A mung bean picking robot

Abstract

The present application belongs to the technical field of crop picking, and particularly relates to a mung bean picking robot, which comprises a base, the side wall of the base is provided with a track assembly, the upper side wall of the base is fixedly connected with a mounting plate, the upper side wall of the mounting plate is fixedly connected with a mechanical arm, and the upper end side wall of the mechanical arm is connected with a camera. The present application can efficiently pick and harvest mung beans, reduces the time-consuming and labor-consuming process of manual picking and harvesting, improves the labor productivity, reduces the labor intensity, reduces the missing picking phenomenon caused by long-time work, reduces the damage to mung beans in the shelling process, automatically removes the leaves mixed in the bean pods when the mung beans are picked by the picking robot, takes out the mung beans from the bean pods at the same time of picking the bean pods, does not need to perform the shelling step in the later period, improves the working performance of the picking robot, and avoids the problem that the leaves and bean pods occupy the mung bean collecting bag.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of crop picking, and particularly relates to a mung bean picking robot. BACKGROUND

[0002] The mung bean is an annual herb, the pod is linear cylindrical, the seed is light green or yellowish brown, the flower period is early summer, the fruit period is from June to August, and the mung bean is cultivated in various regions of China. The mung bean usually grows in a cluster of several pods, and once it reaches the mature period, the pods will slowly crack open. When the mung bean is mature, it is usually picked by artificial harvesting, which is time-consuming and laborious, and the picking efficiency is low. For example, the mung bean picking robot disclosed in patent No. CN108901362B can automatically pick the mung bean efficiently and accurately after the mung bean is mature, thereby improving the mung bean picking efficiency.

[0003] The existing mung bean picking robot picks the mung bean by judging the position of the pod through an image recognition system, then picks the mature pod through a picking device and places it in a collection box for storage. Since the leaves and pods of the mung bean grow together, the leaves are easily picked together when the picking device is used to pick the pods. Not only does this occupy a large amount of space in the collection box, but it also increases the workload of the operator because the pods and leaves need to be sorted later. Moreover, the existing picking robot picks the mung bean together with the pod, which not only wastes a lot of time to take the mung bean out of the pod later, but also occupies a large amount of space in the collection box, thereby affecting the use efficiency of the collection box.

[0004] Therefore, the mung bean picking robot is proposed to solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide a mung bean picking robot to solve the above problems.

[0006] To achieve the above purpose, the following technical scheme is adopted: a mung bean picking robot, comprising a base, a track assembly is arranged on the side wall of the base, an installation plate is fixedly connected to the upper side wall of the base, a mechanical arm is fixedly connected to the upper side wall of the installation plate, a camera is connected to the upper end side wall of the mechanical arm, an automatic cutting assembly is fixedly connected to the upper end of the mechanical arm, a removal heating assembly is fixedly connected to the upper side wall of the installation plate through a support, a shelling assembly is arranged below the removal heating assembly, a classification collection assembly is fixedly connected to the lower side wall of the installation plate through a support, two collection bags are arranged below the classification collection assembly, the classification collection assembly is arranged below the shelling assembly, and a weighing assembly is fixedly connected to the lower side wall of the installation plate through a support.

[0007] Preferably, the automatic cutting assembly comprises a cross box and a threaded rod, the cross box is fixedly connected to the upper end of the mechanical arm, the threaded rod is rotatably connected to the inner wall of the cross box, the front side wall of the cross box is fixedly connected with a servo motor, the output end of the servo motor penetrates through the side wall of the cross box and is fixedly connected with the threaded rod, the rod wall of the threaded rod is threadedly sleeved with a threaded cylinder, the left side wall of the threaded cylinder is fixedly connected with a sliding plate, the left end of the sliding plate extends out of the cross box and is fixedly connected with an electric cutting head, the left side wall of the cross box is fixedly connected with a baffle, the rear side wall of the sliding plate is fixedly connected with a pressing plate through an elastic rod, the side walls of the pressing plate and the baffle are both provided with a cutting groove matched with the electric cutting head, and the camera is electrically connected with the image recognition system, the PLC controller and the mechanical arm, the electric cutting head and the servo motor.

[0008] Preferably, the cutting heating assembly comprises a heating cylinder and a feeding hopper, the heating cylinder is fixedly connected to the upper side wall of the mounting plate through a support, the feeding hopper is fixedly connected to the upper side wall of the heating cylinder, the lower side wall of the heating cylinder is fixedly connected with a first air pump, the lower side wall of the heating cylinder is fixedly connected with a heating box, and a heating wire is fixedly connected in the heating box, the gas outlet end of the first air pump is fixedly communicated with the side wall of the heating box, the side wall of the heating box away from the first air pump is fixedly communicated with an air outlet manifold, a first control valve is arranged in the air outlet manifold, cavities are arranged in the front and rear side walls of the heating box, and a plurality of heating holes are arranged in the side walls of the cavities, the two ends of the air outlet manifold are respectively communicated with the two cavities of the heating box, and the side wall of the heating box is communicated with a blowing pipe, the upper end of the blowing pipe is located on the upper side of the feeding hopper and is fixedly communicated with a blowing cover, a color recognition sensor is arranged in the inner wall of the feeding hopper, the color recognition sensor is electrically connected with the heating wire and the first control valve through the PLC controller, the side wall of the heating cylinder is fixedly connected with a pushing hydraulic cylinder, the output end of the pushing hydraulic cylinder is located in the heating cylinder and is fixedly connected with a pushing plate, and the right side wall of the heating cylinder is fixedly connected with a guide frame.

[0009] Preferably, the shelling assembly comprises a sieve plate and a roller, the upper side wall of the mounting plate is fixedly connected with a guide plate through a support, the sieve plate is fixedly connected to the upper side wall of the guide plate through a support, the sieve plate is in an arc structure, the side wall of the guide plate is fixedly connected with a driving motor, the roller is fixedly connected to the output end of the driving motor, a plurality of rubbing columns are fixedly connected to the outer wall of the roller, the lower end of the guide frame is located above the sieve plate, and the sieve plate and the roller are both arranged obliquely to the right, and the guide plate is arranged obliquely to the left.

[0010] Preferably, the classification collecting component includes a pod collecting cover and a mung bean collecting cover, the mung bean collecting cover is located below the guide plate and is fixedly connected through a support and a mounting plate, the pod collecting cover is fixedly connected to the left side of the mung bean collecting cover through a support, the lower side wall of the mounting plate is fixedly connected with a second air pump, the sidewall of the pod collecting cover is communicated with an air inlet cover, and a filter screen is arranged in the air inlet cover, the air inlet end of the second air pump is fixedly communicated with the sidewall of the air inlet cover, the air outlet end of the second air pump penetrates through the mounting plate and is fixedly communicated with a blowing cover, the air outlet end of the second air pump is communicated with two gas conveying pipes, a second control valve is arranged in the gas conveying pipe, the sidewall of the gas conveying pipe is fixedly communicated with a gas discharge pipe, and a third control valve is arranged in the gas discharge pipe, the outer walls of the pod collecting cover and the mung bean collecting cover are fixedly sleeved with rings, the outer walls of the rings are fixedly connected with retaining rings, the interiors of the two rings are each provided with a ring pipe, the lower ends of the two gas conveying pipes are respectively fixedly communicated with the upper side walls of the two ring pipes, the outer walls of the ring pipes are fixedly communicated with a plurality of air bags, the ends of the air bags away from the ring pipes are fixedly connected with moving plates, the moving plates are fixedly connected with the inner walls of the rings through springs, the sidewalls of the moving plates away from the air bags are fixedly connected with inserting nails, the inner walls of the retaining rings are fixedly connected with a plurality of inserting barrels matched with the inserting nails, the two collecting bags are respectively sleeved outside the pod collecting cover and the mung bean collecting cover, the inserting nails penetrating through the sidewalls of the rings are inserted into the inserting barrels.

[0011] Preferably, the weighing component includes a connecting table and two weighing plates, the connecting table is fixedly connected through a support and a mounting plate, the weighing plates are hingedly connected to the left and right sides of the connecting table, the upper side walls of the weighing plates are provided with weight sensors, the left and right sides of the connecting table are each provided with a horizontal groove, and an electric push rod is placed in the horizontal groove, the output end of the electric push rod extends out of the connecting table and is fixedly connected with a top wheel, the weight sensor and the electric push rod on the same side are electrically connected through a PLC controller, and the weight sensor and the third control valve on the same side are electrically connected through the PLC controller.

[0012] Preferably, the lower side wall of the ring pipe is fixedly communicated with a pressure relief pipe, and the lower end of the pressure relief pipe extends out of the ring, and a pressure valve is arranged in the pressure relief pipe.

[0013] Preferably, a tightening belt is arranged at the feeding port of the collecting bag, the lower side wall of the mounting plate and the support above the connecting table are each fixedly connected with a pull rope, the end of the pull rope is fixedly connected with a locking frame, the upper side wall of the locking frame is fixedly connected with a micro hydraulic cylinder, the output end of the micro hydraulic cylinder is fixedly connected with a locking pin, the lower end of the locking pin penetrates through the lower end of the collecting bag and the lower side wall of the locking frame, and the micro hydraulic cylinder and the weight sensor on the same side are electrically connected through a PLC controller.

[0014] Compared with the prior art, the mung bean picking robot has the advantages that:

[0015] 1. The base, track assembly, mounting plate, mechanical arm, camera, collection bag, automatic cutting assembly, reject heating assembly, shelling assembly and classification collection assembly are set, which can efficiently pick and harvest mung beans, reduce the time-consuming and labor-intensive link of manual picking and harvesting, improve labor productivity, reduce labor intensity, reduce the missed picking phenomenon caused by long-time work, and reduce the damage to mung beans during shelling.

[0016] 2. The reject heating assembly and the shelling assembly are set, which can automatically remove the leaves mixed in the pods when the mung beans are picked by the picking robot, and the mung beans can be taken out of the pods at the same time, so that the shelling step is not needed in the later period, the working performance of the picking robot is improved, and the problem of leaves and pods occupying the mung bean collection bag is avoided.

[0017] 3. The classification collection assembly is set, which can automatically separate and collect mung beans and pods after shelling, without the need for manual separation of pods and mung beans by an operator, thereby improving the working convenience of the operator.

[0018] 4. The reject heating assembly is set, which can automatically detect whether there are not fully matured black pods in the collected mung beans before shelling, and when not fully matured pods appear, the collected pods can be automatically heated to make the cellulose of the pods soft, so that the pods are more easily broken, facilitating the removal of mung beans. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structure diagram of a mung bean picking robot provided by the application;

[0020] Figure 2 is a moving position diagram of the mechanical arm driving the automatic cutting assembly in the mung bean picking robot provided by the application;

[0021] Figure 3 is a position relationship diagram of the pod collection cover and the mung bean collection cover in the mung bean picking robot provided by the application;

[0022] Figure 4 is a position relationship diagram of the gas inlet pipe and the gas outlet pipe in the mung bean picking robot provided by the application;

[0023] Figure 5 is an internal structure diagram of the ring in the mung bean picking robot provided by the application;

[0024] Figure 6 is a structure diagram of the reject heating assembly and the shelling assembly in the mung bean picking robot provided by the application;

[0025] Figure 7 is a schematic view of the positional relationship between the camera and the automatic cutting assembly in the mung bean picking robot provided by the present application;

[0026] Figure 8 is a schematic view of the surface structure of the locking frame in the mung bean picking robot provided by the present application;

[0027] Figure 9 is a schematic view of the structure of the automatic cutting assembly in the mung bean picking robot provided by the present application;

[0028] Figure 10 is a schematic view of the positional relationship between the air inlet cover and the filter screen in the mung bean picking robot provided by the present application;

[0029] Figure 11 is a schematic view of the structure of the weighing assembly in the mung bean picking robot provided by the present application.

[0030] In the figure: 1 base, 2 track assembly, 3 mounting plate, 4 mechanical arm, 5 camera, 6 collection bag, 7 automatic cutting assembly, 71 horizontal box, 72 threaded rod, 8 servo motor, 9 threaded cylinder, 10 sliding plate, 11 electric cutting head, 12 baffle, 13 pressing plate, 14 rejection heating assembly, 141 heating cylinder, 142 feeding hopper, 15 first air pump, 16 heating box, 17 air outlet manifold, 18 first control valve, 19 heating hole, 20 blowing pipe, 21 blowing cover, 22 color recognition sensor, 23 pushing hydraulic cylinder, 24 pushing plate, 25 guide frame, 26 shelling assembly, 261 sieve plate, 262 roller, 27 guide plate, 28 drive motor, 29 rubbing column, 30 classification and collection assembly, 301 pod collection cover, 302 mung bean collection cover, 31 second air pump, 32 air inlet cover, 33 filter screen, 34 air blowing cover, 35 air conveying pipe, 36 second control valve, 37 air discharge pipe, 38 third control valve, 39 ring, 40 blocking ring, 41 ring pipe, 42 air bag, 43 moving plate, 44 insertion nail, 45 insertion cylinder, 46 locking pin, 47 weighing assembly, 471 connecting table, 472 weighing plate, 48 weight sensor, 49 electric push rod, 50 top wheel, 51 pressure relief pipe, 52 pressure valve, 53 tightening belt, 54 pull rope, 55 locking frame, 56 miniature hydraulic cylinder. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application.

[0032] As Figures 1-11As shown, a kind of mung bean picking robot, including base 1, the side wall of base 1 is equipped with track assembly 2, the upper side wall of base 1 is fixedly connected with mounting plate 3, the upper side wall of mounting plate 3 is fixedly connected with mechanical arm 4, the upper end side wall wall of mechanical arm 4 is connected with camera 5, the upper end of mechanical arm 4 is fixedly connected with automatic cutting assembly 7, the upper side wall of mounting plate 3 is fixedly connected with rejecting heating assembly 14 by support, and the lower portion of rejecting heating assembly 14 is equipped with shelling assembly 26, the lower side wall of mounting plate 3 is fixedly connected with classification collection assembly 30 by support, and two collecting bags 6 are equipped below classification collection assembly 30, classification collection assembly 30 is below shelling assembly 26, and the lower side wall of mounting plate 3 is fixedly connected with weighing assembly 47 by support.

[0033] Automatic cutting assembly 7 includes cross box 71 and threaded rod 72, cross box 71 is fixedly connected to the upper end of mechanical arm 4, threaded rod 72 is rotatably connected to the inner wall of cross box 71, the front side wall of cross box 71 is fixedly connected with servo motor 8, the output end of servo motor 8 penetrates the side wall of cross box 71, and is fixedly connected with threaded rod 72, the rod wall of threaded rod 72 is threadedly sleeved with threaded cylinder 9, the left side wall of threaded cylinder 9 is fixedly connected with sliding plate 10, the left end of sliding plate 10 extends out of cross box 71, and is fixedly connected with electric cutting head 11, the left side wall of cross box 71 is fixedly connected with baffle 12, the rear side wall of sliding plate 10 is fixedly connected with pressing plate 13 by elastic rod, the side wall of pressing plate 13 and baffle 12 is all provided with cutting groove matched with electric cutting head 11, camera 5 is electrically connected with image recognition system, PLC controller and mechanical arm 4, electric cutting head 11, servo motor 8, can cut bean pod.

[0034] The reject heating assembly 14 comprises a heating cylinder 141 and a feeding hopper 142. The heating cylinder 141 is fixedly connected to the upper side wall of the mounting plate 3 through a support. The feeding hopper 142 is fixedly connected to the upper side wall of the heating cylinder 141. The lower side wall of the heating cylinder 141 is fixedly connected with a first air pump 15. The lower side wall of the heating cylinder 141 is fixedly connected with a heating box 16. The heating box 16 is fixedly connected with heating wires inside. The gas outlet end of the first air pump 15 is fixedly communicated with the side wall of the heating box 16. The side wall of the heating box 16 away from the first air pump 15 is fixedly communicated with an air outlet manifold 17. The air outlet manifold 17 is provided with a first control valve 18. The front and rear inner walls of the heating box 16 are both provided with cavities. A plurality of heating holes 19 are formed in the side walls of the cavities. The two ends of the air outlet manifold 17 are respectively communicated with the two cavities of the heating box 16. The side wall of the heating box 16 is communicated with a blowing pipe 20. The upper end of the blowing pipe 20 is located above the upper side of the feeding hopper 142 and is fixedly communicated with a blowing cover 21. The inner wall of the feeding hopper 142 is provided with a color recognition sensor 22. The color recognition sensor 22 is electrically connected with the heating wires and the first control valve 18 through a PLC controller. The side wall of the heating cylinder 141 is fixedly connected with a pushing hydraulic cylinder 23. The output end of the pushing hydraulic cylinder 23 is located in the heating cylinder 141 and is fixedly connected with a pushing plate 24. The right side wall of the heating cylinder 141 is fixedly connected with a guide frame 25. The guide frame 25 can automatically remove the leaves mixed in the bean pods.

[0035] The shelling assembly 26 comprises a sieve plate 261 and a roller 262. The upper side wall of the mounting plate 3 is fixedly connected with a guide plate 27 through a support. The sieve plate 261 is fixedly connected to the upper side wall of the guide plate 27 through a support. The sieve plate 261 is in an arc shape. The side wall of the guide plate 27 is fixedly connected with a driving motor 28. The roller 262 is fixedly connected to the output end of the driving motor 28. The outer wall of the roller 262 is fixedly connected with a plurality of rubbing columns 29. The lower end of the guide frame 25 is located above the sieve plate 261. The sieve plate 261 and the roller 262 are both inclined to the right. The guide plate 27 is inclined to the left. The green beans can be taken out from the bean pods. The shelling step is not needed in the later stage. The working performance of the picking robot is improved.

[0036] The classification collecting assembly 30 comprises a pod collecting cover 301 and a green bean collecting cover 302. The green bean collecting cover 302 is located below the guide plate 27 and is fixedly connected through the support and the mounting plate 3. The pod collecting cover 301 is fixedly connected to the left side of the green bean collecting cover 302 through the support. The lower side wall of the mounting plate 3 is fixedly connected with a second air pump 31. The side wall of the pod collecting cover 301 is communicated with an air inlet cover 32. The air inlet cover 32 is provided with a filter screen 33. The air inlet end of the second air pump 31 is fixedly communicated with the side wall of the air inlet cover 32. The air outlet end of the second air pump 31 penetrates through the mounting plate 3 and is fixedly communicated with a blowing cover 34. The air outlet end of the second air pump 31 is communicated with two air conveying pipes 35. The air conveying pipes 35 are provided with second control valves 36. The side walls of the air conveying pipes 35 are fixedly communicated with air release pipes 37. The air release pipes 37 are provided with third control valves 38. The outer walls of the pod collecting cover 301 and the green bean collecting cover 302 are fixedly provided with rings 39. The outer walls of the rings 39 are fixedly connected with retaining rings 40. The interiors of the two rings 39 are provided with ring pipes 41. The lower ends of the two air conveying pipes 35 are fixedly communicated with the upper side walls of the two ring pipes 41. The outer walls of the ring pipes 41 are fixedly communicated with a plurality of air bags 42. The ends, away from the ring pipes 41, of the air bags 42 are fixedly connected with moving plates 43. The moving plates 43 are fixedly connected with the inner walls of the rings 39 through springs. The side walls, away from the air bags 42, of the moving plates 43 are fixedly connected with plug nails 44. The inner walls of the retaining rings 40 are fixedly connected with a plurality of plug barrels 45 matched with the plug nails 44. Two collecting bags 6 are sleeved outside the pod collecting cover 301 and the green bean collecting cover 302. The plug nails 44, penetrating through the side walls of the rings 39, penetrate through the collecting bags 6 and are plugged into the plug barrels 45. The green beans and the bean pods can be automatically separated and collected. The operation personnel do not need to manually separate the green beans and the bean pods. The working convenience of the operation personnel is improved.

[0037] The weighing assembly 47 comprises a connecting table 471 and two weighing plates 472. The connecting table 471 is fixedly connected through the support and the mounting plate 3. The weighing plates 472 are hingedly connected to the left and right sides of the connecting table 471. The upper side walls of the weighing plates 472 are provided with weight sensors 48. The left and right sides of the connecting table 471 are provided with horizontal grooves. Electric push rods 49 are placed in the horizontal grooves. The output ends of the electric push rods 49 extend out of the connecting table 471 and are fixedly connected with top wheels 50. The weight sensor 48 and the electric push rod 49 located on the same side are electrically connected through a PLC controller. The weight sensor 48 and the third control valve 38 located on the same side are electrically connected through the PLC controller. When the weighing assembly 47 detects that the collecting bag 6 collects a certain weight of green beans or bean pods, an alarm can be triggered to remind the operation personnel to replace the collecting bag 6. The collected collecting bag 6 can be placed on the ground.

[0038] The lower side walls of the ring pipes 41 are fixedly communicated with pressure release pipes 51. The lower ends of the pressure release pipes 51 extend out of the rings 39. The pressure release pipes 51 are provided with pressure valves 52. When the pressure in the ring pipes 41 is too large, the gas in the ring pipes 41 can be discharged.

[0039] The inlet of the collection bag 6 is equipped with a tightening strap 53. The lower side wall of the mounting plate 3 and the bracket above the connecting platform 471 are all fixedly connected with a pull rope 54. The end of the pull rope 54 is fixedly connected with a locking frame 55. The upper side wall of the locking frame 55 is fixedly connected with a miniature hydraulic cylinder 56. The output end of the miniature hydraulic cylinder 56 is fixedly connected with a locking pin 46. The lower end of the locking pin 46 passes through the lower end of the collection bag 6 and through the lower side wall of the locking frame 55. The miniature hydraulic cylinder 56 and the weight sensor 48 located on the same side are electrically connected through a PLC controller, which can pack the collection bag 6.

[0040] The operating principle of this invention is explained as follows: The harvesting robot is placed in the mung bean field. Two collection bags 6 are then placed under the pod collection cover 301 and the mung bean collection cover 302, respectively, with the inlet of the collection bags 6 inserted into the retaining ring 40. The operator then controls the second air pump 31 and the two second control valves 36 to operate for four seconds via an external button. The second air pump 31 delivers gas through the air supply pipe 35 to the ring pipe 41 and the airbag 42, causing the airbag 42 to inflate. The airbag 42 then... The moving plate 43 moves, causing the pin 44 to extend out of the ring 39 and pass through the collection bag 6 into the insert 45. When the airbag 42 moves the moving plate 43 to the outermost position, the moving plate 43 will stop moving due to the obstruction of the inner wall of the ring 39, and the air supply pipe 35 will continue to supply gas into the ring pipe 41. When the gas in the ring pipe 41 rises to the threshold set by the pressure valve 52, the gas on the inner wall of the ring pipe 41 will be discharged from the pressure relief pipe 51 through the pressure valve 52. At this time, the collection bag 6 can be installed in the harvesting robot.

[0041] Then the operator controls the power system inside the picking robot through the external button (the power system is a mature existing technology) to control the track assembly 2 to work, and the track assembly 2 drives the picking robot to move on the set route. When the picking robot moves on the ground, the maturity and position of the mung bean pods are determined by the camera 5 and the image recognition system inside the picking robot (the image recognition system can analyze mature pods, which is a mature existing technology). When the picking robot moves to the position of the mature pods, the image recognition system controls the track assembly 2 to stop moving through the PLC controller. Then the PLC controller controls the mechanical arm 4 to drive the automatic cutting assembly 7 to move to the position of the mature pods, and makes the mature pods located between the baffle 12 and the pressing plate 13. Then the PLC controller controls the servo motor 8 and the electric cutting head 11 to work simultaneously. The servo motor 8 drives the threaded rod 72 to rotate, and drives the threaded cylinder 9 to move through the threaded cooperation. The threaded cylinder 9 drives the electric cutting head 11 and the pressing plate 13 to move together towards the direction of the pods and the baffle 12 through the sliding plate 10. The pods are clamped by the pressing plate 13 and the baffle 12, and then cut by the electric cutting head 11, so that the pods are separated from the roots, and clamped by the pressing plate 13 and the baffle 12. Then the mechanical arm 4 drives the pods to move above the feeding hopper 142. At this time, the PLC controller controls the first air pump 15 to work, and the first air pump 15 delivers external gas to the blowing hood 21 through the blowing pipe 20. Then the PLC controller controls the servo motor 8 to rotate in reverse, so that the pressing plate 13 and the baffle 12 are separated. The pods will fall into the heating cylinder 141 through the feeding hopper 142 under the action of gravity. When the pods are falling, the leaves mixed between the pods will be separated from above the feeding hopper 142 under the blowing of the blowing hood 21. Since the mung bean pods are squeezed together, some unripe pods will be mixed with the fully ripe pods, and when the pods fall into the feeding hopper 142, some unripe pods will be detected by the color recognition sensor 22 inside the feeding hopper 142 because their color is green. The color recognition sensor 22 is multiple and can detect unripe pods from multiple directions. When there are unripe pods, the color recognition sensor 22 will send an electric signal to the PLC controller. When the PLC controller receives the electric signal, the PLC controller will control the heating wire inside the heating box 16 and the first control valve 18 to work simultaneously. The gas delivered by the first air pump 15 will be heated and delivered to the heating cavity and discharged through the heating hole 19 to heat the pods falling into the heating cylinder 141, so that the cellulose of the pods becomes soft and is more likely to break, making it easier to take out the mung beans. The heating cylinder 141 is provided with a weight sensing structure (the weight sensing structure is a mature existing technology). When the weight of the pods on the weight sensing structure reaches a set value, the weight sensing structure will control the pushing hydraulic cylinder 23 to work through the PLC controller, so that the pushing hydraulic cylinder 23 drives the pushing plate 24 to move,The green beans in the heating cylinder 141 are all transported into the shelling assembly 26 by the pushing plate 24. When the PLC controller receives the signal transmitted by the weight sensing structure, the PLC controller controls the driving motor 28 and the second air pump 31 to work simultaneously for one minute.

[0042] The driving motor 28 drives the roller 262 to rotate, so that the roller 262 and the sieve plate 261 relatively move to form a rubbing action. When the green beans fall onto the surface of the sieve plate 261, the roller 262 rubs the green beans by the rubbing column 29 on the surface of the roller 262 when rotating, so that the mung beans in the green beans are rubbed off. The shelled mung beans fall onto the guide plate 27 through the sieve plate 261. The guide plate 27 is inclined to the left. The shelled mung beans and the crushed green beans slide downward in the guide plate 27. When the mung beans and the green beans fall from the guide plate 27, the air inlet cover 32 on the surface of the green bean collecting cover 301 is connected with the air inlet end of the second air pump 31, and the air outlet end of the second air pump 31 is connected with the air blowing cover 34. Therefore, the crushed green beans with light weight are blown into the green bean collecting cover 301. The mung beans are heavier than the crushed green beans. Under the action of gravity, the mung beans fall into the mung bean collecting cover 302 and are not blown by the gas. The mung beans fall into the collecting bag 6 on the right through the mung bean collecting cover 302. The green beans fall into the collecting bag 6 on the left in the green bean collecting cover 301, so that the green beans and the mung beans can be classified and collected.

[0043] The weight of the two collecting bags 6 will increase with the progress of the collection work. When the weight of one collecting bag 6 exceeds the threshold set by the weight sensor 48, the weight sensor 48 will send an electrical signal to the PLC controller. The PLC controller first controls the third control valve 38 to open, so that the gas in the ring pipe 41 and the air bag 42 is discharged through the air outlet pipe 37. When the gas in the air bag 42 is reduced, the moving plate 43 will retract the plug 44 under the pulling force of the spring, so that the plug 44 and the collecting bag 6 are separated. Then the PLC controller controls the electric push rod 49 on the same side to retract, and the electric push rod 49 drives the top wheel 50 to retract, so that the top wheel 50 and the weighing plate 472 are separated. The weighing plate 472 and the connecting table 471 are in a hinged state. When the top wheel 50 retracts, the weighing plate 472 will rotate downward under the action of gravity, so that the collecting bag 6 slides downward. The collecting bag 6 is located in the opposite direction of the movement of the picking robot, and will not affect the movement of the picking robot. The tightening belt 53 in the collecting bag 6 is hooked by the locking pin 46, and under the action of gravity, the locking pin 46 will pull the tightening belt 53 to tighten the collecting bag 6. Two seconds after the electric push rod 49 retracts, the PLC controller controls the micro hydraulic cylinder 56 to work once, the micro hydraulic cylinder 56 drives the locking pin 46 to separate from the tightening belt 53, so that the collecting bag 6 is separated. When the collecting bag 6 is separated from the device, the PLC controller controls the picking robot to stop working. When the operator re-installs a new collecting bag 6, the picking robot can continue to work.

[0044] The above description is only the preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mung bean harvesting robot, comprising a base (1), characterized in that, The base (1) has a track assembly (2) on its side wall. The upper side wall of the base (1) is fixedly connected to a mounting plate (3). The upper side wall of the mounting plate (3) is fixedly connected to a robotic arm (4). The upper side wall of the robotic arm (4) is connected to a camera (5). The upper end of the robotic arm (4) is fixedly connected to an automatic cutting assembly (7). The upper side wall of the mounting plate (3) is fixedly connected to a rejection heating assembly (14) via a bracket. Below the rejection heating assembly (14) is a shell removal assembly (26). The lower side wall of the mounting plate (3) is fixedly connected to a sorting and collection assembly (30) via a bracket. Below the sorting and collection assembly (30) are two collection bags (6). Located below the shelling assembly (26), the lower side wall of the mounting plate (3) is fixedly connected to a weighing assembly (47) via a bracket. The removal heating assembly (14) includes a heating cylinder (141) and a feeding hopper (142). The heating cylinder (141) is fixedly connected to the upper side wall of the mounting plate (3) via a bracket. The feeding hopper (142) is fixedly connected to the upper side wall of the heating cylinder (141). A first air pump (15) is fixedly connected to the lower side wall of the heating cylinder (141). A heating box (16) is fixedly connected to the lower side wall of the heating cylinder (141), and a heating wire is fixedly connected inside the heating box (16). The air outlet of the first air pump (15) is fixedly connected to the side wall of the heating box (16). 6) An exhaust manifold (17) is fixedly connected to the side wall away from the first air pump (15). The exhaust manifold (17) is equipped with a first control valve (18). The front and rear inner walls of the heating box (16) are provided with cavities, and the side walls of the cavities are provided with multiple heating holes (19). The two ends of the exhaust manifold (17) are respectively connected to the two cavities of the heating box (16). The side wall of the heating box (16) is connected to a blower pipe (20). The upper end of the blower pipe (20) is located on the upper side of the feed hopper (142) and is fixedly connected to a blower hood (21). The inner wall of the feed hopper (142) is provided with a color recognition sensor (22). The color recognition sensor (22) is connected to the PLC controller and the heating wire and the first control valve. (18) Electrical connection: A pusher hydraulic cylinder (23) is fixedly connected to the side wall of the heating cylinder (141). The output end of the pusher hydraulic cylinder (23) is located inside the heating cylinder (141) and is fixedly connected to a pusher plate (24). A guide frame (25) is fixedly connected to the right side wall of the heating cylinder (141). The sorting and collecting assembly (30) includes a pod collecting cover (301) and a mung bean collecting cover (302). The mung bean collecting cover (302) is located below the guide plate (27) and is fixedly connected to the bracket and the mounting plate (3). The pod collecting cover (301) is fixedly connected to the left side of the mung bean collecting cover (302) by the bracket. A second air pump (31) is fixedly connected to the lower side wall of the mounting plate (3).The side wall of the bean pod collecting cover (301) is connected to an air inlet cover (32), and a filter screen (33) is provided inside the air inlet cover (32). The air inlet end of the second air pump (31) is fixedly connected to the side wall of the air inlet cover (32). The air outlet end of the second air pump (31) passes through the mounting plate (3) and is fixedly connected to an air blowing cover (34). The air outlet end of the second air pump (31) is connected to two air supply pipes (35). A second control valve (36) is provided inside the air supply pipe (35). An air release pipe (37) is fixedly connected to the side wall of the air supply pipe (35), and a third control valve (38) is provided inside the air release pipe (37). The outer walls of the bean pod collecting cover (301) and the mung bean collecting cover (302) are both fixedly fitted with rings (39). A retaining ring (40) is fixedly connected to the outer wall of the rings (39). The two rings (39) are fixedly connected to the side wall of the mung bean collecting cover (301). The interior of each of the two gas pipes (35) is provided with a ring pipe (41). The lower ends of the two gas pipes (35) are fixedly connected to the upper side walls of the two ring pipes (41). The outer wall of the ring pipe (41) is fixedly connected to multiple airbags (42). The end of the airbag (42) away from the ring pipe (41) is fixedly connected to a movable plate (43). The movable plate (43) is fixedly connected to the inner wall of the ring (39) through a spring. The side wall of the movable plate (43) away from the airbag (42) is fixedly connected to a pin (44). The inner wall of the retaining ring (40) is fixedly connected to multiple inserts (45) that match the pins (44). The two collection bags (6) are respectively fitted outside the bean pod collection cover (301) and the mung bean collection cover (302). The pins (44) extend out of the side wall of the ring (39), pass through the collection bag (6), and are inserted into the inserts (45).

2. The mung bean harvesting robot according to claim 1, characterized in that, The automatic cutting assembly (7) includes a horizontal box (71) and a threaded rod (72). The horizontal box (71) is fixedly connected to the upper end of the robotic arm (4). The threaded rod (72) is rotatably connected to the inner wall of the horizontal box (71). A servo motor (8) is fixedly connected to the front side wall of the horizontal box (71). The output end of the servo motor (8) passes through the side wall of the horizontal box (71) and is fixedly connected to the threaded rod (72). A threaded cylinder (9) is threaded onto the rod wall of the threaded rod (72). A sliding plate (10) is fixedly connected to the left side wall of the threaded cylinder (9). The left end of the sliding plate (10) extends out of the horizontal box (71) and is fixedly connected to the electric cutting head (11). The left side wall of the horizontal box (71) is fixedly connected to the baffle (12). The rear side wall of the sliding plate (10) is fixedly connected to the pressure plate (13) through the elastic rod. The side walls of the pressure plate (13) and the baffle (12) are both provided with cutting grooves that match the electric cutting head (11). The camera (5) is electrically connected to the image recognition system, the PLC controller, the robotic arm (4), the electric cutting head (11), and the servo motor (8).

3. The mung bean harvesting robot according to claim 1, characterized in that, The shelling assembly (26) includes a sieve plate (261) and a roller (262). The upper side wall of the mounting plate (3) is fixedly connected to a guide plate (27) by a bracket. The sieve plate (261) is fixedly connected to the upper side wall of the guide plate (27) by a bracket. The sieve plate (261) has an arc-shaped structure. The side wall of the guide plate (27) is fixedly connected to a drive motor (28). The roller (262) is fixedly connected to the output end of the drive motor (28). The outer wall of the roller (262) is fixedly connected to multiple rubbing columns (29). The lower end of the guide frame (25) is located above the sieve plate (261). The sieve plate (261) and the roller (262) are both inclined to the right, and the guide plate (27) is inclined to the left.

4. The mung bean harvesting robot according to claim 1, characterized in that, The weighing assembly (47) includes a connecting platform (471) and two weighing plates (472). The connecting platform (471) is fixedly connected by a bracket and a mounting plate (3). The weighing plates (472) are hinged to the left and right sides of the connecting platform (471). The upper side wall of the weighing plate (472) is provided with a weight sensor (48). The left and right sides of the connecting platform (471) are provided with horizontal slots, and electric push rods (49) are placed in the horizontal slots. The output end of the electric push rod (49) extends out of the connecting platform (471) and is fixedly connected with a top wheel (50). The weight sensor (48) and the electric push rod (49) on the same side are electrically connected through a PLC controller. The weight sensor (48) and the third control valve (38) on the same side are electrically connected through a PLC controller.

5. A mung bean harvesting robot according to claim 1, characterized in that, The lower side wall of the ring pipe (41) is fixedly connected to a pressure relief pipe (51), and the lower end of the pressure relief pipe (51) extends out of the ring (39). A pressure valve (52) is provided inside the pressure relief pipe (51).

6. A mung bean harvesting robot according to claim 4, characterized in that, The inlet of the collection bag (6) is provided with a tightening strap (53). The lower side wall of the mounting plate (3) and the bracket above the connecting platform (471) are fixedly connected with a pull rope (54). The end of the pull rope (54) is fixedly connected with a locking frame (55). The upper side wall of the locking frame (55) is fixedly connected with a micro hydraulic cylinder (56). The output end of the micro hydraulic cylinder (56) is fixedly connected with a locking pin (46). The lower end of the locking pin (46) passes through the lower end of the collection bag (6) and through the lower side wall of the locking frame (55). The micro hydraulic cylinder (56) and the weight sensor (48) located on the same side are electrically connected through a PLC controller.

Images