Citrus picking end effector, multi-arm picking and collecting machine and picking method

Abstract

The present invention provides a citrus picking end effector, a multi-arm picking and collecting machine and a picking method, which are used to solve the problem that the citrus picking actuator in the prior art uses mechanical claws to pick citrus, which is easy to cause damage to the citrus and easy to fall off from the gaps between the mechanical claws. The mechanical arm and the extending picking device, the extending picking device includes a bracket rotatably mounted at the end of the mechanical arm, a shell horizontally arranged above the bracket, a shearing mechanism, an extending grasping mechanism and a power mechanism, the shell is provided with an extending groove along its length direction, and the power mechanism drives the extending grasping mechanism and the shearing mechanism to perform the picking action in linkage; the citrus picking end effector can not only improve the accuracy and reliability of picking, but also avoid the damage to the fruit or the separation from the gaps between the mechanical claws caused by the large picking force.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and in particular relates to a citrus picking end effector, a multi-arm picking and collecting machine and a picking method. Background Art

[0002] Citrus is one of the most important economic crops in the world. It is widely planted all over the world. It is the world's largest fruit and the world's third largest traded agricultural product. As one of the important origins of citrus, China has rich citrus resources and a variety of varieties, with huge production. In addition to being eaten, citrus is also in great demand for medicinal purposes and has high commercial value.

[0003] Traditional citrus picking mainly relies on manual labor, which is inefficient and costly, and the quality of picking is difficult to guarantee. As my country faces problems such as an aging population and a shortage of labor in agricultural production, the use of citrus picking machines can reduce labor costs, improve picking efficiency and operation quality, and has great development potential;

[0004] The harvesting end effector is one of the key components of the harvesting robot. Its design directly affects the damage rate and harvesting effect of the fruit during harvesting. Currently, most citrus harvesting actuators use mechanical claws for gripping and picking. This type of gripping force is large and can easily damage the citrus. In addition, due to the different sizes of citrus, it is easy for them to fall out of the gap between the mechanical claws, causing the fruit to break. Summary of the invention

[0005] In view of the shortcomings of the prior art described above, the object of the present invention is to provide a citrus picking end effector, a multi-arm picking and collecting machine and a picking method, which are used to solve the problem that the citrus picking actuator in the prior art uses mechanical claws for picking, which easily causes damage to the citrus and the citrus is easily dropped from the gaps between the mechanical claws.

[0006] In order to achieve the above-mentioned and other related purposes, the present invention provides a citrus picking end effector, comprising:

[0007] A mechanical arm and an extended picking device, wherein the extended picking device comprises a bracket rotatably mounted at the end of the mechanical arm, a shell horizontally arranged above the bracket, a shearing mechanism, an extended grabbing mechanism and a power mechanism, wherein the shell is provided with an extended slot along its length direction, and the power mechanism drives the extended grabbing mechanism and the shearing mechanism to perform a picking action in linkage;

[0008] The extending grasping mechanism comprises a protective cover, a plurality of skeletons, an elastic rod, a first elastic member, two suction cups, a flexible connector, a T-shaped column and a rotating power member, wherein one end of the protective cover is closed and the other end is open, and the open end of the protective cover is fixedly connected to the power mechanism, a plurality of skeletons are arranged at intervals along the movement direction of the power mechanism and the central part is penetrated on the elastic rod, the elastic rod is located in the protective cover, the two suction cups are respectively connected to the vacuum generator through a hose, the two suction cups are respectively arranged above one of the skeletons at the middle position of the plurality of skeletons arranged at intervals and above one of the skeletons located at the closed end of the protective cover, and both pass through the top of the protective cover, and the first elastic member is arranged between adjacent skeletons;

[0009] The flexible connector is located on the upper and lower sides of the elastic rod and connects multiple skeletons. The two ends of the flexible connector are respectively fixedly connected to the two ends of the horizontal part of the T-shaped column. The T-shaped column is rotatably installed on the power mechanism. The rotating power member drives the T-shaped column to rotate and pull the protective cover to bend up and down.

[0010] Optionally, the shearing mechanism comprises a fixed cutting knife arranged at the protruding notch, two movable cutting modules symmetrically arranged at both sides of the shell, and movable cutting knives fixedly mounted on the two movable cutting modules at both ends, and the fixed cutting knife and the movable cutting knife both extend along the width direction of the shell;

[0011] The dynamic cutting module includes a first arm with one end rotatably mounted on the power mechanism, a second arm with one end rotatably mounted on the side wall of the shell, a third arm with one end rotatably arranged on the side wall of the shell, and a roller vertically and rotatably mounted on the other end of the third arm, the first arm has a rolling groove, the roller rollingly cooperates with the rolling groove, and the other end of the second arm is rotatably connected to the side of the first arm.

[0012] Optionally, the power mechanism includes a threaded rod horizontally and rotatably installed in the shell, a guide rail horizontally and fixedly installed in the shell, a slider slidingly matched with the guide rail, a moving block threadably matched with the threaded rod, a movable plate arranged above the slider and the moving block, and a rotating power part driving the threaded rod to rotate, the open end of the protective cover is fixedly connected to the movable plate, the movable plate has a feed hole, the movable plate has a feed trough connected to the feed hole, the feed trough is inclined and is higher at one end close to the protective cover and lower at one end away from the protective cover.

[0013] Optionally, it further comprises a first conveying device, wherein the first conveying device is arranged obliquely;

[0014] The first delivery device comprises a first delivery pipe, a second delivery pipe, a third delivery pipe, a funnel, a ball head vertically and fixedly connected to one end of the first delivery pipe, a ball socket fixedly connected to the top of the input end of the funnel, and an adaptive power mechanism, the ball head matches the ball socket, the inner diameter of the first delivery pipe is larger than the outer diameter of the second delivery pipe and they are coaxially slidably matched, the inner diameter of the second delivery pipe is larger than the outer diameter of the third delivery pipe and they are coaxially slidably matched, and the third delivery pipe is connected to the power mechanism;

[0015] The adaptive power mechanism has two groups, and the two groups of the adaptive power mechanism are used to respectively control the length of the second delivery tube extending out of the first delivery tube and the length of the third delivery tube extending out of the second delivery tube.

[0016] Optionally, the adaptive power mechanism includes a spring, a rotating column rotatably arranged on the side wall of the first delivery pipe or the side wall of the second delivery pipe, one end of the spring is coaxially fixedly matched with the rotating column, and the other end of the spring is fixedly connected to the side wall of the second delivery pipe or the third delivery pipe away from the funnel;

[0017] And / or the adaptive power mechanism includes a coil spring, and the first delivery tube or the second delivery tube has an inwardly concave annular groove between the inner wall and the outer wall and along its own axial direction, the coil spring is fixedly connected to the bottom of the annular groove, and the other end of the coil spring is fixedly connected to the side wall of the second delivery tube or the third delivery tube away from the funnel.

[0018] A multi-arm picking and collecting machine, comprising at least two groups of the citrus picking end effectors;

[0019] It also includes a mobile chassis, and each of the mechanical arms is rotatably arranged on the upper edge of the mobile chassis;

[0020] A storage device, the storage device includes a vertical cylinder vertically and fixedly arranged above the mobile chassis, an energy dissipation mechanism for slowing down the falling speed of citrus in the vertical cylinder, an operating mechanism rotatably arranged above the mobile chassis, at least four groups of collecting mechanisms arranged above the operating mechanism and used for loading citrus transported from the energy dissipation mechanism, at least two groups of funnels on the citrus picking end effectors are rotatably arranged on the vertical cylinder from top to bottom, and the input end of the funnel is connected to the inside of the vertical cylinder through an output hole.

[0021] Optionally, the energy dissipation mechanism includes a fixed plate coaxially fixedly fitted on the vertical cylinder, a gas collecting cylinder coaxially fixedly fitted with the inner wall of the vertical cylinder, an air source, a conveying slide, a transfer slide, a first position sensor arranged below the funnel at the lowest end, and a second position sensor arranged above the gas collecting cylinder. The gas collecting cylinder is arranged above the fixed plate, and the gas collecting cylinder is provided with a trumpet through hole which is larger at the top and smaller at the bottom along its own axis, and a gas collecting cavity is formed between the trumpet through hole and the outer wall of the gas collecting cylinder, and the side wall of the trumpet through hole is provided with a plurality of inclined air outlet holes facing the central axis direction of the gas collecting cylinder and discharging air upward, one end of the conveying slide is connected with the lower end of the trumpet through hole, the conveying slide obliquely extends out of the vertical cylinder and is located above the collecting mechanism, one end of the transfer slide is connected with the other end of the conveying slide, and the outlet of the other end of the transfer slide is tangent to the rotation direction of the operating mechanism, the air source is fixedly mounted on the fixed plate and connected with the gas collecting cavity to supply air to the inclined air outlet holes, and the air source is controlled to be opened or closed by a solenoid valve.

[0022] Optionally, the operating mechanism includes a rotating disk rotatably arranged above the mobile chassis, a fixed gear coaxially fixedly engaged with the bottom of the vertical cylinder, an L-shaped frame, a rotating gear rotatably arranged on the side of the vertical part of the L-shaped frame, an annular rail coaxially fixedly installed above the fixed gear, a plurality of rollers rotatably arranged on the side of the vertical part of the L-shaped frame, and an operating power member driving the rotating gear to rotate, the end of the horizontal part of the L-shaped frame is fixedly connected to the rotating disk, a plurality of rollers are respectively rollingly engaged with the inner track and the outer track of the annular rail, the rotating gear is meshed with the fixed gear for transmission, and the rotating gear is driven to rotate by the operating power member to drive the rotating disk to make a circular motion around the vertical cylinder as the axis.

[0023] Optionally, the collecting mechanism includes a fixed plate hinged on the top of the operating mechanism, a collecting frame arranged on the fixed frame, and a second elastic member for resetting the fixed frame toward the central axis of the vertical cylinder and upward, the fixed plate is provided with limit plates around it to limit the shaking of the collecting frame, and the fixed plate is provided with a weight sensor.

[0024] A picking method of a multi-arm picking and collecting machine, using the multi-arm picking and collecting machine described above, comprises the following steps:

[0025] Path planning step: planning the walking path of the mobile chassis according to the path component and reaching the picking point, and the robotic arm entering the citrus picking range;

[0026] Identification, picking and conveying steps: the mechanical arm stretches and bends, and the recognition camera identifies the citrus. After the citrus is identified, it is fed back to the control system, and the control system issues a command to adjust the spatial position of the mechanical arm. The movement of the mechanical arm drives the first conveying tube, the second conveying tube and the third conveying tube to extend and retract to adaptively adjust the length. The power mechanism drives the extending grasping mechanism and the shearing mechanism to move. The extending grasping mechanism extends from the extending groove outside the shell to grasp the citrus. The power mechanism drives the extending grasping mechanism to retract to pull the citrus back and shears the citrus stem by linkage with the shearing mechanism. The citrus rolls into the feed hole through the inclined feed trough, passes through the third conveying tube, the second conveying tube and the first conveying tube to the funnel;

[0027] Buffering and energy dissipation step: the citrus rolls from the output hole into the interior of the vertical cylinder. When the first position sensor and the second position sensor both detect the citrus or when the first position sensor detects the citrus and the second position sensor does not detect the citrus and the set time has passed, the gas source controls the amount of gas blown out of the inclined air outlet through the solenoid valve, so that the citrus falls from the horn through hole into the conveying slide and rolls into the collection mechanism through the transfer slide.

[0028] Storage and collection step: After one of the collecting mechanisms reaches a set weight, the operating mechanism operates so that the other collecting mechanism is located below the transfer slideway, thereby continuously collecting.

[0029] As described above, the citrus picking end effector, multi-arm picking and collecting machine and picking method of the present invention have at least the following beneficial effects:

[0030] 1. The power mechanism drives the grabbing mechanism and the shearing mechanism to perform the picking action in linkage, which can not only quickly and accurately perform the picking action, reduce the picking time, improve the picking efficiency, but also achieve deeper picking of branches. When a suction cup above a skeleton located in the middle of multiple skeletons is extended to the bottom of the citrus, the rotating power member drives the T-column to rotate and pull the intervally arranged skeletons to bend upward from the closed end of the protective cover in sequence, and the second elastic member and the protective cover bend upward. The combination of the skeleton and the first elastic member allows a certain elastic deformation when grasping the citrus, which can better adapt to the irregularities of the surface of the citrus. The other suction cup moves to the surface of the citrus, and the two suction cups respectively vacuum the inside of the suction cup through the vacuum generator to suck the citrus, which can adapt to citrus of different sizes and shapes. The suction force generated by the vacuum generator can stably grasp the citrus, improve the accuracy and reliability of picking, and avoid damage to the fruit or separation from the gaps between the mechanical claws caused by strong picking force. The power mechanism is used to drive the extended grasping mechanism and the shearing mechanism to be linked. At this time, after the extended grasping mechanism grasps the citrus and retracts it into the shell, the shearing mechanism moves downward to shear the citrus branches. At the moment of shearing, the vacuum generator releases the suction cup, and the force on both sides of the branch direction and the extended grasping mechanism retraction direction is used to make the branch rebound and the citrus roll into the power mechanism to be transported downward.

[0031] 2. Through the extension adjustment of the robotic arm, the coaxial sliding fit design of the first conveying tube, the second conveying tube and the third conveying tube enables the first conveying device to adaptively adjust its length according to actual needs. The fit between the ball head and the ball socket ensures the connection stability of the conveying tube during the length adjustment process, while also allowing a certain angle of rotation, thereby improving practicality and adaptability.

[0032] 3. The vertical cylinder, energy dissipation mechanism, operating mechanism and collection mechanism cooperate with each other to efficiently collect and store the picked citrus. The energy dissipation mechanism slows down the falling speed of the citrus in the vertical cylinder to prevent the citrus from being damaged due to falling too fast, thus ensuring the quality of the citrus and facilitating storage. The operating mechanism and the collection mechanism work together to transport the citrus from the energy dissipation mechanism to the collection mechanism, realizing automatic collection and improving the efficiency and capacity of collection.

[0033] 4. Through the design of the first position sensor and the second position sensor, the position of the citrus in the energy dissipation mechanism can be monitored in real time. When the first position sensor detects that there are citrus passing through the bottom funnel, the control system can control the electromagnetic valve of the gas source to open according to this signal, supply gas to the gas collecting chamber, and the gas is discharged from the gas collecting chamber to each inclined outlet hole in the direction of the central axis of the gas collecting cylinder and upward, forming an upward airflow, which can not only produce an upward reaction force on the falling citrus, thereby reducing the falling speed of the citrus and playing the role of energy dissipation, but also make the citrus fall in the center and will not collide with the inner wall of the vertical cylinder to damage the citrus. When the second position sensor detects that the citrus reaches the top of the gas collecting cylinder or the second position sensor detects the citrus and exceeds the set time, the second sensor does not detect the citrus, proving that the citrus is a small fruit, the control system can adjust the gas supply of the gas source or close the electromagnetic valve according to this signal to achieve precise control of the energy dissipation process, ensuring that the citrus can smoothly and accurately roll from the horn through hole through the conveying slide and the transfer slide into the collection mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Shown is a schematic diagram of the three-dimensional structure of the present invention;

[0035] Figure 2 It shows a schematic diagram of the three-dimensional structure of the extending picking device of the present invention;

[0036] Figure 3 It shows a schematic diagram of the three-dimensional structure of the extending picking device of the present invention when it is opened;

[0037] Figure 4 It shows a schematic diagram of the three-dimensional structure of the extending picking device of the present invention when it is closed;

[0038] Figure 5 It is a schematic diagram of the three-dimensional structure of the shearing mechanism, the extending and grabbing mechanism and the power mechanism of the present invention;

[0039] Figure 6 It is a schematic diagram of the three-dimensional structure of the shearing mechanism, the extending and grasping mechanism and the power mechanism of the present invention in another viewing angle;

[0040] Figure 7 Shown is an exploded view of the extending and grabbing mechanism of the present invention;

[0041] Figure 8 It is a schematic diagram of the three-dimensional structure of the first conveying device of the present invention;

[0042] Fig. 9 Shown is a schematic diagram of a three-dimensional structure from another viewing angle of the present invention;

[0043] Fig.10 Shown is a schematic diagram of the three-dimensional structure of the energy dissipation mechanism of the present invention;

[0044] Fig.11 It is a schematic diagram of the coordinated three-dimensional structure of the energy dissipation mechanism, the operating mechanism and the collection mechanism of the present invention;

[0045] Fig.12 It is an enlarged view of part A of the present invention.

[0046] Component number description

[0047] Mechanical arm 1, extending picking device 2, bracket 21, shell 22, extending groove 221, shearing mechanism 23, fixed cutting knife 231, moving cutting module 232, first arm 2321, second arm 2322, third arm 2323, roller 2324, rolling groove 2325, moving cutting knife 233, extending grasping mechanism 24, protective cover 241, frame 242, elastic rod 243, first elastic member 244, suction cup 245, flexible connector 246, T-shaped column 247, rotating power member 248, power mechanism 25, threaded rod 251, guide rail 252, slider 253, moving block 254, moving plate 255, rotating power member 256, feeding hole 257, feeding trough 258, first conveying device 26, first conveying pipe 261, second conveying pipe 262, third conveying pipe 263, funnel 264, ball head 265, ball socket 266, adaptive power mechanism 267, spring spring 2671, rotating column 2672;

[0048] Mobile chassis 3, storage device 4, vertical cylinder 41, energy dissipation mechanism 42, fixed plate 421, gas collecting cylinder 422, gas source 423, conveying slide 424, transfer slide 425, first position sensor 426, second position sensor 427, horn through hole 428, inclined air outlet 429, solenoid valve 4210, operating mechanism 43, rotating plate 431, fixed gear 432, L-shaped frame 433, rotating gear 434, annular rail 435, roller 436, operating power member 437, collecting mechanism 44, fixed plate 441, collecting frame 442, second elastic member 443, limit plate 444, output hole 45;

[0049] Path component 5, recognition camera 6. DETAILED DESCRIPTION

[0050] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0051] See also Figures 1 to 12. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0052] The following embodiments are only for illustration purposes and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0053] In this embodiment, please refer to Figures 1 to 7 The present invention provides a citrus picking end effector, comprising:

[0054] A mechanical arm 1 and an extended picking device 2, wherein the extended picking device 2 comprises a bracket 21 rotatably mounted at the end of the mechanical arm 1, a shell 22 horizontally arranged above the bracket 21, a shearing mechanism 23, an extended grabbing mechanism 24 and a power mechanism 25. The extended grabbing mechanism 24 is always in a horizontal state when picking by rotating the bracket 21. The shell 22 is provided with an extended groove 221 along its length direction. The power mechanism 25 drives the extended grabbing mechanism 24 and the shearing mechanism 23 to perform a picking action in linkage, which can quickly and accurately perform the picking action, reduce the picking time, and improve the picking efficiency.

[0055] The extending grasping mechanism 24 includes a protective cover 241, a plurality of skeletons 242, an elastic rod 243, a first elastic member 244, two suction cups 245, a flexible connector 246, a T-shaped column 247 and a rotating power member 248. The protective cover 241 is closed at one end and open at the other end. The open end of the protective cover 241 is fixedly connected to the power mechanism 25. The shape of the protective cover 241 can be flexibly designed according to actual needs, and can be a tongue shape. The protective cover 241 is made of silicone material or a soft plastic material, has good flexibility and buffering performance, can reduce the pressure and friction on the citrus when grasping the citrus, thereby reducing the damage to the citrus during the picking process. The plurality of skeletons 242 are arranged at intervals along the movement direction of the power mechanism 25 and the central part It is penetrated on the elastic rod 243, and the elastic rod 243 is located in the protective cover 241. The two suction cups 245 are respectively connected to the vacuum generator through a hose. The two suction cups 245 are respectively arranged above a skeleton 242 in the middle position of the multiple skeletons 242 arranged at intervals and above a skeleton 242 located at the closed end of the protective cover 241, and both penetrate the top of the protective cover 241. The shape of the suction cup 245 can be deep or accordion-shaped, which is convenient for sucking citrus and improving applicability. The first elastic member 244 is arranged between adjacent skeletons 242. The first elastic member 244 can have multiple first elastic members 244, and the first elastic members 244 between adjacent skeletons 242 are symmetrically arranged. The first elastic member 244 is a spring or rubber;

[0056] The flexible connector 246 is located on the upper and lower sides of the elastic rod 243 and connects multiple skeletons 242. The two ends of the flexible connector 246 are respectively fixedly connected to the two ends of the horizontal part of the T-shaped column 247. The T-shaped column 247 is rotatably installed on the power mechanism 25. The rotating power component 248 drives the T-shaped column 247 to rotate and pull the protective cover 241 to bend up and down. The flexible connector 246 is a steel wire rope, a fiber belt or a rubber belt, and the rotating power component 248 is an electric motor or a hydraulic motor.

[0057] The power mechanism 25 drives the extended grasping mechanism 24 and the shearing mechanism 23 to perform the picking action in linkage, which can not only perform the picking action quickly and accurately, reduce the picking time, improve the picking efficiency, but also achieve deeper picking of branches. When a suction cup 245 above a skeleton 242 located in the middle of multiple skeletons 242 is extended to the bottom of the citrus, the rotating power member 248 drives the T-shaped column 247 to rotate and pull the skeletons 242 arranged at intervals to bend upward from the closed end of the protective cover 241 in sequence, and the second elastic member 443 and the protective cover 241 bend upward. The combination of the skeleton 242 and the first elastic member 244 allows a certain elastic deformation when grasping the citrus to better adapt to the irregularities of the citrus surface. The other suction cup 245 moves to the surface of the citrus, and the two suction cups 245 are respectively vacuumed by the vacuum generator to suck the citrus. The vacuum generator can adapt to citrus fruits of different sizes and shapes. The suction force generated by the vacuum generator can stably grasp the citrus fruits, thereby improving the accuracy and reliability of picking and avoiding damage to the fruits or detachment from the gaps between the mechanical claws due to strong picking force. The power mechanism 25 is used to drive the extended grasping mechanism 24 and the shearing mechanism 23 to work in conjunction. At this time, after the extended grasping mechanism 24 grasps the citrus fruits and retracts them into the shell 22, the shearing mechanism 23 moves downward to shear the citrus branches. At the moment of shearing, the vacuum generator releases the suction cup 245, and using the force on both sides of the branch direction and the retraction direction of the extended grasping mechanism 24, the branch bounces back and the citrus fruits roll into the power mechanism 25 to be transported downward.

[0058] In this embodiment, please refer to Figures 1 to 5 The shearing mechanism 23 includes a fixed cutting knife 231 arranged at the mouth of the extending groove 221, two movable cutting modules 232 symmetrically arranged on both sides of the shell 22, and movable cutting knives 233 respectively fixedly installed on the two movable cutting modules 232 at both ends, and the fixed cutting knife 231 and the movable cutting knife 233 both extend along the width direction of the shell 22; the movable cutting module 232 includes a first arm 2321 rotatably mounted on the power mechanism 25 at one end, a second arm 2322 rotatably mounted on the side wall of the shell 22 at one end, and a movable cutting knife 233 fixedly mounted on the two movable cutting modules 232 at one end. The third arm 2323 and the roller 2324 are vertically and rotatably mounted on the other end of the third arm 2323. The first arm 2321 is rotatably mounted on one side of the rear end of the movable plate 255. The side wall of the shell 22 has a movable groove for the movable cutting module 232 to move. The first arm 2321 has a rolling groove 2325, and the roller 2324 rolls with the rolling groove 2325. The other end of the second arm 2322 is rotatably connected to the side of the first arm 2321. The shell 22 has a sliding groove for one end of the first arm 2321 to slide.

[0059] Through the two moving cutting modules 232 symmetrically arranged on both sides of the housing 22, the moving cutting knife 233 is more balanced when subjected to force, avoiding damage or performance degradation caused by excessive force on one side. Through the rotation connection of the first arm 2321, the second arm 2322 and the third arm 2323, the flexible movement of the moving cutting knife 233 is realized, and the flexibility and adaptability of the work are improved. During operation, the first arm 2321, the second arm 2322 and the third arm 2323 are driven to move by the movement of the power mechanism 25, and the roller 2324 vertically and rotationally mounted on the other end of the third arm 2323 rolls in the rolling groove 2325, which can reduce friction and wear, improve operating efficiency and life, and the fixed cutting knife 231 and the moving cutting knife 233 cooperate with each other to achieve the shearing of branches.

[0060] In this embodiment, please refer to Figures 1 to 6 The power mechanism 25 includes a threaded rod 251 horizontally and rotatably installed in the housing 22, a guide rail 252 horizontally and fixedly installed in the housing 22, a slider 253 slidably matched with the guide rail 252, a motion block 254 threadedly matched with the threaded rod 251, a moving plate 255 arranged above the slider 253 and the motion block 254, and a rotating power member 256 driving the threaded rod 251 to rotate, wherein the rotating power member 256 is an electric motor or a hydraulic motor, and the opening end of the protective cover 241 is fixedly connected to the moving plate 255, wherein the opening of the protective cover 241 leaks out from the bottom of the moving plate 255, so that the flexible connector 246 can extend from the opening end of the protective cover 241, and the moving plate 255 has a feed hole 257, and the moving plate 255 has a feed trough 258 connected with the feed hole 257, and the feed trough 258 is inclined and is higher at one end close to the protective cover 241 and lower at one end away from the protective cover 241.

[0061] By driving the threaded rod 251 to rotate through the rotating power part 256, the rotational motion of the threaded rod 251 can be converted into the linear motion of the moving plate 255. The conversion is simple and efficient, which is conducive to reducing energy damage and friction. The sliding cooperation between the guide rail 252 and the slider 253 provides a stable support for the moving plate 255, which is conducive to preventing the moving plate 255 from tilting or shifting during movement. Through the design of the feed hole 257 and the feed trough 258 on the moving plate 255, the citrus captured by the extended grasping mechanism 24 can smoothly roll into the feed hole 257 from the inclined feed trough 258 under the action of its own gravity, which can avoid the accumulation of citrus and does not require additional external force drive, thereby improving the efficiency and convenience of feeding.

[0062] In this embodiment, please refer to Figure 1 and Figure 8, further comprising a first conveying device 26, wherein the first conveying device 26 is arranged obliquely, and the citrus can slide down naturally under the action of gravity, thereby reducing energy consumption during the conveying process;

[0063] The first delivery device 26 comprises a first delivery pipe 261, a second delivery pipe 262, a third delivery pipe 263, a funnel 264, a ball head 265 vertically and fixedly connected to one end of the first delivery pipe 261, a ball socket 266 fixedly connected to the top of the input end of the funnel 264, and an adaptive power mechanism 267. The ball head 265 cooperates with the ball socket 266. The inner diameter of the first delivery pipe 261 is larger than the outer diameter of the second delivery pipe 262 and they are coaxially slidably matched. The inner diameter of the second delivery pipe 262 is larger than the outer diameter of the third delivery pipe 263. The third conveying pipe 263 is connected to the power mechanism 25, and the third conveying pipe 263 is connected to the feed hole 257. The diameter of the third conveying pipe 263 is much larger than the diameter of the citrus, so that the citrus transportation requirements can be met and the citrus accumulation and blockage can be avoided; the adaptive power mechanism 267 has two groups, and the two groups of adaptive power mechanisms 267 are used to respectively control the length of the second conveying pipe 262 extending out of the first conveying pipe 261 and the length of the third conveying pipe 263 extending out of the second conveying pipe 262.

[0064] During operation, according to the extension adjustment of the robot arm 1, the coaxial sliding fit design of the first conveying tube 261, the second conveying tube 262 and the third conveying tube 263 allows the first conveying device 26 to adaptively adjust its length according to actual needs. The fit between the ball head 265 and the ball socket 266 ensures the connection stability of the conveying tube during the length adjustment process, while also allowing a certain angle of rotation, thereby improving practicality and adaptability. The adaptive power mechanism 267 controls the length of the second conveying tube 262 extending out of the first conveying tube 261 and the length of the third conveying tube 263 extending out of the second conveying tube 262, respectively. The length of the conveying tube can be accurately adjusted according to different working environments and conveying distances to achieve the best conveying effect.

[0065] In this embodiment, please refer to Figure 8The adaptive power mechanism 267 includes a spring 2671, a rotating column 2672 rotatably arranged on the side wall of the first delivery tube 261 or the side wall of the second delivery tube 262, one end of the spring 2671 is coaxially fixedly matched with the rotating column 2672, and the other end of the spring 2671 is fixedly connected to the side wall of the second delivery tube 262 or the third delivery tube 263 away from the funnel 264. The protective cover covers the spring 2671 on the rotating column 2672, and the other end of the spring 2671 passes through the protective cover and extends out of the protective cover; when working, when the robot arm 1 When extended, the first conveying tube 261, the second conveying tube 262 and the third conveying tube 263 are extended. At this time, the clockwork spring 2671 is stretched. When the robot arm 1 retracts, the clockwork spring 2671 uses its own elastic restoring force to pull the first conveying tube 261, the second conveying tube 262 and the third conveying tube 263 back to the appropriate length for conveying the citrus. Through the design of the clockwork spring 2671 and relying on the elastic potential energy of the clockwork spring 2671, the lengths of the first conveying tube 261, the second conveying tube 262 and the third conveying tube 263 can automatically adapt to different telescopic working requirements, thereby improving the practicality and flexibility of the first conveying device 26.

[0066] And / or the adaptive power mechanism 267 includes a coil spring, and the first conveying tube 261 or the second conveying tube 262 has an annular groove between the inner wall and the outer wall and along its own axial direction, and the coil spring is fixedly connected to the bottom of the annular groove, and the other end of the coil spring is fixedly connected to the side wall of the second conveying tube 262 or the third conveying tube 263 away from the funnel 264. During operation, when the robot arm 1 is extended, the first conveying tube 261, the second conveying tube 262 and the third conveying tube 263 are extended, and the coil spring is stretched at this time. When the robot arm 1 is retracted, the coil spring uses its own elastic restoring force to pull the first conveying tube 261, the second conveying tube 262 and the third conveying tube 263 back to a suitable length to transport citrus. Through the design of the coil spring, relying on the elastic potential energy of the coil spring, the length of the first conveying tube 261, the second conveying tube 262 and the third conveying tube 263 can automatically adapt to different telescopic working requirements, thereby improving the practicality and flexibility of the first conveying device 26.

[0067] In this embodiment, please refer to Figures 1 to 12 A multi-arm picking and collecting machine comprises at least two groups of the above-mentioned citrus picking end effectors; further comprises a mobile chassis 3, each of the mechanical arms 1 being rotatably arranged on the upper edge of the mobile chassis 3; the mobile chassis 3 may be crawler-type or wheel-type, and by at least two groups of citrus picking end effectors being arranged above the mobile chassis 3, multiple picking tasks can be performed simultaneously, thus saving manpower and time costs and significantly improving picking efficiency;

[0068] The storage device 4 includes a vertical cylinder 41 vertically and fixedly arranged above the mobile chassis 3, an energy dissipation mechanism 42 for slowing down the falling speed of citrus in the vertical cylinder 41, an operating mechanism 43 rotatably arranged above the mobile chassis 3, at least four groups of collecting mechanisms 44 arranged above the operating mechanism 43 and used to load citrus transported from the energy dissipation mechanism 42, at least two groups of the funnels 264 on the citrus picking end effectors are rotatably arranged on the vertical cylinder 41 from top to bottom, and the input end of the funnel 264 is connected to the inside of the vertical cylinder 41 through the output hole 45 to ensure that the picked citrus can smoothly roll slowly from the side wall of the funnel 264 into the vertical cylinder 41, and a protective film of silicone material or soft plastic material can be set on the inner wall of the vertical cylinder 41. The vertical cylinder 41, the energy dissipation mechanism 42, the operating mechanism 43 and the collecting mechanism 44 cooperate with each other to efficiently collect and store the picked citrus. The energy dissipation mechanism 42 slows down the falling speed of the citrus in the vertical cylinder 41, preventing the citrus from being damaged due to falling too fast, ensuring the quality of the citrus and facilitating storage. The operation mechanism 43 and the collection mechanism 44 work together to transport the citrus from the energy dissipation mechanism 42 to the collection mechanism 44, realizing automatic collection and improving the collection efficiency and capacity.

[0069] It also includes a path component 5, an identification camera 6 and a control system. The path component 5 is used to plan the walking path of the mobile chassis 3. The identification camera 6 is arranged on the top of the shell 22 to identify the position of citrus. The control system is connected with the power mechanism 25, the extending grasping mechanism 24, the mechanical arm 1, the energy dissipation mechanism 42, the operating mechanism 43, the collecting mechanism 44, the mobile chassis 3, the path component 5 and the identification camera 6. It can automatically adjust the working status and parameters of each component according to different working requirements and environmental conditions, thereby realizing the intelligent control of the entire picking and collecting machine and improving the automation degree and work efficiency of the multi-arm picking and collecting machine.

[0070] In this embodiment, please refer to Figures 9 to 11The energy dissipation mechanism 42 includes a fixed plate 421 coaxially fixedly matched on the vertical cylinder 41, a gas collecting cylinder 422 coaxially fixedly matched with the inner wall of the vertical cylinder 41, an air source 423, a conveying slide 424, a transfer slide 425, a first position sensor 426 arranged below the funnel 264 at the lowest end, and a second position sensor 427 arranged above the gas collecting cylinder 422. The gas source 423 includes a blower. The gas collecting cylinder 422 is arranged above the fixed plate 421. The gas collecting cylinder 422 is provided with a trumpet through hole 428 with a larger upper part and a smaller lower part along its own axis. The lower diameter of the trumpet through hole 428 is much larger than the diameter of the citrus. A gas collecting cavity is formed between the trumpet through hole 428 and the outer wall of the gas collecting cylinder 422. The side wall of the trumpet through hole 428 has a plurality of gas outlets facing the central axis direction of the gas collecting cylinder 422 and upward The inclined air outlet 429 can gradually reduce the aperture of the trumpet through hole 428 from top to bottom. One end of the conveying slide 424 is connected with the lower end of the trumpet through hole 428. The conveying slide 424 extends obliquely out of the vertical cylinder 41 and is located above the collecting mechanism 44, so that the citrus can smoothly slide into the collecting mechanism 44. One end of the transfer slide 425 is connected with the other end of the conveying slide 424. The outlet of the other end of the transfer slide 425 is tangent to the rotation direction of the operating mechanism 43, so that the citrus can enter the operating mechanism 43 more smoothly, further improving the collection efficiency. The air source 423 is fixedly installed on the fixed plate 421 and is connected with the air collecting chamber to supply air to the inclined air outlet 429. The air source 423 is controlled to be opened or closed by the solenoid valve 4210.

[0071] Through the design of the first position sensor 426 and the second position sensor 427, the position of the citrus in the energy dissipation mechanism 42 can be monitored in real time. When the first position sensor 426 detects that there are citrus passing through the bottom funnel 264, the control system can control the electromagnetic valve 4210 of the gas source 423 to open according to this signal, supplying gas to the gas collecting chamber, and the gas is discharged from the gas collecting chamber to each inclined gas outlet 429 toward the central axis of the gas collecting cylinder 422 and upward, forming an upward airflow, which can not only generate an upward reaction force on the falling citrus, thereby reducing the falling speed of the citrus and playing the role of energy dissipation, but also make the citrus fall in the center without colliding with the inner wall of the vertical cylinder 41. In order to prevent the citrus from being damaged by collision, when the second position sensor 427 detects that the citrus has reached the top of the gas collecting cylinder 422 or the second position sensor 427 has not detected the citrus and the set time has expired, the second sensor has not detected the citrus, proving that the citrus is a small fruit. The control system can adjust the gas supply of the gas source 423 or close the solenoid valve 4210 according to this signal, so as to achieve precise control of the energy dissipation process and ensure that the citrus can smoothly and accurately roll from the horn through hole 428 through the conveying slide 424 and the transfer slide 425 into the collection mechanism 44.

[0072] In this embodiment, please refer to Fig. 9 , Fig.11 and Fig.12 The operating mechanism 43 includes a rotating disk 431 rotatably arranged above the mobile chassis 3, a fixed gear 432 coaxially fixedly matched with the bottom of the vertical cylinder 41, an L-shaped frame 433, a rotating gear 434 rotatably arranged on the side of the vertical part of the L-shaped frame 433, a circular rail 435 coaxially fixedly installed above the fixed gear 432, a plurality of rollers 436 rotatably arranged on the side of the vertical part of the L-shaped frame 433, and an operating power member 437 driving the rotating gear 434 to rotate. The operating power member 437 includes an electric motor or a hydraulic motor. The end of the horizontal part of the L-shaped frame 433 is fixedly connected to the rotating disk 431, and a plurality of rollers 436 are respectively rollingly matched with the inner track and the outer track of the circular rail 435 to form the L The frame provides additional support and guidance, and the rolling of the roller 436 can reduce frictional resistance and improve stability. The rotating gear 434 meshes with the fixed gear 432 to provide stable and reliable power transmission. The transmission has the characteristics of high precision and accurate transmission ratio, ensuring that the rotating disk 431 can perform circular motion at a precise speed and angle. The rotating gear 434 is driven to rotate by the operating power member 437, driving the rotating disk 431 to perform circular motion with the vertical cylinder 41 as the axis.

[0073] During operation, the rotating gear 434 is driven to rotate by operating the power piece 437, driving the rotating disk 431 to make a circular motion with the vertical cylinder 41 as the axis. At this time, the roller 436 rolls with the inner track and the outer track of the annular track 435, and the rotating gear 434 is meshed with the fixed gear 432 for transmission. The rotating gear 434 makes a circular motion around the fixed gear 432, thereby realizing the conversion from one collecting mechanism 44 to another collecting mechanism 44.

[0074] In this embodiment, please refer to Fig. 9 and Fig.11 The collecting mechanism 44 includes a fixed plate 441 hinged on the top of the operating mechanism 43, a collecting frame 442 arranged on the fixed frame, and a second elastic member 443 for resetting the fixed frame toward the central axis direction of the vertical cylinder 41 and upward, the second elastic member 443 includes a spring, and the collecting frame 442 can be directly replaced with another one. The fixed plate 441 is provided with a limiting plate 444 around it to limit the shaking of the collecting frame 442. The limiting plate 444 can effectively limit the shaking of the collecting frame 442 when the rotating disk 431 rotates, thereby improving the stability of collection. The fixed plate 441 is provided with a weight sensor, and the weight sensor can monitor the weight of the citrus in the collecting frame 442 in real time, so that the control system can timely adjust the movement speed of the operating mechanism 43 and the position of the collecting mechanism 44.

[0075] During operation, the second elastic member 443 is not compressed initially, so that the fixed plate 441 is in an inclined state, and the outlet of the transfer slide 425 is parallel to the side wall of the collecting frame 442. The citrus transported by the transfer slide 425 rolls out from the outlet and rolls into the bottom of the collecting frame 442 along the side wall of the collecting frame 442, thereby reducing the contact force between the citrus and the bottom of the box and reducing the damage to the citrus from falling. When more and more citrus are collected, as the weight increases, the second elastic member 443 is in a compressed state until the set weight is reached, and the operating mechanism 43 works to adjust from one collecting mechanism 44 to another collecting mechanism 44.

[0076] In this embodiment, please refer to Figures 1 to 12 A picking method of a multi-arm picking and collecting machine, using the multi-arm picking and collecting machine described above, comprises the following steps:

[0077] Path planning step: planning the walking path of the mobile chassis 3 according to the path component 5 and reaching the picking point, and the robot arm 1 enters the citrus picking range;

[0078] Identification, picking and conveying steps: the robot arm 1 stretches and bends, and the recognition camera 6 identifies the citrus. After the citrus is identified, it is fed back to the control system, and the control system issues a command to adjust the spatial position of the robot arm 1. The movement of the robot arm 1 drives the first conveying tube 261, the second conveying tube 262 and the third conveying tube 263 to extend and retract to adaptively adjust the length. The power mechanism 25 drives the extended grasping mechanism 24 and the shearing mechanism 23 to move. The extended grasping mechanism 24 extends from the extended slot 221 outside the shell 22 to grasp the citrus. The power mechanism 25 drives the extended grasping mechanism 24 to retract to pull the citrus back and shears the citrus stem by linkage with the shearing mechanism 23. The citrus rolls into the feed hole 257 through the inclined feed slot 258, and passes through the third conveying tube 263, the second conveying tube 262 and the first conveying tube 261 to the funnel 264;

[0079] The threaded rod 251 is driven to rotate by the rotating power piece 256, so that the rotational motion of the threaded rod 251 can be converted into the linear motion of the moving plate 255, and the extending grasping mechanism 24 and the shearing mechanism 23 are driven at the same time. At this time, the extending grasping mechanism 24 extends out of the extending groove 221 from the housing 22, and the first arm 2321, the second arm 2322 and the third arm 2323 move. The roller 2324 vertically and rotationally mounted at the other end of the third arm 2323 rolls in the rolling groove 2325, and a suction cup 245 located above a skeleton 242 in the middle of the multiple skeletons 242 is extended to the bottom of the citrus. The movable T-shaped column 247 rotates and pulls the spaced skeletons 242 to bend upward from the closed end of the protective cover 241 in sequence, and the second elastic member 443 and the protective cover 241 bend upward. The combination of the skeleton 242 and the first elastic member 244 allows a certain elastic deformation when grasping the citrus to better adapt to the irregularities of the surface of the citrus. The other suction cup 245 moves to the surface of the citrus, and the two suction cups 245 are respectively vacuumed by the vacuum generator to suck the citrus, which can adapt to citrus of different sizes and shapes. The suction generated by the vacuum generator can stably grasp the citrus, thereby improving the accuracy and reliability of picking.

[0080] The threaded rod 251 is driven to rotate in the opposite direction by the rotating power member 256. At this time, the grasping mechanism 24 is extended to grasp the citrus and retracted into the housing 22. The shearing mechanism 23 moves downward, and the fixed cutting knife 231 and the movable cutting knife 233 cooperate with each other to shear the branches. At the moment of shearing, the vacuum generator releases the suction cup 245. The branches rebound by using the forces on both sides in the direction of the branches and the direction of the grasping mechanism 24 retracting. The citrus is fed from the feeding hole 257 and the feeding trough 258 on the movable plate 255 through the third conveying pipe 263, the second conveying pipe 262 and the first conveying pipe 261 to the funnel 264.

[0081] Buffering and energy dissipation step: the citrus rolls into the interior of the vertical cylinder 41 from the output hole 45. When the first position sensor 426 and the second position sensor 427 both detect the citrus or when the first position sensor 426 detects the citrus and the second position sensor 427 does not detect the citrus and the set time has passed, the gas source 423 controls the amount of gas blown out of the inclined air outlet 429 through the solenoid valve 4210, so that the citrus falls from the horn through hole 428 into the conveying slide 424 and rolls into the collecting mechanism 44 through the transfer slide 425.

[0082] Through the design of the first position sensor 426 and the second position sensor 427, the position of the citrus in the energy dissipation mechanism 42 can be monitored in real time. When the first position sensor 426 detects that the citrus passes through the bottom funnel 264, the control system can control the electromagnetic valve 4210 of the gas source 423 to open according to the signal, supplying gas to the gas collecting chamber, and the gas is discharged from the gas collecting chamber to each inclined gas outlet hole 429 toward the central axis direction of the gas collecting cylinder 422 and upward, forming an upward airflow, which can generate an upward reaction force on the falling citrus, thereby reducing the falling speed of the citrus and playing the role of energy dissipation. The citrus can be dropped in the middle without colliding with the inner wall of the vertical cylinder 41 and damaging the citrus. When the second position sensor 427 detects that the citrus has reached the top of the gas collecting cylinder 422 or the second position sensor 427 has not detected the citrus and the set time has passed, the second sensor has not detected the citrus, proving that the citrus is a small fruit. The control system can adjust the gas supply of the gas source 423 or close the solenoid valve 4210 according to this signal, so as to realize the precise control of the energy dissipation process and ensure that the citrus can be smoothly and accurately rolled from the horn through hole 428 through the conveying slide 424 and the transfer slide 425 into the collecting mechanism 44;

[0083] Storage and collection steps: After one of the collecting mechanisms 44 reaches a set weight, the operating mechanism 43 operates so that the other collecting mechanism 44 is located below the transfer slide 425, thereby continuously collecting.

[0084] In summary, the present invention drives the extended grasping mechanism 24 and the shearing mechanism 23 to perform the picking action in linkage through the power mechanism 25, which can not only quickly and accurately perform the picking action, reduce the picking time, improve the picking efficiency, but also achieve deeper picking of branches. When a suction cup 245 above a skeleton 242 located in the middle of the multiple skeletons 242 is extended to the bottom of the citrus, the rotating power member 248 drives the T-shaped column 247 to rotate and pull the skeletons 242 arranged at intervals to bend upward from the closed end of the protective cover 241 in sequence, and the second elastic member 443 and the protective cover 241 are bent upward. The combination of the skeleton 242 and the first elastic member 244 allows a certain elastic deformation to be achieved when grasping the citrus, so as to better adapt to the irregularities of the surface of the citrus. The other suction cup 245 moves to the surface of the citrus, and the two suction cups 245 are respectively vacuumed by the vacuum generator to suck the citrus, which can adapt to citrus of different sizes and shapes. The suction force generated by the vacuum generator can stably grasp the citrus, thereby improving the accuracy and reliability of picking, and avoiding damage to the fruit or detachment from the gap between the mechanical claws caused by strong picking force. The power mechanism 25 is used to drive the grasping mechanism 24 and the shear to extend. The cutting mechanism 23 is linked, and the grasping mechanism 24 is extended to grab the citrus and retracted into the shell 22. The shearing mechanism 23 moves downward to cut the citrus branches. At the moment of shearing, the vacuum generator releases the suction cup 245, and the branches rebound and the citrus rolls into the power mechanism 25 to be transported downward by utilizing the forces in the direction of the branches and the direction of the grasping mechanism 24 being extended and retracted. Through the extension and adjustment of the robotic arm 1, the coaxial sliding cooperation design of the first conveying tube 261, the second conveying tube 262 and the third conveying tube 263 allows the first conveying device 26 to adaptively adjust the length according to actual needs. The cooperation between the ball head 265 and the ball socket 266 ensures the connection stability of the conveying tube during the length adjustment process, while also allowing a certain angle of rotation, thereby improving practicality and adaptability. Through the cooperation of the vertical cylinder 41, the energy dissipation mechanism 42, the operating mechanism 43 and the collecting mechanism 44, the picked citrus can be efficiently collected and stored. The energy dissipation mechanism 42 slows down the falling speed of the citrus in the vertical cylinder 41, preventing the citrus from being damaged due to falling too fast, ensuring the quality of the citrus and facilitating storage. The operation mechanism 43 and the collection mechanism 44 work together to transport the citrus from the energy dissipation mechanism 42 to the collection mechanism 44, realizing automatic collection and improving the collection efficiency and capacity; through the design of the first position sensor 426 and the second position sensor 427, the position of the citrus in the energy dissipation mechanism 42 can be monitored in real time.When the first position sensor 426 detects that citrus has passed through the bottom funnel 264, the control system can control the solenoid valve 4210 of the gas source 423 to open according to the signal, supplying gas to the gas collecting chamber, and the gas is discharged from the gas collecting chamber to each inclined gas outlet 429 in the direction of the central axis of the gas collecting cylinder 422 and upward, forming an upward airflow, which can not only generate an upward reaction force on the falling citrus, thereby reducing the falling speed of the citrus and playing the role of energy dissipation, but also make the citrus fall in the center without colliding with the inner wall of the vertical cylinder 41. When the second position sensor 427 detects that the citrus has reached the top of the gas collecting cylinder 422 or the second position sensor 427 has not detected the citrus and the set time has passed, the second sensor has not detected the citrus, proving that the citrus is a small fruit, the control system can adjust the gas supply of the gas source 423 or close the solenoid valve 4210 according to this signal, to achieve precise control of the energy dissipation process, and ensure that the citrus can be smoothly and accurately rolled from the horn through hole 428 through the conveying slide 424 and the transfer slide 425 into the collection mechanism 44. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has a high industrial utilization value.

[0085] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A citrus picking end effector, characterized in that: include: A mechanical arm and an extended picking device, wherein the extended picking device comprises a bracket rotatably mounted at the end of the mechanical arm, a shell horizontally arranged above the bracket, a shearing mechanism, an extended grabbing mechanism and a power mechanism, wherein the shell is provided with an extended slot along its length direction, and the power mechanism drives the extended grabbing mechanism and the shearing mechanism to perform a picking action in linkage; The extending grasping mechanism comprises a protective cover, a plurality of skeletons, an elastic rod, a first elastic member, two suction cups, a flexible connector, a T-shaped column and a rotating power member, wherein one end of the protective cover is closed and the other end is open, and the open end of the protective cover is fixedly connected to the power mechanism, a plurality of skeletons are arranged at intervals along the movement direction of the power mechanism and the central part is penetrated on the elastic rod, the elastic rod is located in the protective cover, the two suction cups are respectively connected to the vacuum generator through a hose, the two suction cups are respectively arranged above one of the skeletons at the middle position of the plurality of skeletons arranged at intervals and above one of the skeletons located at the closed end of the protective cover, and both pass through the top of the protective cover, and the first elastic member is arranged between adjacent skeletons; The flexible connector is located at the upper and lower sides of the elastic rod and connects the multiple frames. The two ends of the flexible connector are respectively fixedly connected to the two ends of the horizontal part of the T-shaped column. The T-shaped column is rotatably mounted on the power mechanism. The rotating power member drives the T-shaped column to rotate and pull the protective cover to bend up and down. It also includes a first conveying device, wherein the first conveying device is arranged obliquely; The first delivery device comprises a first delivery pipe, a second delivery pipe, a third delivery pipe, a funnel, a ball head vertically and fixedly connected to one end of the first delivery pipe, a ball socket fixedly connected to the top of the input end of the funnel, and an adaptive power mechanism, the ball head matches the ball socket, the inner diameter of the first delivery pipe is larger than the outer diameter of the second delivery pipe and they are coaxially slidably matched, the inner diameter of the second delivery pipe is larger than the outer diameter of the third delivery pipe and they are coaxially slidably matched, and the third delivery pipe is connected to the power mechanism; The adaptive power mechanism has two groups, and the two groups of the adaptive power mechanism are used to respectively control the length of the second delivery pipe extending out of the first delivery pipe and the length of the third delivery pipe extending out of the second delivery pipe; The adaptive power mechanism comprises a spring, a rotating column rotatably arranged on the side wall of the first delivery pipe or the side wall of the second delivery pipe, one end of the spring is coaxially fixedly matched with the rotating column, and the other end of the spring is fixedly connected to the side wall of the second delivery pipe or the third delivery pipe away from the funnel; And / or the adaptive power mechanism includes a coil spring, and the first delivery tube or the second delivery tube has an inwardly concave annular groove between the inner wall and the outer wall and along its own axial direction, the coil spring is fixedly connected to the bottom of the annular groove, and the other end of the coil spring is fixedly connected to the side wall of the second delivery tube or the third delivery tube away from the funnel.

2. The citrus picking end effector according to claim 1, characterized in that: The shearing mechanism comprises a fixed cutting knife arranged at the protruding notch, two movable cutting modules symmetrically arranged at both sides of the shell, and movable cutting knives fixedly mounted on the two movable cutting modules at both ends, and the fixed cutting knife and the movable cutting knife both extend along the width direction of the shell; The dynamic cutting module includes a first arm with one end rotatably mounted on the power mechanism, a second arm with one end rotatably mounted on the side wall of the shell, a third arm with one end rotatably arranged on the side wall of the shell, and a roller vertically and rotatably mounted on the other end of the third arm, the first arm has a rolling groove, the roller rollingly cooperates with the rolling groove, and the other end of the second arm is rotatably connected to the side of the first arm.

3. The citrus picking end effector according to claim 1, characterized in that: The power mechanism includes a threaded rod horizontally and rotatably installed in the shell, a guide rail horizontally and fixedly installed in the shell, a slider slidingly matched with the guide rail, a moving block threadably matched with the threaded rod, a moving plate arranged above the slider and the moving block, and a rotating power part driving the threaded rod to rotate. The open end of the protective cover is fixedly connected to the moving plate, a feed hole is provided on the moving plate, and a feed trough connected to the feed hole is provided on the moving plate. The feed trough is inclined and is higher at one end close to the protective cover and lower at another end away from the protective cover.

4. A multi-arm picking and collecting machine, characterized in that: Comprising at least two sets of citrus picking end effectors as described in claim 3; It also includes a mobile chassis, and each of the mechanical arms is rotatably arranged on the upper edge of the mobile chassis; A storage device, the storage device includes a vertical cylinder vertically and fixedly arranged above the mobile chassis, an energy dissipation mechanism for slowing down the falling speed of citrus in the vertical cylinder, an operating mechanism rotatably arranged above the mobile chassis, at least four groups of collecting mechanisms arranged above the operating mechanism and used for loading citrus transported from the energy dissipation mechanism, at least two groups of funnels on the citrus picking end effectors are rotatably arranged on the vertical cylinder from top to bottom, and the input end of the funnel is connected to the inside of the vertical cylinder through an output hole.

5. The multi-arm picking and collecting machine according to claim 4, characterized in that: The energy dissipation mechanism includes a fixed plate coaxially fixedly fitted on the vertical cylinder, a gas collecting cylinder coaxially fixedly fitted with the inner wall of the vertical cylinder, an air source, a conveying slide, a transfer slide, a first position sensor arranged below the funnel at the lowest end, and a second position sensor arranged above the gas collecting cylinder. The gas collecting cylinder is arranged above the fixed plate, and the gas collecting cylinder is provided with a trumpet through hole which is larger at the top and smaller at the bottom along its own axis, and a gas collecting cavity is formed between the trumpet through hole and the outer wall of the gas collecting cylinder, and the side wall of the trumpet through hole is provided with a plurality of inclined air outlet holes facing the central axis direction of the gas collecting cylinder and discharging air upward, one end of the conveying slide is connected with the lower end of the trumpet through hole, the conveying slide obliquely extends out of the vertical cylinder and is located above the collecting mechanism, one end of the transfer slide is connected with the other end of the conveying slide, and the outlet of the other end of the transfer slide is tangent to the rotation direction of the operating mechanism, the air source is fixedly mounted on the fixed plate and connected with the gas collecting cavity to supply air to the inclined air outlet holes, and the air source is controlled to be opened or closed by a solenoid valve.

6. The multi-arm picking and collecting machine according to claim 4, characterized in that: The operating mechanism includes a rotating disk rotatably arranged above the mobile chassis, a fixed gear coaxially fixedly matched with the bottom of the vertical cylinder, an L-shaped frame, a rotating gear rotatably arranged on the side of the vertical part of the L-shaped frame, an annular rail coaxially fixedly installed above the fixed gear, a plurality of rollers rotatably arranged on the side of the vertical part of the L-shaped frame, and an operating power member driving the rotating gear to rotate, the end of the horizontal part of the L-shaped frame is fixedly connected to the rotating disk, a plurality of rollers are respectively rollingly matched with the inner track and the outer track of the annular rail, the rotating gear is meshed with the fixed gear for transmission, and the rotating gear is driven to rotate by the operating power member to drive the rotating disk to make a circular motion with the vertical cylinder as the axis.

7. The multi-arm picking and collecting machine according to claim 4, characterized in that: The collecting mechanism includes a fixed plate hinged on the top of the operating mechanism, a collecting frame arranged on the fixed plate, and a second elastic member for resetting the fixed plate toward the central axis of the vertical cylinder and upward, the fixed plate is provided with limiting plates around it for limiting the shaking of the collecting frame, and the fixed plate is provided with a weight sensor.

8. A picking method for a multi-arm picking and collecting machine, characterized in that: Using the multi-arm picking and collecting machine according to claim 5 comprises the following steps: Path planning step: planning the walking path of the mobile chassis according to the path component and reaching the picking point, and the robotic arm entering the citrus picking range; Identification, picking and conveying steps: the mechanical arm stretches and bends, and the recognition camera identifies the citrus. After the citrus is identified, it is fed back to the control system, and the control system issues a command to adjust the spatial position of the mechanical arm. The movement of the mechanical arm drives the first conveying tube, the second conveying tube and the third conveying tube to extend and retract to adaptively adjust the length. The power mechanism drives the extending grasping mechanism and the shearing mechanism to move. The extending grasping mechanism extends from the extending groove outside the shell to grasp the citrus. The power mechanism drives the extending grasping mechanism to retract to pull the citrus back and shears the citrus stem by linkage with the shearing mechanism. The citrus rolls into the feed hole through the inclined feed trough, passes through the third conveying tube, the second conveying tube and the first conveying tube to the funnel; Buffering and energy dissipation step: the citrus rolls from the output hole into the interior of the vertical cylinder. When the first position sensor and the second position sensor both detect the citrus or when the first position sensor detects the citrus and the second position sensor does not detect the citrus and the set time has passed, the gas source controls the amount of gas blown out of the inclined air outlet through the solenoid valve, so that the citrus falls from the horn through hole into the conveying slide and rolls into the collection mechanism through the transfer slide. Storage and collection step: After one of the collecting mechanisms reaches a set weight, the operating mechanism operates so that the other collecting mechanism is located below the transfer slide, thereby continuously collecting.

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