring at one end close to the outer gear ring, the two ends of the torsion spring are respectively connected to the outer gear ring and the arc clamping plate, and the outer side of each arc clamping plate away from the positioning shaft is respectively fixedly connected with a convex plate, the inner side of the picking cylinder is rotatably connected with a circular sleeve, the picking cylinder is connected to the circular sleeve through a clamping unloading mechanism, and a triangular block is provided on the inner side of the circular sleeve corresponding to the position of the convex plate, wherein the torsion force of the torsion spring drives the two arc clamping plates to approach the inner wall of the circular sleeve respectively, that is, drives the two arc clamping plates to move away from each other and open, so as to facilitate the fruit to extend between the two arc clamping plates.

[0007] Furthermore, the clamping and rotating integrated component also includes a power gear and a picking motor. The picking motor is fixedly connected to the rear edge of the picking barrel. The output shaft of the picking motor extends into the picking barrel and is fixedly connected to the power gear. The power gear is meshed with the outer side of the outer gear ring.

[0008] Move the picking cylinder and the circular sleeve. When the fruit is between the two circular arc clamping plates in the circular sleeve, the picking motor drives the power gear to rotate clockwise. The meshing connection between the power gear and the outer gear ring allows the outer gear ring to rotate counterclockwise. The outer gear ring drives the two circular arc clamping plates to rotate counterclockwise relative to the circular sleeve through the two positioning shafts. At this time, the two convex plates slide along the inclined surfaces of the two triangular blocks respectively. With the help of the inclined surfaces of the two triangular blocks, the two circular arc clamping plates are gradually approached, so that the two circular arc clamping plates clamp the two sides of the fruit. When the two circular arc clamping plates clamp the fruit, the picking motor continues to drive the power gear to rotate clockwise. Since the two circular arc clamping plates have clamped the fruit, the friction force between the convex plate and the triangular block drives the circular sleeve to rotate counterclockwise relative to the picking cylinder. The clamping unloading mechanism is that the circular sleeve rotates counterclockwise relative to the picking cylinder. The counterclockwise rotation of the picking barrel provides resistance. When the picking motor works to allow the rotation of the circular sleeve to overcome the resistance of the circular sleeve, the arc clamping plate, fruit and circular sleeve rotate relative to the picking barrel, which can allow the fruit stalks to separate from the fruit branches and complete the picking of the fruit. Then the picking motor works to drive the power gear counterclockwise, and the outer gear ring rotates clockwise. The convex plate gradually separates from the contact with the inclined surface of the triangular block, and the torsion force of the torsion spring gradually allows the two arc clamping plates to gradually approach the inner wall of the circular sleeve. The two arc clamping plates gradually loosen the fruit, allowing the fruit to loosen and fall. The clamping unloading mechanism can prevent the circular sleeve from rotating clockwise relative to the picking barrel, and prevent the circular sleeve from rotating clockwise relative to the picking barrel due to excessive friction between the convex plate and the inclined surface of the triangular block when the outer gear ring rotates clockwise, thereby preventing the two arc clamping plates from being unable to loosen their grip on the fruit.

[0009] Furthermore, the clamping and rotating integrated assembly also includes anti-skid rubber strips, and the inner side of each arc clamp is provided with anti-skid rubber strips at equal angles. The anti-skid rubber strips contact the fruit instead of the inner side of the arc clamp, which can ensure that the arc clamp can stably clamp the fruit.

[0010] Furthermore, the clamping unloading mechanism includes a blind groove, a spring, a unloading slider and a clamping groove. A plurality of blind grooves are provided in a circular array on the inner circumference of the picking tube, and the specific number of the blind grooves is six. The unloading slider is connected to the blind groove through a spring. The unloading slider is slidably connected to the blind groove. A unloading guide inclined surface is provided at one end of the unloading slider located on the outer side of the blind groove. Clamping grooves are respectively provided on the outer circumference of the circular sleeve at the positions corresponding to the respective blind grooves. When the round sleeve rotates counterclockwise relative to the picking barrel, the fruit is gradually clamped, and the force of the counterclockwise rotation of the round sleeve increases. At this time, the edge of the slot on the inner side of the round sleeve pushes the unloading guide inclined surface, allowing the unloading slider to retract into the blind slot, and the spring is compressed. At this time, the clamping force of the two arc clamps on the fruit is the largest, and the clamping force on the fruit will no longer increase, completing the unloading operation of clamping the fruit, and can avoid damaging the fruit. When the round sleeve needs to rotate clockwise, the edge of the slot on the inner side of the round sleeve cannot act on the unloading guide inclined surface. At this time, the spring pushes the unloading slider to stably engage with the slot, and the round sleeve cannot rotate clockwise relative to the picking barrel, thereby avoiding the round sleeve from rotating clockwise relative to the picking barrel due to excessive friction between the convex plate and the inclined surface of the triangular block when the outer gear ring rotates clockwise.

[0011] Furthermore, the picking steering mechanism includes a bearing, a rotating drum and a steering power assembly, the top center of the arch frame is rotatably connected to the bottom of the rotating drum through the bearing, and the bottom end of the rotating drum is connected to the steering power assembly. The steering power assembly is used to drive the rotating drum to rotate, thereby changing the direction of the picking drum in the picking mechanism.

[0012] Furthermore, the picking height adjustment mechanism includes a lifting cylinder, a column and a lifting assembly. The inner side of the top of the rotating cylinder is vertically slidably connected to the outer side of the bottom of the lifting cylinder. The outer side of the rotating cylinder is equipped with a lifting assembly, which is connected to the bottom of the column. The top of the column is connected to the top of the lifting cylinder through a swing control mechanism. The lifting assembly is used to drive the column to move up and down, and the column drives the lifting cylinder to move up and down relative to the rotating cylinder, so that the height of the picking cylinder in the picking mechanism can be changed.

[0013] Furthermore, the swing control mechanism includes a bottom ring, a support, a swing shaft, a swing cylinder, a horizontal plate and an electric telescopic rod. The top outer peripheral side of the lifting cylinder is fixedly sleeved with a bottom ring, and two supports are arranged on both sides of the top of the bottom ring. The two supports are movably connected to the bottom sides of the swing cylinder through two longitudinal swing shafts, respectively. The side of the bottom ring is fixedly connected with a horizontal plate, and the bottom of the horizontal plate is fixedly connected to the top of the column. The end of the horizontal plate away from the bottom ring is movably connected to one end of the electric telescopic rod, and the other end of the electric telescopic rod is movably connected to the middle side of the swing cylinder. The electric telescopic rod is extended to push the swing cylinder to swing to one side relative to the lifting cylinder through the swing shaft. The electric telescopic rod is shortened to pull the swing cylinder to swing to the other side relative to the lifting cylinder through the swing shaft, thereby driving the picking cylinder in the picking mechanism to swing left and right.

[0014] Furthermore, the invention also includes a fruit collecting mechanism, wherein the fruit collecting mechanism includes a corrugated rubber hose and a fruit outlet positioning assembly, wherein the bottom end of the bending cylinder is connected to the top end of the corrugated rubber hose, the bottom of the corrugated rubber hose sequentially passes through the swing cylinder, the lifting cylinder, and the rotating cylinder and extends to the inner side of the arch frame, and the bottom end of the corrugated rubber hose is connected to the front side of the arch frame through the fruit outlet positioning assembly. After the clamping and rotating integrated assembly releases the fruit, the fruit falls along the bending cylinder due to gravity, and then falls into the corrugated rubber hose, and then the fruit falls along the swing cylinder, the lifting cylinder, and the corrugated rubber hose inside the rotating cylinder, and the fruit outlet positioning assembly is used to change the position of the bottom end of the corrugated rubber hose, thereby changing the position where the fruit falls, and the corrugated rubber hose can be retracted, twisted, and bent, so it can adapt to the swing of the swing cylinder, the lifting of the lifting cylinder, and the rotation of the rotating cylinder, but the movements of the swing cylinder, the lifting cylinder, and the rotating cylinder should also be moderate to avoid damaging the corrugated rubber hose, or excessive twisting of the corrugated rubber hose affects the falling of the fruit in the corrugated rubber hose.

[0015] Furthermore, it also includes a fruit falling anti-bumping mechanism, which includes side panels, a buffer net and a rubber pad. Two side panels are fixedly connected to the front sides of the left and right ends of the arch frame, and a buffer net is arranged between the two side panels. The buffer net is set tightly, and the buffer net is tilted with a low front and a high back. The two side panels are bonded with rubber pads on the sides close to each other. The fruit coming out of the bottom of the corrugated rubber hose falls onto the buffer net, and the impact force is relieved by the buffering of the buffer net. Then the fruit continues to fall and can fall into the fruit box placed on the mobile trolley. The side panels are used to install the buffer net to prevent the fruit from falling from both sides of the buffer net. The rubber pad can prevent the fruit from hitting the inner wall of the side panel and being damaged.

[0016] Compared with the prior art, the beneficial effects of this picking robot are: 1. When the fruit is located between the two arc clamps in the circular sleeve, the picking motor drives the power gear to rotate clockwise, and the two arc clamps clamp the two sides of the fruit. When the two arc clamps clamp the fruit, the picking motor continues to drive the power gear to rotate clockwise. Since the two arc clamps have clamped the fruit, the friction between the convex plate and the triangular block drives the circular sleeve to rotate counterclockwise relative to the picking barrel. The clamping unloading mechanism provides resistance for the counterclockwise rotation of the circular sleeve relative to the picking barrel. When the picking motor works to allow the rotation of the circular sleeve to overcome the resistance of the circular sleeve, the arc clamps, the fruit and the circular sleeve rotate relative to the picking barrel, which can separate the fruit stalks from the fruit branches and complete the picking of the fruit. Then the picking motor drives the power gear counterclockwise, and the two arc clamps gradually loosen the fruit. The fruit is picked by clamping the fruit and then rotating it, which can avoid the fruit being cut and affecting the quality.

[0017] 2. When the round sleeve rotates counterclockwise relative to the picking tube, the fruit is gradually clamped, and the force of the counterclockwise rotation of the round sleeve increases. At this time, the edge of the card groove on the inner side of the round sleeve pushes the unloading guide slope to retract the unloading slider into the blind groove, and the spring is compressed. At this time, the clamping force of the two arc clamping plates on the fruit is the largest, and the clamping force on the fruit will not increase any more, completing the unloading operation of the fruit clamping, which can avoid the fruit being damaged.

[0018] 3. The picked fruits fall along the corrugated rubber hose, and the fruit falling anti-collision mechanism is used to cushion the fruits to prevent them from falling too fast along the corrugated rubber hose and causing damage to the fruits. The corrugated rubber hose is set inside the swing cylinder, lifting cylinder, and rotating cylinder to reduce the volume of the picking structure on the top of the picking robot, making it easy to move back and forth in the branches of the fruit trees, thereby improving the picking efficiency of the fruits and saving time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the harvesting robot of the present invention; Figure 2 The picking robot of the present invention Figure 1 A schematic diagram of the partially enlarged structure at center A; Figure 3 The picking robot of the present invention Figure 1 A schematic diagram of the partially enlarged structure at B in the middle; Figure 4 The picking robot of the present invention Figure 1 A schematic diagram of the partially enlarged structure at C in the middle; Figure 5 This is a schematic diagram of the structure of the harvesting robot of the present invention when viewed from the rear side; Figure 6 The picking robot of the present invention Figure 5 The schematic diagram of the local enlarged structure at D in the middle; Figure 7 This is a schematic diagram of the partial structure of the harvesting robot of the present invention; Figure 8 The picking robot of the present invention Figure 7 The schematic diagram of the local enlarged structure at E in the middle; Fig. 9 This is a schematic diagram of a partial cross-sectional structure of the harvesting robot of the present invention; Fig.10 The picking robot of the present invention Fig. 9 The schematic diagram of the partial enlarged structure at F in the middle; In the figure: 1 mobile trolley, 2 picking steering mechanism, 21 bearing, 22 rotating drum, 23 driven gear, 24 driving gear, 25 steering motor, 3 picking height adjustment mechanism, 31 lifting drum, 32 column, 33 end frame, 34 guide rod, 35 lifting seat, 36 lead screw nut, 37 lead screw, 38 lifting motor, 4 swing control mechanism, 41 bottom ring, 42 support, 43 swing shaft, 44 swing drum, 45 horizontal plate, 46 movable seat 1, 47 electric telescopic rod, 48 movable seat 2, 5 bending fine adjustment mechanism, 51 top ring, 52 support plate, 53 bending shaft, 54 bending drum, 55 bending motor, 6 picking machine Structure, 61 picking cylinder, 62 round sleeve, 63 outer gear ring, 64 power gear, 65 picking motor, 66 positioning shaft, 67 torsion spring, 68 arc splint, 69 anti-slip rubber strip, 610 triangular block, 611 convex plate, 7 clamping unloading mechanism, 71 blind groove, 72 spring, 73 unloading slider, 74 slot, 8 fruit collecting mechanism, 81 corrugated hose, 82 positioning ring, 83 positioning column, 84 mounting plate, 85 longitudinal groove, 86 locking nut, 9 fruit falling anti-knock mechanism, 91 side plate, 92 buffer net, 93 rubber pad, 10 arch frame, 11 limiting longitudinal groove, 12 camera frame, 13 visual camera. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] For example, see Figures 1 to 10 , This embodiment provides a technical solution: a picking robot, including a mobile trolley 1, an arch frame 10 is installed on the upper middle part of the mobile trolley 1, and also includes a picking steering mechanism 2, a bending fine-tuning mechanism 5, a visual camera 13 and a picking mechanism 6; The picking steering mechanism 2 is installed at the top center of the arch frame 10, and the top of the picking steering mechanism 2 is connected to the picking height adjustment mechanism 3, and the top of the picking height adjustment mechanism 3 is connected to the swing control mechanism 4; The picking steering mechanism 2 includes a bearing 21, a rotating drum 22 and a steering power assembly. The top center of the arch frame 10 is rotatably connected to the bottom of the rotating drum 22 through the bearing 21, and the bottom end of the rotating drum 22 is connected to the steering power assembly.

[0022] The steering power assembly includes a driven gear 23, a driving gear 24, and a steering motor 25. The driven gear 23 is fixedly sleeved on the outer peripheral side of the bottom end of the rotating drum 22. The steering motor 25 is installed on the arch frame 10. The output shaft at the bottom of the steering motor 25 passes through the top of the arch frame 10 and is fixedly connected with the driving gear 24. The driving gear 24 is meshed with the driven gear 23. When the steering motor 25 works, the meshing transmission of the driven gear 23 and the driving gear 24 can drive the rotating drum 22 to rotate relative to the arch frame 10 through the bearing 21.

[0023] The steering power assembly is used to drive the rotating drum 22 to rotate, thereby changing the direction of the picking drum 61 in the picking mechanism 6.

[0024] The picking height adjustment mechanism 3 includes a lifting cylinder 31, a column 32 and a lifting assembly. The inner side of the top of the rotating cylinder 22 is vertically slidably connected to the outer side of the bottom end of the lifting cylinder 31. The lifting assembly is installed on the outer side of the rotating cylinder 22. The lifting assembly is connected to the bottom end of the column 32, and the top end of the column 32 is connected to the top of the lifting cylinder 31 through a swing control mechanism 4.

[0025] The lifting assembly includes an end frame 33, a guide rod 34, a lifting seat 35, a screw nut 36, a screw 37, and a lifting motor 38. The upper and lower ends of the outer side of the rotating drum 22 are respectively fixedly connected to two end frames 33, and the two end frames 33 are arranged correspondingly up and down. A vertical guide rod 34 is fixedly connected between the two end frames 33, and a vertical screw 37 is rotatably connected between the two end frames 33. The bottom end of the screw 37 is fixedly connected to the lifting motor 38, and the lifting motor 38 is installed at the bottom of the lower end frame 33. A screw nut 36 is installed on the lifting seat 35, and the screw nut 36 is installed in conjunction with the screw 37. The lifting seat The guide hole on 35 is vertically slidably connected with the guide rod 34, the lifting seat 35 is fixedly connected to the bottom end of the column 32, and the column 32 passes through the column hole on the upper side end frame 33. The lifting motor 38 drives the lead screw 37 to rotate clockwise, and the threaded action of the lead screw 37 and the lead screw nut 36 drives the lifting seat 35 to rise along the guide rod 34, and the lifting seat 35 drives the lifting cylinder 31 to rise relative to the rotating cylinder 22 through the column 32. The lifting motor 38 drives the lead screw 37 to rotate counterclockwise, and the lifting seat 35 descends along the guide rod 34, and the lifting seat 35 drives the lifting cylinder 31 to descend relative to the rotating cylinder 22 through the column 32.

[0026] The lifting assembly is used to drive the column 32 to rise and fall, and the column 32 drives the lifting cylinder 31 to move up and down relative to the rotating cylinder 22, so that the height of the picking cylinder 61 in the picking mechanism 6 can be changed.

[0027] The swing control mechanism 4 includes a bottom ring 41, a support 42, a swing shaft 43, a swing cylinder 44, a cross plate 45 and an electric telescopic rod 47. The top outer peripheral side of the lifting cylinder 31 is fixedly sleeved with the bottom ring 41, and two supports 42 are arranged on both sides of the top of the bottom ring 41. The two supports 42 are movably connected to the bottom sides of the swing cylinder 44 through two longitudinal swing shafts 43 respectively. The side of the bottom ring 41 is fixedly connected with a cross plate 45, and the bottom of the cross plate 45 is fixedly connected to the top of the column 32. One end of the cross plate 45 away from the bottom ring 41 is movably connected to one end of the electric telescopic rod 47, and the other end of the electric telescopic rod 47 is movably connected to the middle side of the swing cylinder 44.

[0028] Specifically, the swing control mechanism 4 also includes a movable seat 1 46 and a movable seat 2 48. A movable seat 1 46 is arranged on the top of one end of the horizontal plate 45 away from the bottom ring 41. The movable seat 1 46 is movably connected to one end of the electric telescopic rod 47 through a pin shaft 1. A movable seat 2 48 is arranged on the side of the middle part of the swing cylinder 44. The movable seat 2 48 is movably connected to the other end of the electric telescopic rod 47 through a pin shaft 2, wherein the pin shaft 1, the pin shaft 2 and the swing shaft 43 are arranged parallel to each other.

[0029] The electric telescopic rod 47 extends, pushing the swing cylinder 44 to swing to one side relative to the lifting cylinder 31 through the swing shaft 43. The electric telescopic rod 47 shortens, pulling the swing cylinder 44 to swing to the other side relative to the lifting cylinder 31 through the swing shaft 43, thereby driving the picking cylinder 61 in the picking mechanism 6 to swing left and right.

[0030] The bending fine-tuning mechanism 5 includes a bending power assembly and a bending cylinder 54, and the top of the swing control mechanism 4 is connected to the bottom of the bending cylinder 54 through the bending power assembly; The bending power assembly includes a top ring 51, a support plate 52, a bending shaft 53, and a bending motor 55. The top ring 51 is fixedly sleeved on the outer side of the top of the swing cylinder 44. Two support plates 52 are fixedly connected to the two sides of the top ring 51. The two support plates 52 are rotatably connected to the two bending shafts 53. The two bending shafts 53 are fixedly connected to the two sides of the bottom end of the bending cylinder 54. One of the bending shafts 53 is fixedly connected to the output shaft of the bending motor 55. The bending motor 55 is fixed on the corresponding support plate 52. The bending motor 55 drives the bending shaft 53 to rotate when it works, and the bending shaft 53 drives the bending cylinder 54 to move, thereby realizing the angle change of the bending cylinder 54 relative to the swing cylinder 44.

[0031] The visual camera 13 is installed on the side of the bending cylinder 54 through the camera frame 12; The picking mechanism 6 includes a picking tube 61 and a clamping and rotating integrated component. The diameter of the picking tube 61 is larger than the diameter of the bending tube 54. The top of the bending tube 54 passes through the bottom end of the picking tube 61 and extends to the inner side of the picking tube 61. The bending tube 54 is fixedly connected to the picking tube 61, and the bending tube 54 and the picking tube 61 are arranged cocentrically. A clamping and rotating integrated component is installed on the inner side of the picking tube 61.

[0032] The clamping and rotating integrated component includes a circular sleeve 62, an outer gear ring 63, a positioning shaft 66, a torsion spring 67, an arc clamping plate 68, a triangular block 610 and a convex plate 611. The outer peripheral side of one end of the bending cylinder 54 located in the picking cylinder 61 is rotatably sleeved with the outer gear ring 63. The side of the outer gear ring 63 is movably connected to one end of the two arc clamping plates 68 through two positioning shafts 66. The two positioning shafts 66 are symmetrically distributed about the center of the outer gear ring 63, and each positioning shaft 66 is sleeved with a torsion spring 67 at one end close to the outer gear ring 63. The two ends of the torsion spring 67 are respectively connected to the outer gear ring 63. The outer gear ring 63 and the arc clamping plate 68 are connected, and the outer side of each arc clamping plate 68 away from the positioning shaft 66 is fixedly connected with a convex plate 611, and the inner side of the picking tube 61 is rotatably connected with a circular sleeve 62. The picking tube 61 is connected to the circular sleeve 62 through a clamping unloading mechanism 7, and a triangular block 610 is provided on the inner side of the circular sleeve 62 at a position corresponding to the convex plate 611, wherein the torsion force of the torsion spring 67 drives the two arc clamping plates 68 to approach the inner wall of the circular sleeve 62 respectively, that is, drives the two arc clamping plates 68 to move away from each other and open, so that the fruit can be easily inserted between the two arc clamping plates 68.

[0033] The clamping and rotating integrated component also includes a power gear 64 and a picking motor 65. The picking motor 65 is fixedly connected to the rear edge of the picking cylinder 61. The output shaft of the picking motor 65 extends into the picking cylinder 61 and is fixedly connected to the power gear 64. The power gear 64 is meshed with the outer side of the outer gear ring 63.

[0034] Move the picking cylinder 61 and the circular sleeve 62. When the fruit is located between the two arc clamping plates 68 in the circular sleeve 62, the picking motor 65 drives the power gear 64 to rotate clockwise. The meshing connection between the power gear 64 and the outer gear ring 63 allows the outer gear ring 63 to rotate counterclockwise. The outer gear ring 63 drives the two arc clamping plates 68 to rotate counterclockwise relative to the circular sleeve 62 through the two positioning shafts 66. At this time, the two convex plates 611 slide along the inclined surfaces of the two triangular blocks 610 respectively. With the help of the two triangular blocks The inclined surface 610 pushes the two convex plates 611 to gradually approach the two arc clamps 68, so that the two arc clamps 68 clamp the two sides of the fruit. When the two arc clamps 68 clamp the fruit, the picking motor 65 continues to drive the power gear 64 to rotate clockwise. Since the two arc clamps 68 have clamped the fruit, the friction between the convex plate 611 and the triangular block 610 drives the circular sleeve 62 to rotate counterclockwise relative to the picking cylinder 61. The clamping unloading mechanism 7 is the circular sleeve 62. 2 provides resistance relative to the counterclockwise rotation of the picking cylinder 61. When the picking motor 65 works to allow the rotation of the circular sleeve 62 to overcome the resistance of the circular sleeve 62, the arc clamping plate 68, the fruit and the circular sleeve 62 rotate relative to the picking cylinder 61, so that the fruit stems and the fruit branches can be separated, and the fruit picking is completed. Then the picking motor 65 works to drive the power gear 64 to rotate counterclockwise, and the outer gear ring 63 rotates clockwise, and the convex plate 611 gradually separates from the contact with the inclined surface of the triangular block 610, and the torsion spring The torque of 67 gradually allows the two arc clamps 68 to gradually approach the inner wall of the circular sleeve 62, and the two arc clamps 68 gradually loosen the fruit, allowing the fruit to loosen and fall. The clamping unloading mechanism 7 can prevent the circular sleeve 62 from rotating clockwise relative to the picking tube 61, and prevent the circular sleeve 62 from rotating clockwise relative to the picking tube 61 due to excessive friction between the convex plate 611 and the inclined surface of the triangular block 610 when the outer gear ring 63 rotates clockwise, thereby preventing the two arc clamps 68 from being unable to loosen their grip on the fruit.

[0035] The clamping and rotating integrated assembly also includes anti-skid rubber strips 69, and the inner side of each arc clamping plate 68 is provided with anti-skid rubber strips 69 at equal angles. The anti-skid rubber strips 69 replace the inner side of the arc clamping plate 68 to contact the fruit, which can ensure that the arc clamping plate 68 can stably clamp the fruit.

[0036] The clamping unloading mechanism 7 includes a blind groove 71, a spring 72, a unloading slider 73 and a clamping groove 74. A plurality of blind grooves 71 are provided in a circular array on the inner circumference of the picking tube 61. The specific number of the blind grooves 71 is six. The unloading slider 73 is connected to the blind groove 71 through a spring 72. The unloading slider 73 is slidably connected to the blind groove 71. A unloading guide inclined surface is provided at one end of the unloading slider 73 located on the outer side of the blind groove 71. Clamping grooves 74 are provided on the outer circumference of the circular sleeve 62 corresponding to the positions of each blind groove 71. When the circular sleeve 62 rotates counterclockwise relative to the picking cylinder 61, the fruit is gradually clamped, and the counterclockwise rotation force of the circular sleeve 62 increases. At this time, the edge of the clamping groove 74 on the inner side of the circular sleeve 62 pushes the unloading guide inclined surface, allowing the unloading slider 73 to retract into the blind groove 71, and the spring 72 is compressed. At this time, the clamping force of the two arc clamping plates 68 on the fruit is the greatest, and the clamping force on the fruit will not increase any more, completing the unloading operation of clamping the fruit, and the fruit can be prevented from being damaged. When the circular sleeve 62 needs to rotate clockwise, the edge of the clamping groove 74 on the inner side of the circular sleeve 62 cannot act on the unloading guide inclined surface. At this time, because the spring 72 pushes the unloading slider 73 to stably engage with the clamping groove 74, the circular sleeve 62 cannot rotate clockwise relative to the picking cylinder 61, thereby preventing the circular sleeve 62 from rotating clockwise relative to the picking cylinder 61 due to excessive friction between the convex plate 611 and the inclined surface of the triangular block 610 when the outer gear ring 63 rotates clockwise.

[0037] When in use, the mobile trolley 1 adopts a trolley that can be automatically moved in the prior art. The mobile trolley 1 is used to move in the orchard. The arch frame 10 is used to install the picking steering mechanism 2. The picking steering mechanism 2 is used to drive the picking height adjustment mechanism 3, the swing control mechanism 4, the bending fine-tuning mechanism 5 and the picking mechanism 6 to rotate, which can change the direction of the picking mechanism 6. The picking height adjustment mechanism 3 can change the height of the swing control mechanism 4, so that the picking mechanism 6 can pick fruits at a specific height. The swing control mechanism 4 is used to drive the bending fine-tuning mechanism 5 and the picking mechanism 6 to swing, so that the picking mechanism 6 can Near the fruit, the bending fine-adjustment mechanism 5 is used to fine-adjust the position of the picking mechanism 6 so that the top of the picking mechanism 6 is close to the lower side of the fruit, and the visual camera 13 is used for filming, and the visual solution in the prior art is used to identify the fruit, and then with the help of the picking steering mechanism 2, the picking height adjustment mechanism 3, the swing control mechanism 4 and the bending fine-adjustment mechanism 5, the picking tube 61 in the picking mechanism 6 is gradually sleeved on the outside of the fruit, and the clamping and rotating integrated component is tightened to clamp the fruit, and at the same time, the fruit is driven to rotate, so that the fruit stalk on the fruit is separated from the fruit branch, and then the clamping and rotating integrated component is tightened to loosen the fruit, and the fruit can be picked.

[0038] For example 2, please refer to Figures 1 to 10 This embodiment provides a technical solution: a picking robot. The structure of this embodiment is roughly the same as that of the first embodiment, except that: It also includes a fruit collecting mechanism 8, which includes a corrugated hose 81 and a fruit outlet positioning assembly. The bottom end of the bending cylinder 54 is connected to the top end of the corrugated hose 81. The bottom of the corrugated hose 81 passes through the swing cylinder 44, the lifting cylinder 31, and the rotating cylinder 22 in sequence and extends to the inner side of the arch frame 10, and the bottom end of the corrugated hose 81 is connected to the front side of the arch frame 10 through the fruit outlet positioning assembly.

[0039] The bending cylinder 54, the swing cylinder 44, the lifting cylinder 31, and the rotating cylinder 22 constitute a hollow arm structure. The hollow arm structure cooperates with the corrugated hose 81 and the picking mechanism 6 to form the picking structure at the top of the picking robot. The corrugated hose 81 is located inside the hollow arm structure, so that the arm structure of the picking robot is smaller in size, which is convenient for movement in the branches of fruit trees and is not easily disturbed by the branches of fruit trees, thereby helping to improve the picking efficiency.

[0040] The fruit outlet positioning assembly includes a positioning ring 82, a positioning column 83, a mounting plate 84, a longitudinal groove 85, and a locking nut 86. The bottom end of the corrugated hose 81 is connected with a positioning ring 82, and the top of the positioning ring 82 is fixedly connected to the bottom end of the positioning column 83. A mounting plate 84 is provided on the top front side of the arch frame 10, and a longitudinal groove 85 is provided in the middle of the mounting plate 84. The positioning column 83 passes through the longitudinal groove 85. The positioning column 83 is located at the upper and lower sides of the mounting plate 84 and is respectively threadedly connected with locking nuts 86. The positioning column 83 is fixed to the mounting plate 84 by two locking nuts 86. The height of the positioning column 83 can be changed according to the height of the threaded connection between the locking nut 86 and the positioning column 83, thereby changing the height of the positioning ring 82 and the bottom end of the corrugated hose 81. Loosening the locking nut 86 can allow the positioning column 83 to move back and forth in the longitudinal groove 85, thereby changing the front and rear positions of the positioning ring 82 and the corrugated hose 81, thereby realizing the adjustment of the bottom end position of the corrugated hose 81.

[0041] After the clamping and rotating integrated component releases the fruit, the fruit falls along the bending cylinder 54 due to gravity, and then falls into the corrugated rubber hose 81, and then the fruit falls along the corrugated rubber hose 81 inside the swing cylinder 44, the lifting cylinder 31, and the rotating cylinder 22. The fruit outlet positioning component is used to change the position of the bottom end of the corrugated rubber hose 81, thereby changing the position where the fruit falls. The corrugated rubber hose 81 can be stretched, twisted, and bent, so it can adapt to the swinging of the swing cylinder 44, the lifting of the lifting cylinder 31, and the rotation of the rotating cylinder 22. However, the movements of the swing cylinder 44, the lifting cylinder 31, and the rotating cylinder 22 must also be moderate to avoid damaging the corrugated rubber hose 81, or allowing the corrugated rubber hose 81 to twist excessively and affect the falling of the fruit in the corrugated rubber hose 81.

[0042] Example three, please refer to Figures 1 to 10 This embodiment provides a technical solution: a picking robot. The structure of this embodiment is roughly the same as that of the second embodiment, except that: It also includes a fruit falling anti-collision mechanism 9, which includes a side plate 91, a buffer net 92 and a rubber pad 93. The front sides of the left and right ends of the arch frame 10 are respectively fixedly connected to two side plates 91, and a buffer net 92 is arranged between the two side plates 91. The buffer net 92 is set tight, and the buffer net 92 is tilted with the front lower and the rear higher. The side of the two side plates 91 close to each other is respectively bonded with a rubber pad 93. The fruit coming out of the bottom end of the corrugated rubber hose 81 falls on the buffer net 92, and the impact force is relieved by the buffering of the buffer net 92. Then the fruit continues to fall and can fall into the inside of the fruit box placed on the mobile trolley 1. The side plate 91 is used to install the buffer net 92, and at the same time prevent the fruit from falling from both sides of the buffer net 92. The rubber pad 93 can prevent the fruit from hitting the inner wall of the side plate 91 and being damaged.

[0043] The mobile trolley 1 also includes a limiting longitudinal groove 11. The top of the mobile trolley 1 is provided with the limiting longitudinal groove 11. The limiting longitudinal groove 11 is used to place a fruit box and limit the fruit box so that the fruit rolling down from the upper side of the buffer net 92 can fall smoothly into the fruit box.

[0044] It is worth noting that the steering motor 25, lifting motor 38, electric telescopic rod 47, bending motor 55, visual camera 13, and picking motor 65 disclosed in the above embodiments are all controlled by an external PLC controller, and the control method thereof adopts the method commonly used in the prior art. The steering motor 25, lifting motor 38, bending motor 55, and picking motor 65 all adopt servo motors. The external PLC controller can be installed on the mobile cart 1 and is powered by the battery on the mobile cart 1.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A picking robot, comprising a mobile trolley (1), wherein an arch frame (10) is installed at the middle of the upper side of the mobile trolley (1), characterized in that: Also includes: A picking steering mechanism (2) is installed at the top center of the arch frame (10), and the top of the picking steering mechanism (2) is connected to a picking height adjustment mechanism (3), and the top of the picking height adjustment mechanism (3) is connected to a swing control mechanism (4); The bending fine-adjusting mechanism (5) comprises a bending power assembly and a bending cylinder (54), wherein the top of the swing control mechanism (4) is connected to the bottom of the bending cylinder (54) via the bending power assembly; A visual camera (13) is mounted on the side of the bending cylinder (54) via a camera frame (12); The picking mechanism (6) comprises a picking cylinder (61) and a clamping and rotating integrated component, the diameter of the picking cylinder (61) is larger than the diameter of the bending cylinder (54), the top end of the bending cylinder (54) passes through the bottom end of the picking cylinder (61) and extends to the inside of the picking cylinder (61), the bending cylinder (54) is fixedly connected to the picking cylinder (61), and the clamping and rotating integrated component is installed on the inside of the picking cylinder (61).

2. The harvesting robot according to claim 1, characterized in that: The clamping and rotating integrated component comprises a circular sleeve (62), an outer gear ring (63), a positioning shaft (66), a torsion spring (67), an arc clamping plate (68), a triangular block (610) and a convex plate (611); the outer peripheral side of one end of the bending cylinder (54) located in the picking cylinder (61) is rotatably sleeved with the outer gear ring (63); the side surface of the outer gear ring (63) is movably connected to one end of the two arc clamping plates (68) via two positioning shafts (66); the two positioning shafts (66) are symmetrically distributed about the center of the outer gear ring (63), and each positioning shaft ( A torsion spring (67) is sleeved on one end of the picking tube (66) close to the outer gear ring (63), and the two ends of the torsion spring (67) are respectively connected to the outer gear ring (63) and the arc clamp (68). The outer side of one end of each arc clamp (68) away from the positioning shaft (66) is fixedly connected to a convex plate (611). The inner side of the picking tube (61) is rotatably connected to a circular sleeve (62). The picking tube (61) is connected to the circular sleeve (62) via a clamping unloading mechanism (7), and a triangular block (610) is provided on the inner side of the circular sleeve (62) at a position corresponding to the convex plate (611).

3. The picking robot according to claim 2, characterized in that: The clamping and rotating integrated component further comprises a power gear (64) and a picking motor (65); the picking motor (65) is fixedly connected to the rear edge of the picking cylinder (61); the output shaft of the picking motor (65) extends into the picking cylinder (61) and is fixedly connected to the power gear (64); the power gear (64) is meshingly connected to the outer side of the outer gear ring (63).

4. The harvesting robot according to claim 2, characterized in that: The clamping and rotating integrated component further comprises an anti-skid rubber strip (69), and the inner side of each arc clamping plate (68) is provided with an anti-skid rubber strip (69) at equal angles.

5. The harvesting robot according to claim 2, characterized in that: The clamping unloading mechanism (7) comprises a blind groove (71), a spring (72), a unloading slider (73) and a clamping groove (74); a plurality of blind grooves (71) are provided in an annular array on the inner circumference of the picking tube (61); the unloading slider (73) is connected to the blind groove (71) via a spring (72); the unloading slider (73) is slidably connected to the blind groove (71); a unloading guiding inclined surface is provided at one end of the unloading slider (73) located outside the blind groove (71); and clamping grooves (74) are respectively provided on the outer circumference of the circular sleeve (62) at positions corresponding to the respective blind grooves (71).

6. The harvesting robot according to claim 1, characterized in that: The picking steering mechanism (2) comprises a bearing (21), a rotating drum (22) and a steering power assembly; the top center of the arch frame (10) is rotatably connected to the bottom of the rotating drum (22) via the bearing (21); and the bottom end of the rotating drum (22) is connected to the steering power assembly.

7. The harvesting robot according to claim 6, characterized in that: The picking height adjustment mechanism (3) comprises a lifting cylinder (31), a column (32) and a lifting assembly. The inner side of the top of the rotating cylinder (22) is vertically slidably connected to the outer side of the bottom of the lifting cylinder (31). The outer side of the rotating cylinder (22) is equipped with a lifting assembly, which is connected to the bottom of the column (32). The top of the column (32) is connected to the top of the lifting cylinder (31) via a swing control mechanism (4).

8. The harvesting robot according to claim 7, characterized in that: The swing control mechanism (4) comprises a bottom ring (41), a support (42), a swing shaft (43), a swing cylinder (44), a horizontal plate (45) and an electric telescopic rod (47); the bottom ring (41) is fixedly sleeved on the outer peripheral side of the top of the lifting cylinder (31); two supports (42) are arranged on both sides of the top of the bottom ring (41); the two supports (42) are movably connected to both sides of the bottom of the swing cylinder (44) through two longitudinal swing shafts (43); the side of the bottom ring (41) is fixedly connected to the horizontal plate (45); the bottom of the horizontal plate (45) is fixedly connected to the top of the column (32); one end of the horizontal plate (45) away from the bottom ring (41) is movably connected to one end of the electric telescopic rod (47); the other end of the electric telescopic rod (47) is movably connected to the middle side of the swing cylinder (44).

9. The harvesting robot according to claim 8, characterized in that: It also includes a fruit collecting mechanism (8), the fruit collecting mechanism (8) including a corrugated rubber hose (81) and a fruit outlet positioning assembly, the bottom end of the bending cylinder (54) is connected to the top end of the corrugated rubber hose (81), the bottom of the corrugated rubber hose (81) passes through the swing cylinder (44), the lifting cylinder (31), and the rotating cylinder (22) in sequence and extends to the inner side of the arch frame (10), and the bottom end of the corrugated rubber hose (81) is connected to the front side of the arch frame (10) through the fruit outlet positioning assembly.

10. The harvesting robot according to claim 9, characterized in that: The fruit falling and knocking prevention mechanism (9) is also included. The fruit falling and knocking prevention mechanism (9) includes a side plate (91), a buffer net (92) and a rubber pad (93). The front sides of the left and right ends of the arch frame (10) are respectively fixedly connected to two side plates (91). A buffer net (92) is arranged between the two side plates (91). The buffer net (92) is arranged to be inclined with the front lower and the rear higher. The rubber pads (93) are respectively bonded to the sides of the two side plates (91) that are close to each other.

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