A flexible, flip-type, low-damage apple packing robot and packing method

Abstract

This invention relates to a flexible, flipping-type low-damage apple packing robot and a packing method. The packing robot includes a parallel robotic arm, a suction device, a vertical rotating device, and a horizontal rotating device. The parallel robotic arm is equipped with a binocular vision recognition and positioning system. The vertical rotating device drives the suction device to swing along a horizontal axis, and the horizontal rotating device drives the vertical rotating device and the suction device to rotate along a vertical axis. The suction device includes a suction chamber with a flexible suction nozzle and an air pump connected to the suction chamber. This invention uses a flexible suction nozzle in conjunction with a limiting spring to achieve low-damage apple gripping, reducing the damage rate of apples during the gripping process. The binocular recognition and positioning system acquires the spatial posture of the target apple, and the horizontal and vertical rotating devices adjust the spatial posture of the apple before packing, reducing damage caused by improper posture during transport within the box, and improving the efficiency and quality of intelligent apple harvesting.

Description

Technical Field

[0001] This invention relates to the field of intelligent production machinery in orchards, specifically to a flexible, flipping-type low-damage apple packing robot and a packing method. Background Technology

[0002] my country ranks first in the world in both apple planting area and output, and the apple industry plays a vital role in my country's economic development. Apple harvesting is the most time-consuming and labor-intensive stage of production. Currently, apple harvesting relies mainly on manual labor, which is insufficient to meet the requirements of large-scale orchard production. Mechanized and intelligent apple harvesting is a necessary step to keep pace with industrial development. Currently, post-harvest apple collection mainly relies on conveyor belts for packing. This process causes significant damage to the apples. Traditional packing methods result in irregularly arranged apples, leading to stem cuts and high fruit damage rates. Furthermore, the irregular arrangement of the fruit during post-harvest transportation also increases the risk of collision damage, affecting fruit quality and consequently food safety.

[0003] Existing robotic arms are mainly divided into two types: suction type and gripping type. Suction type causes less damage to the fruit, but cannot adjust the apple's posture; gripping type causes more damage to the apple. Therefore, existing robotic arms are not suitable for post-harvest arranging and packing of apples. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a flexible, flip-type, low-damage apple packing robot and a packing method.

[0005] This invention is achieved through the following technical solution: a flexible flipping apple low-damage packing robot, comprising a parallel robotic arm, an adsorption device, a vertical rotating device, and a horizontal rotating device. The parallel robotic arm is equipped with a binocular vision recognition and positioning system. The adsorption device is installed at the lower end of the vertical rotating device, which drives the adsorption device to swing along a horizontal axis. The vertical rotating device is installed at the lower end of the horizontal rotating device, which drives the vertical rotating device and the adsorption device to rotate along a vertical axis. The horizontal rotating device is installed at the lower end of the parallel robotic arm. The adsorption device includes a suction chamber with a flexible suction nozzle and an air pump connected to the suction chamber.

[0006] The binocular vision recognition and positioning system of this solution acquires the position and spatial posture information of apples conveyed on the collection conveyor belt, identifies the target apple, and drives the suction device to grasp the target apple in parallel. The air pump draws in air, generating low air pressure in the suction chamber. The flexible suction nozzle sucks in the target apple, and the horizontal and vertical rotation devices adjust the spatial posture of the target apple so that the fruit stem faces the horizontal direction, thereby realizing the adjustment of the apple's posture.

[0007] As an optimization, the suction chamber also includes a suction nozzle base, and the flexible suction nozzle is slidably and sealingly connected to the suction nozzle base along the suction port direction. A limiting spring is installed between the flexible suction nozzle and the suction nozzle base. The limiting spring in this solution provides elastic buffering between the flexible suction nozzle and the suction nozzle base, which is used to buffer the suction force when the flexible suction nozzle sucks in the apple, and can also buffer the impact when the flexible suction nozzle comes into contact with the apple.

[0008] As an optimization, the air pump is connected to the nozzle base via an air supply pipe. In this design, the air supply pipe connects the air pump's intake port to the suction chamber.

[0009] As an optimization, the vertical rotation device includes a robotic arm rotation bracket, an air pump mounting bracket hinged to the robotic arm rotation bracket, and a rotary servo motor that drives the air pump mounting bracket to swing. The adsorption device is connected to the air pump mounting bracket, and the robotic arm rotation bracket is connected to the horizontal rotation device. In this design, the rotary servo motor drives the air pump mounting bracket to swing, thereby realizing the swinging of the adsorption device.

[0010] As an optimization, the horizontal rotation device includes a robotic arm mounting plate axially connected to a parallel robotic arm and a rotary motor that drives the robotic arm mounting plate to rotate. The robotic arm mounting plate is connected to the vertical rotation device. In this design, the rotary motor drives the robotic arm mounting plate to rotate, thereby realizing the rotation of both the vertical rotation device and the adsorption device.

[0011] As an optimization, the vertical axis of the horizontal rotating device passes through the horizontal axis of the vertical rotating device. In this design, the vertical axis of the horizontal rotating device passes through the horizontal axis of the vertical rotating device, allowing the adsorption device to oscillate at the position of the vertical axis.

[0012] As an optimization, the suction port at the lower end of the flexible nozzle is a flared opening. This flared opening facilitates a proper fit with the apple.

[0013] A method for packing apples includes the following steps:

[0014] a. The binocular vision recognition and positioning system identifies the apples gathered on the conveyor belt under the parallel robotic arm, determines the apple closest to the parallel robotic arm as the target apple, obtains the spatial coordinates of the target apple, and judges the spatial posture of the target apple.

[0015] b. The parallel robotic arm moves above the target apple, the flexible suction nozzle wraps around the target apple, and the air pump draws in air to create negative pressure in the suction chamber, so that the target apple is adsorbed and grasped.

[0016] c. Adjust the spatial orientation of the target apple. First case: the target apple stem is facing vertically. In this case, the vertical rotation device drives the adsorption device to swing, adjusting the target apple stem to a horizontal orientation. The horizontal rotation device drives the vertical rotation device and the adsorption device to rotate, adjusting the horizontal orientation of the target apple stem to a uniform direction.

[0017] d. Second case: The target apple stem is horizontal. In this case, the horizontal rotating device drives the adsorption device and the vertical rotating device to rotate, adjusting the horizontal orientation of the target apple stem to a uniform direction.

[0018] e. After the target apples are aligned in spatial orientation, the parallel robotic arm moves to the top of the fruit box and lowers them in sequence. The air pump stops sucking air, the target apples are lowered, and the post-harvest apple spatial orientation adjustment and low-loss arrangement and boxing are completed.

[0019] f. Repeat the above steps ae until the fruit box is full.

[0020] The beneficial effects of this invention are as follows: The flexible flipping apple low-damage packing robot and packing method of this invention use a flexible suction nozzle in conjunction with a limiting spring to grasp apples with low damage, reducing the damage rate of apples during the grasping process; the spatial posture of the target apple is obtained through a binocular recognition and positioning system, and the spatial posture of the grasped apple is adjusted before packing by a rotary servo motor in conjunction with the robot's rotating bracket and rotary motor, reducing the damage caused by the apples during unreasonable posture transportation in the box, realizing low-damage arrangement and packing of apples after harvesting in the field by the apple picking robot, and improving the efficiency and quality of intelligent apple harvesting. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall invention;

[0022] Figure 2 This is a partial cross-sectional view of the front of the adsorption device of the present invention;

[0023] Figure 3 This is a schematic diagram of the overall adsorption device of the present invention;

[0024] Figure 4 This is the application scenario of the present invention;

[0025] Figure 5 This is a schematic diagram of an apple adjusting its vertical posture according to the present invention;

[0026] Figure 6 This is a schematic diagram of an apple adjusting its horizontal posture according to the present invention;

[0027] As shown in the figure:

[0028] 1. Flexible suction nozzle, 2. Limiting spring, 3. Suction nozzle base, 4. Air supply pipe, 5. Air pump, 6. Air pump mounting bracket, 7. Robotic arm rotating bracket, 8. Robotic arm mounting plate, 9. Rotary motor, 10. Binocular recognition and positioning system, 11. Parallel robotic arm, 12. Rotary servo motor. Detailed Implementation

[0029] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0030] like Figures 1-6 As shown, the present invention discloses a flexible flipping type low-damage apple packing robot, which includes a parallel robotic arm 11, an adsorption device, a vertical rotation device, and a horizontal rotation device. The parallel robotic arm 11 is equipped with a binocular vision recognition and positioning system 10, which includes a binocular camera and can follow the movement of the parallel robotic arm 11 to identify, locate, and determine the spatial posture of the apples gathered on the conveyor belt under the parallel robotic arm 11.

[0031] A horizontal rotating device is installed at the lower end of the parallel robotic arm 11, and a vertical rotating device is installed at the lower end of the horizontal rotating device. The horizontal rotating device drives the vertical rotating device and the adsorption device to rotate along the vertical axis. The adsorption device is installed at the lower end of the vertical rotating device, and the vertical rotating device drives the adsorption device to swing along the horizontal axis.

[0032] The adsorption device includes a suction chamber with a flexible suction nozzle 1 and an air pump 5 connected to the suction chamber. The suction chamber also includes a suction nozzle base 3. The suction nozzle base 3 and the flexible suction nozzle 1 constitute the suction chamber. The suction opening at the lower end of the flexible suction nozzle 1 is a funnel shape, which allows it to fit against the apple to achieve negative pressure adsorption and gripping. The flexible suction nozzle is made of elastic materials such as silicone, rubber polyurethane, and elastomer foam, which has a certain deformation ability and recovery force. It can deform when it is adsorbed onto the apple with suction, but can return to its original shape after the suction disappears.

[0033] The air pump 5 is connected to the suction nozzle base 3 through the air supply pipe 4. Specifically, the suction port of the air pump 5 is connected to the suction nozzle base 3 through the rigid air supply pipe 4, thereby fixing the entire suction chamber. The air pump 5 draws air from the suction chamber between the suction nozzle base 3 and the flexible suction nozzle 1, so that the flexible suction nozzle 1 can adsorb apples.

[0034] The flexible suction nozzle 1 is slidably sealed to the suction nozzle base 3 along the suction port direction, allowing the flexible suction nozzle 1 to move linearly up and down. A limiting spring 2 is installed between the flexible suction nozzle 1 and the suction nozzle base 3. One end of the limiting spring 2 is connected to the flexible suction nozzle 1, and the other end is connected to the suction nozzle base 3. The limiting spring provides elastic cushioning between the flexible suction nozzle and the suction nozzle base, buffering the suction force when the flexible suction nozzle sucks in the apple, and also buffering the impact when the flexible suction nozzle comes into contact with the apple. At the same time, the limiting spring limits the backward displacement limit of the flexible suction nozzle.

[0035] The vertical rotation device includes a robotic arm rotating bracket 7, an air pump mounting bracket 6 hinged to the robotic arm rotating bracket 7, and a rotary servo motor 12 that drives the air pump mounting bracket 6 to swing. The hinge axis between the air pump mounting bracket 6 and the robotic arm rotating bracket 7 is horizontally set. The drive shaft of the rotary servo motor 12 is connected to the rotating shaft of the air pump mounting bracket 6, so that the air pump mounting bracket 6 can be swung by the rotary servo motor 12, allowing it to switch between vertical and horizontal states.

[0036] The adsorption device is connected to the air pump mounting bracket 6. In this embodiment, the air pump 5 is installed on the air pump mounting bracket 6. The robotic arm rotating bracket 7 is connected to the horizontal rotating device, thereby driving the entire vertical rotating device to rotate through the horizontal rotating device.

[0037] The horizontal rotation device includes a robot arm mounting plate 8 that is axially connected to the parallel robot arm 11 and a rotary motor 9 that drives the robot arm mounting plate 8 to rotate. The robot arm mounting plate 8 is axially connected to the parallel robot arm 11 along a vertical axis, allowing it to rotate. The rotary motor 9 has its shaft facing downwards, and the robot arm mounting plate 8 is connected to the shaft of the rotary motor 9.

[0038] In this embodiment, the vertical axis of the horizontal rotating device passes through the horizontal axis of the vertical rotating device, so that the adsorption device can swing at the position of the vertical axis. During the swing, the rotation of the vertical axis can still ensure that the swing center does not shift.

[0039] The robotic arm mounting plate 8 is connected to the vertical rotation device. In this embodiment, the robotic arm mounting plate 8 is connected to the robotic arm rotation bracket 7 of the vertical rotation device.

[0040] In practical implementation, this embodiment can be used to perform low-loss sorting and packing of apples in the field or on the production line, based on the shape and structure of the fruit box and the agricultural machinery and agronomic requirements for apple packing. With the improvement of the algorithm, it can also perform classified sorting and packing operations, which improves the harvesting efficiency of intelligent apple harvesting, reduces fruit damage and waste, saves resources and costs, and promotes the high-quality development of the apple industry.

[0041] A method for packing apples includes the following steps:

[0042] a. The binocular vision recognition and positioning system 10 identifies the apples on the conveyor belt that are gathered under the parallel robotic arm 11, determines the apple closest to the parallel robotic arm 11 as the target apple, obtains the spatial coordinates of the target apple, and judges the spatial posture of the target apple.

[0043] b. Parallel robotic arm 11 moves above the target apple, flexible suction nozzle 1 wraps around the target apple, air pump 7 draws air to create negative pressure in the suction chamber, and the target apple is adsorbed and grasped.

[0044] c. Adjust the spatial orientation of the target apple. First case: the target apple stem is facing vertically. In this case, the vertical rotation device drives the adsorption device to swing, adjusting the target apple stem to a horizontal orientation. The horizontal rotation device drives the vertical rotation device and the adsorption device to rotate, adjusting the horizontal orientation of the target apple stem to a uniform direction.

[0045] d. Second case: The target apple stem is horizontal. In this case, the horizontal rotating device drives the adsorption device and the vertical rotating device to rotate, adjusting the horizontal orientation of the target apple stem to a uniform direction.

[0046] e. After the target apples are aligned in spatial orientation, the parallel robotic arm 11 moves to the top of the fruit box and lowers them in sequence. The air pump 7 stops sucking air, the target apples are lowered, and the post-harvest apple spatial orientation adjustment and low-loss arrangement and boxing are completed.

[0047] f. Repeat the above steps ae until the fruit box is full.

[0048] Of course, the above description is not limited to the examples above. Technical features not described in this invention can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this invention and are not intended to limit this invention. This invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention do not depart from the spirit of this invention and should also fall within the scope of protection of the claims of this invention.

Claims

1. A flexible, flipping, low-damage apple packing robot, characterized in that: The parallel manipulator (11) is provided with a binocular visual recognition positioning system (10), the suction device is installed at the lower end of the vertical rotating device, the vertical rotating device drives the suction device to swing along the transverse rotating shaft, the vertical rotating device is installed at the lower end of the horizontal rotating device, the horizontal rotating device drives the vertical rotating device and the suction device to rotate along the vertical rotating shaft, the horizontal rotating device is installed at the lower end of the parallel manipulator (11), the suction device comprises a suction cavity provided with a flexible suction nozzle (1) and a gas pump (5) communicated with the suction cavity. The apple packing method using the packing manipulator comprises the following steps: a. The binocular visual recognition positioning system (10) identifies the apples gathered on the conveying belt below the parallel manipulator (11), determines the closest apple to the parallel manipulator (11) as the target apple, obtains the spatial coordinates of the target apple, and judges the spatial posture of the target apple; b. The parallel manipulator (11) moves above the target apple, the flexible suction nozzle (1) wraps the target apple, the gas pump (5) inhales to form negative pressure in the suction cavity, and the target apple is sucked and grabbed; c. The spatial posture of the target apple is adjusted, in the first case, the target apple stem is vertically oriented, in this case, the vertical rotating device drives the suction device to swing, the horizontal rotating device drives the vertical rotating device and the suction device to rotate, and the horizontal orientation of the target apple stem is adjusted to the same direction; d. In the second case, the target apple stem is horizontally oriented, in this case, the horizontal rotating device drives the suction device and the vertical rotating device to rotate, and the horizontal orientation of the target apple stem is adjusted to the same direction; e. After the spatial posture of the target apple is adjusted, the parallel manipulator (11) runs above the fruit box, is sequentially lowered, the gas pump (5) stops inhaling, the target apple is lowered, the postharvest apple spatial posture adjustment and low-loss arrangement and packing are completed; f. Repeat the above steps a-e until the fruit box is full.

2. The flexible apple low-damage inverting and boxing manipulator according to claim 1, characterized in that: The suction cavity further comprises a suction nozzle base (3), the flexible suction nozzle (1) is sealingly and slidably connected with the suction nozzle base (3) in the suction port direction, and a limiting spring (2) is arranged between the flexible suction nozzle (1) and the suction nozzle base (3).

3. The flexible apple low-damage inverting and boxing manipulator according to claim 2, characterized in that: The gas pump (5) is communicated with the suction nozzle base (3) through a gas conveying pipe (4).

4. The flexible apple low-damage inverting and boxing manipulator according to claim 1, characterized in that: The vertical rotating device comprises a manipulator rotating support (7), a gas pump mounting rack (6) hinged to the manipulator rotating support (7), and a rotating rudder (12) driving the gas pump mounting rack (6) to swing, the suction device is connected with the gas pump mounting rack (6), and the manipulator rotating support (7) is connected with the horizontal rotating device.

5. The flexible apple low-damage inverting and boxing robot of claim 1, wherein: The horizontal rotating device comprises a manipulator mounting disc (8) connected with the parallel manipulator (11) and a rotating motor (9) driving the manipulator mounting disc (8) to rotate, and the manipulator mounting disc (8) is connected with the vertical rotating device.

6. The flexible, inverting, low-damage apple packing robot of claim 1, wherein: The vertical rotating shaft of the horizontal rotating device penetrates the transverse rotating shaft of the vertical rotating device.

7. The flexible apple low-damage inverting and boxing robot of claim 1, wherein: The suction port at the lower end of the flexible suction nozzle (1) is a horn port.

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