An orchard self-operated picking and packing integrated robot

Abstract

The present application relates to a kind of orchard self-operation picking and packing integrated robot, including walking chassis and picking and packing device, picking and packing device includes framework, unloading device, picking device, fruit conveying device, grading device, netting device, folding and sealing device, control cabinet and packing device, the advantages of the present application: picking device realizes the picking of fruit, fruit conveying device realizes the conveying of fruit, grading device realizes the grading treatment of fruit, and netting device realizes the netting treatment of fruit, then the fruit after netting is loaded into the fruit box after folding and sealing device folds and seals bottom by packing device, and the fruit box after packing is conveyed to ground by unloading device, so as to realize the automatic picking, conveying, grading, netting, packing, unloading integration of fruit, realize present picking and present processing, save subsequent packing time, improve the intelligent degree of machine.

Description

Technical Field

[0001] This invention relates to an integrated robot for autonomous harvesting and packaging in orchards. Background Technology

[0002] Currently, fruit harvesting mainly relies on manual picking and manual netting. Manual picking is time-consuming and labor-intensive, while manual netting is inefficient and costly, making it unsuitable for mobile operations in orchards. Overall, the level of mechanization and harvesting efficiency are low, making it impossible to complete the concentrated harvesting of large orchards in a short period of time. Furthermore, the subsequent grading, netting, and packaging processes require significant factory space, and fruit may be damaged during transportation from the orchard to the factory. Summary of the Invention

[0003] The purpose of this invention is to solve the problem of low harvesting efficiency caused by manual or lifting platform harvesting in existing orchards. It proposes an integrated robot for self-operated harvesting and packaging in orchards. Through the harvesting and packaging device, the robot realizes the integrated packaging operation of automatic harvesting, conveying, grading, netting, boxing, and unboxing of fruits, ensuring that the fruit is picked and processed on the spot, saving subsequent packaging time and improving harvesting efficiency.

[0004] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: an integrated orchard self-operating harvesting and packaging robot, comprising a walking chassis and a harvesting and packaging device. The harvesting and packaging device includes a frame, an unloading device, a harvesting device, a fruit conveying device, a grading device, a netting device, a box-folding and sealing device, a control cabinet, and a box-packing and separating device. The frame is mounted on the walking chassis, the unloading device is mounted on the rear side wall of the frame, and the harvesting device is mounted on the left and right side walls of the frame. The fruit conveying device, grading device, netting device, box-folding and sealing device, and box-packing and separating device are all mounted inside the frame. The control cabinet is mounted on the front arm of the frame. The walking chassis, unloading device, harvesting device, fruit conveying device, grading device, netting device, box-folding and sealing device, and box-packing and separating device are all connected to the control cabinet. The fruit harvested by the harvesting device passes sequentially through the fruit conveying device, grading device, netting device, and box-packing and separating device, and is then transported to the ground by the unloading device. The frame is equipped with an RTK system connected to the control cabinet.

[0005] Preferably, the harvesting device includes a camera, a robotic arm, and a gripper. The left and right walls of the frame are each provided with a camera mounting bracket for mounting the camera and a fixing plate for mounting the robotic arm. The gripper is mounted on the robotic arm, and both the camera and the robotic arm are connected to the control cabinet.

[0006] Preferably, the fruit conveying device includes a side guide plate, a lifting mechanism, an upper guide plate, and a single fruit dropping mechanism. The side guide plate is installed on a frame below the fixed plate, the upper guide plate is located at the top of the frame, the lifting mechanism is located between the side guide plate and the upper guide plate, the side guide plate is provided with a flipping mechanism to flip the fruit onto the lifting mechanism, and the single fruit dropping mechanism is located at the discharge end of the upper guide plate.

[0007] Preferably, the grading device includes a mounting bracket and several fruit trays. The mounting bracket is installed inside the frame, and the fruit trays are installed on the mounting bracket. A first flipping cylinder is provided on the mounting bracket between two adjacent fruit trays, and a fruit separating plate is provided on the first flipping cylinder.

[0008] Preferably, the netting device includes a support frame, a supply mechanism, a spreading mechanism, an opening and closing net feeding mechanism, a fruit net storage mechanism, a fruit receiving and feeding mechanism, and a heat-melting net cutting mechanism. The supply mechanism, spreading mechanism, opening and closing net feeding mechanism, fruit net storage mechanism, fruit receiving and feeding mechanism, and heat-melting net cutting mechanism are all mounted on the support frame, which is located within a skeleton. The fruit net storage mechanism stores netting for attaching fruits. The opening and closing net feeding mechanism includes a suction cup for absorbing the netting, an opening and closing driver, and a lifting driver. The opening and closing driver controls the movement of the suction cup to spread the netting, and the lifting driver controls the movement of the suction cup between the spreading mechanism and the fruit net storage mechanism. The spreading mechanism includes a fruit guide hopper and a spreading assembly. The surface of the fruit guide hopper is provided with a buffer pad, and the fruit guide hopper is located below the supply mechanism. The lower end of the fruit guide hopper is connected to the spreading component, which is used to spread the net to allow the fruit to enter the net from the fruit guide hopper. The fruit receiving and feeding mechanism includes a fruit holding hopper, an output channel, and a fruit transfer driver. The fruit holding hopper is used to transport the netted fruit to the output channel, and the fruit transfer driver controls the fruit holding hopper to move between the spreading mechanism and the output channel. The feeding mechanism includes a controller, which provides one fruit to the fruit guide hopper at a time. The heat-melting net-breaking mechanism is used to melt the net. The support frame is equipped with a sensing mechanism, which includes a fruit drop sensor to detect whether the fruit has fallen into the fruit guide hopper, a net sensor to detect whether the net has been placed in the spreading component, a net feeding sensor to detect the position of the suction cup, and a fruit transfer sensor to detect whether the fruit holding hopper has moved to the output channel.

[0009] Preferably, the supply mechanism further includes an input channel, and the controller includes a first limiting cylinder and a second limiting cylinder, both used to close the input channel. The distance between the first limiting cylinder and the second limiting cylinder is greater than the width of one fruit and less than the sum of the widths of two fruits. The input channel is inclined, and the bottom end of the input channel is above the fruit guide hopper. The second limiting cylinder is downstream of the first limiting cylinder.

[0010] Preferably, the spreading mechanism includes a fixed support plate for positioning the fruit guide, a movable support plate rotatably connected to the fixed support plate, and a rotary driver for driving the movable support plate to rotate. The spreading assembly includes a plurality of slide rods, the ends of which are provided with support rods for supporting the net sleeve. The slide rods have a closed position that brings the support rods together and an open position that moves the support rods apart to spread the net sleeve. The rotary driver controls the movable support plate to rotate, thereby driving the slide rods to slide between the closed position and the open position.

[0011] The fruit net storage mechanism includes a net storage tray support, a net storage tray for storing nets, and a guide component. The net storage tray is rotatably connected to the net storage tray support, and the guide component includes two guide wheels arranged opposite to each other, which clamp the nets.

[0012] Preferably, the boxing and sorting device includes a sorting mechanism and a fruit-dispensing mechanism. The fruit-dispensing mechanism includes a first lifting cylinder and a fruit-dispensing box disposed at the bottom of the lifting cylinder. The first lifting cylinder is disposed within a frame. The bottom of the fruit-dispensing box is provided with an opening and closing mechanism. The side wall of the fruit-dispensing box is provided with a feeding hole. The fruit-dispensing box is provided with an opening and closing cylinder connected to the opening and closing mechanism. The opening and closing mechanism is in a closed state and an open state by the extension and contraction of the opening and closing cylinder.

[0013] Preferably, the opening and closing mechanism includes a bolt and two folding plates. The bolt is provided with a first hinge, which is disposed between the two folding plates. The folding plates are provided with a fixing frame, the fixing frame is provided with an installation shaft, the installation shaft is provided with a roller, and the bolt is provided with a connecting frame connected to the opening and closing cylinder.

[0014] Preferably, the unloading device includes a fruit box hopper and a second lifting cylinder. The second lifting cylinder is mounted on the frame, and the fruit box hopper is mounted on the second lifting cylinder. One side of the fruit box hopper has a feed inlet, and the other side of the fruit box hopper has a discharge outlet. The bottom end of the fruit box hopper has a bottom plate. A tail plate is rotatably connected to the bottom plate on the side of the discharge outlet. A second tilting cylinder for driving the bottom plate to tilt upward is connected to the bottom plate. A third tilting cylinder for driving the tail plate to open and close is connected to the tail plate. When the tail plate is open, the outer wall of the tail plate is in contact with the ground. When the tail plate is closed, the inner wall of the tail plate is in contact with the outer wall of the fruit box hopper. The tail plate has a first flow strip, and the bottom plate has a second flow strip corresponding to the first flow strip.

[0015] In summary, the advantages of this invention are as follows: The harvesting and packaging device processes the fruit. Composed of a frame, unloading device, harvesting device, fruit conveying device, grading device, netting device, box folding and sealing device, control cabinet, and boxing / sorting device, the fruit sequentially passes through the harvesting device for harvesting, the fruit conveying device for conveying, the grading device for grading, and the netting device for automatic netting. Then, the fruit falls into the box after being folded and sealed by the boxing / sorting device. The boxed fruit is then transported to the ground by the unloading device. Each component operates independently and does not interfere with the others, effectively achieving unmanned orchard automation. This invention realizes automatic fruit harvesting, conveying, grading, netting, and boxing. The integrated unpacking and packaging operation enables on-site picking and processing, saving subsequent packaging time, improving the machine's intelligence, and making it suitable for mobile operations with diverse application scenarios. Moreover, each device is continuously stable, safe, and efficient, ensuring high fruit quality. The frame integrates the unpacking device, picking device, fruit conveying device, grading device, netting device, box folding and sealing device, control cabinet, and box packing and sorting device into a single installation, realizing an integrated automatic packaging, sorting, and netting setup. The overall layout is compact, optimizing the installation area of ​​the entire picking and packaging device on the chassis. Furthermore, because the frame is equipped with an RTK system, it can obtain the current position in real time and then enter automatic navigation mode, thereby accurately controlling the overall movement and further improving picking efficiency. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings:

[0017] Figure 1 This is a schematic diagram of the structure of an integrated orchard self-operating harvesting and packaging robot according to the present invention. Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the structure of an integrated orchard self-operating harvesting and packaging robot according to the present invention. Figure 2 ;

[0019] Figure 3 This is a schematic diagram of the grading device in the present invention;

[0020] Figure 4 This is a schematic diagram of the netting device in this invention;

[0021] Figure 5 This is a schematic diagram of the supply mechanism in the netting device of the present invention;

[0022] Figure 6 This is a schematic diagram of the opening mechanism in the netting device of the present invention;

[0023] Figure 7 This is a cross-sectional view of the sliding rod in the open position of the netting device of the present invention;

[0024] Figure 8 This is a schematic diagram of the structure of the netting device of the present invention when the sliding rod is in the closed position;

[0025] Figure 9 This is a schematic diagram of the opening and closing net feeding mechanism in the netting device of the present invention;

[0026] Figure 10 This is a schematic diagram of the fruit net storage mechanism in the netting device of the present invention;

[0027] Figure 11 This is a schematic diagram of the fruit receiving and delivery mechanism in the netting device of the present invention;

[0028] Figure 12 This is a schematic diagram of the fruit receiving and conveying mechanism in the netting device of the present invention, which conveys fruit.

[0029] Figure 13 This is a schematic diagram of the thermal melting and breaking mechanism in the mesh-covering device of the present invention;

[0030] Figure 14 This is a schematic diagram of the fruit-releasing mechanism in this invention;

[0031] Figure 15 This is a schematic diagram of the opening and closing mechanism in the fruit-dispensing mechanism of the present invention;

[0032] Figure 16 This is a schematic diagram of the fruit-releasing mechanism of the present invention during fruit release;

[0033] Figure 17 This is a schematic diagram of the unloading device of the present invention;

[0034] Figure 18 This is a schematic diagram of the unloading device of the present invention during unloading. Detailed Implementation

[0035] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 and Figure 18As shown, an integrated orchard self-operating harvesting and packaging robot includes a walking chassis 1 and a harvesting and packaging device 2. The walking chassis 1 is existing technology and will not be described in detail in this embodiment. The harvesting and packaging device 2 includes a frame 21, an unloading device 22, a harvesting device 23, a fruit conveying device 24, a grading device 25, a netting device 26, a box-folding and sealing device 27, a control cabinet 28, and a box-packing and separating device 29. The box-folding and sealing device 27 includes a box-folding mechanism, a box-feeding mechanism, and a box-sealing mechanism. The specific structure is existing technology and will not be described in detail in this embodiment. The frame 21 is mounted on the walking chassis 1, the unloading device 22 is mounted on the rear side wall of the frame 21, and the harvesting device 23 is mounted on the frame. On the left and right sides of frame 21, the fruit conveying device 24, grading device 25, netting device 26, box folding and sealing device 27, and boxing and separating device 29 are all installed inside frame 21. The control cabinet 28 is installed on the front side wall of frame 21. The walking chassis, unloading device, picking device, fruit conveying device, grading device, netting device, box folding and sealing device, and boxing and separating device are all connected to the control cabinet. The control cabinet is existing technology and will not be described in detail in this embodiment. The fruit 3 picked by picking device 23 passes through fruit conveying device, grading device, netting device, and boxing and separating device in sequence and is then transported to the ground by unloading device 22. The frame is equipped with RTK system 211 connected to the control cabinet.

[0036] The fruit is harvested and packaged using a picking and packing device. This device consists of a frame, unloading device, picking device, fruit conveying device, grading device, netting device, box folding and sealing device, control cabinet, and boxing and sorting device. The fruit is sequentially picked by the picking device, conveyed by the fruit conveying device, graded by the grading device, and automatically netted by the netting device. Then, the fruit falls into the sealed boxes via the boxing and sorting device. The boxes are then unloaded and transported to the ground. Each component operates independently without interference, effectively achieving automated, unmanned orchard operations. This integrated system of automatic fruit picking, conveying, grading, netting, boxing, and unloading is realized. The packaging operation enables on-site picking and processing, saving subsequent packaging time, improving the machine's intelligence, and making it suitable for mobile operations with diverse application scenarios. Moreover, all devices are continuously stable, safe, and efficient, ensuring high fruit quality. The frame integrates the unloading device, picking device, fruit conveying device, grading device, netting device, box folding and sealing device, control cabinet, and boxing and sorting device into a single installation, realizing an integrated automatic packaging, sorting, and netting setup. The overall layout is compact, optimizing the installation area of ​​the entire picking and packaging device on the chassis. Furthermore, because the frame is equipped with an RTK system, it can obtain the current position in real time and then enter automatic navigation mode, thereby accurately controlling the overall movement and further improving picking efficiency.

[0037] like Figure 1 As shown, the harvesting device 23 includes a camera 231, a robotic arm 232, and a gripper 233. The specific structures of the camera, robotic arm, and gripper are existing technologies and will not be described in detail in this embodiment. The left and right walls of the frame 21 are provided with camera mounting brackets 212 for mounting the camera and fixing plates 213 for mounting the robotic arm. The gripper 233 is mounted on the robotic arm 232. The camera and robotic arm are both connected to the control cabinet 28. In use, the camera obtains the position of the fruit relative to the whole structure and sends the target position to the robotic arm. The robotic arm performs path inversion, moves to the designated position, and uses the end gripper to grab the fruit. In order to improve harvesting efficiency, multi-arm collaborative operation is adopted. The number of robotic arms is not limited to the layout shown in the figure and can be adjusted according to the actual operation.

[0038] like Figure 2 As shown, the fruit conveying device 24 includes a side guide plate 241, a lifting mechanism 242, an upper guide plate 243, and a single fruit dropping mechanism 244. The side guide plate is installed on the frame 21 below the fixed plate, the upper guide plate is located at the top of the frame, the lifting mechanism is located between the side guide plate and the upper guide plate, and the side guide plate is provided with a flipping mechanism 245 to flip the fruit onto the lifting mechanism. The single fruit dropping mechanism is located at the discharge end of the upper guide plate. The fruit conveying device is configured with a structure of side guide plate, lifting mechanism, upper guide plate, and single fruit dropping mechanism. In use, the side guide plate receives the fruit picked by the picking device. In this embodiment, the side guide plate is inclined on the frame 21 to facilitate the movement of the fruit into the flipping mechanism, ensuring that the fruit can be flipped onto the lifting mechanism by the flipping mechanism. Then, the lifting mechanism lifts the fruit onto the upper guide plate, and after being guided by the upper guide plate, it enters the single fruit dropping mechanism, ensuring that the fruit can be conveyed one by one from outside the frame to inside the frame, thus improving the conveying quality.

[0039] like Figure 3 As shown, the grading device 25 includes a mounting bracket 251 and several fruit trays 252. The mounting bracket 251 is installed inside the frame 21, and the fruit trays 252 are installed on the mounting bracket 251. A first flipping cylinder 253 is provided on the mounting bracket 251 between two adjacent fruit trays 252. A fruit separating plate 254 is provided on the first flipping cylinder. Specifically, when the fruit 3 is transported from the single fruit dropping mechanism to the first fruit separating plate 254, some of the smaller diameter fruits fall to the first fruit tray 252 after being separated by the fruit separating plate, and the remaining larger diameter fruits fall to the second fruit separating plate 254 after being flipped by the first flipping cylinder 253. This cycle continues until the fruit falls into the last fruit tray. Therefore, it can achieve grading according to the size of the fruit diameter, and the overall structure is compact and the installation quality is good.

[0040] like Figure 4 As shown, the netting device 26 includes a support frame 261, a supply mechanism 262, a spreading mechanism 263, an opening and closing net feeding mechanism 264, a fruit net storage mechanism 265, a fruit receiving and feeding mechanism 266, and a heat-melting net cutting mechanism 267. The fruit net storage mechanism 265 is placed at the bottom of the support frame 261. The support frame 261 has a first crossbeam 2611 on the upper side of the fruit net storage mechanism 265. The fruit receiving and feeding mechanism 266, the opening and closing net feeding mechanism 264, and the heat-melting net cutting mechanism 267 are all fixedly installed on the first crossbeam 2611. The support frame 261 has a second crossbeam 2612 on the upper side of the first crossbeam 2611. The spreading mechanism 263 is fixedly installed on the second crossbeam 2612. The supply mechanism 262 is located above the spreading mechanism 263. In this embodiment, the overall layout of the support frame 261 adopts a vertical spatial layout, which is compact, occupies a small area, is suitable for mobile operations, and has diverse application scenarios.

[0041] like Figure 5 As shown, in this embodiment, the supply mechanism 262 includes an input channel 2621 and a controller. The input channel 2621 is inclined, and its bottom end is above the opening mechanism 263. The controller includes a first limiting cylinder 2622 and a second limiting cylinder 2623 for closing the input channel 2621. Both the first limiting cylinder 2622 and the second limiting cylinder 2623 are located on the side of the input channel 2621. The input channel 2621 has a clearance hole for the first limiting cylinder 2622 to extend into. The second limiting cylinder 2623 is located at the bottom end of the input channel 2621. The distance between the first limiting cylinder 2622 and the second limiting cylinder 2623 is greater than the width of a fruit. The width of the fruit is less than the sum of the widths of two fruits. During use, the output end of the second limiting cylinder 2623 extends and closes the bottom end of the input channel 2621. When the fruit enters the input channel 2621, the output end of the first limiting cylinder 2622 extends, forming a space between the first limiting cylinder 2622 and the second limiting cylinder 2623 that can only accommodate one fruit. After the output end of the second limiting cylinder 2623 retracts, a fruit can fall from the input channel to the spreading mechanism 263. The supply mechanism 262 can provide one fruit to the guide hopper at a time, avoiding multiple fruits entering the guide hopper 2631 at the same time, which would affect the fruit netting, making the netting of the fruit more orderly, and ensuring that each fruit can be netted.

[0042] like Figure 6 As shown, in this embodiment, the spreading mechanism 263 includes a fruit guide hopper 2631 and a spreading component. The fruit guide hopper 2631 is funnel-shaped, and the surface of the fruit guide hopper 2631 is provided with a buffer pad. After the fruit falls into the fruit guide hopper 2631, the buffer pad can reduce the impact force on the fruit and reduce the possibility of fruit injury.

[0043] like Figure 7 As shown, the spreading assembly in this embodiment includes a fixed support plate 2633 for positioning the fruit guide hopper 2631, a movable support plate 2632 rotatably connected to the fixed support plate 2633, and a rotary driver 2637 for driving the movable support plate 2632 to rotate. The spreading assembly includes eight slide rods 2634 evenly surrounding the fruit guide hopper 2631, and the slide rods 2634 are located on the lower side of the fruit guide hopper 2631. The ends of the slide rods 2634 are provided with support rods 26342 for supporting the net sleeve 4. The upper end of the support rod 26342 is connected to the slide rod 2634, and the lower end of the support rod 26342 extends downward. The lower side of the fixed support plate 2633 is provided with a slide rail 26341 slidably connected to the slide rod 2634. The lower side of the slide rod 2634 is fixedly connected to... A support block 26351 is attached, and a roller 2635 is provided at the lower end of the support block 26351. The movable support plate 2632 is provided with a guide groove 26321 for the roller 2635 to slide. The guide groove 26321 can guide the roller 2635 to move, thereby allowing the slide rod 2634 to slide between the closed position and the open position. In addition, the roller 2635 and the inner wall of the guide groove 26321 have rolling friction, which can reduce the possibility of damage to the roller 2635. The slide rod 2634 has a closed position that brings the support rods 26342 closer together and an open position that moves the support rods away from each other and thus opens the net sleeve. The rotary driver 2637 controls the movable support plate 2632 to rotate, thereby driving the slide rod to slide between the closed position and the open position.

[0044] In this embodiment, a connecting bearing is provided between the fixed support plate 2633 and the movable support plate 2632. The connecting bearing includes an inner ring 26361 and an outer ring 26362. The outer edge of the fixed support plate 2633 is fixedly connected to the inner ring 26361, and the movable support plate 2632 is fixedly connected to the outer ring 26362. The outer ring 26362 and the movable support plate 2632 are connected by a column 26363. A bushing 26364 is sleeved on the column 26363, and the fixed support plate 2633 and the inner ring 26361 are separated from each other by the bushing 26364. Secondly, the support rod 26342 described in this embodiment is made of a high-friction material. The outer side of the bottom end of the support rod 26342 is provided with a guide surface 26343 for guiding the installation of the net sleeve. The guide surface 26343 can guide the net sleeve to be installed into the support rod 26342, reducing the difficulty of installing the net sleeve and also reducing the possibility of the net sleeve automatically slipping off, effectively improving the positioning stability of the support rod 26342 for the net sleeve.

[0045] like Figure 7 , Figure 8As shown, the usage process of the opening component in this embodiment is as follows: In the initial state, the sliding rod 2634 is in the closed position. At this time, the support rods 26342 move closer together to close the bottom of the guide hopper 2631. The opening and closing net feeding mechanism 264 installs the net sleeve 4 into the outside of the support rod 26342, so that the net sleeve 4 is in contact with the outer wall of the support rod 26342. After the net sleeve 4 is installed, the rotary driver 2637 controls the rotating support plate 2632 to rotate, so that the roller 2635 moves along the guide groove 26321, thereby driving the sliding rod 26342 to rotate. The sliding of rod 2634 causes it to move from the closed position to the open position. At this time, the support rods 26342 separate and open the bottom of the fruit guide hopper 2631. Simultaneously, the net sleeve 4 is opened by the support rods 26342, and the fruit 3 falls from the fruit guide hopper 2631 into the net sleeve 4. Then, the rotary drive 2637 controls the rotating support plate 2632 to rotate in the opposite direction, causing the roller 2635 to move along the guide groove 26321, thereby moving the sliding rod 2634 from the open position to the closed position, completing the wrapping of the fruit 3 by the net sleeve 4.

[0046] like Figure 9 As shown, the opening and closing net feeding mechanism 264 in this embodiment includes a suction cup 2641 for absorbing the net sleeve 4, an opening and closing driver 2642, and a lifting driver 2643. The opening and closing net feeding mechanism 264 has two suction cups 2641 arranged opposite each other. The opening and closing driver 2642 controls the two suction cups 2641 to move closer together or separate. The lifting driver 2643 controls the suction cups 2641 to move between the fruit net storage mechanism 265 and the spreading mechanism 263. During use, the lifting driver 2643 controls the suction cups 2641 to move between the fruit net storage mechanism 265 and the spreading mechanism 263. 41 descends to the fruit net storage mechanism 265, and the suction cup 2641 picks up the net sleeve 4 from the fruit net storage mechanism 265. At this time, the net sleeve 4 is in a flat state. Then, the lifting driver 2643 controls the suction cup 2641 to move towards the spreading mechanism 263. During the movement, the opening and closing driver 2642 simultaneously controls the suction cup 2641 to separate from each other, thereby spreading the net sleeve 4 and installing the net sleeve 4 into the support rod 26342. Then, the suction cup 2641 detaches from the net sleeve, and the net sleeve rebounds under its own elastic force and wraps around the outside of the support rod.

[0047] like Figure 10As shown, the fruit net storage mechanism 265 in this embodiment includes a net storage tray support 2651, a net storage tray 2652 for storing net sleeves 4, and a guide assembly. The net storage tray support 2651 is placed at the bottom of the support frame 261, and the net storage tray 2652 is rotatably connected to the net storage tray support 2651. The net sleeves 4 are wrapped around the net storage tray 2652. End caps 26521 are provided at both ends of the net storage tray 2652. The diameter of the end caps 26521 is larger than the diameter of the net storage tray 2652. The end caps 26521 can effectively prevent the net sleeves 4 from detaching from the net storage tray 2652 along the axial direction of the net storage tray 2652. The guide assembly includes two guide wheels 2653 arranged opposite to each other. 653 is fixed to the first crossbeam 2611 by the mounting base 26531. The net sleeve 4 passes through two guide wheels 2653. The two guide wheels 2653 clamp the net sleeve 4 at the same time. After the opening and closing net feeding mechanism 264 picks up the net sleeve 4, the lifting driver 2643 drives the net sleeve 4 to move upward. At this time, the storage disk 2652 rotates with the movement of the net sleeve 4, realizing the release of the net sleeve 4. At the same time, the two guide wheels 2653 can position the movement of the net sleeve 4, preventing the net sleeve 4 from floating randomly and reducing the possibility of damage to the net sleeve 4. At the same time, the guide wheels 2653 and the net sleeve 4 form rolling friction, reducing the damage of the guide wheels 2653 to the net sleeve 4 and making the movement of the net sleeve 4 smoother.

[0048] like Figure 11 and Figure 12 As shown, the fruit receiving and delivery mechanism 266 in this embodiment includes a fruit holding hopper 2662, an output channel 2665, a fruit receiving bracket 2661, and a fruit transfer driver 2664. The fruit receiving bracket 2661 is provided with a fruit transfer guide rail 26611 for moving the fruit holding hopper 2662. A support platform 26621 is slidably connected to the fruit transfer guide rail 26611. A slider 26612 is provided on the lower side of the support platform 26621. The support platform 26621 is slidably connected to the fruit transfer guide rail 26611 via the slider 26612. Fruit container 2662 is mounted on support platform 26621. Fruit container 2662 is funnel-shaped and has a cushioning pad on its surface. When fruit falls into fruit container 2662, the cushioning pad can reduce the impact force on the fruit and reduce the possibility of fruit injury. The support platform 26621 is equipped with a flipping driver 2663. The output end of the flipping driver 2663 is connected to fruit container 2662. The flipping driver 2663 controls fruit container 2662 to rotate so that the fruit is poured into output channel 2665.

[0049] like Figure 13As shown, the hot-melt net-breaking mechanism 267 in this embodiment includes a hot-melt support 2671, a hot-melt driver 2672, and a hot-melt device 2673. The hot-melt driver 2672 is fixedly installed on the first crossbeam 2611 and fixed on the hot-melt support 2671. The hot-melt device 2673 is connected to the output end of the hot-melt driver 2672 through a cover plate 2674. When the fruit 3 enters the net 4, the hot-melt driver 2672 controls the hot-melt device 2673 to approach the net. After the hot-melt device 2673 is energized, it cuts the net, allowing the fruit to fall off the opening mechanism 263 and into the fruit container 2662.

[0050] In this embodiment, the support frame 1 is equipped with a sensing mechanism, which includes a fruit drop sensor 2613 for detecting whether the fruit 3 has fallen into the fruit guide hopper 2631, a net sleeve sensor 2614 for detecting whether the net sleeve 4 has been fitted into the opening assembly, a net feeding sensor 2615 for detecting the position of the suction cup 41, and a fruit transfer sensor 2616 for detecting whether the fruit holding hopper 2662 has moved to the output channel 2665. The sensing mechanism can work in conjunction with other mechanisms to make the actions of each mechanism more precise and improve the operating efficiency of each mechanism.

[0051] In this embodiment, the use of the netting device 26 specifically includes a netting preparation stage, a fruit netting stage, and a fruit transfer stage: specifically,

[0052] Netting preparation stage: Before starting the operation, all mechanisms are in the reset state. In the opening and closing net feeding mechanism 264, the suction cup 2641 moves downward under the action of the lifting driver 2643 and picks up the netting 4 from the fruit net storage mechanism 265. Then, the lifting driver 2643 controls the suction cup 2641 to move towards the spreading mechanism 263. During this movement, the opening and closing driver 2642 simultaneously controls the suction cups 2641 to separate, thus spreading the netting 4 and installing it into the support rod 26342. Afterward, the suction cups 2641 detach from the netting 4, and the netting 4 rebounds under its own elasticity and wraps around the outside of the support rod 26342. Then, the rotating driver 2642... 637 controls the rotation of the support plate 2632, causing the roller 2635 to move along the guide groove 26321, which in turn drives the slide rod 2634 to slide from the closed position to the open position. At this time, the support rods 26342 separate and open the bottom of the fruit guide hopper 2631. At the same time, the net sleeve 4 is opened by the support rods 26342. At this time, the opening and closing net feeding mechanism 264 returns to the reset state. When the net sleeve sensor 2614 detects that the net sleeve 4 is correctly put on the support rods 26342, and the net feeding sensor 2615 detects that the opening and closing net feeding mechanism 264 has returned to the reset state, the preparation stage of the net sleeve 4 is completed.

[0053] Fruit netting stage: During the netting preparation stage, the supply mechanism 262 simultaneously confines a fruit 3 between the first limiting cylinder 2622 and the second limiting cylinder 2623. When the netting sensor 2614 and the net feeding sensor 2615 respond, the output end of the second limiting cylinder 2623 retracts, thereby opening the input channel 2621, allowing the fruit 3 to automatically fall into the guide hopper 2631. When the fruit drop sensor 2613 detects that the fruit 3 has fallen, the output end of the second limiting cylinder 2623 extends, while the output end of the first limiting cylinder 2622 retracts, so that the next fruit 3 can slide to the second limiting cylinder 2623. Then, the output end of the first limiting cylinder 2622 extends, confining a fruit 3 between the first limiting cylinder 2622 and the second limiting cylinder 2623. Between 622 and the second limiting cylinder 2623; after the fruit 3 falls into the guide hopper 2631, it automatically slides into the already opened net sleeve 4. The hot melt driver 2672 controls the hot melter 2673 to approach the net sleeve 4. After the hot melter 2673 is energized, it cuts the net sleeve 4. Then, the fruit receiving and conveying mechanism 266 moves the fruit holding hopper 2662 to below the opening component through the fruit moving driver 2664. The rotary driver 2637 controls the moving support plate 2632 to rotate in the opposite direction, so that the roller 2635 moves along the guide groove 26321, thereby moving the slide bar 2634 from the open position to the closed position. Under the gravity of the fruit 3, the net sleeve 4 detaches from the support rod 26342 and falls into the fruit holding hopper 2662, completing the fruit netting stage.

[0054] Fruit transfer stage: The fruit transfer driver 2664 controls the fruit container 2662 to move from below the spreading mechanism 263 to the output channel. When the fruit transfer sensor 2616 detects that the fruit container 2662 has moved to the output channel 2665, the flip driver controls the fruit container 2662 to rotate, so that the netted fruit 10 in the fruit container 2662 slides down to the output channel. Finally, the netted fruit 10 is transported to the packing and sorting device through the output channel 2665, completing the fruit transfer stage.

[0055] The boxing and sorting device 29 includes a sorting mechanism and a fruit-dispensing mechanism 291. The sorting mechanism includes a box-moving module, a lifting module, and a box-dispensing module. The specific details are existing technology and will not be described in detail in this embodiment. The sorting mechanism enables the sorting and packaging of fruits, reducing labor costs. Figure 14 , Figure 15 and Figure 16As shown, the fruit-dispensing mechanism includes a first lifting cylinder 2911 and a fruit-dispensing box 2912 disposed at the bottom of the lifting cylinder. In this embodiment, a fixing plate connected to the fruit-dispensing box 2912 may be provided at the bottom of the lifting cylinder to ensure the stability of the fruit-dispensing box 2912 during lifting. The first lifting cylinder 2911 is disposed inside the frame. The bottom of the fruit-dispensing box 2912 is provided with an opening and closing mechanism 2913. The side wall of the fruit-dispensing box 2912 is provided with a feeding hole 29121. The fruit-dispensing box 2912 is provided with an opening and closing cylinder 2914 connected to the opening and closing mechanism 2913. The opening and closing mechanism 2913 is in a closed state and an open state by the extension and contraction of the opening and closing cylinder 2914. Fruits are sequentially placed into the opening and closing mechanism 2913 of the fruit box 2912 through the feeding hole 29121. Since the fruit box 2912 is equipped with an opening and closing cylinder 2914 connected to the opening and closing mechanism 2913, the opening and closing mechanism 2913 can be in a closed state and an open state under the extension and contraction of the opening and closing cylinder 2914. When placing the fruit, first place the fruit box into the fruit box, and then simply open the opening and closing mechanism 2913 to realize the automatic flat placement of the fruit into the fruit box. Moreover, the fruit is placed one by one during the placement process, which effectively reduces the collision between the fruit and thus effectively improves the fruit placement efficiency and reduces damage to the fruit. In addition, the height of the fruit box 2912 can be adjusted by the lifting cylinder on the fruit box, thereby effectively adjusting the flat placement height of the fruit in the fruit box. Therefore, the entire lifting buffer bottom fruit placement device can be freely selected for single-layer and multi-layer, and has a wide coverage.

[0056] The opening and closing mechanism 2913 includes a bolt 29131 and two folding plates 29132. The bolt 29131 is provided with a first hinge 29133, which is disposed between the two folding plates 29132. The folding plates 29132 are provided with a fixing frame 29134, the fixing frame 29134 is provided with a mounting shaft 29135, the mounting shaft 29135 is provided with a roller 29136, and the bolt 29131 is provided with a connecting frame 29137 connected to the opening and closing cylinder 2914. The opening and closing mechanism 2913 is configured as a structure of bolt 29131 and a flip plate. Since the bolt 29131 is equipped with a first hinge 29133 connected to the flip plate and a connecting bracket 29137 connected to the opening and closing cylinder 2914, the bolt 29131 is driven to rise and fall by the lifting and lowering of the opening and closing cylinder 2914. Under the action of the first hinge 29133, the bolt 29131 can drive the flip plate to close and open. Specifically, when the opening and closing cylinder 2914 retracts, the bolt 29131 drives the flip plate 29132 to open. When the opening and closing cylinder 2914 extends, the bolt 29131 drives the flip plate to close. The roller 29136 can ensure the stability of the flip plate when it is opening and closing, and can quickly realize the opening and closing of the flip plate.

[0057] The working process of the fruit-dispensing device includes the following steps:

[0058] Step 1: Fruit loading process: The first lifting cylinder 2911 retracts, the opening and closing cylinder 2914 extends, the opening and closing mechanism 2913 is in the closed state, the folding plate 29132 is flush with the output channel, and the netted fruits 10 enter the fruit box 100 one by one from the output channel.

[0059] Step 2: Bottom layer fruit placement: Lifting cylinder 1 extends, fruit box 2912 enters the fruit box, opening and closing cylinder 2914 retracts, opening and closing mechanism 2913 is in the open state, folding plate 29132 rises, and the netted fruit slides from folding plate 29132 into the fruit box, where it is laid flat. The bottom layer of fruit placement is completed.

[0060] Step 3: Second-layer fruit placement: Repeat the fruit loading step. The fruit box 2912 is filled with netted fruit. The first lifting cylinder 2911 extends, but the extension amount is less than the extension amount of the bottom fruit placement step by one fruit diameter. Once the extension is complete, the first opening and closing cylinder 2914 retracts, the opening and closing mechanism 2913 is in the open state, the folding plate 29132 rises, and the netted fruit slides from the folding plate 29132 into the fruit box, where it is laid flat. At this point, the fruit is on the bottom layer, completing the second-layer fruit placement. A two-layer fruit box is now filled.

[0061] If the fruit box can hold multiple layers, step 3 can be repeated to achieve multiple layers of netted fruit laid flat and stacked in the fruit box.

[0062] like Figure 17 and Figure 18As shown, the unloading device 22 includes a fruit box hopper 221 and a second lifting cylinder 222. The second lifting cylinder 222 is mounted on a frame, and the fruit box hopper 221 is mounted on the second lifting cylinder 222. Specifically, a connecting plate connected to the fruit box hopper 221 is provided at the bottom end of the lifting cylinder 222, which increases the contact area between the lifting cylinder 222 and the fruit box hopper 221, improving the stability of the fruit box hopper 221 during lifting. A feed inlet 2211 is provided on one side of the fruit box hopper 221, and a discharge outlet 2212 is provided on the other side. A bottom plate 223 is provided at the bottom end of the fruit box hopper 221, and a tail plate 224 is rotatably connected to the bottom plate 223 on the side of the discharge outlet 2212. In this embodiment... The tail plate 224 is rotatably connected to the base plate 223 by a second hinge 227, ensuring the flexible rotation of the tail plate 224. A third tilting cylinder 226 is connected to the base plate 223 to drive it to tilt upwards. In this embodiment, the third tilting cylinder 226 is equipped with a top plate 2251, which increases the contact area with the base plate 223 and ensures the stability of the tilting of the base plate 223. A fourth tilting cylinder is connected to the tail plate 224 to drive it to open and close. When the tail plate 224 is open, its outer side wall is in contact with the ground; when the tail plate 224 is closed, its inner side wall is in contact with the outer side wall of the fruit box hopper 221. The tail plate 224 is equipped with a first flow strip 2241. The base plate 223 is provided with a second flow bar 2231 corresponding to the first flow bar 2241. The fruit box is conveyed to the fruit box hopper 221 through the feed inlet 2211. Since the base plate 223 is connected to a third tilting cylinder 226 for driving the base plate 223 to tilt upwards, the base plate 223 can form a first slope under the action of the third tilting cylinder 226, causing the fruit box to move close to the tail plate 224. At this time, the fruit box is restricted by the tail plate 224. Then, under the action of a fourth tilting cylinder, the outer wall of the tail plate 224 can be made to contact the ground, thus forming another slope between the base plate 223 and the tail plate 224. At this time, the fruit box is no longer restricted by the tail plate 224 and slides down under its own weight, thereby realizing the fruit box... The entire box placement process is energy-saving and has an adaptive function. Secondly, since the tail plate 224 is equipped with a first flow strip 2241, the efficiency of the fruit box sliding can be guaranteed, further improving the box placement efficiency and stability, and effectively reducing the damage to the fruit box. Then, the lifting cylinder 222 realizes the lifting of the fruit box hopper 221, thereby realizing the adaptive lifting of the fruit box hopper 221. It can be used for vehicle bodies of different heights, with a wide range of applications and high adaptability. The overall layout is compact and occupies a small area. In specific use, the fruit box hopper 221 is installed on the sports chassis vehicle. First, the lifting cylinder 222 is in the retracted state, the tail plate 224 is in the vertical state, the bottom plate 223 is in the horizontal state, and the cardboard box is placed from the opening side of the fruit box hopper 221.Then, the first tilting cylinder tilts upwards, causing the base plate 223 to tilt upwards and the tail plate 224 to tilt as well. At this time, the fruit box moves close to the tail plate 224 to prevent it from sliding out of the inlet. The lifting cylinder 222 extends to transport the fruit box. Once the fruit box hopper 221 is close to the ground, the lifting cylinder 222 stops moving, and the box delivery process ends. Next, the second tilting cylinder starts working, and the outer side of the tail plate 224 contacts the ground. Because the first tilting cylinder is in operation, the base plate 223 and the tail plate 224 form a slope. The fruit box slides down under its own weight, while the vehicle moves forward, and the fruit box is successfully placed on the ground. After the fruit box is placed on the ground, the second tilting cylinder 225 retracts and retracts the tail plate. The retraction of the first tilting cylinder returns the base plate to its initial horizontal position, and the second lifting cylinder retracts, waiting for the next fruit box to be placed.

[0063] The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.

Claims

1. An integrated robot for self-operated harvesting and packaging in orchards, comprising a walking chassis and a harvesting and packaging device, characterized in that: The harvesting and packing device includes a frame, an unloading device, a harvesting device, a fruit conveying device, a grading device, a netting device, a box-folding and sealing device, a control cabinet, and a box-packing and sorting device. The frame is mounted on a chassis, the unloading device is mounted on the rear side wall of the frame, and the harvesting device is mounted on the left and right side walls of the frame. The fruit conveying device, grading device, netting device, box-folding and sealing device, and box-packing and sorting device are all installed inside the frame. The control cabinet is mounted on the front arm of the frame. The chassis, unloading device, harvesting device, fruit conveying device, grading device, netting device, box-folding and sealing device, and box-packing and sorting device are all connected to the control cabinet. The fruit harvested by the harvesting device passes sequentially through the fruit conveying device, grading device, netting device, and box-packing and sorting device before being conveyed to the ground by the unloading device. The frame is equipped with an RTK system connected to the control cabinet; the boxing... The sorting device includes a sorting mechanism and a fruit-dispensing mechanism. The fruit-dispensing mechanism includes a first lifting cylinder and a fruit-dispensing box located at the bottom of the lifting cylinder. The first lifting cylinder is located inside the frame. The bottom of the fruit-dispensing box is provided with an opening and closing mechanism. The side wall of the fruit-dispensing box is provided with a feeding hole. The fruit-dispensing box is provided with an opening and closing cylinder connected to the opening and closing mechanism. The opening and closing mechanism is in a closed state and an open state by the extension and contraction of the opening and closing cylinder. The grading device includes a mounting bracket and several fruit trays. The mounting bracket is installed inside the frame. The fruit trays are installed on the mounting bracket. A first flipping cylinder is provided on the mounting bracket between two adjacent fruit trays. A fruit-splitting plate is provided on the first flipping cylinder. After being separated by the fruit-splitting plate, some of the smaller diameter fruits fall to the first fruit tray. The remaining larger diameter fruits are flipped by the first flipping cylinder and fall to the second fruit-splitting plate, and so on.

2. The orchard self-operating harvesting and packaging integrated robot according to claim 1, characterized in that: The harvesting device includes a camera, a robotic arm, and a gripper. The left and right walls of the frame are equipped with camera mounting brackets for mounting the camera and fixing plates for mounting the robotic arm. The gripper is mounted on the robotic arm. Both the camera and the robotic arm are connected to the control cabinet.

3. The orchard self-operating harvesting and packaging integrated robot according to claim 1, characterized in that: The fruit conveying device includes a side guide plate, a lifting mechanism, an upper guide plate, and a single fruit dropping mechanism. The side guide plate is installed on a frame below the fixed plate, the upper guide plate is located at the top of the frame, the lifting mechanism is located between the side guide plate and the upper guide plate, the side guide plate is provided with a flipping mechanism to flip the fruit onto the lifting mechanism, and the single fruit dropping mechanism is located at the discharge end of the upper guide plate.

4. The orchard self-operating harvesting and packaging integrated robot according to claim 1, characterized in that: The netting device includes a first support frame, a supply mechanism, a spreading mechanism, an opening and closing net feeding mechanism, a fruit net storage mechanism, a fruit receiving and feeding mechanism, and a heat-melting net cutting mechanism. The supply mechanism, spreading mechanism, opening and closing net feeding mechanism, fruit net storage mechanism, fruit receiving and feeding mechanism, and heat-melting net cutting mechanism are all mounted on the first support frame, which is located within a frame. The fruit net storage mechanism stores netting for attaching fruits. The opening and closing net feeding mechanism includes a suction cup for absorbing the netting, an opening and closing driver, and a lifting driver. The opening and closing driver controls the movement of the suction cup to spread the netting, and the lifting driver controls the movement of the suction cup between the spreading mechanism and the fruit net storage mechanism. The spreading mechanism includes a fruit guide hopper and a spreading assembly. The surface of the fruit guide hopper is provided with a buffer pad, and the fruit guide hopper is located below the supply mechanism. The lower end of the fruit guide hopper is connected to the spreading component, which is used to spread the net to allow the fruit to enter the net from the fruit guide hopper. The fruit receiving and feeding mechanism includes a fruit holding hopper, an output channel, and a fruit transfer driver. The fruit holding hopper is used to transport the netted fruit to the output channel, and the fruit transfer driver controls the fruit holding hopper to move between the spreading mechanism and the output channel. The supply mechanism includes a controller, which provides one fruit to the fruit guide hopper at a time. The heat-melting net-breaking mechanism is used to melt the net. The first support frame is equipped with a sensing mechanism, which includes a fruit drop sensor to detect whether the fruit has fallen into the fruit guide hopper, a net sensor to detect whether the net has been placed in the spreading component, a net feeding sensor to detect the position of the suction cup, and a fruit transfer sensor to detect whether the fruit holding hopper has moved to the output channel.

5. The orchard self-operating harvesting and packaging integrated robot according to claim 4, characterized in that: The supply mechanism also includes an input channel. The controller includes a first limiting cylinder and a second limiting cylinder, both used to close the input channel. The distance between the first limiting cylinder and the second limiting cylinder is greater than the width of one fruit and less than the sum of the widths of two fruits. The input channel is inclined, and the bottom end of the input channel is above the fruit guide hopper. The second limiting cylinder is downstream of the first limiting cylinder.

6. The orchard self-operating harvesting and packaging integrated robot according to claim 4, characterized in that: The opening mechanism includes a fixed support plate for positioning the guide basket, a movable support plate rotatably connected to the fixed support plate, and a rotary driver for driving the movable support plate to rotate. The opening assembly includes several slide rods, and the ends of the slide rods are provided with support rods for supporting the net sleeve. The slide rods have a closed position that brings the support rods together and an open position that moves the support rods apart to open the net sleeve. The rotary driver controls the movable support plate to rotate, thereby driving the slide rods to slide between the closed position and the open position. The fruit net storage mechanism includes a net storage tray support, a net storage tray for storing nets, and a guide component. The net storage tray is rotatably connected to the net storage tray support, and the guide component includes two guide wheels arranged opposite to each other, which clamp the nets.

7. The orchard self-operating harvesting and packaging integrated robot according to claim 1, characterized in that: The opening and closing mechanism includes a bolt and two folding plates. The bolt is provided with a first hinge, which is located between the two folding plates. The folding plates are provided with a fixing frame, the fixing frame is provided with an installation shaft, the installation shaft is provided with a roller, and the bolt is provided with a connecting frame connected to the opening and closing cylinder.

8. The orchard self-operating harvesting and packaging integrated robot according to claim 1, characterized in that: The unloading device includes a fruit box hopper and a second lifting cylinder. The second lifting cylinder is mounted on a frame, and the fruit box hopper is mounted on the second lifting cylinder. The fruit box hopper has an inlet on one side and an outlet on the other side. A bottom plate is provided at the bottom end of the fruit box hopper. A tail plate is rotatably connected to the bottom plate on the outlet side. A second tilting cylinder for driving the bottom plate to tilt upwards is connected to the bottom plate. A third tilting cylinder for driving the tail plate to open and close is connected to the tail plate. When the tail plate is open, its outer wall is in contact with the ground; when the tail plate is closed, its inner wall is in contact with the outer wall of the fruit box hopper. A first flow strip is provided on the tail plate, and a second flow strip corresponding to the first flow strip is provided on the bottom plate.

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