Orange picking robot

Abstract

The application discloses a tangerine picking robot, which comprises an electric mechanical arm and a body, one side of the top end of the body is movably connected with the electric mechanical arm, one side of the electric mechanical arm is movably connected with a mechanical claw, and the inside of the mechanical claw is provided with a picking structure. The tangerine picking robot is provided with an inclined plate, when picking, after the mechanical claw picks the tangerine, the tangerine falls on the buffer pad at the top end of the guide plate when being put into the hopper, the buffer pad can buffer the falling tangerine, so that the tangerine is prevented from being damaged due to falling, and then the tangerine falls into the inside of the hopper along the inclined guide plate, and the tangerine is guided into the inside of the hopper along the inclined plate, when discharging, the hopper is inclined to move the tangerine to one side of the inside of the hopper, the tangerine presses the baffle downwards, the elastic clamping block is separated from the inside of the discharge port, the baffle is opened, and the tangerine can be guided out of the discharge port, so that the problem that the damage rate of the tangerine is high during picking is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fruit picking, in particular to an orange picking robot. BACKGROUND

[0002] With the improvement of living standards, people's demand for the quality of fruits on the market is getting higher and higher, so it needs a larger planting area and product yield, and the yield needs to be high to meet the high yield of efficient picking means, otherwise the low picking efficiency will cause the fruit to rot and damage, especially some perishable fruits will rot and cause waste if not picked in time, traditional manual picking not only has low efficiency, and fruits such as oranges grown on fruit trees also have certain risks when picking, in order to improve the picking efficiency and reduce the labor cost, some picking robots instead of manual picking appear on the market, which can effectively avoid the risks of manual picking, but these existing orange picking robots instead of manual picking not only cause high damage rate of oranges when picking, but also cannot quickly cut off the branches when picking, even tear off the branches, which affects the growth of oranges, and manual unloading is required after picking, so a new type of orange picking robot is needed to solve the defects of the existing products. SUMMARY

[0003] The present application relates to the technical field of fruit picking, in particular to an orange picking robot.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: an orange picking robot, comprising an electric mechanical arm and a body, one side of the top end of the body is movably connected with the electric mechanical arm, one side of the electric mechanical arm is movably connected with a mechanical claw, the inside of the mechanical claw is provided with a picking structure, the inside of the body is provided with an unloading mechanism, the bottom end of the body is fixedly connected with a driving assembly, the two sides and the two ends of the body are respectively fixedly connected with a group of sensing cameras, the top end of the body is movably hinged with a hopper, and the inside of the hopper is provided with a protection structure.

[0005] Preferably, the protection structure comprises a guide plate, the guide plate is fixedly connected to one side of the inside of the hopper, the top end of the guide plate is fixedly connected with a buffer pad, the bottom end of the inside of the hopper is fixedly connected with an inclined plate, one side of the hopper is inlaid with a discharge port, one side of the hopper is movably hinged with a baffle, the bottom end of one side of the baffle is fixedly connected with an elastic clamping block, and the elastic clamping block is movably connected with the discharge port.

[0006] Preferably, the length of the guide plate is less than the length of the hopper interior, the height of the baffle is greater than the height of the discharge opening interior, the width of the baffle is greater than the width of the discharge opening interior, the height of the discharge opening interior is less than the height of the hopper interior, the width of the elastic clamping block is less than the width of the discharge opening interior, and the height of the baffle is less than the height of the hopper.

[0007] Preferably, the center line of the guide plate is on the same vertical plane as the center line of the hopper, the width of the guide plate is equal to the width of the hopper interior, the width of the discharge opening interior is less than the width of the hopper interior, the center line of the buffer pad is on the same vertical plane as the center line of the guide plate, the width of the inclined plate is equal to the width of the hopper interior, and the center line of the inclined plate is on the same vertical plane as the center line of the hopper.

[0008] Preferably, the picking structure is composed of mounting grooves, rubber blocks, insertion grooves, and cutters, the mounting grooves are embedded at equal intervals in the interior of the mechanical claw, the interior of the mounting groove is fixedly connected with the rubber block, the insertion groove is embedded on one side of one end of the interior of the mechanical claw, the cutter is fixedly connected on one side of one end of the interior of the mechanical claw, and the cutter is movably connected with the insertion groove.

[0009] Preferably, the height of the cutter is less than the height of the insertion groove interior, and the center line of the rubber block is on the same vertical plane as the center line of the mounting groove.

[0010] Preferably, the width of the rubber block is greater than the width of the mechanical claw, the width of the mounting groove interior is equal to the width of the mechanical claw, the length of the cutter is less than the length of the insertion groove interior, the width of the insertion groove interior is equal to the width of the mechanical claw, the center line of the insertion groove is on the same vertical plane as the center line of the cutter, and the center line of the cutter is on the same vertical plane as the center line of the mechanical claw.

[0011] Preferably, the discharging mechanism is composed of hinged grooves, movable rods, electric telescopic rods, push rods, movable plates, and connecting shafts, the hinged grooves are fixedly connected at both ends of one side of the bottom end of the hopper, the interior of the hinged groove is movably connected with the movable plate, one end of the movable plate is movably connected with the connecting shaft, the electric telescopic rod is fixedly connected at the bottom end of the interior of the machine body, the electric telescopic rod is fixedly connected with the connecting shaft, the movable rod is movably hinged at both ends of one side of the bottom end of the interior of the machine body, one side of the movable rod is movably hinged with the push rod, and the push rod is movably hinged with the movable plate.

[0012] Preferably, the width of the connecting shaft is greater than the width of the electric telescopic rod, and the center line of the movable rod is on the same vertical plane as the center line of the push rod.

[0013] Preferably, the length of the movable rod is less than the length inside the machine body, the center line of the movable rod and the center line of the push rod are on the same vertical plane, the center line of the hinge groove and the center line of the movable plate are on the same vertical plane, and the center line of the connecting shaft and the center line of the electric telescopic rod are on the same vertical plane.

[0014] Compared with the prior art, the beneficial effects of the present invention are: the orange picking robot not only reduces the damage rate of oranges and enables the oranges to be picked quickly, but also enables automatic unloading after picking;

[0015] (1) By setting up an inclined plate, elastic block, discharge port, baffle, guide plate and buffer pad, when picking, after the mechanical claw picks the oranges and puts them into the hopper, the oranges will first fall on the buffer pad at the top of the guide plate. The buffer pad can cushion the falling oranges and prevent them from falling and causing damage. Then the oranges fall into the hopper along the inclined guide plate and are guided to one side of the hopper along the inclined plate. When unloading, the hopper tilts so that the oranges move to one side of the hopper. The oranges press down on the baffle, causing the elastic block to disengage from the discharge port. The baffle opens so that the oranges can be discharged from the discharge port. This achieves the goal of preventing the oranges from being damaged after picking and not affecting the unloading.

[0016] (2) By setting up mounting slots, rubber blocks, slots and cutters, when picking oranges, multiple sets of sensor cameras on the outside of the machine can automatically sense the outside of the orange and then control the electric robotic arm and robotic claw to move for picking. When the robotic claw picks the orange, when the robotic claw retracts, the cutter at one end of the robotic claw quickly pushes the branch connected to the orange on the orange tree and inserts into the slot at the other end to quickly cut the branch of the orange tree. This can prevent the tearing off of excess branches and thus prevent unnecessary damage to the orange tree. The rubber block inside the robotic claw increases friction to prevent the orange from falling off, and at the same time, it can also prevent the orange from being damaged when gripping. This achieves the ability to quickly cut the branches and prevent the orange from falling off.

[0017] (3) By setting up a hinge groove, movable rod, electric telescopic rod, push rod, movable plate and connecting shaft, after the harvest is completed and unloading is required, the electric telescopic rod is activated to extend the electric telescopic rod, the electric telescopic rod pushes the connecting shaft to move, the connecting shaft drives the movable plate to move, the movable plate then drives the push rod and movable rod to extend. When the push rod and movable rod are fully extended, the electric telescopic rod continues to extend and drives the movable plate to rotate around the connection point between the push rod and the movable plate. The movable plate drives one side of the top hopper to rise, thereby exporting the oranges inside the hopper, realizing automatic unloading. Attached Figure Description

[0018] Figure 1 This is a frontal cross-sectional view of the present invention.

[0019] Figure 2This is a top view of the connecting shaft structure of the present invention;

[0020] Figure 3 For the present invention Figure 1 Enlarged cross-sectional view of a portion of point A in the middle section;

[0021] Figure 4 This is a top view of the hopper structure of the present invention;

[0022] Figure 5 This is a front view schematic diagram of the mechanical claw structure of the present invention;

[0023] Figure 6 This is a top view of the cutting blade structure of the present invention;

[0024] Figure 7 This is a schematic diagram of the slot structure from below according to the present invention.

[0025] In the diagram: 1. Electric robotic arm; 2. Harvesting structure; 201. Mounting slot; 202. Rubber block; 203. Slot; 204. Cutter; 3. Mechanical claw; 4. Unloading mechanism; 401. Hinge slot; 402. Movable rod; 403. Electric telescopic rod; 404. Push rod; 405. Movable plate; 406. Connecting shaft; 5. Drive assembly; 6. Sensor camera; 7. Machine body; 8. Inclined plate; 9. Elastic locking block; 10. Discharge port; 11. Baffle; 12. Guide plate; 13. Buffer pad; 14. Hopper. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Example 1: Please refer to Figures 1-7 An orange picking robot includes an electric robotic arm 1 and a body 7. The electric robotic arm 1 is movably connected to one side of the top of the body 7, and a mechanical claw 3 is movably connected to one side of the electric robotic arm 1. The mechanical claw 3 has a picking structure 2 inside, and the body 7 has an unloading mechanism 4 inside. A drive assembly 5 is fixedly connected to the bottom of the body 7. A set of sensor cameras 6 are fixedly connected to both sides and both ends of the body 7. A hopper 14 is movably hinged to the top of the body 7, and a protective structure is provided inside the hopper 14.

[0028] Please see Figures 1-7An orange picking robot also includes a protective structure, which includes a guide plate 12, which is fixedly connected to one side inside the hopper 14. A buffer pad 13 is fixedly connected to the top of the guide plate 12. An inclined plate 8 is fixedly connected to the bottom inside the hopper 14. A discharge port 10 is embedded on one side of the hopper 14. A baffle 11 is movably hinged to one side of the hopper 14. An elastic block 9 is fixedly connected to the bottom of one side of the baffle 11. The elastic block 9 is movably connected to the discharge port 10.

[0029] The length of the guide plate 12 is less than the internal length of the hopper 14, the height of the baffle 11 is greater than the internal height of the discharge port 10, the width of the baffle 11 is greater than the internal width of the discharge port 10, the internal height of the discharge port 10 is less than the internal height of the hopper 14, the width of the elastic block 9 is less than the internal width of the discharge port 10, and the height of the baffle 11 is less than the height of the hopper 14.

[0030] The centerline of the guide plate 12 and the centerline of the hopper 14 are on the same vertical plane. The width of the guide plate 12 is equal to the width inside the hopper 14. The width inside the discharge port 10 is less than the width inside the hopper 14. The centerline of the buffer pad 13 and the centerline of the guide plate 12 are on the same vertical plane. The width of the inclined plate 8 is equal to the width inside the hopper 14. The centerline of the inclined plate 8 and the centerline of the hopper 14 are on the same vertical plane.

[0031] Specifically, such as Figure 1 and Figure 4 As shown, during harvesting, after the mechanical claw 3 picks the oranges and places them into the hopper 14, the oranges first fall onto the buffer pad 13 at the top of the guide plate 12. The buffer pad 13 can cushion the falling oranges and prevent them from falling and causing damage. Then, the oranges fall into the hopper 14 along the inclined guide plate 12 and are guided to one side of the hopper 14 along the inclined ramp 8. When unloading, the hopper 14 tilts, causing the oranges to move to one side of the hopper 14. The oranges press down on the baffle 11, causing the elastic block 9 to disengage from the discharge port 10, opening the baffle 11 so that the oranges can be discharged from the discharge port 10. This achieves the goal of preventing damage to the oranges after harvesting without affecting the unloading process.

[0032] Example 2: The harvesting structure 2 consists of a mounting groove 201, a rubber block 202, a slot 203, and a cutter 204. The mounting groove 201 is evenly embedded inside the mechanical claw 3. The rubber block 202 is fixedly connected inside the mounting groove 201. The slot 203 is embedded on one side of one end of the mechanical claw 3. The cutter 204 is fixedly connected to one side of one end of the mechanical claw 3. The cutter 204 is movably connected to the slot 203.

[0033] The height of the cutter 204 is less than the height inside the slot 203, and the center line of the plastic block 202 is on the same vertical plane as the center line of the mounting groove 201.

[0034] The width of the plastic block 202 is greater than the width of the mechanical claw 3. The width inside the mounting slot 201 is equal to the width of the mechanical claw 3. The length of the cutter 204 is less than the length inside the slot 203. The width inside the slot 203 is equal to the width of the mechanical claw 3. The center line of the slot 203 and the center line of the cutter 204 are on the same vertical plane. The center line of the cutter 204 and the center line of the mechanical claw 3 are on the same vertical plane.

[0035] Specifically, such as Figure 1 , Figure 3 , Figure 5 , Figure 6 and Figure 7 As shown, when picking oranges, multiple sets of sensor cameras 6 on the outside of the machine body 7 can automatically sense the outside of the orange and then control the electric robotic arm 1 and the robotic claw 3 to move for picking. When the robotic claw 3 picks the orange, when the robotic claw 3 retracts, the cutter 204 at one end of the robotic claw 3 quickly pushes the branch connected to the orange on the orange tree and inserts it into the slot 203 at the other end to quickly cut the branch of the orange tree. This can prevent the tearing off of excess branches, thereby preventing unnecessary damage to the orange tree. The rubber block 202 inside the robotic claw 3 increases the friction to prevent the orange from falling off, and at the same time, it can also prevent the orange from being damaged when gripping. This achieves the ability to quickly cut the branches and prevent the orange from falling off.

[0036] Example 3: The unloading mechanism 4 consists of a hinge groove 401, a movable rod 402, an electric telescopic rod 403, a push rod 404, a movable plate 405, and a connecting shaft 406. The hinge groove 401 is fixedly connected to both ends of one side of the bottom of the hopper 14. The movable plate 405 is movably connected inside the hinge groove 401. One end of the movable plate 405 is movably connected to the connecting shaft 406. The electric telescopic rod 403 is fixedly connected to the bottom of the machine body 7. The electric telescopic rod 403 is fixedly connected to the connecting shaft 406. The movable rod 402 is movably hinged to both ends of one side of the bottom of the machine body 7. One side of the movable rod 402 is movably hinged to the push rod 404. The push rod 404 is movably hinged to the movable plate 405.

[0037] The width of the connecting shaft 406 is greater than the width of the electric telescopic rod 403, and the center line of the movable rod 402 and the center line of the push rod 404 are on the same vertical plane.

[0038] The length of the movable rod 402 is less than the length inside the body 7. The center line of the movable rod 402 and the center line of the push rod 404 are on the same vertical plane. The center line of the hinge groove 401 and the center line of the movable plate 405 are on the same vertical plane. The center line of the connecting shaft 406 and the center line of the electric telescopic rod 403 are on the same vertical plane.

[0039] Specifically, such as Figure 1 and Figure 2As shown, after harvesting, when unloading is required, the electric telescopic rod 403 is activated to extend the electric telescopic rod 403. The electric telescopic rod 403 pushes the connecting shaft 406 to move, and the connecting shaft 406 drives the movable plate 405 to move. The movable plate 405 then drives the push rod 404 and the movable rod 402 to extend. When the push rod 404 and the movable rod 402 are fully extended, the electric telescopic rod 403 continues to extend, causing the movable plate 405 to rotate around the connection point between the push rod 404 and the movable plate 405. The movable plate 405 causes one side of the top hopper 14 to rise, thereby exporting the oranges inside the hopper 14, thus realizing automatic unloading.

[0040] Working Principle: In use, when harvesting oranges, multiple sets of external sensors 6 on the machine body 7 automatically sense the oranges and control the electric robotic arm 1 and robotic claw 3 to move and harvest them. When the robotic claw 3 harvests the oranges, the cutter 204 at one end of the robotic claw 3 quickly pushes the branch connected to the orange on the tree and inserts it into the slot 203 at the other end, quickly cutting the branch. The rubber block 202 inside the robotic claw 3 increases friction to prevent the orange from falling off and also prevents damage to the orange during gripping. After the robotic claw 3 picks the orange, when it is placed into the hopper 14, the orange will first fall onto the buffer pad 13 at the top of the guide plate 12. The buffer pad 13 can cushion the falling orange and prevent it from falling and causing damage. Then the orange falls into the hopper along the inclined guide plate 12. Inside 14, on one side of the hopper 14 along the inclined plate 8, after harvesting, when unloading is required, the electric telescopic rod 403 is activated to extend the electric telescopic rod 403. The electric telescopic rod 403 pushes the connecting shaft 406 to move, and the connecting shaft 406 drives the movable plate 405 to move. The movable plate 405 then drives the push rod 404 and the movable rod 402 to extend. When the push rod 404 and the movable rod 402 are fully extended, the electric telescopic rod 403 continues to extend, causing the movable plate 405 to rotate around the connection point between the push rod 404 and the movable plate 405. The movable plate 405 causes one side of the top hopper 14 to rise, so that the oranges move to one side inside the hopper 14. The oranges press down on the baffle 11, causing the elastic block 9 to disengage from the inside of the discharge port 10, so that the baffle 11 opens and the oranges can be discharged from the discharge port 10, completing the discharge.

[0041] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An orange-picking robot, comprising an electric robotic arm (1) and a body (7), characterized in that: An electric robotic arm (1) is movably connected to one side of the top of the machine body (7). A mechanical claw (3) is movably connected to one side of the electric robotic arm (1). A picking structure (2) is provided inside the mechanical claw (3). A unloading mechanism (4) is provided inside the machine body (7). A drive assembly (5) is fixedly connected to the bottom of the machine body (7). A set of sensor cameras (6) are fixedly connected to both sides and both ends of the machine body (7). A hopper (14) is movably hinged to the top of the machine body (7). The hopper (14) is provided with... The protective structure includes a guide plate (12), which is fixedly connected to one side inside the hopper (14). A buffer pad (13) is fixedly connected to the top of the guide plate (12). An inclined plate (8) is fixedly connected to the bottom inside the hopper (14). A discharge port (10) is embedded on one side of the hopper (14). A baffle (11) is movably hinged to one side of the hopper (14). An elastic block (9) is fixedly connected to the bottom of one side of the baffle (11). The elastic block (9) is movably connected to the discharge port (10). During harvesting, after the mechanical claw picks the oranges, they are placed into the hopper. The oranges first fall onto the buffer pad at the top of the guide plate, which cushions the falling oranges and prevents them from being damaged. Then, the oranges fall into the hopper along the inclined guide plate and are guided to one side of the hopper. When unloading, the hopper tilts, causing the oranges to move to one side of the hopper. The oranges press down on the baffle, causing the elastic block to disengage from the discharge port, opening the baffle so that the oranges can be discharged from the discharge port. This process prevents the oranges from being damaged after being picked and does not affect the unloading process.

2. The orange-picking robot according to claim 1, characterized in that: The length of the guide plate (12) is less than the length inside the hopper (14), the height of the baffle (11) is greater than the height inside the outlet (10), the width of the baffle (11) is greater than the width inside the outlet (10), the height inside the outlet (10) is less than the height inside the hopper (14), the width of the elastic block (9) is less than the width inside the outlet (10), and the height of the baffle (11) is less than the height of the hopper (14).

3. The orange-picking robot according to claim 1, characterized in that: The centerline of the guide plate (12) and the centerline of the hopper (14) are on the same vertical plane. The width of the guide plate (12) is equal to the width inside the hopper (14). The width inside the outlet (10) is less than the width inside the hopper (14). The centerline of the buffer pad (13) and the centerline of the guide plate (12) are on the same vertical plane. The width of the inclined plate (8) is equal to the width inside the hopper (14). The centerline of the inclined plate (8) and the centerline of the hopper (14) are on the same vertical plane.

4. The orange-picking robot according to claim 1, characterized in that: The harvesting structure (2) consists of a mounting groove (201), a rubber block (202), a slot (203), and a cutter (204). The mounting groove (201) is evenly embedded inside the mechanical claw (3). The rubber block (202) is fixedly connected inside the mounting groove (201). The slot (203) is embedded on one side of one end of the mechanical claw (3). The cutter (204) is fixedly connected to one side of one end of the mechanical claw (3). The cutter (204) is movably connected to the slot (203).

5. The orange-picking robot according to claim 4, characterized in that: The height of the cutter (204) is less than the height inside the slot (203), and the center line of the rubber block (202) is on the same vertical plane as the center line of the mounting groove (201).

6. The orange-picking robot according to claim 4, characterized in that: The width of the gel block (202) is greater than the width of the mechanical claw (3), the width inside the mounting groove (201) is equal to the width of the mechanical claw (3), the length of the cutter (204) is less than the length inside the slot (203), the width inside the slot (203) is equal to the width of the mechanical claw (3), the center line of the slot (203) and the center line of the cutter (204) are on the same vertical plane, and the center line of the cutter (204) and the center line of the mechanical claw (3) are on the same vertical plane.

7. The orange-picking robot according to claim 1, characterized in that: The unloading mechanism (4) consists of a hinge groove (401), a movable rod (402), an electric telescopic rod (403), a push rod (404), a movable plate (405), and a connecting shaft (406). The hinge groove (401) is fixedly connected to both ends of one side of the bottom of the hopper (14). The movable plate (405) is movably connected inside the hinge groove (401). One end of the movable plate (405) is movably connected to the connecting shaft (406). The electric telescopic rod (403) is fixedly connected to the bottom of the machine body (7). The electric telescopic rod (403) is fixedly connected to the connecting shaft (406). The movable rod (402) is movably hinged to both ends of one side of the bottom of the machine body (7). One side of the movable rod (402) is movably hinged to the push rod (404). The push rod (404) is movably hinged to the movable plate (405).

8. The orange-picking robot according to claim 7, characterized in that: The width of the connecting shaft (406) is greater than the width of the electric telescopic rod (403), and the center line of the movable rod (402) and the center line of the push rod (404) are on the same vertical plane.

9. The orange-picking robot according to claim 7, characterized in that: The length of the movable rod (402) is less than the length inside the body (7). The center line of the movable rod (402) and the center line of the push rod (404) are on the same vertical plane. The center line of the hinge groove (401) and the center line of the movable plate (405) are on the same vertical plane. The center line of the connecting shaft (406) and the center line of the electric telescopic rod (403) are on the same vertical plane.

Images