Robot for picking small granular fruits based on electrical automation and picking method

Abstract

The present invention discloses a robot for picking small granular fruits based on electrical automation and a picking method, belonging to the technical field of agricultural equipment. In order to solve the problem that the fruit and leaves cannot be automatically separated during the use of the picking machine, on both outer walls of the lower end of the concave housing, a pressurized air pump is fixedly installed respectively, and on both outer walls of the inner side of the upper end of the concave housing, a number of jet heads are fixedly installed in a uniform arrangement respectively. On both outer walls of the inner side of the lower end of the concave housing, long sliding plates are vertically inserted and slidably installed respectively, and a collection box is inserted and installed on the long sliding plates. On both outer walls of the inner side of the lower end of the concave housing, separation plates are also fixedly installed respectively. The present invention cleverly utilizes the different characteristics between the fruits and the leaves, not only saving manpower and eliminating the need for later separation of the leaves, but also increasing the collection space for the fruits in the collection box. The structure is simple and convenient for popularization.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and particularly to a robot for picking small granular fruits based on electrical automation and a picking method therefor. Background Art

[0002] The fruit of Cornus officinalis is called "dogwood flesh", commonly known as jujube peel, which is used for medicinal purposes. It tastes sour and astringent, and is slightly warm in nature. It is a astringent and tonic medicine, and has the effects of tonifying the liver and kidney and stopping sweating. The thousand-grain weight of Cornus officinalis fruit is about 120 grams. The annual fruit yield of a single mature plant during the full fruit period can reach more than 40 kilograms, and the finished product per plant can reach more than 5 kilograms. It belongs to one of the small granular fruits. When picking small granular fruits including Cornus officinalis fruits, methods such as jetting air, vibration, and manipulators are usually used for picking. Moreover, picking robots are mostly based on electrical automation, and through various control modules, automatic picking is realized, so as to save manpower and improve the picking efficiency. Among them, the jetting air picking method has advantages such as fast picking speed and good integrity of the picked fruits.

[0003] In the literature CN208434358U, a jet-type mulberry picking machine is disclosed, which belongs to the technical field of agricultural equipment. The utility model includes a housing, the housing includes an outer housing plate and an inner housing plate, a cavity is provided between the outer housing plate and the inner housing plate, a supercharging air pump is provided on the outer side of the outer housing plate, the supercharging air pump is connected to the cavity through a pipe, a plurality of through holes are provided on both the left and right sides of the inner housing plate, one end of the through hole is connected to one end of a connecting pipe, the other end of the connecting pipe is provided with a jet head, the jet head is located on both sides of the tree-shaped channel, and a plurality of air holes are provided in the circumferential direction and at the top of the jet head. Conveyor belts are provided on both the left and right sides of the inner housing plate. A receiving plate is obliquely provided above the conveyor belt through a support rod. The receiving plate includes a rubber part and a soft hair part. The soft hair part is arranged close to the vertical center line of the inner housing plate, the rubber part is arranged away from the vertical center line of the inner housing plate, the soft hair part is higher than the rubber part, and a collection box is provided directly below the output end of the conveyor belt. The utility model blows the mulberries off by non-contact airflow to ensure the integrity of the mulberries. However, during the actual use of the picking machine, since the airflow ejected by the jet head will not only blow towards the fruits, but also blow towards the leaves near the fruits, it is easy to cause the fruits and the leaves to fall into the picking machine together, so that the fruits and the leaves are collected together. Since the leaves are larger in volume than the fruits, the space for accommodating fruits in the collection box is greatly reduced, increasing the frequency of the staff replacing the collection box, and at the same time increasing the workload of the staff for screening the fruits later, consuming manpower.

[0004] In view of the above problems, a robot for picking small granular fruits based on electrical automation and a picking method therefor are proposed. Summary of the Invention

[0005] The object of the present invention is to provide a robot and a picking method for picking small granular fruits based on electrical automation. By using this device for work, the problem in the above background is solved. During the actual use of the picking machine, since the air flow ejected by the air jet head will blow towards the fruits and the leaves near the fruits at the same time, it is easy to cause the fruits to fall into the picking machine together with the leaves, so that the fruits and the leaves are collected together. Since the leaves are larger in volume than the fruits, the space for accommodating fruits in the collection box is greatly reduced, increasing the frequency of the staff replacing the collection box, and at the same time increasing the workload of the staff for screening the fruits later.

[0006] To achieve the above object, the present invention provides the following technical solutions: A robot for picking small granular fruits, including a concave housing. Electric lifting columns are respectively installed on the bottom surfaces of both ends of the concave housing. Installation support blocks are respectively fixedly installed on the bottom surfaces of the electric lifting columns. Electric rollers are respectively installed on the outer walls at both ends of the outer side of the installation support blocks. Booster air pumps are respectively fixedly installed on the outer walls on both sides of the lower end of the concave housing. And a number of air jet heads are respectively uniformly arranged and fixedly installed on the outer walls on both sides of the inner side of the upper end of the concave housing. Long sliding plates are respectively vertically inserted and slidably installed on the outer walls on both sides of the inner side of the lower end of the concave housing. And a collection box is inserted and installed on the long sliding plates. Separation plates are also respectively fixedly installed on the outer walls on both sides of the inner side of the lower end of the concave housing. The separation plates are respectively arranged at the upper ends of the collection box. An electric scraping member is slidably installed on the bottom surface of the inner end of the separation plate.

[0007] A controller, a camera, an infrared sensor, a storage module, a signal sending module and a power supply module are respectively installed in the concave housing. The controller is fixedly installed on the outer wall of the concave housing. The camera is installed on the front of the concave housing. The infrared sensors are respectively installed on the outer walls at both ends and on both sides of the inner side of the upper end of the concave housing. The signal sending module is electrically connected to the remote control end.

[0008] The electric roller includes a driving motor, a roller main body, a control module and a force sensing module. The control module is electrically connected to the force sensing module, the driving motor and the roller main body respectively. The roller main body is fixedly installed at the output end of the driving motor.

[0009] Furthermore, inner ventilation grooves are respectively arranged in the inner cavities on both sides of the concave housing. And the output end of the booster air pump is communicated with the inner ventilation grooves. Air outlet holes are respectively arranged on the outer walls on both sides of the inner side of the upper end of the concave housing. And the air outlet holes are respectively communicated with the inner ventilation grooves. The air jet heads are respectively fixedly installed at the outer opening of the air outlet holes. Vertical sliding grooves are respectively arranged on the outer walls on both sides of the inner side of the lower end of the concave housing. And the long sliding plates are respectively slidably arranged in the vertical sliding grooves.

[0010] Furthermore, the long skateboard includes a skateboard main body and a spring group installed on the bottom surface of the skateboard main body, and the skateboard main body is elastically slidably installed in the vertical chute through the spring group. A direction-changing driving member is installed in the upper cavity at one end of the skateboard main body.

[0011] Furthermore, a slot is provided on the outer wall of the middle part of the inner side of one end of the skateboard main body, and a clamping inner groove is provided on the outer inner wall at the upper end of the slot. A top chute is provided on the outer side at one end of the top surface of the skateboard main body, and an inner chute is provided in the inner cavity of the middle part of one end of the skateboard main body. The upper end of the inner chute is communicated with the clamping inner groove. The top chute and the inner chute are communicated through a middle through hole. The inner chute and the slot are communicated with each other. The direction-changing driving member includes an upper pulling column and a middle gear movably installed in the inner cavity of the middle through hole. A lower pushing column is slidably installed in the inner cavity of the inner chute. The upper pulling column is slidably installed in the slot, and the upper end of the upper pulling column is fixedly installed on the top surface of the inner cavity of the vertical chute. A first tooth groove is provided on the outer wall of the lower inner side of the upper pulling column. A second tooth groove is provided on the outer wall of the upper inner side of the upper end of the lower pushing column. The middle gear is respectively meshed with the first tooth groove and the second tooth groove. A upper pushing rotating groove is provided on the outer wall of the middle part of the outer side of the lower pushing column.

[0012] Furthermore, the collection box includes a box body and a driving lever movably installed on the upper inner wall of the outer side of the inner cavity of the box body. An upper pushing long rod is vertically slidably installed on the outer side of the inner cavity of the box body, and the other end of the driving lever is slidably installed on the upper pushing long rod.

[0013] Furthermore, an inner groove is provided on the upper inner wall of the outer side of the inner cavity of the box body. A side wall hole is provided on the upper outer wall of the box body, and the inner groove is communicated with the side wall hole. A square communication sleeve is fixedly installed on the upper outer wall of the box body. A clamping sleeve is fixedly installed on the upper outer wall of the outer side of the square communication sleeve. A first sliding shaft is slidably installed on the outer wall of one end of the driving lever. A second sliding shaft is slidably installed on the inner wall of the other end of the driving lever, and the inner end of the second sliding shaft is slidably installed on the outer wall of the upper pushing long rod. A T-shaped rotating block is fixedly installed on the outer wall of the driving lever near one end of the first sliding shaft. The driving lever is movably installed on the side wall of the inner cavity of the inner groove through the T-shaped rotating block. A double-pass groove is provided at the inner top of the upper pushing long rod, and the upper pushing long rod is made of magnetic metal material.

[0014] Furthermore, a soft pad is embedded and fixedly installed on the top surface of the separation plate. A material leakage hole is provided in the middle of the outer end of the separation plate. A bottom chute is provided at the inner end of the bottom surface of the separation plate. A deformed through hole is provided in the middle inner cavity of the separation plate, and the inner end of the deformed through hole is communicated with the bottom chute. The outer end of the deformed through hole is communicated and arranged on the top surface of the outer end of the separation plate. A pushing tooth groove is provided on the top surface of the inner cavity of the bottom chute.

[0015] Further, the electric scraping member includes an electric slider and a telescopic rod fixedly installed on the bottom surface of the electric slider. The electric slider is slidably arranged in the bottom chute. The output end of the telescopic rod is slidably installed with an inclined scraper. A magnetic block is fixedly installed on the outer side end of the inclined scraper. A deformed rod is fixedly installed on the outer side end wall of the electric slider, and the deformed rod passes through and is arranged in a deformed through hole. A pushing blade block is fixedly installed at the outer end of the deformed rod. A blocking rod is fixedly installed on the other outer wall at the outer end of the deformed rod, and the blocking rod is embedded and slidably arranged in the outer side end opening of the deformed through hole.

[0016] Further, the electric slider includes an installation slider and a driving motor fixedly installed in the inner cavity of the installation slider. The output end of the driving motor is fixedly installed with a driving gear, and the outer circumference of the driving gear protrudes above the top surface of the installation slider. The driving gear is meshed and arranged in a pushing tooth groove.

[0017] Another technical solution proposed by the present invention: providing a picking method for a robot capable of picking small granular fruits based on electrical automation, including the following steps:

[0018] S1: When it is necessary to pick small fruits, the concave housing can be sleeved on the outer periphery of the fruit tree, and the robot is started, so that the robot advances along the row of fruit trees.

[0019] S2: During this process, by starting the booster air pump, air flow can be ejected from the air jet head. At this time, the fruits and leaves will be blown off together and fall on the separation plate.

[0020] S3: The fruits will roll down from the inclined part of the separation plate. When the fruits roll onto the flat surface, under the action of inertia, the fruits will continue to roll forward until they enter the material leakage hole, and are collected in the collection box through the material leakage hole to achieve collection.

[0021] S4: The leaves will slide down from the inclined part of the separation plate. When the leaves slide onto the flat surface, they will accumulate on the corner flat surface of the separation plate, thus completing the separation between the fruits and the leaves and the picking and collection of the fruits.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: When small fruits need to be picked, the concave housing can be sleeved on the outer periphery of the fruit tree, and the robot is started, so that the robot moves forward along the row of fruit trees. During this process, by starting the booster air pump, air flow can be ejected from the air jet head. At this time, the fruits and leaves will be blown off together and fall on the separation plate. Through the setting of the inclined part of the separation plate, the fruits can roll down from the inclined part, and the leaves can slide down from the inclined part. When the fruits roll onto the plane, under the action of inertia, the fruits will continue to roll forward and fall into the collection box. After the leaves slide onto the plane, due to the shape of the leaves themselves and their light weight characteristics, they will accumulate on the corner plane of the separation plate, thus effectively realizing the separation of fruits and leaves, making clever use of the different characteristics between fruits and leaves, not only saving manpower and eliminating the need for later separation of leaves, but also increasing the collection space for fruits in the collection box. The structure is simple and easy to promote. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 is a front view structure schematic diagram of the present invention;

[0025] Figure 3 is a schematic diagram of the concave housing structure of the present invention;

[0026] Figure 4 is a front view sectional schematic diagram of the concave housing of the present invention;

[0027] Figure 5 is a schematic diagram of the position structure of the vertical chute of the present invention;

[0028] Figure 6 is a sectional schematic diagram of the separation plate of the present invention;

[0029] Figure 7 is a schematic diagram of the structure of the electric scraping part of the present invention;

[0030] Figure 8 is a sectional schematic diagram of the electric slider of the present invention;

[0031] Figure 9 is a schematic diagram of the connection structure between the long slide plate and the collection box of the present invention;

[0032] Figure 10 is a sectional schematic diagram of the main body of the slide plate of the present invention;

[0033] Figure 11 is a sectional schematic diagram of the box body of the present invention;

[0034] Figure 12 is a schematic diagram of the split structure of the driving lever and the upward pushing long lever of the present invention;

[0035] Figure 13 Schematic diagram of the direction-changing driving part of the present invention;

[0036] Figure 14 Schematic diagram of the downward-pushing column of the present invention;

[0037] Figure 15 Automation control module diagram of the present invention;

[0038] Figure 16 Electric roller module diagram of the present invention;

[0039] Figure 17 Schematic diagram of the jet head assembly of the present invention;

[0040] Figure 18 Of the present invention Figure 17 Enlarged view at position A;

[0041] Figure 19 Jet module diagram of the present invention.

[0042] In the figure: 1. Concave housing; 11. Inner ventilation groove; 12. Air outlet; 13. Vertical sliding groove; 2. Electric lifting column; 3. Installation support block; 4. Electric roller; 41. Driving motor; 42. Roller body; 43. Control module; 44. Force sensing module; 5. Boost air pump; 6. Jet head; 600. Electromagnetic reversing valve group; 61. Top jet head; 62. Side jet head; 63. Bottom jet head; 64. First air duct; 65. Second air duct; 66. Third air duct; 661. Telescopic hose; 662. Horizontal channel; 663. Telescopic air pipe; 664. Second electromagnetic reversing valve; 7. Long slide plate; 71. Slide plate body; 711. Slot; 712. Clamping inner groove; 713. Top sliding groove; 714. Inner sliding groove; 715. Middle through hole; 72. Spring group; 73. Direction-changing driving part; 731. Pulling column; 7311. First tooth groove; 732. Pushing column; 7321. Second tooth groove; 7322. Upward pushing rotating groove; 733. Middle gear; 8. Collection box; 81. Box body; 811. Inner groove; 812. Side wall hole; 813. Square connecting sleeve; 814. Clamping sleeve; 82. Driving lever; 821. T-shaped rotating block; 822. Second sliding shaft; 823. First sliding shaft; 83. Upward pushing long rod; 831. Double-pass groove; 9. Separation plate; 91. Soft pad; 92. Material leakage hole; 93. Bottom sliding groove; 94. Deformed through hole; 95. Pushing tooth groove; 10. Electric scraping part; 101. Electric slider; 1011. Installation slider; 1012. Driving motor; 1013. Driving gear; 102. Telescopic rod; 103. Inclined scraper; 104. Magnet; 105. Deformed rod; 106. Pushing blade block; 107. Sealing rod; 20. Controller; 30. Camera; 40. Infrared sensor; 50. Storage module; 60. Signal sending module; 70. Power supply module; 80. Remote control terminal. Detailed implementation manners

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] In order to solve the technical problem that the fruit picking machine cannot automatically separate fruits and leaves during use, as Figures 1-6 shown, the following preferred technical solutions are provided:

[0045] A robot for picking small granular fruits based on electrical automation, including a concave housing 1. Electric lifting columns 2 are respectively installed on the bottom surfaces of both ends of the concave housing 1, and the output ends of the electric lifting columns 2 are respectively fixedly installed on the bottom surfaces of both ends of the concave housing 1. Mounting support blocks 3 are respectively fixedly installed on the bottom surfaces of the electric lifting columns 2. Electric rollers 4 are respectively installed on the outer walls of both ends of the outer side of the mounting support block 3. Booster air pumps 5 are respectively fixedly installed on the outer walls of both sides of the lower end of the concave housing 1, and a number of air jets 6 are evenly arranged and fixedly installed on the outer walls of both sides of the inner side of the upper end of the concave housing 1. Long slide plates 7 are vertically inserted and slidably installed on the outer walls of both sides of the inner side of the lower end of the concave housing 1, and a collection box 8 is inserted and installed on the long slide plate 7. Separation plates 9 are also respectively fixedly installed on the outer walls of both sides of the inner side of the lower end of the concave housing 1, and the inner ends of the separation plates 9 are inclined upward at 45 degrees to 60 degrees, and the inner ends of the separation plates 9 protrude from the inner vertical surface of the collection box 8 in the vertical plane, so as to ensure that the fruits can first fall on the separation plates 9 for separating the fruits from the leaves. The separation plates 9 are respectively arranged at the upper ends of the collection box 8, and an electric scraping member 10 is slidably installed on the bottom surface of the inner end of the separation plate 9.

[0046] A controller 20, a camera 30, an infrared sensor 40, a storage module 50, a signal sending module 60 and a power supply module 70 are respectively installed in the concave housing 1. The controller 20 is fixedly installed on the outer wall of the concave housing 1. The camera 30 is installed on the front of the concave housing 1. The infrared sensors 40 are respectively installed on the outer walls of both ends and both sides of the inner side of the upper end of the concave housing 1. The infrared sensors 40 can be used to capture the size of the fruits to judge whether they can be picked. The signal sending module 60 is electrically connected to the remote control terminal 80. The power supply module 70 is used to supply power to all electrical structures on the robot. The storage module 50 is used to automatically store all the captured data during the picking process. The staff can control the robot through the remote control terminal 80. Among them, signals are sent to the controller 20 through the signal sending module 60, and the camera 30, the electric rollers 4, the driving motor 1012 and the infrared sensor 40 are respectively controlled by the controller 20, so as to realize remote automatic control of the robot for picking.

[0047] The electric roller 4 includes a driving motor 41, a roller main body 42, a control module 43 and a force sensing module 44. The control module 43 is electrically connected to the force sensing module 44, the driving motor 41 and the roller main body 42 respectively. The roller main body 42 is fixedly installed on the output end of the driving motor 41. The force sensing module 44 is used to sense the resistance of the driving motor 41 during the process of driving the roller main body 42 to rotate, and feedback the information to the control module 43 in real time. The driving force of the driving motor 41 is controlled by the control module 43, achieving the energy-saving effect while ensuring that the robot can smoothly cross obstacles and depressions.

[0048] Inner ventilation grooves 11 are respectively arranged in the inner cavities on both sides of the concave-shaped housing 1, and the output end of the supercharging air pump 5 is communicated with the inner ventilation groove 11. Air outlet holes 12 are respectively arranged on the outer walls on both sides of the inner side of the upper end of the concave-shaped housing 1, and the air outlet holes 12 are respectively communicated with the inner ventilation groove 11. The jet heads 6 are respectively fixedly installed at the outer openings of the air outlet holes 12. Vertical sliding grooves 13 are respectively arranged on the outer walls on both sides of the inner side of the lower end of the concave-shaped housing 1, and the long sliding plates 7 are respectively slidably arranged in the vertical sliding grooves 13.

[0049] A soft pad 91 is embedded and fixedly installed on the top surface of the separation plate 9. The setting of the soft pad 91 can prevent the fruits from being bruised. A material leakage hole 92 is arranged in the middle of the outer end of the separation plate 9. A bottom sliding groove 93 is arranged at the inner end of the bottom surface of the separation plate 9. A deformed through hole 94 is arranged in the middle inner cavity of the separation plate 9, and the inner end of the deformed through hole 94 is communicated with the bottom sliding groove 93. The outer end of the deformed through hole 94 is communicated and arranged on the top surface of the outer end of the separation plate 9. A pushing tooth groove 95 is arranged on the top surface of the inner cavity of the bottom sliding groove 93.

[0050] Specifically, when small fruits need to be picked, the concave-shaped housing 1 can be sleeved on the outer periphery of the fruit tree, and the robot is started to make the robot move forward along the row of fruit trees. During this process, by starting the supercharging air pump 5, air flow can be ejected from the jet heads 6. At this time, the fruits and leaves will be blown off together and fall on the separation plate 9. Through the setting of the inclined part of the separation plate 9, the fruits can roll down from the inclined part, and the leaves can slide down from the inclined part. When the fruits roll onto the flat surface, under the action of inertia, the fruits will continue to roll forward until they enter the material leakage hole 92, and are collected into the collection box 8 through the material leakage hole 92. After the leaves slide onto the flat surface, due to the shape of the leaves themselves and their light weight characteristics, they will accumulate on the corner flat surface of the separation plate 9, thus effectively realizing the separation of fruits and leaves. It makes clever use of the different characteristics between fruits and leaves, not only saving manpower and eliminating the need for later separation of leaves, but also increasing the collection space of the collection box 8 for collecting fruits. The structure is simple and convenient for popularization.

[0051] In some specific embodiments, to solve the problem of improving the fruit picking rate, the jet head 6 can perform three-dimensional pulse operation; specifically, such as Figure 17 and Figure 19As shown in the figure, the jet head 6 includes a top jet head 61, side jet heads 62, and a bottom jet head 63. The top jet head 61 is evenly installed on the top inner wall of the concave housing 1. The side jet heads 62 are evenly installed on both sides of the inner wall of the concave housing 1. The bottom jet head 63 is evenly installed on the top of the separation plate 9. A first air duct 64, a second air duct 65, and a third air duct 66 are provided in the concave housing 1. The first air duct 64 communicates with the top jet head 61. The second air duct 65 communicates with the side jet heads 62. The third air duct 66 communicates with the bottom jet head 63. An electromagnetic reversing valve group 600 is also installed in the concave housing 1. The electromagnetic reversing valve group 600 is respectively connected to the first air duct 64, the second air duct 65, and the third air duct 66. The electromagnetic reversing valve group 600 is connected to the intake pipe of the booster air pump 5. During operation, the electromagnetic reversing valve group 600 controls the second air duct 65 to communicate with the intake pipe of the booster air pump 5, and the first air duct 64 and the third air duct 66 are closed. At this time, the picking air flow blows out from the side. Then, the electromagnetic reversing valve group 600 reverses to control the first air duct 64 to communicate with the intake pipe of the booster air pump 5, and the second air duct 65 and the third air duct 66 are closed. At this time, the air flow blows down from the top. The electromagnetic reversing valve group 600 reverses the third air duct 66 to communicate with the intake pipe of the booster air pump 5, and the first air duct 64 and the second air duct 65 are closed. At this time, the air flow blows up from the bottom. It should be noted that the third air duct 66 can be always open according to the picking requirements to guide the falling fruits into the separation plate 9. The three-dimensional pulse picking operation can not only pick from multiple angles but also form an air flow guide, which can buffer the fruits falling rapidly and reduce the picking damage rate.

[0052] In some specific embodiments, in order to improve the fruit picking rate and reduce the fruit dropping rate, the separation plate 9 can be telescoped to fit the picking plant; specifically, as Figure 18 and Figure 19 shown, a third air duct 66 and a horizontal channel 662 are provided inside the separation plate 9. The third air duct 66 communicates with the horizontal channel 662. A telescopic air pipe 663 is installed in the horizontal channel 662. The telescopic air pipe 663 can slide in the horizontal channel 662. The end of the telescopic air pipe 663 is connected to the electromagnetic reversing valve group 600 through a telescopic hose 661. A second electromagnetic reversing valve 664 is provided between the third air duct 66 and the horizontal channel 662. When the second electromagnetic reversing valve 664 is closed, the horizontal channel 662 and the third air duct 66 are closed. The telescopic air pipe 663 pushes the separation plate 9 forward under the action of the air pressure of the telescopic hose 661 to make the separation plate 9 fit the picking plant. It should be noted that a contact sensor is also provided at the front end of the separation plate 9. After the contact sensor triggers a signal, the second electromagnetic reversing valve 664 is opened, and the picking operation can be realized.

[0053] In order to solve the technical problem that during the process of fruit collection in the collection box 8, due to the uneven distribution of fruits on the fruit tree, the fruits are unevenly distributed in the collection box 8, which not only reduces the accommodation effect of the collection box 8, but also easily causes the fruits to overflow, such as Figures 1-8 shown, the following preferred technical solutions are provided:

[0054] The electric scraping member 10 includes an electric slider 101 and a telescopic rod 102 fixedly installed on the bottom surface of the electric slider 101. The electric slider 101 is slidably arranged in the bottom chute 93. The output end of the telescopic rod 102 is slidably installed with an inclined scraper 103. A magnetic block 104 is fixedly installed on the outer end of the inclined scraper 103. A deformed rod 105 is fixedly installed on the outer end wall of the electric slider 101, and the deformed rod 105 penetrates through a deformed through hole 94. A push leaf block 106 is fixedly installed at the outer end of the deformed rod 105, and the push leaf block 106 is arranged at the top corner of the separation plate 9, and the bottom surface of the push leaf block 106 is arranged close to the top surface of the separation plate 9. A blocking rod 107 is fixedly installed on the other outer wall of the outer end of the deformed rod 105, and the blocking rod 107 is embedded and slidably arranged in the outer end opening of the deformed through hole 94.

[0055] The electric slider 101 includes an installation slider 1011 and a driving motor 1012 fixedly installed in the inner cavity of the installation slider 1011. The output end of the driving motor 1012 is fixedly installed with a driving gear 1013, and the outer circumference of the driving gear 1013 protrudes from the top surface of the installation slider 1011. The driving gear 1013 is meshed with a pushing tooth groove 95.

[0056] Specifically, when it is necessary to uniformly level the fruits collected in the collection box 8, the driving motor 1012 can be started. Under the meshing action between the driving gear 1013 and the pushing tooth groove 95, the whole electric slider 101 can be driven to slide in the bottom chute 93. At this time, the inclined scraper 103 can move in the inner cavity of the collection box 8 under the transmission action of the telescopic rod 102, so as to uniformly level the fruits collected in the collection box 8, with high automation and improved accommodation effect of the collection box 8.

[0057] In order to solve the technical problem that as the number of fruits in the collection box 8 continuously increases, the inclined scraper 103 cannot adapt to the accumulated height of the fruits and continuously level the fruits, such as Figures 1-14 shown, the following preferred technical solutions are provided:

[0058] The long slide plate 7 includes a slide plate main body 71 and a spring group 72 installed on the bottom surface of the slide plate main body 71, and the slide plate main body 71 is elastically slidably installed in the vertical chute 13 through the spring group 72. A direction-changing driving member 73 is installed in the upper inner cavity at one end of the slide plate main body 71. A slot 711 is provided on the outer wall of the middle part of the inner side of one end of the slide plate main body 71, and a clamping inner groove 712 is provided on the outer inner wall of the upper end of the slot 711. A top chute 713 is provided on the outer side of one end of the top surface of the slide plate main body 71, and an inner chute 714 is provided in the inner cavity of the middle part of one end of the slide plate main body 71. The upper end of the inner chute 714 is communicated with the clamping inner groove 712. The top chute 713 and the inner chute 714 are communicated through a middle through hole 715. The inner chute 714 and the slot 711 are communicated with each other. The direction-changing driving member 73 includes an upper pulling column 731 and a middle gear 733 movably installed in the inner cavity of the middle through hole 715. A lower pushing column 732 is slidably installed in the inner cavity of the inner chute 714. The upper pulling column 731 is slidably installed in the slot 711, and the upper end of the upper pulling column 731 is fixedly installed on the top surface of the inner cavity of the vertical chute 13. A first tooth groove 7311 is provided on the outer wall of the lower inner side of the upper pulling column 731. A second tooth groove 7321 is provided on the outer wall of the upper inner side of the upper end of the lower pushing column 732. The middle gear 733 is respectively meshed with the first tooth groove 7311 and the second tooth groove 7321. An upper pushing rotating groove 7322 is provided on the outer wall of the middle part of the lower pushing column 732. To ensure the material receiving height in the inner cavity of the collection box 8 and the overall height of the collection box 8, the downward sliding distance of the long slide plate 7 is set to be relatively short.

[0059] The collection box 8 includes a box body 81 and a driving lever 82 movably installed on the inner wall at the upper end of the outer side of the inner cavity of the box body 81. A push-up long rod 83 is vertically slidably installed at the outer side of the inner cavity of the box body 81, and the other end of the driving lever 82 is slidably installed on the push-up long rod 83. An inner groove 811 is provided on the inner wall at the upper end of the outer side of the inner cavity of the box body 81, and a side wall hole 812 is provided on the outer wall at the upper end of the outer side of the box body 81, and the inner groove 811 communicates with the side wall hole 812. A square communication sleeve 813 is fixedly installed on the outer wall at the upper end of the outer side of the box body 81. The through holes of the square communication sleeve 813 are respectively arranged corresponding to the side wall hole 812 and the communication position between the inner chute 714 and the slot 711. A clamping sleeve 814 is fixedly installed on the outer wall at the upper end of the outer side of the square communication sleeve 813. A first sliding shaft 823 is slidably installed on the outer wall at one end of the driving lever 82, and a second sliding shaft 822 is slidably installed on the inner wall at the other end of the driving lever 82, and the inner end of the second sliding shaft 822 is slidably installed on the outer wall of the push-up long rod 83. A T-shaped rotating block 821 is fixedly installed on the outer wall at one end of the driving lever 82 near the first sliding shaft 823, and the driving lever 82 is movably installed on the inner cavity side wall of the inner groove 811 through the T-shaped rotating block 821. A double-pass groove 831 is provided at the inner top of the push-up long rod 83, and the push-up long rod 83 is made of magnetic metal material. The outer end of the first sliding shaft 823 is movably installed in the upper push groove 7322, and the magnet 104 is magnetically connected in the double-pass groove 831.

[0060] Specifically, when fruits are continuously collected in the box body 81, the overall gravity of the collection box 8 will continuously increase, and the pressure on the spring group 72 will also continuously increase. At this time, the spring group 72 will be compressed, and the collection box 8 will drive the long slide plate 7 to continuously move downward. During this process, the upper pull column 731 will continuously move upward relative to the slide plate main body 71. Under the driving action of the middle gear 733, the push-down column 732 can be driven to slide downward, so that one end of the driving lever 82 can be driven to move downward through the first sliding shaft 823. During this process, the other end of the driving lever 82 will move upward, so that the whole push-up long rod 83 can be driven to move upward. The push-up long rod 83 will drive the inclined scraper 103 to move upward through the magnet 104. At this time, the telescopic rod 102 will shorten, so that the inclined scraper 103 can automatically rise corresponding to the amount of collected fruits, so as to match the collection height of the fruits and smooth the fruits. The weight change during the fruit collection process is cleverly utilized to ensure the storage effect of the collection box 8. The whole process is automatic and convenient to use.

[0061] Further, in the initial state, the upper end of the push-down column 732 penetrates through the clamping sleeve 814, thereby realizing the fixed clamping of the collection box 8 on the long slide plate 7 to prevent the collection box 8 from falling off during the process of collecting fruits. When the push-down column 732 moves downward, the upper end of the push-down column 732 will simultaneously move out of the clamping sleeve 814. When the spring group 72 is compressed to the maximum state, the fruits will fill the collection box 8. At this time, the push-down column 732 will completely move out of the clamping sleeve 814. At this time, the operator can directly pull out the collection box 8 outward, making clever use of the weight change during the fruit collection process, facilitating the operator to directly remove the collection box 8, and having a high blanking efficiency.

[0062] In order to further and better explain the above embodiments, the present invention also provides an implementation scheme, a picking method for a robot capable of picking small granular fruits based on electrical automation, including the following steps:

[0063] Step 1: When it is necessary to pick small fruits, the concave housing 1 can be sleeved on the outer periphery of the fruit tree, and the robot is started, so that the robot advances along the row of fruit trees;

[0064] Step 2: During this process, by starting the supercharging air pump 5, air flow can be ejected from the air jet head 6. At this time, the fruits and leaves will be blown off together and fall on the separation plate 9;

[0065] Step 3: The fruits will roll down from the inclined part of the separation plate 9. When the fruits roll onto the plane, under the action of inertia, the fruits will continue to roll forward until they enter the material leakage hole 92 and are collected into the collection box 8 through the material leakage hole 92;

[0066] Step 4: The leaves will slide down from the inclined part of the separation plate 9. When the leaves slide onto the plane, they will accumulate on the corner plane of the separation plate 9, thereby completing the separation between the fruits and the leaves and the picking and collection of the fruits.

[0067] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0068] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot for picking small granular fruits based on electrical automation, including a concave housing (1), characterized in that: On the bottom surfaces of both ends of the concave-shaped housing (1), electric lifting columns (2) are respectively installed. On the bottom surfaces of the electric lifting columns (2), mounting support blocks (3) are respectively and fixedly installed. On the outer walls of both ends of the outer side of the mounting support blocks (3), electric rollers (4) are respectively installed. On the outer walls of both sides of the lower end of the concave-shaped housing (1), supercharging air pumps (5) are respectively and fixedly installed. And on the outer walls of both sides of the inner side of the upper end of the concave-shaped housing (1), a number of jet nozzles (6) are evenly arranged and fixedly installed. On the outer walls of both sides of the inner side of the lower end of the concave-shaped housing (1), long sliding plates (7) are vertically inserted and slidably installed. And a collection box (8) is inserted and installed on the long sliding plates (7). On the outer walls of both sides of the inner side of the lower end of the concave-shaped housing (1), separation plates (9) are also respectively and fixedly installed. The separation plates (9) are respectively arranged at the upper ends of the collection box (8). On the bottom surface of the inner end of the separation plate (9), an electric scraping member (10) is slidably installed; A controller (20), a camera (30), an infrared sensor (40), a storage module (50), a signal sending module (60), and a power supply module (70) are respectively installed in the concave-shaped housing (1). The controller (20) is fixedly installed on the outer wall of the outer side of the concave-shaped housing (1). The camera (30) is installed on the front surface of the concave-shaped housing (1). The infrared sensors (40) are respectively installed on the outer walls of both sides of both ends of the inner side of the upper end of the concave-shaped housing (1). The signal sending module (60) is electrically connected to a remote control terminal (80); The electric roller (4) includes a driving motor (41), a roller main body (42), a control module (43), and a force sensing module (44). The control module (43) is electrically connected to the force sensing module (44), the driving motor (41), and the roller main body (42) respectively. The roller main body (42) is fixedly installed at the output end of the driving motor (41); The electric scraping member (10) includes an electric slider (101) and a telescopic rod (102) fixedly installed on the bottom surface of the electric slider (101). At the output end of the telescopic rod (102), an inclined scraping plate (103) is slidably installed. A magnetic block (104) is fixedly installed at the outer end of the inclined scraping plate (103). A deformed rod (105) is fixedly installed on the outer wall of the outer end of the electric slider (101). A pushing blade block (106) is fixedly installed at the outer end of the deformed rod (105). A blocking rod (107) is fixedly installed on the other outer wall of the outer end of the deformed rod (105); The electric slider (101) includes a mounting slider (1011) and a driving motor (1012) fixedly installed in the inner cavity of the mounting slider (1011). At the output end of the driving motor (1012), a driving gear (1013) is fixedly installed; The long sliding plate (7) includes a sliding plate main body (71) and a spring group (72) installed on the bottom surface of the sliding plate main body (71). In the inner cavity at the upper end of one end of the sliding plate main body (71), a direction-changing driving member (73) is installed; The collection box (8) includes a box body (81) and a driving lever (82) movably installed on the inner wall of the upper end of the outer side of the box body (81) lumen. A push rod (83) is vertically slidably installed on the outer side of the box body (81) lumen.

2. The robot for picking small granular fruits based on electrical automation according to claim 1, characterized in that: Inner ventilation grooves (11) are respectively arranged in the inner cavities on both sides of the concave shell (1), and the output end of the supercharging air pump (5) is communicated with the inner ventilation grooves (11). Air outlet holes (12) are respectively arranged on the outer walls of both sides of the inner side of the upper end of the concave shell (1), and the air outlet holes (12) are respectively communicated with the inner ventilation grooves (11). The jet heads (6) are respectively fixedly installed at the outer openings of the air outlet holes (12). Vertical sliding grooves (13) are respectively arranged on the outer walls of both sides of the inner side of the lower end of the concave shell (1), and the long sliding plates (7) are respectively slidably arranged in the vertical sliding grooves (13).

3. The robot for picking small granular fruits based on electrical automation according to claim 2, characterized in that: And the main body of the sliding plate (71) is elastically slidably installed in the vertical sliding groove (13) through a spring group (72).

4. The robot for picking small granular fruits based on electrical automation according to claim 3, characterized in that: A slot (711) is arranged on the outer wall of the middle part of one end of the main body of the sliding plate (71), and a clamping inner groove (712) is arranged on the inner wall of the outer side of the upper end of the slot (711). A top sliding groove (713) is arranged on the outer side of one end of the top surface of the main body of the sliding plate (71), and an inner sliding groove (714) is arranged in the inner cavity of the middle part of one end of the main body of the sliding plate (71). The upper end of the inner sliding groove (714) is communicated with the clamping inner groove (712). The top sliding groove (713) and the inner sliding groove (714) are communicated through a middle through hole (715). The inner sliding groove (714) is communicated with the slot (711); The direction-changing driving part (73) includes an upper pulling column (731) and a middle gear (733) movably installed in the inner cavity of the middle through hole (715). A lower pushing column (732) is slidably installed in the inner cavity of the inner sliding groove (714). The upper pulling column (731) is slidably installed in the slot (711), and the upper end of the upper pulling column (731) is fixedly installed on the top surface of the inner cavity of the vertical sliding groove (13); A first tooth groove (7311) is arranged on the outer wall of the lower end of the inner side of the upper pulling column (731). A second tooth groove (7321) is arranged on the outer wall of the upper end of the inner side of the lower pushing column (732). The middle gear (733) is respectively meshed with the first tooth groove (7311) and the second tooth groove (7321). A pushing rotating groove (7322) is arranged on the outer wall of the middle part of the lower pushing column (732).

5. The robot for picking small granular fruits based on electrical automation according to claim 4, characterized in that: And the other end of the driving lever (82) is slidably installed on the push rod (83).

6. The robot for picking small granular fruits based on electrical automation according to claim 5, characterized in that: An inner groove (811) is arranged on the inner wall of the upper end of the outer side of the box body (81) lumen. A side wall hole (812) is arranged on the outer wall of the upper end of the box body (81), and the inner groove (811) is communicated with the side wall hole (812). A square communication sleeve (813) is fixedly installed on the outer wall of the upper end of the box body (81). A clamping sleeve (814) is fixedly installed on the outer wall of the upper end of the square communication sleeve (813); A first sliding shaft (823) is slidably mounted on the outer wall of one end of the driving lever (82), and a second sliding shaft (822) is slidably mounted on the inner wall of the other end of the driving lever (82). The inner end of the second sliding shaft (822) is slidably mounted on the outer wall of the upward pushing long rod (83). A T-shaped rotating block (821) is fixedly mounted on the outer wall of one end of the driving lever (82) near the first sliding shaft (823), and the driving lever (82) is movably mounted on the inner cavity side wall of the inner groove (811) through the T-shaped rotating block (821). A double-pass groove (831) is provided at the inner top of the upward pushing long rod (83), and the upward pushing long rod (83) is made of magnetic metal material.

7. The robot for picking small granular fruits based on electrical automation according to claim 6, characterized in that: A soft pad (91) is fixedly embedded on the top surface of the separation plate (9). A material leakage hole (92) is provided in the middle of the outer end of the separation plate (9). A bottom sliding groove (93) is provided at the inner end of the bottom surface of the separation plate (9). A deformed through hole (94) is provided in the middle inner cavity of the separation plate (9). The inner end of the deformed through hole (94) is communicated with the bottom sliding groove (93). The outer end of the deformed through hole (94) is communicated and provided on the top surface of the outer end of the separation plate (9). A pushing tooth groove (95) is provided on the top surface of the inner cavity of the bottom sliding groove (93).

8. The robot for picking small granular fruits based on electrical automation according to claim 7, characterized in that: The electric slider (101) is slidably arranged in the bottom sliding groove (93), the deformed rod (105) penetrates through the deformed through hole (94), and the blocking rod (107) is embedded and slidably arranged in the opening of the outer end of the deformed through hole (94).

9. The robot for picking small granular fruits based on electrical automation according to claim 8, characterized in that: The outer circumference of the driving gear (1013) is provided on the top surface of the protruding mounting slider (1011), and the driving gear (1013) is meshed and arranged in the pushing tooth groove (95).

10. A picking method for the robot for picking small granular fruits based on electrical automation according to claim 9, characterized in that, Including the following steps: S1: When small fruits need to be picked, the concave shell (1) can be sleeved on the outer circumference of the fruit tree, and the robot is started to make the robot move forward along the row of fruit trees; S2: During this process, by starting the booster air pump (5), air flow can be ejected from the air jet head (6). At this time, the fruits and leaves will be blown off together and fall on the separation plate (9); S3: The fruits will roll down from the inclined part of the separation plate (9). When the fruits roll onto the flat surface, under the action of inertia, the fruits will continue to roll forward until they enter the material leakage hole (92) and are collected in the collection box (8) through the material leakage hole (92); S4: The leaves will slide down from the inclined part of the separation plate (9). When the leaves slide onto the flat surface, they will accumulate on the corner flat surface of the separation plate (9), thus completing the separation between the fruits and the leaves and the picking and collection of the fruits.

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