A mechanically adjustable fruit picking robot and a picking method thereof

Abstract

The invention relates to a mechanically adjustable fruit picking robot and a picking method thereof, which comprises a walking mechanism and a picking mechanism, wherein the picking mechanism comprises a lifting and adjusting unit arranged on the walking mechanism and a positioning and cutting unit arranged on the lifting and adjusting unit; the lifting and adjusting unit is used for driving the positioning and cutting unit to rise and approach the picking object, and the positioning and cutting unit is used for positioning and cutting the picking object; the walking mechanism is a crawler transport vehicle, and the crawler transport vehicle comprises a crawler walking device, a wireless navigation control device and a hydraulic lifting and rotating device arranged on the crawler walking device. The invention replaces manual picking with intelligent mechanical picking, eliminates the laborious, dangerous and inefficient labor of manual tree climbing, makes it very convenient to pick fruits such as palm fruits, and improves work efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of fruit picking, and in particular relates to a mechanically adjustable fruit picking robot and a picking method thereof. Background Art

[0002] Palm fruit, also known as oil palm fruit, has an outer layer of pulp with an oil content of 45% to 50%. Inside is a hard palm kernel with a kernel. The pulp can be used to produce peel oil, and the kernel can be used to produce palm kernel oil. Palm fruits grow on large fruit bunches of palm trees. Each fruit bunch has about 2,000 palm fruits. Palm fruits can be used to extract palm oil, which has been used as a natural food by people for more than five thousand years.

[0003] When picking fruits such as palm fruit or coconut fruit, due to their high trunks, pickers need to climb up the trees to pick them. Since they are picked manually, pickers need to spend more energy to climb up the trees and need to carry out the picking operation for a long time, so the work efficiency is low and there are safety hazards. Summary of the invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a mechanically adjustable fruit picking robot and a picking method thereof, which effectively solves the problem of low efficiency and potential safety hazards in manual fruit picking.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a mechanically adjustable fruit picking robot and a picking method thereof, comprising a walking mechanism and a picking mechanism, wherein the picking mechanism comprises a lifting and adjusting unit arranged on the walking mechanism and a positioning and cutting unit arranged on the lifting and adjusting unit; the lifting and adjusting unit is used to drive the positioning and cutting unit to rise and approach the picking object, and the positioning and cutting unit is used to position and cut the picking object.

[0006] Preferably, the traveling mechanism is a crawler transport vehicle, which includes a crawler traveling device, a wireless navigation control device and a hydraulic lifting and rotating device arranged on the crawler traveling device; the hydraulic lifting and rotating device includes a fixed gear fixedly arranged on the traveling mechanism and a turntable rotatably arranged on the fixed gear, a lifting motor is fixedly arranged on the turntable, a moving gear is fixedly arranged on the output end of the lifting motor, the moving gear is located below the turntable and meshing with the fixed gear; a boom structure is also arranged on the turntable.

[0007] Preferably, the lifting and adjusting unit includes a lifting and steering adjustment device and a precise angle adjustment device arranged at the end of the lifting and steering adjustment device, wherein the lifting and steering adjustment device is used to drive the positioning and cutting unit to approach the trunk of the picking object, and the precise angle adjustment device drives the positioning and cutting unit to approach the trunk of the picking object in parallel after vertical movement.

[0008] Preferably, the lifting and steering adjustment device includes a first hydraulic cylinder and a support frame hinged to the first hydraulic cylinder, and the first hydraulic cylinder and the support frame are both hinged to the walking mechanism; the precise angle adjustment device includes a second hydraulic cylinder, a connecting frame and a mounting frame respectively hinged on the support frame, the connecting frame is located between the second hydraulic cylinder and the mounting frame, and a connecting plate is hinged on the mounting frame, and one end of the second hydraulic cylinder, one end of the connecting frame and one end of the connecting plate are all movably connected by a pin shaft.

[0009] Preferably, the positioning and cutting unit comprises a clamping and positioning device and a rotating cutting device located above the clamping and positioning device, wherein the clamping and positioning device is used to fix the trunk of the harvested object, and the rotating cutting device is used to cut the harvested object.

[0010] Preferably, the clamping positioning device includes two clamping positioning members with the same structure arranged upper and lower, the clamping positioning members include a clamping motor fixedly arranged on a mounting frame and two incomplete gears symmetrically rotatably arranged on the mounting frame, the output end of the clamping motor is fixedly connected to one of the incomplete gears, and the two incomplete gears are fixedly connected to an integral fixing frame, the fixing frame is semicircular, and the first teeth are evenly formed on the inner side of the fixing frame.

[0011] Preferably, the rotary cutting device includes a rotary cutting radius adjustment device, an adjusting part located above the rotary cutting radius adjustment device, and a cutting machine fixedly mounted on the adjusting part. The rotary cutting radius adjustment device is used to drive the adjusting part to move in a circular motion to cut the picked object, and the adjusting part is used to drive the cutting machine to approach the picked object.

[0012] Preferably, the rotating cutting radius adjustment device includes a rotating motor fixedly mounted on a mounting frame and two half gears symmetrically arranged and rotatably mounted on the mounting frame, wherein the output shaft of the rotating motor is fixedly connected to one of the half gears, and both half gears are fixedly connected to an integral base frame, and both base frames are fixedly connected to an integral arc frame, and second teeth are evenly arranged on the inner side of the arc frame.

[0013] Preferably, the adjusting member includes a frame slidably arranged on the outside of the arc frame, the frame is U-shaped, and pulleys are rotatably arranged on the inner walls of the frame in three directions, each pulley is in contact with the arc frame, and a driving motor is fixedly arranged on the frame, and a driving gear is fixedly arranged on the output end of the driving motor, and the driving gear is meshed with the second teeth on the arc frame; two horizontal frames and two X-shaped rods rotatably connected together are arranged above the frame, one end of the two X-shaped rods are respectively rotatably connected to the corresponding horizontal frames, and the other ends of the two X-shaped rods are symmetrically fixed with rod bodies, and the two rod bodies are respectively slidably connected to the slide grooves on the two horizontal frames, and a driving block is also fixedly arranged on the rod body located below, and the driving block is threadedly connected to the screw, and the screw is fixedly connected to the adjusting motor on the frame.

[0014] A fruit picking method using a mechanically adjustable fruit picking robot, characterized in that it comprises the following steps:

[0015] First, the picking mechanism is positioned around the trunk of the picking object through the walking mechanism, and the positioning and cutting unit is driven to rise and approach the picking object through the lifting and adjusting unit in the picking mechanism, and finally the picking object is cut by the positioning and cutting unit to complete the picking operation.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] Intelligent mechanical picking replaces manual picking, eliminating the laborious, dangerous and inefficient labor of manual tree climbing, making picking fruits such as palm fruits very convenient and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 This is a schematic diagram of the structure of a mechanically adjustable fruit picking robot of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the crawler transporter of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the hydraulic lifting and rotating device of the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of the lifting and steering adjustment device and the precise angle adjustment device of the present invention;

[0023] Figure 5 It is a schematic diagram of the structure of the clamping and positioning device of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the rotary cutting device of the present invention;

[0025] Figure 7 This is one of the schematic diagrams of the structure of the adjusting member of the present invention;

[0026] Figure 8 This is the second schematic diagram of the structure of the adjusting member of the present invention.

[0027] In the figure: 1. crawler transport vehicle; 101. crawler walking device; 102. wireless navigation control device; 2. lifting and steering adjustment device; 201. first hydraulic cylinder; 202. support frame; 3. precise angle adjustment device; 301. second hydraulic cylinder; 302. connecting frame; 303. mounting frame; 304. connecting plate; 4. clamping and positioning device; 401. clamping motor; 402. incomplete gear; 403. fixing frame; 404. first tooth; 5. rotary cutting device; 6. rotary cutting radius adjustment device; 601. rotary motor machine; 602, half gear; 603, base frame; 604, arc frame; 605, second tooth; 7, adjusting member; 701, frame; 702, pulley; 703, driving motor; 704, driving gear; 705, horizontal frame; 706, X-shaped rod; 707, slide; 708, rod body; 709, driving block; 710, adjusting motor; 711, screw; 8, cutting machine; 9, hydraulic lifting and rotating device; 901, fixed gear; 902, turntable; 903, lifting motor; 904, moving gear; 905, boom structure. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] Embodiment 1, by Figure 1-8 The present invention provides a mechanically adjustable fruit picking robot and a picking method thereof, comprising a walking mechanism and a picking mechanism, wherein the picking mechanism comprises a lifting and adjusting unit arranged on the walking mechanism and a positioning and cutting unit arranged on the lifting and adjusting unit; the lifting and adjusting unit is used to drive the positioning and cutting unit to rise and approach the picking object, and the positioning and cutting unit is used to position and cut the picking object.

[0030] Specifically, refer to Figure 1-3 The walking mechanism is a crawler transport vehicle 1, which includes a crawler walking device 101, a wireless navigation control device 102 and a hydraulic lifting and rotating device 9 arranged on the crawler walking device 101; the hydraulic lifting and rotating device 9 includes a fixed gear 901 fixedly arranged on the walking mechanism and a turntable 902 rotatably arranged on the fixed gear 901, a lifting motor 903 is fixedly arranged on the turntable 902, and a moving gear 904 is fixedly arranged on the output end of the lifting motor 903, and the moving gear 904 is located below the turntable 902 and is meshed with the fixed gear 901; a boom structure 905 is also arranged on the turntable 902.

[0031] When in use, the crawler walking device 101 is controlled by the remote control and the wireless navigation control device 102 to approach the trunk of the picking object, and then the picking mechanism is moved close to the required picking position through the hydraulic lifting and rotating device 9. Specifically, the picking mechanism is first driven close to the required picking position by the boom structure 905, and then the moving gear 904 is driven to rotate by the lifting motor 903, and the moving gear 904 performs a circular motion around the fixed gear 901. When it reaches a suitable position, the lifting motor 903 stops moving, thereby completing the preliminary adjustment process.

[0032] Specifically, refer to Figure 4 The lifting and adjusting unit includes a lifting and steering adjusting device 2 and a precise angle adjusting device 3 arranged at the end of the lifting and steering adjusting device 2, wherein the lifting and steering adjusting device 2 is used to drive the positioning and cutting unit to approach the trunk of the picking object, and the precise angle adjusting device 3 drives the positioning and cutting unit to approach the trunk of the picking object in parallel after moving in the vertical direction.

[0033] Further, the lifting and steering adjustment device 2 includes a first hydraulic cylinder 201 and a support frame 202 hinged to the first hydraulic cylinder 201, and the first hydraulic cylinder 201 and the support frame 202 are both hinged to the walking mechanism; the precise angle adjustment device 3 includes a second hydraulic cylinder 301, a connecting frame 302 and a mounting frame 303 respectively hinged to the support frame 202, the connecting frame 302 is located between the second hydraulic cylinder 301 and the mounting frame 303, and a connecting plate 304 is hinged on the mounting frame 303, and one end of the second hydraulic cylinder 301, one end of the connecting frame 302 and one end of the connecting plate 304 are all movably connected through a pin shaft;

[0034] When in use, the first hydraulic cylinder 201 drives the support frame 202 to rotate around the end of the boom structure 905, so that the positioning and cutting unit is further approached to the desired picking position, and then the second hydraulic cylinder 301 drives the connecting frame 302 and the connecting plate 304 to move, so that the mounting frame 303 drives the positioning and cutting unit to move, thereby further adjusting the position of the positioning and cutting unit to make it parallel to the trunk of the picked object, further improving the accuracy.

[0035] Specifically, refer to Figure 5-6 The positioning and cutting unit includes a clamping and positioning device 4 and a rotating cutting device 5 located above the clamping and positioning device 4, wherein the clamping and positioning device 4 is used to fix the trunk of the picked object, and the rotating cutting device 5 is used to cut the picked object.

[0036] Further, the clamping positioning device 4 includes two clamping positioning members with the same structure arranged in an upper and lower manner, the clamping positioning members include a clamping motor 401 fixedly arranged on the mounting frame 303 and two incomplete gears 402 symmetrically rotated and arranged on the mounting frame 303, the output end of the clamping motor 401 is fixedly connected to one of the incomplete gears 402, and the two incomplete gears 402 are fixedly connected to an integral fixing frame 403, the fixing frame 403 is semicircular, and the first teeth 404 are evenly formed on the inner side of the fixing frame 403;

[0037] When in use, the clamping motor 401 drives the corresponding incomplete gear 402 to move, and the incomplete gear 402 drives another incomplete gear 402 to move, so that the two incomplete gears 402 respectively drive their respective fixing frames 403 to move closer to each other to fix the tree trunk, and the first teeth 404 on the inner side of the fixing frame 403 increase the degree of holding the tree trunk.

[0038] Furthermore, the rotary cutting device 5 includes a rotary cutting radius adjustment device 6, an adjusting member 7 located above the rotary cutting radius adjustment device 6, and a cutter 8 fixedly arranged on the adjusting member 7. The rotary cutting radius adjustment device 6 is used to drive the adjusting member 7 to cut the picked object after circular motion, and the adjusting member 7 is used to drive the cutter 8 to approach the picked object.

[0039] Further, the rotary cutting radius adjustment device 6 includes a rotary motor 601 fixedly mounted on the mounting frame 303 and two half gears 602 symmetrically and rotatably mounted on the mounting frame 303, the output shaft of the rotary motor 601 is fixedly connected to one of the half gears 602, the two half gears 602 are fixedly connected to a base frame 603, the two base frames 603 are fixedly connected to an arc frame 604, and the inner side of the arc frame 604 is evenly provided with second teeth 605;

[0040] When in use, the working principle of the rotary cutting radius adjustment device 6 is substantially the same as that of the clamping positioning device 4, except that a complete circular ring is formed between the two arc-shaped frames 604 for the adjustment member 7 to perform circular motion, so it will not be described in detail.

[0041] Further, see Figure 7-8The adjusting member 7 includes a frame 701 slidably arranged outside the arc frame 604, the frame 701 is U-shaped, and pulleys 702 are rotatably arranged on the inner walls of the frame 701 in three directions, and each pulley 702 is in contact with the arc frame 604. A driving motor 703 is fixedly arranged on the frame 701, and a driving gear 704 is fixedly arranged on the output end of the driving motor 703, and the driving gear 704 is meshed with the second tooth 605 on the arc frame 604; two horizontal frames 70 are arranged above the frame 701. 5 and two X-shaped rods 706 rotatably connected together, one end of the two X-shaped rods 706 is rotatably connected to the corresponding horizontal frame 705, and the other ends of the two X-shaped rods 706 are symmetrically fixed with rod bodies 708, and the two rod bodies 708 are respectively slidably connected to the slide grooves 707 on the two horizontal frames 705. A driving block 709 is also fixedly provided on the rod body 708 located below, and the driving block 709 is threadedly connected to the screw rod 711, and the screw rod 711 is fixedly connected to the adjustment motor 710 on the frame 701;

[0042] When in use, the adjusting motor 710 drives the driving gear 704 to rotate, and the driving gear 704 performs a circular motion along the second tooth 605, stops at a suitable position, and then works through the cutting machine 8, and the screw 711 is driven to rotate by the adjusting motor 710, and the screw 711 drives the rod body 708 to move by driving the driving block 709, and the rod body 708 drives the X-shaped rod 706 to move the horizontal frame 705 located above, and the horizontal frame 705 drives the cutting machine 8 to approach the branches of the picking objects, and the branches are cut by the cutting machine 8, thereby completing the picking process.

[0043] A fruit picking method using a mechanically adjustable fruit picking robot comprises the following steps:

[0044] First, the picking mechanism is positioned around the trunk of the picking object through the walking mechanism, and the positioning and cutting unit is driven to rise and approach the picking object through the lifting and adjusting unit in the picking mechanism, and finally the picking object is cut by the positioning and cutting unit to complete the picking operation.

[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 mechanically adjustable fruit picking robot, comprising a walking mechanism and a picking mechanism, characterized in that: The picking mechanism includes a lifting and adjusting unit arranged on the walking mechanism and a positioning and cutting unit arranged on the lifting and adjusting unit; the lifting and adjusting unit is used to drive the positioning and cutting unit to rise and approach the picking object, and the positioning and cutting unit is used to position and cut the picking object; The lifting and adjusting unit comprises a lifting and steering adjusting device (2) and a precise angle adjusting device (3) arranged at the end of the lifting and steering adjusting device (2), wherein the lifting and steering adjusting device (2) is used to drive the positioning and cutting unit to approach the trunk of the object to be picked, and the precise angle adjusting device (3) drives the positioning and cutting unit to approach the trunk of the object to be picked in parallel after moving in the vertical direction; The lifting and steering adjustment device (2) comprises a first hydraulic cylinder (201) and a support frame (202) hinged to the first hydraulic cylinder (201), and the first hydraulic cylinder (201) and the support frame (202) are both hinged to the walking mechanism; the precise angle adjustment device (3) comprises a second hydraulic cylinder (301), a connecting frame (302) and a mounting frame (303) respectively hinged to the support frame (202), the connecting frame (302) is located between the second hydraulic cylinder (301) and the mounting frame (303), a connecting plate (304) is hinged to the mounting frame (303), and one end of the second hydraulic cylinder (301), one end of the connecting frame (302) and one end of the connecting plate (304) are all movably connected via a pin shaft; The positioning and cutting unit comprises a clamping and positioning device (4) and a rotating cutting device (5) located above the clamping and positioning device (4), wherein the clamping and positioning device (4) is used to fix the trunk of the harvested object, and the rotating cutting device (5) is used to cut the harvested object; The clamping positioning device (4) comprises two clamping positioning members with the same structure arranged in an upper and lower position, the clamping positioning members comprising a clamping motor (401) fixedly arranged on a mounting frame (303) and two incomplete gears (402) symmetrically arranged on the mounting frame (303), the output end of the clamping motor (401) is fixedly connected to one of the incomplete gears (402), and the two incomplete gears (402) are both fixedly connected to an integral fixing frame (403), the fixing frame (403) is semicircular, and the inner side of the fixing frame (403) is evenly formed with first teeth (404); The rotary cutting device (5) comprises a rotary cutting radius adjustment device (6), an adjustment member (7) located above the rotary cutting radius adjustment device (6), and a cutter (8) fixedly arranged on the adjustment member (7), wherein the rotary cutting radius adjustment device (6) is used to drive the adjustment member (7) to move in a circular motion to cut the harvested object, and the adjustment member (7) is used to drive the cutter (8) to approach the harvested object; The rotary cutting radius adjustment device (6) comprises a rotary motor (601) fixedly mounted on a mounting frame (303) and two half gears (602) symmetrically arranged and rotatably mounted on the mounting frame (303), wherein the output shaft of the rotary motor (601) is fixedly connected to one of the half gears (602), the two half gears (602) are both fixedly connected to a base frame (603), the two base frames (603) are both fixedly connected to an arc frame (604), and the inner side of the arc frame (604) is evenly provided with second teeth (605); The adjusting member (7) comprises a frame (701) slidably arranged outside the arc frame (604); the frame (701) is U-shaped; inner walls of the frame (701) in three directions are rotatably provided with pulleys (702); each pulley (702) is in contact with the arc frame (604); a driving motor (703) is fixedly arranged on the frame (701); a driving gear (704) is fixedly arranged at the output end of the driving motor (703); the driving gear (704) is meshed with a second tooth (605) on the arc frame (604); two horizontal frames (701) are arranged above the frame (701); 05) and two X-shaped rods (706) rotatably connected together, one end of the two X-shaped rods (706) is respectively rotatably connected to the corresponding horizontal frame (705), the other ends of the two X-shaped rods (706) are symmetrically fixed with rod bodies (708), the two rod bodies (708) are respectively slidably connected to the slide grooves (707) on the two horizontal frames (705), and a driving block (709) is also fixedly arranged on the rod body (708) located below, the driving block (709) is threadedly connected to the screw rod (711), and the screw rod (711) is fixedly connected to the adjustment motor (710) on the frame (701).

2. A mechanically adjustable fruit picking robot according to claim 1, characterized in that: The walking mechanism is a crawler transport vehicle (1), the crawler transport vehicle (1) comprising a crawler walking device (101), a wireless navigation control device (102) and a hydraulic lifting and rotating device (9) arranged on the crawler walking device (101); the hydraulic lifting and rotating device (9) comprises a fixed gear (901) fixedly arranged on the walking mechanism and a turntable (902) rotatably arranged on the fixed gear (901), a lifting motor (903) fixedly arranged on the turntable (902), a moving gear (904) fixedly arranged at the output end of the lifting motor (903), the moving gear (904) being located below the turntable (902) and meshing with the fixed gear (901); and a boom structure (905) is also arranged on the turntable (902).

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