Tomato picking device and picking method

Abstract

The invention relates to the technical field of agricultural intelligent equipment, and provides a tomato picking device and a picking method. The picking device comprises a mechanical arm and a manipulator. The manipulator comprises a bottom plate, an inner protection piece, an outer protection piece and a blade; the bottom plate is connected with the execution tail end of the mechanical arm, the outer protection piece, the inner protection piece and the blade are all annularly arranged, the inner protection piece and the outer protection piece are installed on the bottom plate, the inner protection piece is used for being arranged on a tomato trunk in a sleeving mode, the outer protection piece is arranged on the inner protection piece in a sleeving mode, a containing space is formed between the outer protection piece and the inner protection piece, and the blade is rotationally arranged in the containing space; the inner protection piece is provided with a first notch, the outer protection piece is provided with a second notch, the blade is exposed out of the first notch and the second notch, and the width of the first notch and the width of the second notch are equal, smaller than the outer diameter of a tomato trunk and the outer diameter of a tomato and larger than the outer diameter of a tomato branch; and the mechanical arm drives the manipulator to adjust the position, so that the blade rotationally cuts the tomato branches. The tomato picking device achieves efficient picking of tomatoes and is good in universality.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural intelligent equipment, and in particular to a tomato picking device and a picking method. Background Art

[0002] Tomatoes are popular among consumers for their high nutritional value and multiple ways of eating. At present, China's tomato planting area has reached 11.572 million mu, and the annual output can reach up to 64.8658 million tons. The workload of picking tomatoes after they are ripe is huge and the task of picking is arduous.

[0003] When tomatoes are ripe, they are usually picked manually, which has problems such as low efficiency and high labor intensity. At present, there are problems such as using picking machines to pick tomatoes, but due to the different sizes of tomatoes, it is easy to damage the tomato fruits, resulting in a low success rate and poor versatility. Summary of the invention

[0004] The invention provides a tomato picking device and a picking method, which are used to solve the problems of low picking success rate and poor versatility of the tomato picking device in the prior art.

[0005] In order to solve the above-mentioned technical problems, the present invention is achieved as follows: In a first aspect, the present invention provides a tomato picking device, comprising: a mechanical arm and a mechanical hand; The manipulator comprises a base plate, an inner guard, an outer guard and a blade; The bottom plate is connected to the execution end of the robot arm, the outer guard, the inner guard and the blade are all arranged in a ring shape, the inner guard and the outer guard are installed on the bottom plate, the inner guard is used to be sleeved on the tomato trunk, the outer guard is sleeved on the inner guard, an accommodating space is formed between the outer guard and the inner guard, and the blade is rotatably arranged in the accommodating space; The inner guard has a first notch, the outer guard has a second notch, the first notch and the second notch are arranged opposite to each other, the blade is exposed in the first notch and the second notch, wherein the width of the first notch and the second notch are equal and smaller than the outer diameter of the tomato trunk and the outer diameter of the tomato, and larger than the outer diameter of the tomato branch; The mechanical arm drives the mechanical hand to adjust its position so that the blade can perform rotational cutting on the tomato branch.

[0006] According to a tomato picking device provided by the present invention, the width of the open ends of the first notch and the second notch are both greater than the width of the bottom ends; And / or, the top end of the blade is provided with a plurality of tips, and the plurality of tips are arranged around the circumference of the blade.

[0007] According to a tomato picking device provided by the present invention, the manipulator further comprises a first driving member and a gear; The first driving member is arranged on the bottom plate, and the first driving member is transmission-connected with the blade via the gear; The outer guard has a mounting hole, and the blade is provided with teeth on a side facing the outer guard. The teeth of the blade are exposed from the mounting hole and mesh with the gear.

[0008] According to a tomato picking device provided by the present invention, the manipulator further comprises: a roller and a bearing; A mounting groove is provided on a side of the inner guard facing the blade, and the roller is rotatably arranged in the mounting groove; The bearing sleeve is arranged on the end of the roller, the inner ring of the bearing is fixed to the roller, and the outer ring of the bearing is fixed to the inner protective component.

[0009] According to a tomato picking device provided by the present invention, the inner guard, the outer guard and the blade are constructed as a first clamping unit and a second clamping unit which are separately arranged; The first clamping unit and the second clamping unit can be docked to form a complete manipulator; The first clamping unit and the second clamping unit are arranged to be openable and closable.

[0010] According to a tomato picking device provided by the present invention, the manipulator further comprises: a connecting rod assembly and a second driving member; The second driving member is mounted on the bottom plate, the second driving member is drivingly connected to one end of the connecting rod assembly, and the other end of the connecting rod assembly is respectively connected to the first clamping unit and the second clamping unit; The bottom plate is provided with a guide structure, the connecting rod assembly is movably provided on the guide structure, and can perform structural deformation under the guidance of the guide structure, thereby driving the opening and closing of the first clamping unit and the second clamping unit.

[0011] According to a tomato picking device provided by the present invention, the mechanical arm comprises a base, an adjustment seat, a large arm and a small arm connected in sequence; The adjustment seat is movably arranged on the base and can rotate around the base. The upper arm is telescopically arranged on the adjustment seat. The lower arm is rotatably arranged on the upper arm. The lower arm is connected to the bottom plate.

[0012] According to a tomato picking device provided by the present invention, the adjustment seat comprises a rotating platform and a pitching platform, the rotating platform is rotatably arranged on the base, and the rotating axis of the rotating platform is vertically arranged; The pitching platform can be arranged on the rotating platform in a pitching manner, and the rotating axis of the pitching platform is arranged horizontally; And / or, the forearm includes a first rotation joint and a second rotation joint; The rotation axes of the first rotation joint and the second rotation joint are arranged perpendicularly; The first rotating joint is rotatably arranged on the upper arm, and the second rotating joint is connected to the bottom plate.

[0013] A tomato picking device provided according to the present invention further includes: a storage component; The storage assembly includes a storage rack and a storage bag; The storage rack is arranged at the bottom end of the robot; and the storage bag is sleeved on the storage rack.

[0014] In a second aspect, the present invention provides a picking method based on the tomato picking device as described above, comprising: Control the robot arm to adjust its position from bottom to top along the tomato trunk so that the robot arm reaches the preset position; The blade is controlled to rotate to perform rotary cutting on the tomato branches and stems so as to separate the tomato trunk from the tomato branches and stems.

[0015] The tomato picking device provided by the present invention sets a mechanical glove on the tomato trunk, accurately controls the movement trajectory of the mechanical hand through the mechanical arm, controls the mechanical hand to move from bottom to top along the tomato trunk, and cuts the tomato branches through the rotation of the blade, thereby realizing efficient picking of tomato bunches. Since the picking device cuts off the tomato branches, compared with directly picking tomato fruits in traditional picking devices, damage or waste of tomato fruits is avoided. Furthermore, since the mechanical hand has inner and outer guards on both sides of the blade, it can ensure that the blade will not touch the tomato trunk and tomato fruits when cutting the tomato branches, thereby avoiding damage to the plant body and tomato fruits, improving the picking efficiency, and can also adapt to the picking needs of different tomato varieties, thereby enhancing the universality of the picking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a schematic diagram of the working state of the tomato picking device provided by the present invention on a tomato trunk.

[0018] Figure 2 This is one of the three-dimensional structural schematic diagrams of the manipulator provided by the present invention.

[0019] Figure 3This is the second schematic diagram of the three-dimensional structure of the manipulator provided by the present invention.

[0020] Figure 4 It is a schematic diagram of the top view of the structure of the manipulator provided by the present invention when it is opened.

[0021] Figure 5 It is a schematic diagram of the three-dimensional structure of the outer protective component provided by the present invention.

[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of the inner guard, the blade and the outer guard provided by the present invention after being assembled.

[0023] Figure 7 It is a schematic diagram of the three-dimensional structure of the mechanical arm provided by the present invention.

[0024] Figure 8 It is a flow chart of a picking method based on a tomato picking device provided by the present invention.

[0025] Reference numerals: 1. Picking device; 11. Manipulator; 111. Inner guard; 112. Outer guard; 113. Blade; 114. Accommodation space; 115. Bottom plate; 116. First driving member; 117. Gear; 118. Roller; 119. Bearing; 120. Second driving member; 121. Connecting rod assembly; 1111. First notch; 1121. Second notch; 1122. Mounting hole; 1211. First connecting rod; 1212. Second connecting rod; 1213. Connecting seat; 1151. First groove; 1152. Second groove; 1153. Strip hole; 12. Mechanical arm; 121. Base; 122. Adjustment seat; 123. Upper arm; 124. Lower arm; 1221. Rotating table; 1222. Pitching table; 1241. First rotating joint; 1242. Second rotating joint; 13. Storage components; 2. Tomato trunk; 3. Tomato branches; 4. Tomato; M1, first clamping unit; M2, second clamping unit. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0027] Combine the following Figures 1 to 8, the tomato picking device and picking method provided by the embodiments of the present invention are described in detail through specific embodiments and their application scenarios.

[0028] First, as Figure 1 and Figure 2 As shown, this embodiment provides a tomato picking device 1, including: a mechanical arm 12 and a mechanical hand 11.

[0029] The robot arm 11 includes a base plate 115 , an inner guard 111 , an outer guard 112 , and a blade 113 .

[0030] The bottom plate 115 is connected to the execution end of the robot arm 12. The outer guard 112, the inner guard 111 and the blade 113 are all arranged in a ring shape. The inner guard 111 and the outer guard 112 are installed on the bottom plate 115. The inner guard 111 is used to be mounted on the tomato trunk 2. The outer guard 112 is mounted on the inner guard 111. An accommodating space 114 is formed between the outer guard 112 and the inner guard 111. The blade 113 is rotatably arranged in the accommodating space 114.

[0031] The inner guard 111 has a first notch 1111, and the outer guard 112 has a second notch 1121. The first notch 1111 and the second notch 1121 are arranged opposite to each other, and the blade 113 is exposed in the first notch 1111 and the second notch 1121, wherein the widths of the first notch 1111 and the second notch 1121 are equal and smaller than the outer diameter of the tomato trunk 2 and the outer diameter of the tomato 4, and larger than the outer diameter of the tomato branch 3.

[0032] The robot arm 12 drives the robot arm 11 to adjust its position so that the blade 113 can rotate and cut the tomato branch 3.

[0033] It is understandable that the robot arm 12 of this embodiment is capable of performing complex spatial operations and making adjustments with multiple degrees of freedom, thereby driving the robot arm 11 to adjust its position, so that the robot arm 11 can approach the position of the tomato branch 3 .

[0034] The bottom plate 115 of this embodiment is connected to the execution end of the robot arm 12, and provides installation support for the inner guard 111, the blade 113 and the outer guard 112. The outer guard 112, the inner guard 111 and the blade 113 are all annular and are sleeved on the tomato trunk 2, and the blade 113 is clamped between the outer guard 112 and the inner guard 111. Because the outer wall of the tomato trunk 2 is distributed with drooping tomato branches 3, tomato bunches grow on the tomato branches 3. When the blade 113 rotates, the blade rotates and cuts the outer side of the tomato trunk 2 for a circle. When the blade touches the tomato branch 3, the tomato branch 3 can be cut off, so that the tomato bunch is separated from the tomato trunk 2.

[0035] Due to the diversity of tomato varieties 4, the outer diameters of the tomato trunks 2 are different. The inner diameter of the inner guard 111 of the manipulator 11 of this embodiment is larger than the maximum value of the tomato trunk 2, so it can be mounted on tomato trunks 2 of different sizes, and has good versatility.

[0036] The inner guard 111 is arranged on the inner side of the blade 113. The first notch 1111 on the inner guard 111 is smaller than the outer diameter of the tomato trunk 2. Therefore, when the blade 113 rotates, the tomato trunk 2 will not fall into the first notch 1111 and contact the blade 113. Therefore, the inner guard 111 can prevent the blade 113 from cutting the tomato trunk 2 when rotating. The outer guard 112 is arranged on the outer side of the blade 113. The second notch 1121 on the outer guard 112 is smaller than the outer diameter of the tomato fruit. When the blade 113 rotates, the tomato fruit will not fall into the second notch 1121 and contact the blade 113. Therefore, the outer guard 112 can prevent the blade 113 from cutting the tomato fruit when rotating. The width of the first notch 1111 and the second notch 1121 is larger than the tomato branch 3. Therefore, the tomato branch 3 falls from the tomato trunk 2 into the first notch 1111 and the second notch 1121. When the blade 113 rotates, the tomato branch 3 is cut, thereby completing the separation of the tomato bunch from the tomato trunk 2.

[0037] Optionally, the rotation of the blade 113 on the bottom plate 115 can be achieved by providing a guide rail on the bottom plate 115 and a slider on the blade 113, and then the slider rotates around the guide rail. Alternatively, a rotating table can be provided between the bottom plate 115 and the blade 113, and the rotation of the blade 113 can be achieved by rotating the rotating table.

[0038] Specifically, the cross section of the inner guard 111 of the present embodiment is L-shaped, the long side of the L-shaped is arranged in parallel with the outer guard 112, and the short side of the L-shaped is in contact with the outer guard 112 to form an accommodating space 114. The inner guard 111 and the outer guard 112 support the blade 113 in the accommodating space 114. The rotation of the blade 113 in the accommodating space 114 is driven to achieve rotary cutting of the tomato branch 3.

[0039] Optionally, the blade 113 is made of a high-hardness material, such as stainless steel or high-carbon steel.

[0040] In actual application, the manipulator 11 is sleeved on the tomato trunk 2, and the manipulator arm 12 is controlled to drive the manipulator 11 to move from bottom to top along the extension direction of the tomato trunk 2. The blade 113 rotates to cut off the multiple tomato branches 3 on the tomato trunk 2, thereby completing the separation and picking of all the tomato bunches on the tomato trunk 2. Since the manipulator 11 does not clamp the tomato fruit for picking, damage to the tomato fruit is avoided, and since the manipulator 11 picks the entire bunch of tomatoes 4, the picking efficiency of the tomatoes 4 is improved.

[0041] Optionally, the tomato picking device 1 can also be configured with a visual component, a processor and a walking device. The tomato picking device 1 is mounted on the walking device, and the walking device can walk in the path of the field and move to the vicinity of each tomato trunk 2. The visual component collects image data of the working area, and the processor generates a picking task table for tomato fruits according to the image processing results, and provides a motion planning path for the mechanical arm 12, and controls the mechanical arm 12 to perform the picking task according to the optimal path.

[0042] The tomato picking device 1 provided by the present invention sets a manipulator 11 on the tomato trunk 2, and accurately controls the movement trajectory of the manipulator 11 through the manipulator arm 12, controls the manipulator 11 to move from bottom to top along the tomato trunk 2, and cuts the tomato branches 4 through the rotation of the blade 113, thereby realizing efficient picking of tomato bunches. Since the picking device cuts off the tomato branches 4, compared with directly picking tomato fruits in traditional picking devices, damage or waste of tomato fruits is avoided. Furthermore, since the manipulator 11 is provided with an inner guard 111 and an outer guard 112 on both sides of the blade 113, it can ensure that the blade 113 will not touch the tomato trunk 2 and tomato fruits when cutting the tomato branches 3, thereby avoiding damage to the plant body and the tomato fruits, improving the picking efficiency, and can also adapt to the picking needs of different tomato varieties 4, thereby enhancing the universality of the picking device.

[0043] In some embodiments, Figure 2 and Figure 6 As shown, the width of the open ends of the first notch 1111 and the second notch 1121 of this embodiment is greater than the width of the bottom end.

[0044] It is understandable that the open ends of the first notch 1111 and the second notch 1121 are located at the top, and the tomato branches 4 fall into the open ends and slide to the bottom. The width of the open end of this embodiment is greater than the width of the bottom end, making it easier for the tomato branches 4 to fall into the open end, and the inclined surface of the open end has a guiding effect on the tomato branches 4, guiding the tomato branches 4 from the open end to the bottom end. As a result, the tomato branches 4 can smoothly enter from the first notch 1111 and the second notch 1121 and fall above the blade 113, so as to facilitate the subsequent cutting of the tomato branches 4 by the blade 113.

[0045] In some embodiments, Figure 2 and Figure 6 As shown, the top of the blade 113 of this embodiment is provided with a plurality of tips, and the plurality of tips are arranged around the circumference of the blade 113 .

[0046] It is understandable that the multiple tips of the present embodiment are connected to form multiple inclined cutting surfaces, and a clamping gap is formed between each two adjacent cutting surfaces, and the clamping gap has a restraining effect on the tomato branches 4. As the blade 113 rotates, the tomato branches 3 clamped between the clamping gaps are stably cut, the cutting effect is better, and the reliability of cutting the tomato branches 4 is enhanced.

[0047] In some embodiments, Figure 2 and Figure 5 As shown, the manipulator 11 of this embodiment further includes a first driving member 116 and a gear 117 .

[0048] The first driving member 116 is disposed on the bottom plate 115 , and the first driving member 116 is transmission-connected to the blade 113 via a gear 117 .

[0049] The outer guard 112 has a mounting hole 1122 . A side of the blade 113 facing the outer guard 112 is provided with teeth. The teeth of the blade 113 are exposed from the mounting hole 1122 and mesh with the gear 117 .

[0050] It is understandable that the first driving member 116 of the present embodiment is arranged outside the bottom plate 115, the driving shaft of the first driving member 116 is arranged vertically, and the gear 117 is sleeved and fixed on the first driving shaft. Based on the meshing of the gear 117 and the tooth pattern of the blade 113, the meshing transmission of the gear 117 and the blade 113 is realized. The first driving member 116 drives the gear 117 to rotate, and the gear 117 drives the blade 113 to rotate for cutting. The first driving member 116 can adjust the angle and accuracy of the rotation to ensure the stability and accuracy of the rotation of the blade 113. The gear 117 transmission can realize the transmission effect of the driving force of the first driving member 116, and the structure is simple and convenient for installation and disassembly.

[0051] Specifically, the first driving member 116 may be a stepping motor.

[0052] In some embodiments, Figure 3 As shown, the manipulator 11 of this embodiment further includes: a roller 118 and a bearing 119 .

[0053] A mounting groove is provided on one side of the inner guard 111 facing the blade 113 , and the roller 118 is rotatably disposed in the mounting groove.

[0054] The bearing 119 is sleeved on the end of the roller 118 , the inner ring of the bearing 119 is fixed to the roller 118 , and the outer ring of the bearing 119 is fixed to the inner guard 111 .

[0055] It is understandable that, since the blade 113 generates friction with the inner guard 111 when performing rotational cutting, long-term sliding friction will cause wear of the blade 113. The setting of the roller 118 and the bearing 119 of this embodiment can convert the sliding friction between the blade 113 and the inner guard 111 into rolling friction. The positive sliding contact surface between the blade 113 and the inner guard 111 becomes a smaller friction surface between the blade 113 and the outer wall of the roller 118. The reduction in contact area further reduces the friction between the blade 113 and the inner guard 111, improves the cutting efficiency of the blade 113 on the tomato branch 3, reduces the wear of the blade 113, and extends the service life of the blade 113.

[0056] Furthermore, the present embodiment is provided with a plurality of rollers 118 and bearings 119, which are arranged at intervals on the side of the inner guard 111 facing the blade 113. The plurality of rollers 118 and bearings 119 can increase the contact points between the blade 113 and the inner guard 111 when the blade 113 rotates, so that the number of rolling friction points between the blade 113 and the inner guard 111 increases, which is conducive to the smooth rotation of the blade 113.

[0057] In some embodiments, Figure 4 As shown, the inner guard 111 , the outer guard 112 and the blade 113 of the present embodiment are constructed as a first clamping unit M1 and a second clamping unit M2 which are separately arranged.

[0058] The first clamping unit M1 and the second clamping unit M2 can be docked to form a complete robot arm 11 .

[0059] The first clamping unit M1 and the second clamping unit M2 are arranged to be openable and closable.

[0060] It is understandable that, since the tomato picking device 1 of this embodiment needs to be sleeved on the tomato trunk 2 and moved from bottom to top, the manipulator 11 is set as the first clamping unit M1 and the second clamping unit M2 that can be opened and closed, so that the first clamping unit M1 and the second clamping unit M2 can be sleeved from the bottom of the tomato trunk 2 when they are opened. After the sleeve is completed, the first clamping unit M1 and the second clamping unit M2 are closed to form the whole manipulator 11, so as to facilitate the cutting operation of the tomato branches 3.

[0061] Specifically, the first clamping unit M1 and the second clamping unit M2 are respectively configured with a first driving member 116 and a gear 117. Each first driving member 116 drives a half-annular inner guard 111, a blade 113 and an outer guard 112. When the first clamping unit M1 and the second clamping unit M2 are closed into a circular ring, the first clamping unit M1 and the second clamping unit M2 are controlled in linkage, and the entire annular blade 113 rotates or stops at the same time.

[0062] The opening and closing setting of the first clamping unit M1 and the second clamping unit M2 makes it more convenient for the manipulator 11 to be mounted on the tomato trunk 2. By switching the opening and closing states, the mounting of the tomato trunk 2 and the disassembly of the manipulator 11 can be easily achieved, which is beneficial to the convenience of on-site operations of operators.

[0063] In some embodiments, Figure 3 and Figure 4 As shown, the manipulator 11 of this embodiment further includes: a connecting rod assembly 121 and a second driving member 120 .

[0064] The second driving member 120 is mounted on the bottom plate 115 . The second driving member 120 is drivingly connected to one end of a connecting rod assembly 121 . The other end of the connecting rod assembly 121 is respectively connected to the first clamping unit M1 and the second clamping unit M2 .

[0065] A guide structure is provided on the bottom plate 115 , and the connecting rod assembly 121 is movably provided on the guide structure and can perform structural deformation under the guidance of the guide structure, thereby driving the opening and closing of the first clamping unit M1 and the second clamping unit M2 .

[0066] It is understandable that the length of the base plate 115 covers the outer guard 112 and the execution end of the robot arm 12 .

[0067] The connecting rod assembly 121 includes a first connecting rod 1211, a second connecting rod 1212 and a connecting seat 1213. The driving shaft of the second driving member 120 is connected to the connecting seat 1213, the first end of the first connecting rod 1211 and the first end of the second connecting rod 1212 are both connected to the connecting seat 1213, the second end of the first connecting rod 1211 is connected to the first clamping unit M1, and the second end of the second connecting rod 1212 is connected to the second clamping unit M2.

[0068] The guide structure includes a first groove 1151, a second groove 1152 and a strip hole 1153. The first groove 1151, the second groove 1152 and the strip hole 1153 are all extended along the length direction of the bottom plate 115. The first end of the first connecting rod 1211 slides in the first groove 1151 driven by the connecting seat 1213, and the second end of the second connecting rod 1212 slides in the second groove 1152 driven by the connecting seat 1213. The middle part of the connecting seat 1213 has a protrusion, and the protrusion slides in the strip hole 1153. As the second driving member 120 drives the connecting seat 1213, the connecting seat 1213 slides in the strip hole 1153 along the length direction of the bottom plate 115, and drives the first connecting rod 1211 to slide in the first groove 1151 along the length direction of the bottom plate 115, and drives the second connecting rod 1212 to slide in the second groove 1152 along the length direction of the bottom plate 115, so that the second end of the first connecting rod 1211 drives the first clamping unit M1 to rotate in the counterclockwise direction, and at the same time, the second end of the second connecting rod 1212 drives the second clamping unit M2 to rotate in the clockwise direction, so that the first clamping unit M1 and the second clamping unit M2 are opened. Alternatively, the second end of the first connecting rod 1211 drives the first clamping unit M1 to rotate in the clockwise direction, and at the same time, the second end of the second connecting rod 1212 drives the second clamping unit M2 to rotate in the counterclockwise direction, so that the first clamping unit M1 and the second clamping unit M2 are closed. In this embodiment, the second driving member 120 drives the connecting seat 1213, so that the connecting rod assembly 121 drives the first clamping unit M1 and the second clamping unit M2 to open and close. The structure is simple and the transmission efficiency is high, and the opening and closing effect of the first clamping unit M1 and the second clamping unit M2 is good.

[0069] Specifically, the second driving member 120 may be a linear servo actuator.

[0070] In some embodiments, Figure 7 As shown, the robot arm 12 of this embodiment includes a base 121, an adjustment base 122, a large arm 123 and a small arm 124 connected in sequence.

[0071] The adjustment seat 122 is movably disposed on the base 121 and can rotate around the base 121 . The upper arm 123 is telescopically disposed on the adjustment seat 122 . The lower arm 124 is rotatably disposed on the upper arm 123 . The lower arm 124 is connected to the bottom plate 115 .

[0072] It is understandable that the base 121 includes a linear module, a slide of the linear module is connected to the adjustment seat 122, and the linear module moves linearly in the horizontal direction so that the base 121 can adjust the displacement of the robot 11 in the horizontal direction.

[0073] At the same time, the adjustment seat 122 can rotate around the base 121, so as to adjust the angle of the manipulator 11 so that the manipulator 11 can be close to the tomato trunk 2.

[0074] The upper arm 123 includes a telescopic driving member, which can drive the extension and retraction of the manipulator 11 to finely adjust the distance between the manipulator 11 and the tomato trunk 2 .

[0075] The small arm 124 can rotate around the large arm 123, so that after the manipulator 11 approaches the tomato trunk 2, the angle of the manipulator 11 can be adjusted by the small arm 124 to adapt to the different inclination angles of the tomato trunk 2, so that the manipulator 11 can be better mounted on the tomato trunk 2.

[0076] In this embodiment, a base 121, an adjustment base 122, a large arm 123 and a small arm 124 are arranged on the robot arm 12, and the distance, angle and position between the robot arm 11 and the tomato trunk 2 are adjusted to achieve fine adjustment of the robot arm 11.

[0077] In some embodiments, Figure 7 As shown, the adjustment seat 122 of this embodiment includes a rotating platform 1221 and a pitching platform 1222 . The rotating platform 1221 is rotatably disposed on the base 121 , and the rotating axis of the rotating platform 1221 is vertically disposed.

[0078] The pitching platform 1222 is disposed on the rotating platform 1221 in a pitchable manner, and the rotating axis of the pitching platform 1222 is disposed horizontally.

[0079] It is understandable that the rotating platform 1221 can rotate the arm 123 in the horizontal direction, and the pitching platform 1222 can make the arm 123 pitch and rotate, which can adjust the horizontal angle of the arm 123 and the pitch angle of the arm 123. This makes the angle adjustment of the manipulator 11 more flexible and convenient.

[0080] In some embodiments, Figure 7 As shown, the forearm 124 of this embodiment includes a first rotation joint 1241 and a second rotation joint 1242 .

[0081] The rotation axes of the first rotation joint 1241 and the second rotation joint 1242 are arranged perpendicularly.

[0082] The first rotating joint 1241 is rotatably disposed on the upper arm 123 , and the second rotating joint 1242 is connected to the bottom plate 115 .

[0083] It is understandable that the first rotary joint 1241 of the present embodiment is rotatably connected to the upper arm 123, and the second rotary joint 1242 is rotatably connected to the first rotary joint 1241. The rotation axis of the first rotary joint 1241 is perpendicular to the extension direction of the upper arm 123, and the rotation axis of the second rotary joint 1242 is perpendicular to the rotation axis of the first rotary joint 1241, so that when the upper arm 123 drives the lower arm 124 to reach the vicinity of the tomato trunk 2, the first rotary joint 1241 and the second rotary joint 1242 can further adjust the angle of the manipulator 11. Since the rotation axis of the first rotary joint 1241 is perpendicular to the rotation axis of the second rotary joint 1242, the spatial positioning angle of the manipulator 11 can be finely adjusted at multiple angles, so that the manipulator 11 is finally sleeved on the tomato trunk 2.

[0084] In some embodiments, Figure 1 As shown, the tomato picking device 1 of this embodiment further includes: a storage component 13.

[0085] The storage assembly 13 includes a storage rack and a storage bag.

[0086] The storage rack is arranged at the bottom end of the manipulator 11; the storage bag is sleeved on the storage rack.

[0087] It is understandable that the storage rack can be arranged on the lower side of the bottom plate 115, and the storage rack of this embodiment can be set as a circular rack. The storage bag is mounted on the storage rack so that the opening of the storage bag is propped open by the storage rack, and the storage bag can receive the tomato branches 3 cut by the blade 113, and the tomato bunch falls into the storage bag as a whole. As the picking device moves from bottom to top along the tomato trunk 2, all the tomato branches 3 on the entire tomato trunk 2 are cut off and fall into the storage bag, realizing the timely storage of the tomato bunches, without the need for manual storage of the picked tomatoes 4, and improving the degree of automation of the tomato picking device 1.

[0088] In a second aspect, in some embodiments, as Figure 8 As shown, this embodiment provides a picking method based on the tomato picking device 1 as described above, comprising the following steps: Step 811 , controlling the robot arm 12 to adjust its position from bottom to top along the tomato trunk 2 , so that the robot arm 11 reaches a preset position.

[0089] It is understandable that, for the planned picking path of tomatoes 4, the control robot arm 12 can drive the robot hand 11 to be set on the tomato trunk 2, and adjust the posture of the robot arm 12 based on the specific growth form of the tomato trunk 2, so that the robot hand 11 can move from bottom to top along the tomato trunk 2. For the position where the tomato branches 3 grow, the robot hand 11 stays and approaches the position of the tomato branches 3, so that the tomato branches 3 can fall into the first notch 1111 and the second notch 1121, preparing for the subsequent cutting action.

[0090] Step 812 , controlling the blade 113 to rotate so as to perform rotary cutting on the tomato branch 3 to separate the tomato trunk 2 from the tomato branch 3 .

[0091] It is understandable that the blade 113 is controlled to rotate to perform rotational cutting on the peripheral wall of the tomato trunk 2, so that the tomato branches 3 falling into the first notch 1111 and the second notch 1121 are cut off, and the tomato bunches are separated from the tomato trunk 2, thereby completing the picking of the tomatoes 4.

[0092] The picking method based on the tomato picking device 1 provided in this embodiment sets the manipulator 11 on the tomato trunk 2, and delivers the manipulator 11 from bottom to top along the tomato trunk 2 through the movement of the manipulator 12, and uses the annular blade 113 provided on the manipulator 11 to perform rotary cutting on the tomato branches 3 growing on the side wall of the tomato trunk 2, and cuts off the tomato branches 3 to achieve the picking of the whole bunch of tomatoes. Compared with the usual picking of tomato fruits, this method cuts the tomato branches 3 under the premise of protecting the tomato trunk 2 and tomato fruits, which not only avoids damage to the tomato fruits, but also improves the success rate of the picking process. At the same time, the picking of tomato bunches improves the picking efficiency, reduces the dependence on manual labor, and achieves the effect of efficient and stable picking of tomatoes 4, which is conducive to the promotion of large-scale agriculture.

[0093] Finally, it should be noted that 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 do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tomato picking device, characterized in that: include: Robotic arms and manipulators; The manipulator comprises a base plate, an inner guard, an outer guard and a blade; The bottom plate is connected to the execution end of the robot arm, the outer guard, the inner guard and the blade are all arranged in a ring shape, the inner guard and the outer guard are installed on the bottom plate, the inner guard is used to be sleeved on the tomato trunk, the outer guard is sleeved on the inner guard, an accommodating space is formed between the outer guard and the inner guard, and the blade is rotatably arranged in the accommodating space; The inner guard has a first notch, the outer guard has a second notch, the first notch and the second notch are arranged opposite to each other, the blade is exposed in the first notch and the second notch, wherein the width of the first notch and the second notch are equal and smaller than the outer diameter of the tomato trunk and the outer diameter of the tomato, and larger than the outer diameter of the tomato branch; The mechanical arm drives the mechanical hand to adjust its position so that the blade can perform rotational cutting on the tomato branch.

2. The tomato picking device according to claim 1, characterized in that: The width of the open ends of the first notch and the second notch are both greater than the width of the bottom ends; And / or, the top end of the blade is provided with a plurality of tips, and the plurality of tips are arranged around the circumference of the blade.

3. The tomato picking device according to claim 1, characterized in that: The manipulator further comprises a first driving member and a gear; The first driving member is arranged on the bottom plate, and the first driving member is transmission-connected with the blade via the gear; The outer guard has a mounting hole, and the blade is provided with teeth on a side facing the outer guard. The teeth of the blade are exposed from the mounting hole and mesh with the gear.

4. The tomato picking device according to claim 1, characterized in that: The manipulator also includes: rollers and bearings; A mounting groove is provided on a side of the inner guard facing the blade, and the roller is rotatably arranged in the mounting groove; The bearing sleeve is arranged on the end of the roller, the inner ring of the bearing is fixed to the roller, and the outer ring of the bearing is fixed to the inner protective component.

5. The tomato picking device according to claim 1, characterized in that: The inner guard, the outer guard and the blade are constructed as a first clamping unit and a second clamping unit which are separately arranged; The first clamping unit and the second clamping unit can be docked to form a complete manipulator; The first clamping unit and the second clamping unit are arranged to be openable and closable.

6. The tomato picking device according to claim 5, characterized in that: The manipulator further comprises: a connecting rod assembly and a second driving member; The second driving member is mounted on the bottom plate, the second driving member is drivingly connected to one end of the connecting rod assembly, and the other end of the connecting rod assembly is respectively connected to the first clamping unit and the second clamping unit; The bottom plate is provided with a guide structure, the connecting rod assembly is movably provided on the guide structure, and can perform structural deformation under the guidance of the guide structure, thereby driving the opening and closing of the first clamping unit and the second clamping unit.

7. The tomato picking device according to claim 1, characterized in that: The mechanical arm comprises a base, an adjustment base, a large arm and a small arm connected in sequence; The adjustment seat is movably arranged on the base and can rotate around the base. The upper arm is telescopically arranged on the adjustment seat. The lower arm is rotatably arranged on the upper arm. The lower arm is connected to the bottom plate.

8. The tomato picking device according to claim 7, characterized in that: The adjustment seat comprises a rotating platform and a pitching platform, wherein the rotating platform is rotatably arranged on the base, and the rotating axis of the rotating platform is arranged vertically; The pitching platform can be arranged on the rotating platform in a pitching manner, and the rotating axis of the pitching platform is arranged horizontally; And / or, the forearm includes a first rotation joint and a second rotation joint; The rotation axes of the first rotation joint and the second rotation joint are arranged perpendicularly; The first rotating joint is rotatably arranged on the upper arm, and the second rotating joint is connected to the bottom plate.

9. The tomato picking device according to claim 1, characterized in that: Also includes: Storage components; The storage assembly includes a storage rack and a storage bag; The storage frame is arranged at the bottom end of the manipulator; The storage bag is sleeved on the storage rack.

10. A picking method based on the tomato picking device according to any one of claims 1 to 9, characterized in that: include: Control the robot arm to adjust its position from bottom to top along the tomato trunk so that the robot arm reaches the preset position; The blade is controlled to rotate to perform rotary cutting on the tomato branches and stems so as to separate the tomato trunk from the tomato branches and stems.

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