Picking robot

Abstract

The application discloses a picking robot and relates to the technical field of robots, which comprises a moving trolley, an arch-shaped frame installed on the upper middle part of the moving trolley, a picking steering mechanism, a bending fine adjustment mechanism, a visual camera and a picking mechanism, the picking steering mechanism is installed on the top center of the arch-shaped frame, the top of the picking steering mechanism is connected with a picking height adjustment mechanism, the top of the picking height adjustment mechanism is connected with a swing control mechanism, the bending fine adjustment mechanism comprises a bending power assembly and a bending cylinder, the top of the swing control mechanism is connected with the bottom end of the bending cylinder through the bending power assembly, the picking robot adopts the mode of clamping fruits and then rotating to pick the fruits, so that the fruits are prevented from being damaged, the picked fruits fall along the corrugated rubber pipe, the fruits are buffered and received by using a fruit falling anti-bumping mechanism, and the fruits are prevented from being bumped and damaged due to the too fast falling speed along the corrugated rubber pipe.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a harvesting robot. Background Technology

[0002] Currently, fruit harvesting is the most time-consuming and labor-intensive link in the fruit production chain. Some fruit trees are quite tall, and manual climbing for harvesting is dangerous. In order to save labor and improve the efficiency of fruit harvesting, existing technologies use harvesting robots to replace manual harvesting. However, existing harvesting robots use a harvesting mechanism in conjunction with a pipe through which the fruit falls to harvest the fruit. The harvesting mechanism cuts off the fruit, and the fruit falls into the pipe. However, fruit trees have many branches, and the harvesting mechanism and pipe are large in size, making it difficult to move back and forth among the branches of the fruit tree, which affects the harvesting of the fruit. Moreover, using a harvesting mechanism to cut off the fruit can easily damage the fruit. Summary of the Invention

[0003] The technical problem this invention aims to solve is to overcome the shortcomings of existing technologies and provide a fruit-picking robot that uses a clamping and rotating method to pick fruit, thus preventing the fruit from being cut and affecting its quality. A clamping and unloading mechanism prevents damage to the fruit. The picked fruit falls along a corrugated rubber tube, and a fruit-falling anti-collision mechanism cushions and supports the fruit, preventing damage from excessive speed as it falls through the tube. The corrugated rubber tube is integrated into the swing cylinder, lifting cylinder, and rotating cylinder, reducing the volume of the picking structure at the top of the robot and facilitating its movement among the branches of the fruit tree. This improves fruit-picking efficiency, saves time and labor, and effectively solves the problems in the prior art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a harvesting robot, comprising a mobile cart, wherein an arched frame is mounted on the upper center of the mobile cart, and further comprising:

[0005] A picking steering mechanism is installed at the top center of the arched frame, and a picking height adjustment mechanism is connected to the top of the picking steering mechanism. A swing control mechanism is connected to the top of the picking height adjustment mechanism.

[0006] A bending fine-tuning mechanism includes a bending power component and a bending cylinder, wherein the top of the swing control mechanism is connected to the bottom end of the bending cylinder through the bending power component;

[0007] A visual camera is mounted on the side of the bent cylinder via a camera stand;

[0008] The harvesting mechanism includes a harvesting tube and a clamping and rotating integrated assembly. The diameter of the harvesting tube is larger than the diameter of the bending tube. The top end of the bending tube passes through the bottom end of the harvesting tube and extends to the inside of the harvesting tube. The bending tube is fixedly connected to the harvesting tube and the bending tube is arranged at the same center as the harvesting tube. The clamping and rotating integrated assembly is installed on the inside of the harvesting tube.

[0009] The mobile trolley utilizes existing technology for automatic movement. It moves within the orchard, and an arched frame houses the harvesting steering mechanism. This mechanism drives the harvesting height adjustment mechanism, swing control mechanism, bending fine-tuning mechanism, and harvesting mechanism to rotate, changing the orientation of the harvesting mechanism. The harvesting height adjustment mechanism alters the height of the swing control mechanism, allowing the harvesting mechanism to pick fruit at specific heights. The swing control mechanism drives the bending fine-tuning mechanism and harvesting mechanism to swing, enabling the harvesting mechanism to approach the fruit and bend... The fine-tuning mechanism is used to fine-tune the position of the harvesting mechanism, so that the top of the harvesting mechanism is close to the bottom of the fruit. The vision camera is used for recording. The fruit is identified using existing vision solutions. Then, with the help of the harvesting steering mechanism, harvesting height adjustment mechanism, swing control mechanism and bending fine-tuning mechanism, the harvesting cylinder in the harvesting mechanism is gradually placed on the outside of the fruit. The clamping and rotating integrated component holds the fruit and rotates the fruit at the same time, causing the fruit stem to detach from the fruit tree branch. Then the clamping and rotating integrated component releases the fruit, thus completing the harvesting of the fruit.

[0010] Furthermore, the clamping and rotating integrated assembly includes a circular sleeve, an outer gear ring, a positioning shaft, a torsion spring, an arc-shaped clamping plate, a triangular block, and a convex plate. The outer gear ring is rotatably sleeved on the outer periphery of one end of the bending cylinder located inside the picking cylinder. The side of the outer gear ring is movably connected to one end of the two arc-shaped clamping plates through two positioning shafts. The two positioning shafts are symmetrically distributed about the center of the outer gear ring, and a torsion spring is sleeved on the end of each positioning shaft near the outer gear ring. The two ends of the torsion spring are respectively connected to the outer gear ring and the arc-shaped clamping plate. A convex plate is fixedly connected to the outer side of the end of each arc-shaped clamping plate away from the positioning shaft. The circular sleeve is rotatably connected to the inner side of the picking cylinder. The picking cylinder is connected to the circular sleeve through a clamping and unloading mechanism. A triangular block is set on the inner side of the circular sleeve corresponding to the position of the convex plate. The torsion of the torsion spring drives the two arc-shaped clamping plates to approach the inner wall of the circular sleeve, that is, drives the two arc-shaped clamping plates to open away from each other, so that the fruit can be inserted between the two arc-shaped clamping plates.

[0011] Furthermore, the clamping and rotating integrated assembly also includes a power gear and a picking motor. The picking motor is fixedly connected to the rear edge of the picking cylinder. The output shaft of the picking motor extends into the picking cylinder and is fixedly connected to the power gear. The power gear meshes with the outer side of the external gear ring.

[0012] The harvesting cylinder and the circular sleeve are moved. When the fruit is located between the two arc-shaped clamping plates inside the circular sleeve, the harvesting motor drives the power gear to rotate clockwise. The meshing connection between the power gear and the external gear ring causes the external gear ring to rotate counterclockwise. The external gear ring drives the two arc-shaped clamping plates to rotate counterclockwise relative to the circular sleeve through two positioning shafts. At this time, the two convex plates slide along the inclined surfaces of the two triangular blocks respectively. With the push of the inclined surfaces of the two triangular blocks on the two convex plates, the two arc-shaped clamping plates gradually move closer, thus clamping the two sides of the fruit. Once the two arc-shaped clamping plates have clamped the fruit, the harvesting motor continues to drive the power gear to rotate clockwise. Since the two arc-shaped clamping plates have clamped the fruit, the friction between the convex plates and the triangular blocks causes the circular sleeve to rotate counterclockwise relative to the harvesting cylinder. The clamping and unloading mechanism is that the circular sleeve rotates counterclockwise relative to the harvesting cylinder. The counterclockwise rotation of the picking cylinder provides resistance. When the picking motor works, the rotation of the sleeve overcomes the resistance, causing the arc-shaped clamps, fruit, and sleeve to rotate relative to the picking cylinder. This allows the fruit stem to detach from the fruit tree branch, completing the picking process. Then, the picking motor drives the power gear to rotate counterclockwise, while the outer gear ring rotates clockwise. The convex plate gradually disengages from the inclined surface of the triangular block, and the torque of the torsion spring gradually brings the two arc-shaped clamps closer to the inner wall of the sleeve. The two arc-shaped clamps gradually release the fruit, allowing it to fall. The clamping and unloading mechanism prevents the sleeve from rotating clockwise relative to the picking cylinder. It also prevents the outer gear ring from rotating clockwise due to excessive friction between the convex plate and the inclined surface of the triangular block, thus preventing the two arc-shaped clamps from failing to release the fruit.

[0013] Furthermore, the clamping and rotating integrated assembly also includes anti-slip rubber strips, with anti-slip rubber strips evenly spaced on the inner side of each arc-shaped clamp. These anti-slip rubber strips replace the inner side of the arc-shaped clamp in contact with the fruit, ensuring that the arc-shaped clamp stably holds the fruit.

[0014] Furthermore, the clamping and unloading mechanism includes blind slots, springs, unloading sliders, and slots. The inner circumference of the picking tube is provided with a ring array of multiple blind slots, specifically six blind slots. The unloading sliders are connected to the blind slots by springs. The unloading sliders are slidably connected to the blind slots. One end of the unloading slider located outside the blind slot is provided with an unloading guide slope. The outer circumference of the circular sleeve is provided with slots corresponding to the positions of each blind slot. When the sleeve rotates counterclockwise relative to the picking cylinder, the fruit is gradually clamped, and the force of the sleeve rotating counterclockwise increases. At this time, the edge of the groove on the inner side of the sleeve pushes the unloading guide slope, causing the unloading slider to retract into the blind groove. The spring is compressed, and the fruit is subjected to the maximum clamping force of the two arc-shaped clamping plates. The clamping force on the fruit will not increase further, thus completing the unloading operation of the fruit and avoiding damage to the fruit. When the sleeve needs to rotate clockwise, the edge of the groove on the inner side of the sleeve cannot act on the unloading guide slope. At this time, because the spring pushes the unloading slider to be stably engaged with the groove, the sleeve cannot rotate clockwise relative to the picking cylinder. This avoids the sleeve from rotating clockwise relative to the picking cylinder due to excessive friction between the convex plate and the triangular block slope when the outer gear ring rotates clockwise.

[0015] Furthermore, the harvesting steering mechanism includes a bearing, a rotating drum, and a steering power assembly. The top center of the arched frame is rotatably connected to the bottom of the rotating drum via the bearing, and the bottom end of the rotating drum is connected to the steering power assembly. The steering power assembly is used to drive the rotating drum to rotate, thereby changing the orientation of the harvesting drum in the harvesting mechanism.

[0016] Furthermore, the harvesting height adjustment mechanism includes a lifting cylinder, a column, and a lifting assembly. The top inner side of the rotating cylinder is vertically slidably connected to the bottom outer side of the lifting cylinder. The lifting assembly is installed on the outer side of the rotating cylinder, and the lifting assembly is connected to the bottom end of the column. The top end of the column is connected to the top of the lifting cylinder via a swing control mechanism. The lifting assembly is used to drive the column to rise and fall, and the column drives the lifting cylinder to move up and down relative to the rotating cylinder, thereby changing the height of the harvesting cylinder in the harvesting mechanism.

[0017] Furthermore, the swing control mechanism includes a bottom ring, supports, a swing shaft, a swing cylinder, a horizontal plate, and an electric telescopic rod. A bottom ring is fixedly fitted onto the outer periphery of the top of the lifting cylinder. Two supports are provided on both sides of the top of the bottom ring, and the two supports are movably connected to the bottom sides of the swing cylinder via two longitudinal swing shafts. A horizontal plate is fixedly connected to the side of the bottom ring, and the bottom of the horizontal plate is fixedly connected to the top of the column. One end of the horizontal plate away from the bottom ring is movably connected to one end of the electric telescopic rod, and the other end of the electric telescopic rod is movably connected to the middle side of the swing cylinder. When the electric telescopic rod extends, it pushes the swing cylinder to swing to one side relative to the lifting cylinder via the swing shaft. When the electric telescopic rod shortens, it pulls the swing cylinder to swing to the other side relative to the lifting cylinder via the swing shaft, thereby causing the picking cylinder in the picking mechanism to swing left and right.

[0018] Furthermore, the system also includes a fruit collecting mechanism, which comprises a corrugated rubber tube and a fruit outlet positioning component. The bottom end of the bending cylinder is connected to the top end of the corrugated rubber tube. The bottom end of the corrugated rubber tube passes sequentially through the swing cylinder, the lifting cylinder, and the rotating cylinder, extending to the inner side of the arched frame. The bottom end of the corrugated rubber tube is connected to the front side of the arched frame via the fruit outlet positioning component. After the clamping and rotating integrated component releases the fruit, the fruit falls along the bending cylinder due to gravity and then into the corrugated rubber tube. The fruit then falls along the corrugated rubber tube inside the swing cylinder, the lifting cylinder, and the rotating cylinder. The fruit outlet positioning component is used to change the position of the bottom end of the corrugated rubber tube, thereby changing the position where the fruit falls. The corrugated rubber tube can extend, twist, and bend, thus adapting to the swing of the swing cylinder, the lifting of the lifting cylinder, and the rotation of the rotating cylinder. However, the movements of the swing cylinder, the lifting cylinder, and the rotating cylinder should be moderate to avoid damaging the corrugated rubber tube or causing excessive twisting of the corrugated rubber tube, which could affect the falling of the fruit within the corrugated rubber tube.

[0019] Furthermore, the system includes a fruit-falling anti-collision mechanism, which comprises side plates, a buffer net, and rubber pads. Two side plates are fixedly connected to the front of each of the left and right ends of the arched frame, with a buffer net taut between them. The buffer net is angled, lower in the front and higher in the back, and rubber pads are glued to the sides of the two side plates that are close to each other. Fruit exiting from the bottom of the corrugated hose falls onto the buffer net, where it absorbs the impact. The fruit then continues to fall, potentially landing inside a fruit box placed on a mobile trolley. The side plates house the buffer net and prevent fruit from falling off the sides, while the rubber pads prevent the fruit from hitting the inner walls of the side plates and being damaged.

[0020] Compared with existing technologies, the advantages of this harvesting robot are:

[0021] 1. When the fruit is located between the two arc-shaped clamps inside the round sleeve, the harvesting motor drives the power gear to rotate clockwise. The two arc-shaped clamps clamp the two sides of the fruit. Once the two arc-shaped clamps have clamped the fruit tightly, the harvesting motor continues to drive the power gear to rotate clockwise. Since the two arc-shaped clamps have clamped the fruit, the friction between the convex plate and the triangular block causes the round sleeve to rotate counterclockwise relative to the harvesting cylinder. The clamping and unloading mechanism provides resistance to the counterclockwise rotation of the round sleeve relative to the harvesting cylinder. When the harvesting motor works and the rotation of the round sleeve overcomes the resistance, the arc-shaped clamps, the fruit, and the round sleeve rotate relative to the harvesting cylinder, allowing the fruit stem to detach from the fruit tree branch, completing the harvesting of the fruit. Then, the harvesting motor drives the power gear counterclockwise, and the two arc-shaped clamps gradually loosen the fruit. Harvesting the fruit by clamping it and then rotating it can prevent the fruit from being cut and affecting its quality.

[0022] 2. When the circular sleeve rotates counterclockwise relative to the picking cylinder, the fruit is gradually clamped. The force of the circular sleeve rotating counterclockwise increases. At this time, the edge of the groove on the inner side of the circular sleeve pushes the force-relieving guide slope, causing the force-relieving slider to retract into the blind groove. The spring is compressed. At this time, the fruit is subjected to the maximum clamping force of the two arc-shaped clamping plates, and the clamping force on the fruit will not increase further. This completes the force-relieving operation of clamping the fruit and can prevent the fruit from being damaged.

[0023] 3. The harvested fruit falls along the corrugated rubber tube, and the fruit falling anti-collision mechanism is used to cushion and catch the fruit, preventing the fruit from being damaged by bumps and knocks due to excessive speed as it falls along the corrugated rubber tube. The corrugated rubber tube is set inside the swing cylinder, lifting cylinder, and rotating cylinder, which reduces the volume of the harvesting structure on the top of the harvesting robot, making it easier to move back and forth among the branches of the fruit tree, thereby improving the harvesting efficiency and saving time and labor. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the harvesting robot structure of the present invention;

[0025] Figure 2 The harvesting robot of this invention Figure 1 A magnified view of the structure at point A in the middle;

[0026] Figure 3 The harvesting robot of this invention Figure 1 A magnified schematic diagram of the structure at point B in the middle;

[0027] Figure 4 The harvesting robot of this invention Figure 1 A magnified schematic diagram of the structure at point C in the middle;

[0028] Figure 5 This is a schematic diagram of the rear-view structure of the harvesting robot of the present invention;

[0029] Figure 6 The harvesting robot of this invention Figure 5 A magnified schematic diagram of the structure at point D in the middle;

[0030] Figure 7 This is a schematic diagram of a partial structure of the harvesting robot of the present invention;

[0031] Figure 8 The harvesting robot of this invention Figure 7 A magnified schematic diagram of the structure at point E in the middle;

[0032] Figure 9 This is a schematic diagram of a partial cross-sectional structure of the harvesting robot of the present invention;

[0033] Figure 10 The harvesting robot of this invention Figure 9 A magnified schematic diagram of the structure at point F in the middle;

[0034] In the diagram: 1. Moving trolley; 2. Harvesting steering mechanism; 21. Bearing; 22. Rotary drum; 23. Driven gear; 24. Driven gear; 25. Steering motor; 3. Harvesting height adjustment mechanism; 31. Lifting cylinder; 32. Column; 33. End frame; 34. Guide rod; 35. Lifting seat; 36. Lead screw nut; 37. Lead screw; 38. Lifting motor; 4. Swing control mechanism; 41. Bottom ring; 42. Support; 43. Swing shaft; 44. Swing cylinder; 45. Horizontal plate; 46. Movable seat one; 47. Electric telescopic rod; 48. Movable seat two; 5. Bending fine-tuning mechanism; 51. Top ring; 52. Support plate; 53. Bending shaft; 54. Bending cylinder; 55. Bending motor; 6. Harvester. 61 Harvesting tube, 62 Round sleeve, 63 External gear ring, 64 Power gear, 65 Harvesting motor, 66 Positioning shaft, 67 Torsion spring, 68 Arc clamping plate, 69 Anti-slip rubber strip, 610 Triangular block, 611 Convex plate, 7 Clamping and unloading mechanism, 71 Blind groove, 72 Spring, 73 Unloading slider, 74 Slot, 8 Fruit collection mechanism, 81 Corrugated rubber hose, 82 Positioning ring, 83 Positioning post, 84 Mounting plate, 85 Longitudinal through groove, 86 Locking nut, 9 Fruit falling anti-collision mechanism, 91 Side plate, 92 Buffer net, 93 Rubber pad, 10 Arch frame, 11 Limiting longitudinal groove, 12 Camera stand, 13 Visual camera. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1, please refer to Figures 1 to 10 This embodiment provides a technical solution: a picking robot, including a mobile trolley 1, an arched frame 10 installed on the upper middle part of the mobile trolley 1, and also a picking steering mechanism 2, a bending fine adjustment mechanism 5, a vision camera 13 and a picking mechanism 6.

[0037] The picking steering mechanism 2 is installed at the top center of the arched frame 10, and the top of the picking steering mechanism 2 is connected to the picking height adjustment mechanism 3, and the top of the picking height adjustment mechanism 3 is connected to the swing control mechanism 4.

[0038] The picking steering mechanism 2 includes a bearing 21, a rotating drum 22 and a steering power assembly. The top center of the arch frame 10 is rotatably connected to the bottom of the rotating drum 22 through the bearing 21, and the bottom end of the rotating drum 22 is connected to the steering power assembly.

[0039] The steering power assembly includes a driven gear 23, a driving gear 24, and a steering motor 25. The driven gear 23 is fixedly sleeved on the outer periphery of the bottom end of the rotating drum 22. The steering motor 25 is mounted on the arched frame 10. The output shaft at the bottom of the steering motor 25 passes through the top of the arched frame 10 and is fixedly connected to the driving gear 24. The driving gear 24 meshes with the driven gear 23. When the steering motor 25 is working, the rotating drum 22 can be driven to rotate relative to the arched frame 10 through the meshing transmission of the driven gear 23 and the driving gear 24.

[0040] The steering power assembly is used to drive the rotating drum 22 to rotate, thereby changing the orientation of the picking drum 61 in the picking mechanism 6.

[0041] The picking height adjustment mechanism 3 includes a lifting cylinder 31, a column 32 and a lifting assembly. The top inner side of the rotating cylinder 22 is vertically slidably connected to the bottom outer side of the lifting cylinder 31. The lifting assembly is installed on the outer side of the rotating cylinder 22. The lifting assembly is connected to the bottom end of the column 32. The top end of the column 32 is connected to the top of the lifting cylinder 31 through the swing control mechanism 4.

[0042] The lifting assembly includes end frames 33, guide rods 34, lifting seats 35, lead screw nuts 36, lead screws 37, and a lifting motor 38. Two end frames 33 are fixedly connected to the upper and lower outer ends of the rotating drum 22, respectively. The two end frames 33 are arranged vertically and vertically. A vertical guide rod 34 is fixedly connected between the two end frames 33, and a vertical lead screw 37 is rotatably connected between the two end frames 33. The lifting motor 38 is fixedly connected to the bottom end of the lead screw 37 and is installed at the bottom of the lower end frame 33. A lead screw nut 36 is installed on the lifting seat 35, and the lead screw nut 36 is installed in conjunction with the lead screw 37. The guide hole on 35 is vertically slidably connected to the guide rod 34. The lifting seat 35 is fixedly connected to the bottom end of the column 32. The column 32 passes through the column hole on the upper end frame 33. When the lifting motor 38 works, it drives the lead screw 37 to rotate clockwise. The thread action of the lead screw 37 and the lead screw nut 36 drives the lifting seat 35 to rise along the guide rod 34. The lifting seat 35 drives the lifting cylinder 31 to rise relative to the rotating cylinder 22 through the column 32. When the lifting motor 38 works, it drives the lead screw 37 to rotate counterclockwise. Then the lifting seat 35 descends along the guide rod 34. The lifting seat 35 drives the lifting cylinder 31 to descend relative to the rotating cylinder 22 through the column 32.

[0043] The lifting assembly is used to drive the column 32 to rise and fall. The column 32 drives the lifting cylinder 31 to move up and down relative to the rotating cylinder 22, thereby changing the height of the picking cylinder 61 in the picking mechanism 6.

[0044] The swing control mechanism 4 includes a bottom ring 41, a support 42, a swing shaft 43, a swing cylinder 44, a horizontal plate 45, and an electric telescopic rod 47. The bottom ring 41 is fixedly sleeved on the outer periphery of the top of the lifting cylinder 31. Two supports 42 are provided on the top two sides of the bottom ring 41. The two supports 42 are movably connected to the bottom two sides of the swing cylinder 44 through two longitudinal swing shafts 43. The horizontal plate 45 is fixedly connected to the side of the bottom ring 41. The bottom of the horizontal plate 45 is fixedly connected to the top of the column 32. The end of the horizontal plate 45 away from the bottom ring 41 is movably connected to one end of the electric telescopic rod 47. The other end of the electric telescopic rod 47 is movably connected to the middle side of the swing cylinder 44.

[0045] Specifically, the swing control mechanism 4 also includes a first movable seat 46 and a second movable seat 48. The first movable seat 46 is provided at the top of the end of the horizontal plate 45 away from the bottom ring 41. The first movable seat 46 is movably connected to one end of the electric telescopic rod 47 through a first pin. The second movable seat 48 is provided on the middle side of the swing cylinder 44. The second movable seat 48 is movably connected to the other end of the electric telescopic rod 47 through a second pin. The first pin, the second pin and the swing shaft 43 are arranged parallel to each other.

[0046] When the electric telescopic rod 47 extends, it pushes the swing cylinder 44 to swing to one side relative to the lifting cylinder 31 via the swing shaft 43. When the electric telescopic rod 47 shortens, it can pull the swing cylinder 44 to swing to the other side relative to the lifting cylinder 31 via the swing shaft 43, thereby causing the picking cylinder 61 in the picking mechanism 6 to swing left and right.

[0047] The bending fine-tuning mechanism 5 includes a bending power component and a bending cylinder 54. The top of the swing control mechanism 4 is connected to the bottom end of the bending cylinder 54 through the bending power component.

[0048] The bending power assembly includes a top ring 51, a support plate 52, a bending shaft 53, and a bending motor 55. The top ring 51 is fixedly sleeved on the outer side of the top of the swing cylinder 44. Two support plates 52 are fixedly connected to both sides of the top ring 51. Two bending shafts 53 are rotatably connected to the two support plates 52. The two bending shafts 53 are fixedly connected to the two sides of the bottom end of the bending cylinder 54. One of the bending shafts 53 is fixedly connected to the output shaft of the bending motor 55. The bending motor 55 is fixed on the corresponding support plate 52. When the bending motor 55 works, it drives the bending shaft 53 to rotate. The bending shaft 53 drives the bending cylinder 54 to move, thereby changing the angle of the bending cylinder 54 relative to the swing cylinder 44.

[0049] The visual camera 13 is mounted on the side of the bent cylinder 54 via the camera mount 12;

[0050] The harvesting mechanism 6 includes a harvesting cylinder 61 and a clamping and rotating integrated assembly. The diameter of the harvesting cylinder 61 is larger than the diameter of the bending cylinder 54. The top end of the bending cylinder 54 passes through the bottom end of the harvesting cylinder 61 and extends to the inside of the harvesting cylinder 61. The bending cylinder 54 is fixedly connected to the harvesting cylinder 61, and the bending cylinder 54 and the harvesting cylinder 61 are arranged at the same center. The clamping and rotating integrated assembly is installed on the inside of the harvesting cylinder 61.

[0051] The clamping and rotating integrated assembly includes a circular sleeve 62, an external gear ring 63, a positioning shaft 66, a torsion spring 67, an arc-shaped clamping plate 68, a triangular block 610, and a convex plate 611. The outer circumference of one end of the bending cylinder 54, located inside the harvesting cylinder 61, is rotatably fitted with the external gear ring 63. The side of the external gear ring 63 is movably connected to one end of each of the two arc-shaped clamping plates 68 via two positioning shafts 66. The two positioning shafts 66 are symmetrically distributed about the center of the external gear ring 63, and each positioning shaft 66 has a torsion spring 67 fitted at its end near the external gear ring 63. The two ends of the torsion spring 67 are respectively connected to… The outer gear ring 63 and the arc clamping plate 68 are connected. Each arc clamping plate 68 has a convex plate 611 fixedly connected to the outer side of the end away from the positioning shaft 66. The inner side of the picking tube 61 is rotatably connected to the sleeve 62. The picking tube 61 is connected to the sleeve 62 through the clamping and unloading mechanism 7. The inner side of the sleeve 62 is provided with a triangular block 610 corresponding to the position of the convex plate 611. The torque of the torsion spring 67 drives the two arc clamping plates 68 to approach the inner wall of the sleeve 62 respectively, that is, drives the two arc clamping plates 68 to open away from each other, so that the fruit can be inserted between the two arc clamping plates 68.

[0052] The clamping and rotating integrated assembly also includes a power gear 64 and a picking motor 65. The picking motor 65 is fixedly connected to the rear edge of the picking cylinder 61. The output shaft of the picking motor 65 extends into the picking cylinder 61 and is fixedly connected to the power gear 64. The power gear 64 meshes with the outer side of the external gear ring 63.

[0053] The harvesting cylinder 61 and the circular sleeve 62 are moved. When the fruit is located between the two arc-shaped clamping plates 68 inside the circular sleeve 62, the harvesting motor 65 drives the power gear 64 to rotate clockwise. The meshing connection between the power gear 64 and the external gear ring 63 causes the external gear ring 63 to rotate counterclockwise. The external gear ring 63 drives the two arc-shaped clamping plates 68 to rotate counterclockwise relative to the circular sleeve 62 through the two positioning shafts 66. At this time, the two convex plates 611 slide along the inclined surfaces of the two triangular blocks 610 respectively. With the help of the two triangular blocks... The inclined surface of 610 pushes the two convex plates 611, causing the two arc-shaped clamping plates 68 to gradually approach each other, thus clamping the fruit on both sides. Once the two arc-shaped clamping plates 68 have clamped the fruit tightly, the harvesting motor 65 continues to drive the power gear 64 to rotate clockwise. Since the two arc-shaped clamping plates 68 have clamped the fruit, the friction between the convex plate 611 and the triangular block 610 causes the circular sleeve 62 to rotate counterclockwise relative to the harvesting cylinder 61. The clamping and unloading mechanism 7 is the circular sleeve 611. 2. The counterclockwise rotation of the harvesting cylinder 61 provides resistance. When the harvesting motor 65 operates, causing the circular sleeve 62 to rotate and overcome the resistance, the arc-shaped clamping plate 68, the fruit, and the circular sleeve 62 rotate relative to the harvesting cylinder 61. This allows the fruit stem to detach from the fruit tree branch, completing the harvesting process. Then, the harvesting motor 65 drives the power gear 64 to rotate counterclockwise, and the external gear ring 63 to rotate clockwise. The convex plate 611 gradually disengages from the inclined surface of the triangular block 610, and the torsion spring... The torque of 67 gradually brings the two arc-shaped clamps 68 closer to the inner wall of the sleeve 62. The two arc-shaped clamps 68 gradually loosen the fruit, allowing the fruit to fall off. The clamping and unloading mechanism 7 can prevent the sleeve 62 from rotating clockwise relative to the picking cylinder 61. It can also prevent the sleeve 62 from rotating clockwise relative to the picking cylinder 61 due to excessive friction between the convex plate 611 and the inclined surface of the triangular block 610 when the outer toothed ring 63 rotates clockwise. This prevents the two arc-shaped clamps 68 from being unable to loosen their grip on the fruit.

[0054] The clamping and rotating integrated assembly also includes anti-slip rubber strips 69, with anti-slip rubber strips 69 evenly arranged on the inner side of each arc-shaped clamp 68. The anti-slip rubber strips 69 replace the inner side of the arc-shaped clamp 68 in contact with the fruit, ensuring that the arc-shaped clamp 68 stably clamps the fruit.

[0055] The clamping and unloading mechanism 7 includes blind slots 71, springs 72, unloading sliders 73, and slots 74. The inner circumference of the picking tube 61 is provided with a ring array of multiple blind slots 71, specifically six blind slots 71. The unloading sliders 73 are connected to the blind slots 71 by springs 72. The unloading sliders 73 are slidably connected to the blind slots 71. The unloading sliders 73 are provided with an unloading guide slope at one end outside the blind slots 71. The outer circumference of the sleeve 62 is provided with slots 74 corresponding to the positions of each blind slot 71. When the sleeve 62 rotates counterclockwise relative to the picking cylinder 61, the fruit is gradually clamped, and the force of the sleeve 62 rotating counterclockwise increases. At this time, the edge of the groove 74 on the inner side of the sleeve 62 pushes the force-relieving guide slope, causing the force-relieving slider 73 to retract into the blind groove 71. The spring 72 is compressed, and the fruit is subjected to the maximum clamping force of the two arc clamps 68. The clamping force on the fruit will not increase further, thus completing the force-relieving operation of clamping the fruit and avoiding damage to the fruit. When the sleeve 62 needs to rotate clockwise, the edge of the groove 74 on the inner side of the sleeve 62 cannot act on the force-relieving guide slope. At this time, because the spring 72 pushes the force-relieving slider 73 to be stably engaged with the groove 74, the sleeve 62 cannot rotate clockwise relative to the picking cylinder 61. This avoids the excessive friction between the convex plate 611 and the inclined surface of the triangular block 610 when the outer toothed ring 63 rotates clockwise, causing the sleeve 62 to rotate clockwise relative to the picking cylinder 61.

[0056] In use, the mobile trolley 1 adopts an existing technology of automatically moving trolleys. The mobile trolley 1 is used to move within the orchard. The arched frame 10 is used to install the picking steering mechanism 2. The picking steering mechanism 2 drives the picking height adjustment mechanism 3, the swing control mechanism 4, the bending fine-tuning mechanism 5, and the picking mechanism 6 to rotate, thus changing the orientation of the picking mechanism 6. The picking height adjustment mechanism 3 can change the height of the swing control mechanism 4, allowing the picking mechanism 6 to pick fruit at a specific height. The swing control mechanism 4 drives the bending fine-tuning mechanism 5 and the picking mechanism 6 to swing, allowing the picking mechanism 6 to... The bending and fine-tuning mechanism 5 is used to fine-tune the position of the picking mechanism 6 so that the top of the picking mechanism 6 is close to the bottom of the fruit. The vision camera 13 is used to capture images and identify the fruit using existing visual solutions. Then, with the help of the picking turning mechanism 2, the picking height adjustment mechanism 3, the swing control mechanism 4, and the bending and fine-tuning mechanism 5, the picking tube 61 in the picking mechanism 6 is gradually placed on the outside of the fruit. The clamping and rotating integrated assembly holds the fruit and rotates it at the same time, causing the fruit stem to detach from the fruit tree branch. Then, the clamping and rotating integrated assembly releases the fruit, thus completing the picking of the fruit.

[0057] Example 2, please refer to Figures 1 to 10 This embodiment provides a technical solution: a harvesting robot. This embodiment has a roughly the same structure as Embodiment 1, with the difference being:

[0058] It also includes a fruit collection mechanism 8, which includes a corrugated hose 81 and a fruit outlet positioning component. The bottom end of the bending cylinder 54 is connected to the top end of the corrugated hose 81. The bottom of the corrugated hose 81 passes through the swing cylinder 44, the lifting cylinder 31, and the rotating cylinder 22 in sequence and extends to the inside of the arch frame 10. The bottom end of the corrugated hose 81 is connected to the front of the arch frame 10 through the fruit outlet positioning component.

[0059] The bending cylinder 54, swing cylinder 44, lifting cylinder 31, and rotating cylinder 22 form a hollow arm structure. The hollow arm structure, together with the corrugated rubber tube 81 and the picking mechanism 6, constitutes the picking structure at the top of the picking robot. The corrugated rubber tube 81 is located inside the hollow arm structure, which makes the arm structure of the picking robot smaller in size, convenient for moving inside the fruit tree branches, less likely to be disturbed by the fruit tree branches, and conducive to improving picking efficiency.

[0060] The fruit outlet positioning assembly includes a positioning ring 82, a positioning post 83, a mounting plate 84, a longitudinal groove 85, and a locking nut 86. The bottom end of the corrugated hose 81 is connected to the positioning ring 82, and the top of the positioning ring 82 is fixedly connected to the bottom end of the positioning post 83. The mounting plate 84 is provided on the front side of the top of the arched frame 10. The longitudinal groove 85 is opened in the middle of the mounting plate 84, and the positioning post 83 passes through the longitudinal groove 85. The positioning post 83 is threaded with locking nuts 86 at the upper and lower positions of the mounting plate 84. The positioning post 83 is fixed to the mounting plate 84 by the two locking nuts 86. The height of the positioning post 83 can be changed by the different threaded connection heights of the locking nuts 86 and the positioning post 83, thereby changing the height of the bottom end of the positioning ring 82 and the corrugated hose 81. Loosening the locking nuts 86 allows the positioning post 83 to move back and forth in the longitudinal groove 85, thereby changing the front and rear positions of the positioning ring 82 and the corrugated hose 81, thus realizing the adjustment of the position of the bottom end of the corrugated hose 81.

[0061] After the clamping and rotating integrated component releases the fruit, the fruit falls along the bending cylinder 54 due to gravity, and then falls into the corrugated rubber tube 81. The fruit then falls along the corrugated rubber tube 81 inside the swing cylinder 44, lifting cylinder 31, and rotating cylinder 22. The fruit outlet positioning component is used to change the position of the bottom end of the corrugated rubber tube 81, thereby changing the position where the fruit falls. The corrugated rubber tube 81 can extend, twist, and bend, so it can adapt to the swing of the swing cylinder 44, the lifting of the lifting cylinder 31, and the rotation of the rotating cylinder 22. However, the movements of the swing cylinder 44, lifting cylinder 31, and rotating cylinder 22 should be moderate to avoid damaging the corrugated rubber tube 81 or causing the corrugated rubber tube 81 to twist excessively, affecting the falling of the fruit inside the corrugated rubber tube 81.

[0062] Example 3, please refer to Figures 1 to 10 This embodiment provides a technical solution: a harvesting robot. This embodiment has a roughly the same structure as Embodiment 2, the difference being:

[0063] It also includes a fruit-falling anti-collision mechanism 9, which comprises side plates 91, a buffer net 92, and rubber pads 93. Two side plates 91 are fixedly connected to the front sides of the left and right ends of the arched frame 10, respectively. A buffer net 92 is set between the two side plates 91. The buffer net 92 is taut and tilted with the front lower than the back. Rubber pads 93 are glued to the sides of the two side plates 91 that are close to each other. Fruits coming out of the bottom of the corrugated rubber tube 81 fall onto the buffer net 92. The impact is absorbed by the buffer net 92, and then the fruit continues to fall, which can fall into the fruit box placed on the mobile cart 1. The side plates 91 are used to install the buffer net 92 and prevent the fruit from falling off the sides of the buffer net 92. The rubber pads 93 can prevent the fruit from hitting the inner wall of the side plates 91 and being damaged.

[0064] It also includes a limiting groove 11. The top of the mobile trolley 1 has a limiting groove 11. The limiting groove 11 is used to place the fruit box and limit the fruit box. The fruit that rolls down from the buffer net 92 can fall smoothly into the fruit box.

[0065] It is worth noting that the steering motor 25, lifting motor 38, electric telescopic rod 47, bending motor 55, vision camera 13, and picking motor 65 disclosed in the above embodiments are all controlled by an external PLC controller. The control method adopts the method commonly used in the prior art. The steering motor 25, lifting motor 38, bending motor 55, and picking motor 65 are all servo motors. The external PLC controller can be installed on the mobile trolley 1 and is powered by the battery on the mobile trolley 1.

[0066] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0067] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A harvesting robot, comprising a mobile cart (1), wherein an arched frame (10) is mounted on the upper middle part of the mobile cart (1), characterized in that, Also includes: The picking steering mechanism (2) is installed at the top center of the arch frame (10), and the top of the picking steering mechanism (2) is connected to the picking height adjustment mechanism (3), and the top of the picking height adjustment mechanism (3) is connected to the swing control mechanism (4). The bending fine-tuning mechanism (5) includes a bending power component and a bending cylinder (54), and the top of the swing control mechanism (4) is connected to the bottom end of the bending cylinder (54) through the bending power component; A visual camera (13) is mounted on the side of the bent cylinder (54) via a camera stand (12); The harvesting mechanism (6) includes a harvesting tube (61) and a clamping and rotating integrated assembly. The diameter of the harvesting tube (61) is larger than the diameter of the bending tube (54). The top end of the bending tube (54) passes through the bottom end of the harvesting tube (61) and extends to the inside of the harvesting tube (61). The bending tube (54) is fixedly connected to the harvesting tube (61). The clamping and rotating integrated assembly is installed on the inside of the harvesting tube (61). The clamping and rotating integrated assembly includes a circular sleeve (62), an external gear ring (63), a positioning shaft (66), a torsion spring (67), an arc-shaped clamping plate (68), a triangular block (610), and a convex plate (611). The outer circumference of one end of the bent cylinder (54) located inside the picking cylinder (61) is rotatably fitted with the external gear ring (63). The side of the external gear ring (63) is movably connected to one end of the two arc-shaped clamping plates (68) via two positioning shafts (66). The two positioning shafts (66) are symmetrically distributed about the center of the external gear ring (63), and each positioning shaft ( 66) A torsion spring (67) is sleeved on one end near the outer gear ring (63). The two ends of the torsion spring (67) are connected to the outer gear ring (63) and the arc clamp (68) respectively. A convex plate (611) is fixedly connected to the outer side of the end of each arc clamp (68) away from the positioning shaft (66). A round sleeve (62) is rotatably connected to the inner side of the picking tube (61). The picking tube (61) is connected to the round sleeve (62) through the clamping and unloading mechanism (7). A triangular block (610) is set on the inner side of the round sleeve (62) corresponding to the position of the convex plate (611). The clamping and rotating integrated assembly also includes a power gear (64) and a picking motor (65). The picking motor (65) is fixedly connected to the rear edge of the picking cylinder (61). The output shaft of the picking motor (65) extends into the picking cylinder (61) and is fixedly connected to the power gear (64). The power gear (64) meshes with the outer side of the external gear ring (63). The clamping and unloading mechanism (7) includes a blind groove (71), a spring (72), an unloading slider (73), and a slot (74). The inner circumference of the picking tube (61) is provided with a ring array of blind grooves (71). The unloading slider (73) is connected to the blind groove (71) by the spring (72). The unloading slider (73) is slidably connected to the blind groove (71). The unloading slider (73) is provided with an unloading guide slope at one end outside the blind groove (71). The outer circumference of the sleeve (62) is provided with a slot (74) corresponding to the position of each blind groove (71). The harvesting cylinder (61) and the round sleeve (62) are moved. When the fruit is located between the two arc-shaped clamping plates (68) inside the round sleeve (62), the harvesting motor (65) drives the power gear (64) to rotate clockwise, causing the two arc-shaped clamping plates (68) to rotate counterclockwise relative to the round sleeve (62), so that the two arc-shaped clamping plates (68) clamp the two sides of the fruit. The harvesting motor (65) continues to drive the power gear (64) to rotate clockwise. At this time, the friction between the convex plate (611) and the triangular block (610) causes the round sleeve (62) to rotate counterclockwise relative to the harvesting cylinder (611). 1) Rotate counterclockwise. The edge of the groove (74) on the inner side of the sleeve (62) pushes the unloading guide slope, allowing the unloading slider (73) to retract into the blind groove (71). The spring (72) is compressed. At this time, the fruit is subjected to the maximum clamping force of the two arc clamps (68), and the clamping force on the fruit will not increase. The unloading operation of clamping the fruit is completed. The picking motor (65) drives the arc clamps (68), the fruit and the sleeve (62) to rotate continuously relative to the picking cylinder (61), allowing the fruit stem to separate from the fruit tree branch, and completing the picking of the fruit.

2. The harvesting robot according to claim 1, characterized in that: The clamping and rotating integrated assembly also includes anti-slip rubber strips (69), and anti-slip rubber strips (69) are provided at equal angles on the inner side of each arc clamp (68).

3. The harvesting robot according to claim 1, characterized in that: The picking steering mechanism (2) includes a bearing (21), a rotating drum (22) and a steering power assembly. The top center of the arch frame (10) is rotatably connected to the bottom of the rotating drum (22) through the bearing (21), and the bottom end of the rotating drum (22) is connected to the steering power assembly.

4. The harvesting robot according to claim 3, characterized in that: The picking height adjustment mechanism (3) includes a lifting cylinder (31), a column (32) and a lifting assembly. The top inner side of the rotating cylinder (22) is vertically slidably connected to the bottom outer side of the lifting cylinder (31). The lifting assembly is installed on the outer side of the rotating cylinder (22). The lifting assembly is connected to the bottom end of the column (32). The top end of the column (32) is connected to the top of the lifting cylinder (31) through a swing control mechanism (4).

5. The harvesting robot according to claim 4, characterized in that: The swing control mechanism (4) includes a bottom ring (41), a support (42), a swing shaft (43), a swing cylinder (44), a horizontal plate (45), and an electric telescopic rod (47). The bottom ring (41) is fixedly sleeved on the outer periphery of the top of the lifting cylinder (31). Two supports (42) are provided on the top two sides of the bottom ring (41). The two supports (42) are movably connected to the bottom two sides of the swing cylinder (44) through two longitudinal swing shafts (43). The horizontal plate (45) is fixedly connected to the side of the bottom ring (41). The bottom of the horizontal plate (45) is fixedly connected to the top of the column (32). The end of the horizontal plate (45) away from the bottom ring (41) is movably connected to one end of the electric telescopic rod (47). The other end of the electric telescopic rod (47) is movably connected to the middle side of the swing cylinder (44).

6. The harvesting robot according to claim 5, characterized in that: It also includes a fruit collection mechanism (8), which includes a corrugated rubber tube (81) and a fruit outlet positioning component. The bottom end of the bending cylinder (54) is connected to the top end of the corrugated rubber tube (81). The bottom of the corrugated rubber tube (81) passes through the swing cylinder (44), the lifting cylinder (31), and the rotating cylinder (22) in sequence and extends to the inside of the arch frame (10). The bottom end of the corrugated rubber tube (81) is connected to the front side of the arch frame (10) through the fruit outlet positioning component.

7. The harvesting robot according to claim 6, characterized in that: It also includes a fruit falling anti-collision mechanism (9), which includes a side plate (91), a buffer net (92) and a rubber pad (93). The front sides of the left and right ends of the arched frame (10) are respectively fixedly connected to two side plates (91), and a buffer net (92) is provided between the two side plates (91). The buffer net (92) is inclined with the front lower and the back higher, and a rubber pad (93) is glued to the side of the two side plates (91) that are close to each other.

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