Intelligent robot for picking juicy peaches

Abstract

The invention relates to the technical field of juicy peach picking, in particular to an intelligent robot for picking juicy peaches, which comprises a worktable and a mechanical arm mounted at the top of the worktable, a camera is mounted at the output end of the mechanical arm, a storage box is mounted at the bottom of the worktable, and a storage cavity is formed in the storage box; the buffer assembly comprises a buffer slope fixedly installed at the bottom of the storage cavity, the top of the buffer slope penetrates through the lower bottom of the storage cavity and is provided with a discharging opening, picked juicy peaches can directly roll into the storage box through a discharging hose to be temporarily stored, and then the picking efficiency is greatly improved; the buffer slope is also provided with a nylon net, so that the force of the juicy peaches entering the storage box can be preliminarily released, and the juicy peaches can be synchronously lifted to the height of the discharging barrel along with the increasing filling height of the juicy peaches in the storage box, so that the impact force of the juicy peaches discharged from the lower barrel opening of the buffering discharging barrel is further relieved; the juicy peaches are further prevented from being damaged due to collision.

Description

Technical Field

[0001] The invention relates to the technical field of peach picking, and in particular to an intelligent robot for picking peaches. Background Art

[0002] The ripening time of peaches is mainly concentrated between June and August, which is the best season to enjoy peaches. However, the ripening time of different varieties of peaches may vary. The early-ripening varieties may be ripe in late May to early June, while the late-ripening varieties may not mature until mid-July to late July or mid-August.

[0003] Peaches are usually picked manually. The skin of peaches is thin and easily scratched, so they should be picked gently to avoid damaging the peaches. Overripe peaches are easily damaged during the picking process, while unripe peaches have a poor taste. Therefore, peaches with moderate maturity should be picked. In order to maintain the integrity and beauty of the peaches, it is best to pick them with the fruit stalks. Although manual picking can ensure the quality of peaches, the peaches are distributed all over the fruit tree with a large height difference. It is necessary to bend down, raise your head or even use a ladder to pick all the peaches on the fruit tree, which leads to low picking efficiency. In this regard, a picking robot can be used to improve the efficiency of picking peaches. However, the traditional peach picking robot needs to adjust the robotic arm through multiple sections before putting the picked peaches into the fruit basket, and then move the picking component to the next ripe peach through multiple sections of the robotic arm again to pick the next peach. Due to the large number of operating steps, the picking efficiency that can be improved is effective, but the problem of low picking efficiency still exists. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides an intelligent robot for picking peaches, which can effectively solve the problem of the inconvenience of using the prior art.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: The invention provides an intelligent robot for picking honey peaches, comprising a workbench and a mechanical arm installed on the top of the workbench, a camera installed at the output end of the mechanical arm, a storage box installed at the bottom of the workbench, a storage cavity provided in the storage box, a buffer component comprising a buffer slope fixedly installed at the bottom of the storage cavity, a discharge port provided at the top of the buffer slope penetrating through the lower bottom of the storage cavity, a nylon net installed at the upper cavity opening of the discharge port, a box door rotatably installed at the cavity opening of the storage cavity, a picking component comprising a picking barrel installed at the output end of the mechanical arm, a picking cavity provided at one end of the picking barrel away from the mechanical arm, a cutter installed at the cavity opening of the picking cavity for transverse reciprocating sliding, a collecting hose connected at the bottom of the picking barrel, a bottom of the collecting hose rotatably installed on the top of the workbench and connected to the storage cavity, and a buffer unloading component comprising a buffer unloading barrel installed in the storage cavity for lifting and sliding, the buffer unloading barrel is connected to the collecting hose, and a rubber retaining ring is fixedly installed at the bottom lower barrel opening opposite to the nylon net.

[0006] Furthermore, a receiving barrel is installed on the top of the workbench, which extends into the storage cavity and is adapted to be inserted into the inner barrel cavity of the buffer discharge barrel. The top of the receiving barrel is rotatably installed with the bottom of the collecting hose.

[0007] Furthermore, support legs are vertically fixedly connected at the four corners of the bottom of the workbench, rotating seats are rotatably installed at the bottom of the four support legs, docking strips are vertically fixedly installed on the outer ring walls of the four rotating seats, and strip-shaped mounting holes are penetrated through the four docking strips, and mounting screws are slidably installed in the four strip-shaped mounting holes.

[0008] Furthermore, both sides of the box door are fixedly connected with a rotating shaft, and two opposite inner walls of the storage cavity are provided with rotating holes. The two rotating shafts are rotatably installed in the corresponding rotating holes respectively, and two plug-in blocks are slidably installed on the front of the box door. Two positioning blocks that are detachably connected to the corresponding plug-in blocks are fixedly installed on the front of the storage box, and a handle is installed on the front of the box door.

[0009] Furthermore, the mechanical wall includes a rotating motor installed at the top center of the workbench, an electric lifting rod is installed at the top output end of the rotating motor, a first telescopic cylinder is installed at the top output end of the electric lifting rod, and a first telescopic rod is installed between the output end of the first telescopic cylinder and the picking tube.

[0010] Furthermore, the bottom of the picking cavity is provided with a discharge port which passes through the lower bottom of the picking tube and is connected to the inner cavity of the collecting hose. A second telescopic cylinder is vertically fixedly installed on the outer wall of the picking tube, and a second telescopic rod is installed between the output end of the second telescopic cylinder and the top of the cutter.

[0011] Furthermore, one of the inner side walls of the cavity opening of the picking cavity is provided with a storage opening for accommodating the cutting knife, and the upper cavity top of the picking cavity is provided with a movable groove for accommodating the telescopic sliding of the second telescopic rod.

[0012] Furthermore, the buffer unloading assembly also includes a lifting cylinder fixedly installed on one side of the workbench, and the output end of the lifting cylinder is equipped with a lifting bent rod extending into the storage cavity and fixedly connected to the outer cylinder wall of the buffer unloading cylinder. The outer wall of the storage box passes through the storage cavity and is provided with a sliding hole for facilitating the lifting and sliding of the lifting bent rod.

[0013] Compared with the known prior art, the technical solution provided by the present invention has the following beneficial effects: 1. A picking barrel is provided to hold the peaches, and a cutter installed at the mouth of the picking barrel cuts off the branches connecting the peaches to the fruit tree. At the same time, a feeding hose is connected between the bottom of the picking barrel and the inner cavity of the storage box. The picked peaches can be directly rolled into the storage box for temporary storage through the feeding hose. The mechanical arm can directly drive the picking barrel to hold the next ripe peach, thereby eliminating the action of putting the peaches into the fruit basket, thereby greatly improving the picking efficiency; 2. An inclined buffer slope is set in the storage box, and a nylon net is also installed on the buffer slope, which can initially release the force of the peaches entering the storage box, so as to prevent the peaches from being damaged by impact. In addition, the mesh size of the nylon net is smaller than that of the peaches, but larger than the specifications of broken leaves and broken branches, so that the broken leaves and broken branches that enter the storage box together with the peaches can fall out of the storage box through the nylon mesh, which effectively saves the storage space in the storage box and prevents the peaches from touching the broken branches and being damaged; 3. A buffer discharge barrel that can be raised and lowered and is connected to a discharge hose is arranged in the storage box, so as to reduce the height from the lower barrel mouth of the buffer discharge barrel to the bottom of the inner cavity of the storage box. The height of the discharge barrel can be simultaneously raised as the filling height of peaches in the storage box increases. A rubber retaining ring is installed at the lower barrel mouth of the buffer discharge barrel, so as to further reduce the impact force of the peaches being discharged from the lower barrel mouth of the buffer discharge barrel, thereby further preventing the peaches from being damaged due to impact. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 It is a schematic diagram of the overall first-view structure of the present invention; Figure 2 It is a schematic diagram of the overall second viewing angle structure of the present invention; Figure 3 For the present invention Figure 1 Schematic diagram of the structure at A in the middle; Figure 4 It is a schematic diagram of the cutter installation structure of the present invention; Figure 5 This is a schematic diagram of the installation structure of the buffer unloading assembly and the storage box of the present invention; Figure 6 This is a schematic diagram of the installation structure of the buffer assembly of the present invention; Figure 7 It is a schematic diagram of the structure of the buffer unloading assembly of the present invention; Figure 8 For the present invention Figure 1 Enlarged structural diagram at B in the middle.

[0016] The numbers in the figure represent: 1. Workbench; 11. Material receiving barrel; 12. Support legs; 13. Rotating seat; 14. Docking strip; 15. Mounting screws; 2. Storage box; 21. Storage cavity; 22. Buffer slope; 23. Nylon net; 24. Box door; 25. Insert block; 26. Handle; 31. Rotating motor; 32. Electric lifting rod; 33. First telescopic cylinder; 34. First telescopic rod; 4. Picking tube; 41. Camera; 42. Collection hose; 43. Feeding port; 44. Second telescopic cylinder; 45. Second telescopic rod; 46. Cutter; 51. Lifting cylinder; 52. Lifting bending rod; 53. Buffering discharge barrel; 54. Rubber retaining ring. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] The present invention will be further described below in conjunction with the embodiments.

[0019] Embodiment 1: Reference Figure 1-8, which is the first embodiment of the present invention, an intelligent robot for picking peaches, comprises a workbench 1 and a mechanical arm mounted on the top of the workbench 1, a camera 41 is mounted on the output end of the mechanical arm, and the camera 41 is connected to an external control device, such as a controller signal, so as to collect the relevant information of the distribution position of ripe peaches on the fruit tree in advance, so as to facilitate the controller to start the relevant electrical equipment of the mechanical arm, so that the picking tube 4 can be smoothly put on the ripe peaches, and the accurate positioning work before picking is completed, a storage box 2 is mounted at the bottom of the workbench 1, and a storage cavity 21 is opened in the storage box 2, and a buffer The impact assembly includes a buffer slope 22 fixedly installed at the bottom of the storage cavity 21. The buffer slope 22 is designed for two purposes: one is to reduce the impact force of peaches falling on the buffer slope 22, and the other is to automatically complete the accumulation and storage of peaches through the buffer slope 22. The top of the buffer slope 22 passes through the bottom of the storage cavity 21 to open a discharge port, and a nylon net 23 is installed at the upper cavity mouth of the discharge port. Therefore, the nylon net 23 is also designed to be inclined. Through the deformable characteristics of the material of the nylon net 23 itself and the inclined design, the impact force of the ripe peaches can be finally reduced to avoid collision. The storage chamber 21 is damaged, and a box door 24 is rotatably installed at the mouth of the storage chamber 21. The picking assembly includes a picking barrel 4 installed at the output end of the robot arm. The picking barrel 4 is provided with a picking chamber at one end away from the robot arm. A cutter 46 is installed at the mouth of the picking chamber for horizontal reciprocating sliding. The bottom of the picking barrel 4 is connected to a collecting hose 42. The bottom of the collecting hose 42 is rotatably installed on the top of the workbench 1 and is connected to the storage chamber 21. The buffer discharge assembly includes a buffer discharge barrel 53 that is lifted and slidably installed in the storage chamber 21. The buffer discharge barrel 53 is connected to the collecting hose 42 and has a bottom opposite to the nylon net at position 23. A rubber baffle ring 54 is fixedly installed at the lower tube mouth, and a through hole is opened in the center of the rubber baffle ring 54. The peaches finally pass through the through hole and fall onto the nylon mesh 23. Since the outer diameter specifications of mature peaches are basically the same, the inner diameter of the rubber baffle ring 54 only needs to be slightly smaller than the outer diameter of the mature peaches, so that the ripe peaches can impact the rubber baffle ring 54, so that the rubber baffle ring 54 is deformed and forced to increase the aperture of the through hole, which facilitates the peaches to fall out. In this process, the rubber baffle ring 54 can reduce the impact force of the falling peaches by its own deformation, thereby achieving initial force release.

[0020] Embodiment 2: Reference Figure 5-8, which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that: a receiving barrel 11 is installed on the top of the workbench 1, which extends into the storage cavity 21 and is adapted to be inserted into the inner barrel cavity of the buffer discharge barrel 53. The top of the receiving barrel 11 is rotatably installed with the bottom of the collecting hose 42, so that the collecting hose 42 can be synchronously rotated by a certain angle while the rotation angle of the picking barrel 4 changes, thereby avoiding serious distortion of the collecting hose 42, causing blockage of the internal discharge channel, and affecting the normal storage of peaches. The four corners of the bottom of the workbench 1 are vertically fixedly connected with support legs 12, and the bottoms of the four support legs 12 are rotatably installed with rotating seats 1 3. The outer ring walls of the four rotating seats 13 are vertically fixed with docking strips 14, and the four docking strips 14 are penetrated with strip-shaped mounting holes, and mounting screws 15 are slidably installed in the four strip-shaped mounting holes. The two sides of the box door 24 are fixedly connected with rotating shafts, and the two opposite inner cavity walls of the storage cavity 21 are provided with rotating holes, and the two rotating shafts are rotatably installed in the corresponding rotating holes. Two plug-in blocks 25 are slidably installed on the front of the box door 24, and two positioning blocks that are detachably plugged with the corresponding plug-in blocks 25 are fixedly installed on the front of the storage box 2. A handle 26 is installed on the front of the box door 24, which is convenient for opening the box door 24, and then it is convenient to take out the ripe peaches in the storage cavity 21.

[0021] The remaining structures are the same as those of Example 1.

[0022] Embodiment 3: Reference Figure 1-4 , which is the third embodiment of the present invention. This embodiment is different from the second embodiment in that: the mechanical wall includes a rotating motor 31 installed at the top center of the workbench 1, an electric lifting rod 32 is installed at the top output end of the rotating motor 31, a first telescopic cylinder 33 is installed at the top output end of the electric lifting rod 32, a first telescopic rod 34 is installed between the output end of the first telescopic cylinder 33 and the picking tube 4, a cavity bottom of the picking cavity penetrates the lower bottom of the picking tube 4 and is provided with a discharge port 43 connected to the inner cavity of the collecting hose 42, a second telescopic cylinder 44 is vertically fixedly installed on the outer cylinder wall of the picking tube 4, a second telescopic rod 45 is installed between the output end of the second telescopic cylinder 44 and the top of the cutter 46, a storage port for facilitating the storage of the cutter 46 is opened on one of the inner side walls of the cavity opening of the picking cavity, ensuring that the cutter 46 will not contact the peaches when the picking tube 4 is covered with peaches, and thus the peaches will not be damaged by the cutter 46, and a movable groove for facilitating the telescopic sliding of the second telescopic rod 45 is opened on the upper cavity top of the picking cavity.

[0023] The remaining structure is the same as that of Example 2.

[0024] Embodiment 4: Reference Figure 5-7, which is the fourth embodiment of the present invention. This embodiment is different from the third embodiment in that: the buffer discharge assembly also includes a lifting cylinder 51 fixedly installed on one side of the workbench 1, and the output end of the lifting cylinder 51 is equipped with a lifting bent rod 52 extending into the storage chamber 21 and fixedly connected to the outer cylinder wall of the buffer discharge barrel 53. The inner diameter of the buffer discharge barrel 53 is consistent with the outer diameter of the receiving barrel 11. During the lifting process, the buffer discharge barrel 53 always slides on the outer cylinder wall of the receiving barrel 11. The outer wall of the storage box 2 passes through the storage chamber 21 and is provided with a sliding hole for facilitating the lifting and sliding of the lifting bent rod 52. The hole width of the sliding hole is consistent with the width of the lifting bent rod 52, thereby improving the stability of the lifting and sliding of the buffer discharge barrel 53.

[0025] The remaining structure is the same as that of Example 3.

[0026] Working principle of the present invention: In the first step, four docking strips 14 are placed on a mobile device such as a crawler mobile vehicle, and the docking strips 14 are rotated in advance so that the bar-shaped mounting holes on the docking strips 14 are opposite to the threaded holes on the crawler mobile vehicle, and then the mounting screws 15 are passed through the bar-shaped mounting holes to complete the detachable installation of the docking strips 14 and the crawler mobile vehicle, thereby completing the detachable installation of the workbench 1 and the crawler mobile vehicle; The second step is to move the picking robot to the peach tree by means of a crawler mobile vehicle, and to shoot the peaches on the tree by means of a camera 41. By means of an advanced visual system and image processing technology, the maturity of the peaches can be identified and accurate picking can be achieved, ensuring that the picked peaches reach the best state. Then, the terminal information control device, such as a controller, carried on the crawler mobile vehicle is used to control the rotation motor 31 to start, drive the electric lifting rod 32, the first telescopic cylinder 33 and the picking tube 4 to rotate, and then start the electric lifting rod 32 to drive the first telescopic cylinder 33 and the picking tube 4 to move up and down, and then start the first telescopic cylinder 33 to push the picking tube 4 to be stuck on the ripe peaches by means of the first telescopic rod 34. At this time, the peaches extend into the picking cavity and are above the feeding port 43. The third step is to start the second telescopic cylinder 44 again, and drive the cutter 46 to move back and forth horizontally once at the opening of the picking cavity through the second telescopic rod 45, thereby cutting off the connection between the peach and the fruit tree. After the peach is disconnected from the fruit tree, it naturally falls due to gravity, falls from the discharge port 43 into the collecting hose 42, and finally enters the buffer discharge cylinder 53 through the receiving cylinder 11, and after passing through the buffering stopper of the rubber stop ring 54, falls onto the nylon net 23 in the storage cavity 21 for secondary buffering. Due to the inclined design of the nylon net 23, the peach will roll down from the surface of the nylon net 23 to the bottom of the storage cavity 21. In the process of the peach rolling down on the nylon net 23, the broken leaves and broken branches that enter the storage cavity 21 together with the peach will fall out from the mesh of the nylon net 23, thereby saving storage space in the storage cavity 21. The fourth step is to complete the collection of peaches in sequence according to the above steps. During the continuous collection process, the number of peaches in the storage chamber 21 will increase, so they will naturally cover the bottom of the storage chamber 21. At this time, it is necessary to start the lifting cylinder 51 to drive the buffer discharge barrel 53 to rise in height through the lifting bent rod 52, and reserve space between the bottom of the buffer discharge barrel 53 and the topmost peach in the current storage chamber 21, so that the subsequent peaches can be smoothly discharged into the storage chamber 21.

[0027] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent robot for picking peaches, comprising a workbench (1) and a mechanical arm mounted on the top of the workbench (1), wherein a camera (41) is mounted on the output end of the mechanical arm, a storage box (2) is mounted on the bottom of the workbench (1), and a storage cavity (21) is provided in the storage box (2), wherein: Also includes: The buffer assembly comprises a buffer slope (22) fixedly mounted on the bottom of the storage cavity (21); the top of the buffer slope (22) penetrates through the bottom of the storage cavity (21) to form a discharge port; a nylon net (23) is mounted at the upper cavity opening of the discharge port; and a box door (24) is rotatably mounted at the cavity opening of the storage cavity (21); A picking assembly comprises a picking barrel (4) mounted at the output end of a mechanical arm, the picking barrel (4) being provided with a picking cavity at one end away from the mechanical arm, a cutter (46) being mounted at the cavity opening of the picking cavity so as to slide back and forth laterally, a collecting hose (42) being connected to the bottom of the picking barrel (4), the bottom of the collecting hose (42) being rotatably mounted on the top of a workbench (1) and being connected to a storage cavity (21); The buffer discharge assembly comprises a buffer discharge barrel (53) which is installed in a storage chamber (21) in a lifting and sliding manner. The buffer discharge barrel (53) is connected to a collecting hose (42), and a rubber retaining ring (54) is fixedly installed at the bottom of the barrel opening opposite to the nylon net (23).

2. The intelligent robot for picking peaches according to claim 1, characterized in that: A material receiving barrel (11) is installed on the top of the workbench (1) and extends into the storage cavity (21) and is adapted to be inserted into the inner cavity of the buffer discharge barrel (53). The top of the material receiving barrel (11) is rotatably mounted on the bottom of the collecting hose (42).

3. The intelligent robot for picking peaches according to claim 1, characterized in that: The four corners of the lower bottom of the workbench (1) are vertically fixedly connected with support legs (12), the bottoms of the four support legs (12) are rotatably mounted with rotating seats (13), the outer ring walls of the four rotating seats (13) are vertically fixedly mounted with docking strips (14), the four docking strips (14) are penetrated with strip-shaped mounting holes, and mounting screws (15) are slidably mounted in the four strip-shaped mounting holes.

4. The intelligent robot for picking peaches according to claim 1, characterized in that: Both sides of the box door (24) are fixedly connected with a rotating shaft, and two opposite inner cavity walls of the storage cavity (21) are provided with a rotating hole, and the two rotating shafts are rotatably installed in the corresponding rotating holes.

5. The intelligent robot for picking peaches according to claim 1, characterized in that: Two plug blocks (25) are slidably mounted on the front of the box door (24), two positioning blocks are fixedly mounted on the front of the storage box (2) and are detachably plugged into the corresponding plug blocks (25), and a handle (26) is mounted on the front of the box door (24).

6. The intelligent robot for picking peaches according to claim 1, characterized in that: The mechanical wall comprises a rotating motor (31) installed at the top center of the workbench (1), and an electric lifting rod (32) is installed at the top output end of the rotating motor (31).

7. The intelligent robot for picking peaches according to claim 6, characterized in that: A first telescopic cylinder (33) is installed at the top output end of the electric lifting rod (32), and a first telescopic rod (34) is installed between the output end of the first telescopic cylinder (33) and the picking tube (4).

8. The intelligent robot for picking peaches according to claim 1, characterized in that: The bottom of the picking cavity penetrates through the bottom of the picking tube (4) and is provided with a discharge port (43) which is in communication with the inner cavity of the collecting hose (42); a second telescopic cylinder (44) is vertically fixedly mounted on the outer wall of the picking tube (4); a second telescopic rod (45) is mounted between the output end of the second telescopic cylinder (44) and the top of the cutter (46).

9. The intelligent robot for picking peaches according to claim 8, characterized in that: One of the inner side walls of the picking cavity is provided with a receiving opening for accommodating the cutting knife (46), and the upper cavity top of the picking cavity is provided with a movable groove for accommodating the telescopic sliding of the second telescopic rod (45).

10. The intelligent robot for picking peaches according to claim 1, characterized in that: The buffer discharge assembly further comprises a lifting cylinder (51) fixedly mounted on one side of the workbench (1); a lifting bent rod (52) extending into the storage cavity (21) and fixedly connected to the outer wall of the buffer discharge cylinder (53) is mounted on the output end of the lifting cylinder (51); and the lifting bent rod (52) extends into the storage cavity (21) and is fixedly connected to the outer wall of the buffer discharge cylinder (53); and a sliding hole is formed on the outer wall of the storage box (2) penetrating the storage cavity (21) to facilitate the lifting and sliding of the lifting bent rod (52).

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