Picking manipulator

Abstract

The invention provides a picking manipulator which comprises a mechanical arm, a machine frame arranged on the mechanical arm, two clamping jaws arranged on the machine frame in a sliding mode and a driving device arranged on the machine frame, and the driving device can drive the two clamping jaws to be close to or away from each other so as to clamp fruits to be picked. A groove is formed in the inner side of each clamping jaw, a wrapping mechanism is arranged in each groove, a cutting unit is arranged on each clamping jaw, and when the driving device drives the two clamping jaws to get close to each other, the two cutting units can be matched with each other to cut off stems of fruits. And meanwhile, the two wrapping mechanisms can flexibly abut against and wrap the fruits. According to the picking mechanical arm, through cooperative arrangement of the clamping jaw and the wrapping mechanism, fruits can be stably clamped, and meanwhile surface damage of the fruits is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of fruit picking, and in particular to a picking manipulator. Background Art

[0002] Fruit is a common food in our daily life. my country is also the world's largest fruit consumer. With the rapid development of the fruit planting industry, the mechanization and automation of the fruit planting industry has become a development trend. At present, fruit picking usually requires manual picking one by one, which has low collection efficiency and high labor intensity for workers. As an innovative technology in modern agriculture, robot fruit picking can improve picking efficiency, reduce the labor intensity of workers, and alleviate the problem of agricultural labor shortage.

[0003] In order to solve the above problems, existing picking robots are usually equipped with manipulators suitable for picking. However, when picking fruits, the existing manipulators often have problems such as too small clamping force to pick the fruits, or too large clamping force to damage the surface of the fruits, which makes it difficult to meet the picking needs. Summary of the invention

[0004] In view of this, the present invention aims to provide a picking robot that can stably clamp fruits while avoiding surface damage of the fruits.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] A picking manipulator comprises a mechanical arm, a frame arranged on the mechanical arm, two clamping claws slidably arranged on the frame, and a driving device arranged on the frame, wherein the driving device can drive the two clamping claws to move closer to or farther from each other to clamp the fruit to be picked;

[0007] A groove is provided on the inner side of each of the clamping jaws, and a wrapping mechanism is provided in each of the grooves, and a cutting unit is provided on each of the clamping jaws;

[0008] When the driving device drives the two clamping claws to approach each other, the two cutting units can cooperate with each other to cut off the fruit stems of the fruits, and at the same time, the two wrapping mechanisms can flexibly abut and wrap the fruits.

[0009] Furthermore, each of the wrapping mechanisms includes an elastic sheet arranged in the corresponding groove, the elastic sheet blocks the groove, and the elastic sheet can abut against the fruit and generate deformation to form a flexible wrapping for the fruit.

[0010] Furthermore, the two grooves are connected to an inflation device, and the inflation device is used to inflate air into each groove so that the corresponding elastic sheet can tightly wrap the fruit.

[0011] Further, each of the wrapping mechanisms includes a first roller group disposed in the corresponding groove, and a belt wound around the first roller group, and the first roller group includes an active roller for driving the belt;

[0012] When the two clamps clamp the fruit, the two belts can tightly wrap the fruit under the tension of the corresponding first roller group, and the two belts can synchronously drive the fruit to move toward one side of the mechanical arm under the drive of the corresponding active roller.

[0013] Furthermore, the first roller group includes an upper guide roller assembly and a guide roller assembly disposed in the groove, the upper guide roller assembly, the guide roller assembly and the active roller are arranged at intervals, and the upper guide roller assembly and the guide roller assembly are arranged up and down near the notch of the groove.

[0014] Furthermore, the guide roller assembly includes a guide roller slidably arranged along the moving direction of the clamping jaw, and a first elastic member arranged between the guide roller and the corresponding clamping jaw, and the first elastic member extends along the sliding direction of the guide roller.

[0015] Further, the wrapping mechanism includes a second roller group and a tensioning assembly disposed in the corresponding groove, and a belt wound on the second roller group, and the second roller group includes an active roller for driving the belt;

[0016] When the two clamps clamp the fruit, the two belts can tightly wrap the fruit under the tension of the corresponding tensioning components, and the two belts can synchronously drive the fruit to move toward one side of the mechanical arm under the drive of the corresponding active rollers.

[0017] Further, the tensioning assembly includes two tensioning parts arranged on both sides of the belt;

[0018] The tensioning part includes a connecting member arranged on the corresponding groove, a pair of guide wheels rotatably arranged on the connecting member, and a second elastic member arranged between the connecting member and the corresponding groove, the second elastic member extends along the axis direction of the active roller, and the edge of the belt corresponding to the tensioning part is clamped between the two guide wheels;

[0019] When the belt wraps the fruit, it can drive the connecting member to move toward the side of the fruit through the two guide wheels to compress the second elastic member and tighten the belt. When the fruit moves out of the wrapping mechanism, the second elastic member releases energy and stretches to drive the connecting member and the belt back to their original positions.

[0020] Furthermore, a connection box is also provided on the frame, a cloth bag connecting the bottoms of the two clamps is provided on the top of the connection box, and a conveying pipe is connected to the bottom of the connection box;

[0021] The fruits can enter the conveying tube through the cloth bag and the connecting box.

[0022] Furthermore, the connection box and the delivery tube are both provided with airbags, and the airbags in the delivery tube are multiple and spaced apart along the extension direction of the delivery tube;

[0023] Each of the airbags is connected to an inflation device. When each of the airbags is inflated, the airbag can block the connection box and separate the delivery pipe into multiple sections.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] The picking robot described in the present invention can drive the two clamping claws to approach each other by setting a driving device to stably clamp the fruit. At the same time, the wrapping mechanism flexibly abuts and wraps the fruit, which can avoid surface damage of the fruit on the basis of stably clamping the fruit, thereby achieving a good picking effect.

[0026] In addition, by providing cutting units on both clamping jaws, when the two clamping jaws are close to each other, the two cutting units can cut off the fruit stalks, which is conducive to the separation of the fruit from the branches and the picking of the fruit by the two clamping jaws. Each wrapping mechanism is mainly composed of an elastic sheet, which can utilize the elastic properties of the elastic sheet to elastically abut the fruit and produce deformation to form a flexible wrapping of the fruit, thereby preventing the surface of the fruit from being damaged. At the same time, the two grooves are connected to the inflation device, and the inflation device can be used to inflate each groove, so that when the elastic sheet clamps the fruit, the elastic sheet bulges to increase the wrapping area of ​​the fruit and improve the wrapping effect.

[0027] In addition, each wrapping mechanism is mainly composed of a first roller group and a belt, so that when the two clamps clamp the fruit, the belts on the two clamps can wrap the fruit in a tensioned state, and driven by the corresponding active rollers, the two belts can synchronously drive the fruit to move toward the mechanical arm, thereby improving the convenience of fruit collection. When each wrapping mechanism is mainly composed of a second roller group, a tensioning assembly and a belt, the guide wheel in the tensioning assembly can clamp the edge of the belt, and tension the belt in the width direction of the belt through the second elastic member to prevent the belt from deforming after clamping the fruit for a long time, thereby preventing the wrapping effect of the fruit from being reduced due to the relaxation of the belt.

[0028] Furthermore, the connection box connects the bottoms of the two clamping jaws through a cloth bag, and enables the fruit to pass through the cloth bag and the connection box into the conveying tube, so as to facilitate the collection of the fruit. At the same time, the air bags provided in the connection box and the conveying tube can block the connection box and divide the conveying tube into multiple sections, so as to prevent the clamped fruit from colliding with the previously collected fruit when moving toward the conveying tube, and to prevent the fruits in the conveying tube from colliding with each other and damaging the surface of the fruit. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0030] Figure 1 This is a schematic diagram of the structure of a harvesting robot according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of the first wrapping mechanism according to an embodiment of the present invention when picking fruits;

[0032] Figure 3 It is a structural schematic diagram of a second wrapping mechanism according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of the second wrapping mechanism according to an embodiment of the present invention during picking;

[0034] Figure 5 It is a structural schematic diagram of a third wrapping mechanism according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the structure of the third wrapping mechanism according to an embodiment of the present invention when picking fruits;

[0036] Figure 7 The present invention Figure 5 Sectional view at the AA position;

[0037] Figure 8 The present invention Figure 6 Partial cross-sectional view at position A in the middle;

[0038] Fig. 9 The present invention Figure 6 Partial cross-sectional view at position B;

[0039] Fig.10 The present invention Figure 6 Partial cross-sectional view at the middle C position;

[0040] Fig.11 It is a schematic diagram of a partial structure of a delivery pipe according to an embodiment of the present invention;

[0041] Description of reference numerals:

[0042] 1. Frame; 2. Clamp; 3. Driving device; 4. Fruit; 5. Elastic sheet; 6. Belt; 7. Tensioning part; 8. Connection box;

[0043] 21. groove; 22. cutting unit; 23. sliding roller; 24. charging port;

[0044] 61. Active roller; 62. Upper guide roller assembly; 63. Guide roller; 64. First elastic member; 65. Edge; 66. First cavity; 67. Second cavity;

[0045] 71. Connecting member; 72. Guide wheel; 73. Second elastic member; 74. Main guide wheel; 75. Secondary guide wheel;

[0046] 81. Cloth bag; 82. Delivery pipe; 83. Air bag; 84. Air pipe. DETAILED DESCRIPTION

[0047] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0048] In the description of the present invention, it should be noted that if there are terms indicating orientation or positional relationship such as "upper", "lower", "inner", "outer", etc., they are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, if there are terms such as "first", "second", etc., they are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0049] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installed", "connected", "connection" and "connector" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood in combination with specific circumstances.

[0050] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0051] Embodiment 1

[0052] The harvesting robot designed in this embodiment is helpful to reduce the labor intensity of workers to improve the efficiency of fruit harvesting. At the same time, it can also avoid damage to fruits during the harvesting process and has a good use effect.

[0053] In terms of overall structure, combined Figure 1 and Figure 2 As shown, the harvesting robot of this embodiment includes a robotic arm, a frame 1 arranged on the robotic arm, two clamping jaws 2 slidably arranged on the frame 1, and a driving device 3 arranged on the frame 1. The driving device 3 can drive the two clamping jaws 2 to move closer to or away from each other to clamp the fruit 4 to be picked.

[0054] A groove 21 is disposed on the inner side of each clamping jaw 2 , and a wrapping mechanism is disposed in each groove 21 . A cutting unit is disposed on each clamping jaw 2 .

[0055] In addition, when the driving device 3 drives the two clamping jaws 2 to approach each other, the two cutting units can cooperate with each other to cut off the fruit stalk of the fruit 4, and at the same time, the two wrapping mechanisms can flexibly abut and wrap the fruit 4.

[0056] As shown in the above structure, the picking robot of this embodiment is equipped with a clamping jaw 2, a driving device 3 and a wrapping mechanism. The driving device 3 can drive the two clamping jaws 2 to approach each other to clamp the fruit 4, and flexibly abut and wrap the fruit 4 through the wrapping mechanism, so as to avoid surface damage of the fruit on the basis of stably clamping the fruit, thereby achieving a good picking effect.

[0057] Based on the above overall introduction, specifically, as a preferred implementation form, continue to combine Figure 1 and Figure 2 As shown, the frame 1 of this embodiment is a plate-like structure, a slide rail is provided on the top of the frame 1, and a slide groove is provided at the bottom of the clamping jaws 2, and each clamping jaw 2 moves along the slide rail through the slide groove to achieve mutual approach or distance. In specific implementation, the driving device 3 in this embodiment includes a motor provided on the frame 1, a first connecting rod connected to the driving end of the motor, and two second connecting rods hinged at both ends of the first connecting rod, the middle part of the first connecting rod is connected to the driving end of the motor, and the other end of each second connecting rod is respectively hinged at the bottom of the corresponding clamping jaw 2, so that the motor can drive the two clamping jaws 2 to move closer to or away from each other through the first connecting rod and the second connecting rod.

[0058] In addition, the cutting unit 22 is a blade disposed at the top of each clamping jaw 2. When the two clamping jaws 2 are close to each other, the two blades can be driven to approach each other, and the fruit stem of the fruit 4 can be cut. At the same time, a sliding roller 23 is rotatably disposed on the top of each clamping jaw 2. The sliding roller 23 can abut against the surface of the branch when the picking robot grasps the fruit 4, so as to prevent the two clamping jaws 2 from being interfered by the surface of the branch, resulting in an unsmooth closing, and at the same time, prevent the blade from damaging the surface of the branch.

[0059] As a preferred implementation form, continue to combine Figure 1 and Figure 2As shown, the first wrapping mechanism in this embodiment includes an elastic sheet 5 arranged in the corresponding groove 21, the elastic sheet 5 blocks the groove 21, and the elastic sheet 5 can abut against the fruit 4 and produce deformation to form a flexible wrapping of the fruit 4. Therefore, when the picking manipulator of this embodiment clamps the fruit 4, it can ensure that the surface of the fruit 4 is not damaged. In specific implementation, the elastic sheet 5 can be made of rubber or other materials, can have a certain elasticity, and can produce enough deformation to flexibly wrap the fruit 4 while ensuring stable clamping of the fruit 4.

[0060] In this embodiment, as a preferred implementation form, each clamping jaw 2 is provided with an inflating device connected to the groove 21, and the inflating device is used to inflate each groove 21 so that the corresponding elastic sheet 5 can wrap the fruit 4 tightly. When the clamping jaw 2 clamps the fruit 4, the inflating device inflates the groove 21, and the part of the elastic sheet 5 that does not abut the fruit 4 swells and wraps the fruit 4, thereby increasing the contact area between the elastic sheet 5 and the fruit 4, and at the same time increasing the strength of clamping the fruit 4. In a specific implementation, each clamping jaw 2 is provided with an inflating port 24, and the inflating port 24 is connected to the corresponding groove 21 to deliver gas to the groove 21.

[0061] As a preferred implementation form, combined with Figure 3 and Figure 4 As shown, the second wrapping mechanism in this embodiment includes a first roller group arranged in the corresponding groove 21, and a belt 6 wound on the first roller group, and the first roller group includes an active roller 61 for driving the belt 6. When the two clamps 2 clamp the fruit 4, the two belts 6 can tightly wrap the fruit 4 under the tension of the corresponding first roller group, and the two belts 6 can synchronously drive the fruit 4 to move toward one side of the mechanical arm under the drive of the corresponding active roller 61. In specific implementation, the belt 6 needs to have a certain elasticity so that the fruit 4 can be flexibly wrapped while ensuring the clamping of the fruit 4.

[0062] In this embodiment, the first roller group includes an upper guide roller assembly 62 and a guide roller assembly disposed in the groove 21, the upper guide roller, the guide roller assembly and the active roller 61 are arranged at intervals, and the upper guide roller assembly 62 and the guide roller assembly are arranged up and down near the notch of the groove 21. In a specific implementation, the upper guide roller assembly 62 includes two upper guide rollers disposed in the groove 21, one of which is arranged up and down with the guide roller assembly at the notch, and the other upper guide roller is disposed inside the groove 21 and arranged above the active roller 61.

[0063] As a preferred implementation form, combined with Figure 3 and Figure 4As shown, the guide roller assembly of this embodiment includes a guide roller 63 slidably arranged along the moving direction of the clamping jaw 2, and a first elastic member 64 arranged between the guide roller 63 and the corresponding clamping jaw 2, and the first elastic member 64 extends along the sliding direction of the guide roller. When the fruit 4 is clamped and wrapped by the two belts 6 and moves toward the mechanical arm, the fruit 4 can abut against each guide roller when passing through the two guide roller assemblies, and compress the first elastic member 64, so that each guide roller moves away from the fruit 4 to avoid the fruit 4, so that the fruit 4 moves toward the frame 1.

[0064] In a specific implementation, a sliding groove is provided on the inner wall of the corresponding groove 21 near the two ends of each guide roller, and the first elastic member 64 is provided in the sliding groove. At the same time, a slider is connected to the two ends of the guide roller 63, and the slider can slide in the corresponding sliding groove, and the first elastic member 64 is provided between the sliding groove and the slider. When the first elastic member 64 is compressed and reset, the first elastic member 64 can push the slider to move, so that the corresponding guide roller 63 moves toward the notch direction of the corresponding groove 21. The first elastic member 64 can be a spring, or other conventional elastic structure that can be compressed or release energy to drive the guide roller 63 to move.

[0065] As a preferred implementation form, combined with Figure 5 and Figure 6 As shown, the third wrapping mechanism in this embodiment includes a second roller group and a tensioning assembly arranged in the corresponding groove 21, and a belt 6 wound on the second roller group, and the second roller group includes an active roller 61 for driving the belt 6. When the two clamps 2 clamp the fruit 4, the two belts 6 can synchronously drive the fruit 4 to move toward one side of the mechanical arm under the drive of the corresponding active roller 61. In a specific implementation, the second roller group also includes an upper guide roller assembly 62 arranged in the groove 21, and the upper guide roller assembly 62 includes two upper guide rollers arranged in the corresponding groove 21, one of which is arranged up and down at the notch with the tensioning assembly, and the other upper guide roller is arranged inside the groove 21 and arranged above the active roller 61.

[0066] At the same time, combined Figure 6 and Figure 7 As shown, the tensioning assembly in this embodiment includes two tensioning parts 7 arranged on both sides of the belt 6, and the tensioning part 7 includes a connecting member 71 provided on the corresponding groove 21, a pair of guide wheels 72 rotatably provided on the connecting member 71, and a second elastic member 73 provided between the connecting member 71 and the corresponding groove 21, the second elastic member 73 extends along the axial direction of the active roller 61, and the edge 65 of the belt 6 corresponding to the tensioning part 7 is clamped between the two guide wheels 72. When the belt 6 wraps the fruit 4, the connecting member 71 can be driven to move toward the side of the fruit 4 through the two guide wheels 72 to compress the second elastic member 73 and tension the belt 6, and when the fruit 4 moves out of the wrapping mechanism, the second elastic member 73 releases energy to stretch and drive the connecting member 71 and the belt 6 to return to their original positions.

[0067] It can be understood that, in each clamping jaw 2, the tensioning parts 7 located on both sides of the belt 6 clamp the edge 65 of the corresponding belt 6 through each guide wheel 72 to tension the belt 6. When the two belts 6 clamp the fruit 4, the part of the belt 6 wrapped around the fruit 4 is deformed, causing the corresponding second elastic member 73 to be compressed. After the fruit 4 moves out from between the two belts 6, the second elastic member 73 releases energy, causing the belt 6 to be tensioned by the corresponding two tensioning parts 7, thereby preventing the elasticity of the belt 6 from decreasing after long-term and multiple deformations, thereby causing a decrease in the flexible wrapping performance and clamping force of the fruit 4.

[0068] In a specific implementation, each guide wheel 72 is provided with an annular protrusion. When the edge 65 of the belt 6 is clamped between the corresponding pair of guide wheels 72, the protrusion on each guide wheel 72 can fix the edge 65 of the belt 6 to prevent the edge 65 of the belt 6 from being separated from the corresponding pair of guide wheels 72 during the process of tensioning the belt 6. The side of the connecting member 71 close to the belt 6 is a connecting plate, and the corresponding pair of guide wheels 72 are rotatably arranged on the connecting plate. The side of the connecting plate abutting against the inner wall of the corresponding groove 21 is provided with a connecting column, and the connecting column penetrates the inner wall of the groove 21, and the second elastic member 73 is arranged between the groove 21 and the end of the connecting column. The second elastic member 73 can be a spring wound on the connecting column, or other conventional structures.

[0069] At the same time, combined Figure 6 , Figure 7 , Figure 8 , Fig. 9 As shown, each tensioning part 7 includes a plurality of connecting members 71 arranged in sequence from top to bottom at the corresponding notch, and a guide wheel 72 and a second elastic member 73 provided on each connecting member 71. In this embodiment, each tensioning part 7 includes five connecting members 71, and a guide wheel 72 and a second elastic member 73 provided on its corresponding connecting member 71. In addition, in each tensioning part 7, a main guide wheel 74 with a larger radius and four auxiliary guide wheels 75 arranged around the main guide wheel 74 are provided on the connecting member 71 near the bottom of the corresponding clamping jaw 2. Through the arrangement of the main guide wheel 74 and the auxiliary guide wheel 75, the area of ​​the edge 65 of the clamping belt 6 is increased, so that the belt 6 is not easy to fall off from the tensioning assembly when it moves.

[0070] As a preferred implementation form, combined with Figure 6 and Fig.10As shown, in this embodiment, a first cavity 66 is provided in the edge 65 of the belt 6, and a second cavity 67 is provided in the belt 6, and the second cavity 67 is connected to the first cavity 66 in the edges on both sides, and gas is pre-placed in the first cavity 66. When the two belts 6 clamp the fruit 4, a portion of each belt 6 is tensioned, and the corresponding guide wheel 72 can squeeze the edge 65, so that the volume of the first cavity 66 in the edge 65 changes, and the gas in the first cavity 66 enters the second cavity 67, so that the portion of the belt 6 that does not contact the fruit 4 bulges to increase the contact area with the fruit 4, and while improving the flexible wrapping effect on the fruit 4, it can enhance the clamping force on the fruit 4 and prevent the fruit 4 from falling off between the two belts 6.

[0071] In a specific implementation, the belt 6 can be supported by a conventional material with a certain elasticity, but the elastic coefficients or thicknesses of various parts of the belt 6 are different. For example, the edge 65 of the belt 6 has a higher elastic coefficient. When the edge 65 is squeezed by the corresponding guide wheel 72, the volume change of the first cavity 66 is larger, which helps to squeeze the gas into the second cavity 67.

[0072] In addition, as a preferred embodiment, Fig.10 As shown, the thickness of the belt 6 parts on both sides of the second cavity 67 is different, the thickness of the side close to the clamped fruit 4 is thinner, and the thickness of the side away from the fruit 4 is thicker, so that after the gas enters the second cavity, the side close to the clamped fruit 4 can be bulged to a greater extent, which can increase the area of ​​the abutment against the fruit 4. At the same time, the deformation of the thicker side of the belt 6 is smaller, ensuring the overall strength of the belt 6 when the belt 6 is wound around the second roller group. The thickness or elastic coefficient of each part of the belt 6, as well as the volume of the first cavity 66 and the second cavity 67 need to be adjusted according to actual use needs.

[0073] It is understandable that, combined with Figure 6 As shown, when the picking manipulator of this embodiment adopts the second or third wrapping mechanism, as a preferred implementation form, specifically, the frame 1 is two plate-like structures, and each plate-like structure is provided with a slide rail. At the same time, the bottoms of the two clamping jaws 2 are provided with two slide grooves corresponding to the two slide rails, and the driving device 3 also includes two respectively arranged on the two plate-like structures. The frame 1 can ensure the stability of the two clamping jaws 2 when they are close to or away from each other. When the fruit 4 is clamped by the two belts 6 and moves toward the mechanical arm, the fruit 4 is synchronously moved to the frame 1 by the two belts 6 and is located between the two plate-like structures.

[0074] Therefore, as a preferred embodiment, Figure 6 and Fig.11As shown, the frame 1 of this embodiment is also provided with a connection box 8, and the top of the connection box 8 is provided with a cloth bag 81 connected to the bottom of the two clamps 2, and the bottom of the connection box 8 is connected to a conveying pipe 82. When the fruit 4 moves toward the robot arm, it can enter the connection box 8 through the cloth bag 81 at the bottom of the two clamps 2, and enter the conveying pipe 82 through the connection box 8. The fruit 4 is collected in a centralized manner through the conveying pipe 82, thereby improving the efficiency of picking the fruit 4. In a specific implementation, the connection box 8 is arranged between the two plate-like structures of the frame 1.

[0075] As a preferred implementation form, the connection box 8 and the delivery tube 82 of this embodiment are both provided with airbags 83, and the airbags 83 in the delivery tube 82 are multiple and spaced apart along the extending direction of the delivery tube 82. Each airbag 83 is connected to an inflation device, and when each airbag 83 is inflated, the airbag 83 can block the connection box 8 and divide the delivery tube 82 into multiple sections.

[0076] During the picking process, when the fruit 4 enters the collection box or the conveying tube 82, it is easy to collide with other fruits 4 that have previously entered the collection box or the conveying tube 82, or after the fruit 4 enters the conveying tube 82, it is easy to roll quickly along the conveying tube 82 until it reaches the collection device. Even if the inner wall of the collection device is provided with a flexible material, the fruit 4 is easy to be bumped and the surface is damaged. Therefore, when the airbag 83 is inflated, the airbag 83 can block the connection box 8 and separate the conveying tube 82 into multiple ends to prevent the fruit 4 from bumping.

[0077] In a specific implementation, the airbag 83 of the delivery tube 82 is inflated and deflated at a certain interval, so that the fruit 4 in the delivery tube 82 stops moving when the airbag 83 is inflated, and continues to move along the delivery tube 82 after the airbag 83 is deflated, and the fruit 4 follows the inflation and deflation of the airbag 83 and gradually moves to the end of the delivery tube 82. At the same time, each airbag 83 in the delivery tube 82 is connected to the air delivery tube 84 and the inflation device, and the connection box 8 is provided with an inflation port 24, which can connect the airbag 83 to the inflation device.

[0078] The picking robot of this embodiment is equipped with a clamping jaw 2, a driving device 3 and a wrapping mechanism. The driving device 3 can drive the two clamping jaws 2 to approach each other to clamp the fruit 4, and flexibly abut and wrap the fruit 4 through the wrapping mechanism, thereby avoiding surface damage of the fruit while stably clamping the fruit, thereby achieving a good picking effect.

[0079] Embodiment 2

[0080] This example relates to a picking device, on which the picking robot in the first embodiment is provided.

[0081] The picking device of this embodiment includes a walking platform, a bucket connected to the rear of the walking platform, and the picking manipulator of the first embodiment arranged on the walking platform. The picking device of this embodiment can reduce the labor intensity of workers and improve the picking efficiency.

[0082] In a specific implementation, the inflator is arranged on the walking platform. When the picking manipulator in the first embodiment adopts the first wrapping mechanism, the picking manipulator collects the fruits 4 and places the fruits 4 in the bucket. When the picking manipulator in the first embodiment adopts the second or third wrapping mechanism, the end of the conveying pipe 82 is arranged at the bucket, and the picked fruits 4 can enter the bucket through the conveying pipe 82.

[0083] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A picking robot, characterized in that: The invention comprises a mechanical arm, a frame (1) arranged on the mechanical arm, two clamping claws (2) slidably arranged on the frame (1), and a driving device (3) arranged on the frame (1), wherein the driving device (3) can drive the two clamping claws (2) to move closer to or farther from each other so as to clamp the fruit (4) to be picked; A groove (21) is provided on the inner side of each clamping jaw (2), and a wrapping mechanism is provided in each groove (21), and a cutting unit is provided on each clamping jaw (2); When the driving device (3) drives the two clamping jaws (2) to approach each other, the two cutting units can cooperate with each other to cut off the fruit stem of the fruit (4), and at the same time, the two wrapping mechanisms can flexibly abut and wrap the fruit (4).

2. The picking robot according to claim 1, characterized in that: Each of the wrapping mechanisms comprises an elastic sheet (5) disposed in the corresponding groove (21), the elastic sheet (5) blocking the groove (21), and the elastic sheet (5) being able to abut against the fruit (4) and deform to form a flexible wrapping for the fruit (4).

3. The picking robot according to claim 2, characterized in that: The two grooves (21) are both connected to an air-filling device, and the air-filling device is used to fill each groove (21) with air so that the corresponding elastic sheet (5) tightly wraps the fruit (4).

4. The picking robot according to claim 1, characterized in that: Each of the wrapping mechanisms comprises a first roller group arranged in the corresponding groove (21), and a belt (6) wound around the first roller group, and the first roller group comprises an active roller (61) for driving the belt (6); When the two clamping claws (2) clamp the fruit (4), the two belts (6) can tightly wrap the fruit (4) under the tension of the corresponding first roller group, and the two belts (6) can synchronously drive the fruit (4) to move toward one side of the mechanical arm under the drive of the corresponding active roller (61).

5. The picking robot according to claim 4, characterized in that: The first roller group comprises an upper guide roller assembly (62) and a guide roller assembly arranged in the groove (21); the upper guide roller assembly (62), the guide roller assembly and the active roller (61) are arranged at intervals, and the upper guide roller assembly (62) and the guide roller assembly are arranged up and down near the notch of the groove (21).

6. The picking robot according to claim 5, characterized in that: The guide roller assembly comprises a guide roller (63) slidably arranged along the moving direction of the clamp (2), and a first elastic member (64) arranged between the guide roller (63) and the corresponding clamp (2), and the first elastic member (64) extends along the sliding direction of the guide roller (63).

7. The harvesting robot according to claim 1, characterized in that: The wrapping mechanism comprises a second roller group and a tensioning assembly arranged in the corresponding groove (21), and a belt (6) wound on the second roller group, and the second roller group comprises an active roller (61) for driving the belt (6); When the two clamping claws (2) clamp the fruit (4), the two belts (6) can tightly wrap the fruit (4) under the tension of the corresponding tensioning components, and the two belts (6) can synchronously drive the fruit (4) to move toward one side of the mechanical arm under the drive of the corresponding active roller (61).

8. The picking robot according to claim 7, characterized in that: The tensioning assembly comprises two tensioning parts (7) arranged on both sides of the belt (6); The tensioning part (7) comprises a connecting member (71) arranged on the corresponding groove (21), a pair of guide wheels (72) rotatably arranged on the connecting member (71), and a second elastic member (73) arranged between the connecting member (71) and the corresponding groove (21), wherein the second elastic member (73) extends along the axial direction of the active roller (61), and an edge (65) of the belt (6) corresponding to the tensioning part (7) is clamped between the two guide wheels (72); When the belt (6) wraps the fruit (4), it can drive the connecting member (71) to move toward the side of the fruit (4) through the two guide wheels (72) to compress the second elastic member (73) and tighten the belt (6); and when the fruit (4) moves out of the wrapping mechanism, the second elastic member (73) releases energy to stretch and drive the connecting member (71) and the belt (6) to return to their original positions.

9. The harvesting robot according to any one of claims 4 to 8, characterized in that: The frame (1) is also provided with a connection box (8), the top of the connection box (8) is provided with a cloth bag (81) connected to the bottoms of the two clamping jaws (2), and the bottom of the connection box (8) is connected to a conveying pipe (82); The fruit (4) can enter the conveying tube (82) through the cloth bag (81) and the connecting box (8).

10. The harvesting robot according to claim 9, characterized in that: The connection box (8) and the delivery tube (82) are both provided with air bags (83), and the air bags (83) in the delivery tube (82) are multiple and spaced apart along the extending direction of the delivery tube (82); Each of the airbags (83) is connected to an inflation device. When each of the airbags (83) is inflated, the airbag (83) can block the connection box (8) and divide the delivery pipe (82) into multiple sections.

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