Automatically-driven picking robot

Abstract

The invention discloses an automatic driving picking robot which comprises a moving device, and the moving device comprises a track and can be automatically driven through control of a wireless control assembly. The picking device comprises a visual assembly, a supporting rod, a moving rod, a first push rod, a clamping jaw, a second push rod and guide cloth and can automatically pick picked objects on the two sides. The impurity removing device comprises a guide groove, a screen groove, a material guide plate, a fan, a motor and a material bin and can remove impurities of picked objects, and the cutting device comprises a mounting plate, an extrusion wheel, a shifting plate and a cutting plate and can accelerate collection of the picked objects and cut large impurities.

Description

Technical Field

[0001] The present invention relates to the field of picking robots, and in particular to an automatic driving picking robot. Background Art

[0002] In the process of planting some fruits and vegetables, especially during harvesting, a large amount of manual labor is often required for picking, but the labor efficiency is low and the cost is high. The existing method is to use automatic picking robots for automatic picking, but traditional picking robots mostly use manipulators to perform one-to-one picking work, which has low effect and affects the harvesting efficiency.

[0003] A picking robot proposed in CN202311260609.8 includes: a moving part, including a moving body; a picking arm part, including two groups of picking manipulators respectively arranged on the left and right sides of the front end of the moving body; a visual part, including two groups of first camera components for observing the two groups of picking manipulators; a control part, used to receive and process the image data sent by the first camera components, so as to control the picking manipulators to perform picking work. By arranging two groups of picking manipulators on the left and right sides of the front end of the moving body, and equipping two groups of first camera components for observing the two groups of picking manipulators, the control part is used to receive and process the image data sent by the first camera components, so as to control the picking manipulators to perform picking work. The two groups of picking manipulators divide the work and cooperate to complete the picking and placing actions respectively, thereby improving the picking efficiency, but the above-mentioned problems are not solved.

[0004] The present invention can vibrate and pick the plants on both sides of the picking object through the picking device, so that the picked object falls automatically, which greatly improves the picking efficiency. Summary of the invention

[0005] To solve the above problems, the purpose of the present invention is to provide an autonomous picking robot, which can vibrate and pick the plants on both sides of the picking object through a picking device, so that the picked object falls automatically, greatly improving the picking efficiency.

[0006] The present invention provides an automatic driving picking robot, comprising a moving component, a shell, and a wireless control component. The moving component is provided with a battery, the shell is provided above the moving component, and the wireless control component is provided above the shell. The present invention also includes: a moving device provided below the moving component, the moving device can be automatically driven by the control of the wireless control component; picking devices provided on both sides of the shell can automatically pick the picking objects on both sides; and a debris removal device provided in the shell can remove the debris from the picked objects.

[0007] Furthermore, the mobile device includes a track, which is arranged on the use site and below the mobile component.

[0008] Furthermore, the track is in the shape of a belt with a high middle and low sides, and the moving component is provided with corresponding wheels with a small inner side and a large outer side.

[0009] Furthermore, a magnetic track is provided in the middle of the track, and a corresponding scanner is provided below the moving component.

[0010] Furthermore, the picking device includes a visual component, a support rod, a moving rod, a first push rod, a clamp, a second push rod and a cloth guide. The visual component is arranged on both sides of the wireless control component, the support rod is inclined at both ends of both sides of the shell, the moving rod is slidably installed on the support rod, the first push rod is arranged below the support rod, the telescopic rod of the first push rod is connected to the moving rod, the clamp is rotatably installed at the front end of one end rod, the second push rod is arranged in front of one end rod, the end of the telescopic rod of the second push rod is hinged to the clamp, fixed rods are provided on the outside of the support rod and the moving rod, the rear end of the cloth guide is fixed to the shell, and the two sides of the cloth guide are installed on the fixed rod.

[0011] Furthermore, the impurity removal device includes a guide groove, a screen groove, a material guide plate, a fan, a motor and a silo. The guide groove is arranged on both sides of the interior of the outer shell, the material guide plates are arranged on both sides of the lower end of the interior of the outer shell, a slide rail is arranged on the upper end of the material guide plate, the screen groove is slidably installed above the material guide plate through the slide rail, the screen groove is in an inclined state, and a silo installed on the moving component is arranged at the end of the screen groove, the motor is fixed between the material guide plates, the motor is connected to the sieve groove through a crank and a connecting rod, the fan is arranged between the material guide plates and below the sieve groove, and the material guide plates are inclined.

[0012] Furthermore, the shell is provided with slit-shaped air inlets below the material guide plate on both sides, and a material discharge trough above the material guide plate.

[0013] Furthermore, the bottom surface of the sieve slot is provided with sieve holes, and an inclined plate is provided on the sieve slot.

[0014] Furthermore, the cutting device includes a mounting plate, an extrusion wheel, a toggle plate and a cutting plate. The mounting plates are fixed on both sides of the outer shell and are located above the cloth guide. A rotating shaft and a driving motor for driving the rotating shaft to rotate are provided at the end of the mounting plate. The extrusion wheel is installed on the rotating shaft. The cutting plate is fixed on the mounting plate and is located at the lower rear of the rotating shaft. The toggle plate is fixed on the rotating shaft and is located between the cutting plates.

[0015] Furthermore, the extrusion wheels are divided into multiple parts and arranged with a large one in the middle and small ones on both sides, and the extrusion wheels are eccentrically fixed on the rotating shaft.

[0016] Beneficial effects: 1. The visual components are arranged on both sides of the wireless control component, the support rods are inclined at the two ends of both sides of the shell, the moving rods are slidably installed on the support rods, the first push rod is arranged below the support rod, the telescopic rod of the first push rod is connected to the moving rod, the clamp is rotatably installed at the front end of one end rod, the second push rod is arranged in front of one end rod, the end of the telescopic rod of the second push rod is hinged with the clamp, the outer sides of the support rod and the moving rod are provided with fixed rods, the rear end of the guide cloth is fixed on the shell, and the two sides of the guide cloth are installed on the fixed rods. The first push rod can push the moving rod to vibrate, so that the clamp at the front end of the moving rod drives the plants on both sides of the picking object to vibrate, so that the picking object falls, thereby greatly improving the picking efficiency.

[0017] A slide rail is provided on the upper end of the guide plate, and the screen slot is slidably installed above the guide plate through the slide rail. The fan is arranged between the guide plates and below the screen slot. Screen holes are arranged on the bottom of the screen slot. An inclined plate is provided on the screen slot, which can vibrate the picked objects through the screen slot and temporarily suspend the picked objects through the inclined plate, so that the impurities in the picked objects can be removed by the airflow blown out by the fan to ensure the quality of picking.

[0018] A rotating shaft and a driving motor for driving the rotating shaft to rotate are provided at the end of the mounting plate, the extrusion wheel is installed on the rotating shaft, the cutting plate is fixed on the mounting plate and is located at the lower rear of the rotating shaft, the toggle plate is fixed on the rotating shaft and is located between the cutting plates, the extrusion wheels are divided into multiple parts, and are arranged in a large middle and small arrangement on both sides, the extrusion wheel is eccentrically fixed on the rotating shaft, and can intermittently stretch and press the guide cloth through the rotation of the extrusion wheel, thereby changing the angle of the guide cloth, allowing the picked objects to be quickly rolled and collected, and can also form shearing with the cutting plate through the rotation of the toggle plate, thereby cutting the debris into small pieces, which is convenient for separation of the debris removal device and prevents blockage.

[0019] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 .

[0021] Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 .

[0022] Figure 3 The overall structure of the present invention is shown in FIG. Figure 3 .

[0023] Figure 4 The cross section of the present invention Figure 1 .

[0024] Figure 5 The cross section of the present invention Figure 2 .

[0025] Figure 6 It is a schematic diagram of the overall structure of the sieve slot of the present invention.

[0026] Figure 7 It is a schematic diagram of the overall structure of the cutting device of the present invention.

[0027] Figure 8 is an exploded view of the cutting device of the present invention.

[0028] Figure numerals: track 1; moving component 2; housing 3; wireless control component 4; visual component 5; support rod 6; moving rod 7; first push rod 8; clamping claw 9; second push rod 10; cloth guide 11; guide groove 12; screen groove 13; material guide plate 14; slide rail 15; discharge groove 16; inclined plate 17; fan 18; motor 19; connecting rod 20; silo 21; fixing rod 22; mounting plate 23; rotating shaft 24; extrusion wheel 25; toggle plate 26; cutting plate 27. DETAILED DESCRIPTION

[0029] The technical solutions 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 only part of the embodiments of the present invention, rather than all of the embodiments. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present invention.

[0030] Below, the automatic driving picking robot according to an embodiment of the present invention is described with reference to the accompanying drawings. Figure 1 - Figure 6 As shown, the automatic driving picking robot includes a mobile component 2, a shell 3, and a wireless control component 4. The mobile component 2 is provided with a battery, the shell 3 is provided above the mobile component 2, and the wireless control component 4 is provided above the shell 3. The automatic driving picking robot also includes: a mobile device provided below the mobile component 2, and the mobile device can be automatically driven by the control of the wireless control component 4; picking devices provided on both sides of the shell 3 can automatically pick the picked objects on both sides; a dust removal device provided in the shell 3 can remove dust from the picked objects; a cutting device provided above the picking device can speed up the collection of the picked objects and cut large debris.

[0031] like Figure 1 and Figure 2 As shown, the self-driving picking robot includes a moving device, which includes a track 1. The track 1 is arranged on the use site and is located below the moving component 2. The track 1 is a belt-shaped device with a high middle and low sides. The moving component 2 is provided with corresponding wheels with small inner sides and large outer sides, so that the moving component 2 can be easily kept on the track 1. A magnetic track is provided in the middle of the track 1, and a corresponding scanner is provided below the moving component 2, so that the moving component 2 can move along the track 1.

[0032] In a specific embodiment: when in use, the wireless control component 4 receives a control signal via a network signal, thereby controlling the mobile component 2 to start, so that the mobile component 2 moves on the track 1, and performs automatic driving through the magnetic track in the middle of the track 1.

[0033] like Figure 2 and Figure 3 As shown, the automatic driving picking robot includes a picking device, which includes a visual component 5, a support rod 6, a moving rod 7, a first push rod 8, a clamp 9, a second push rod 10 and a cloth guide 11. The visual component 5 is arranged on both sides of the wireless control component 4, the support rod 6 is inclined at both ends of both sides of the shell 3, the moving rod 7 is slidably installed on the support rod 6, the first push rod 8 is arranged below the support rod 6, the telescopic rod of the first push rod 8 is connected to the moving rod 7, the clamp 9 is rotatably installed at the front end of one end rod, the second push rod 10 is arranged in front of one end rod, the end of the telescopic rod of the second push rod 10 is hinged to the clamp 9, the outer sides of the support rod 6 and the moving rod 7 are provided with a fixed rod 22, the rear end of the cloth guide 11 is fixed to the shell 3, and the two sides of the cloth guide 11 are installed on the fixed rod 22.

[0034] In a specific embodiment: when in use, the picking object is found through the visual component 5, and then the movement is stopped, and the moving rod 7 is extended by the first push rod 8, so that the clamping jaws 9 clamp the plants on both sides of the picking object. During the process, the angle of the clamping jaws 9 can be changed by the second push rod 10, so that the clamping jaws 9 can better fix the plants, and then the moving rod 7 is pushed back and forth by the first push rod 8, so that the moving rod 7 drives the clamping jaws 9, so that the plants vibrate, so that the picking objects fall off the plants, and then the falling picking objects are guided and buffered by the guide cloth 11, so as to complete the picking of the picking objects.

[0035] like Figure 4 , Figure 5 and Figure 6 As shown, the automatic driving picking robot includes a debris removal device, which includes a guide groove 12, a screen groove 13, a guide plate 14, a fan 18, a motor 19 and a silo 21. The guide groove 12 is arranged on both sides of the interior of the shell 3, and the guide plate 14 is arranged on both sides of the lower end of the interior of the shell 3. A slide rail 15 is arranged on the upper end of the guide plate 14. The screen groove 13 is slidably installed above the guide plate 14 through the slide rail 15. The screen groove 13 is in an inclined state. A silo 21 installed on the moving component 2 is arranged at the end of the screen groove 13. The motor 19 is fixed between the guide plates 14. The motor 19 is connected to the screen groove 13 through a crank and a connecting rod 20. The fan 18 is arranged between the guide plates 14 and is located below the screen groove 13. The guide plate 14 is inclined. Slit-shaped air inlets are arranged below the guide plates 14 on both sides of the shell 3, and a discharge groove 16 is also arranged above the guide plate 14. The bottom surface of the screen groove 13 is provided with a sieve hole, and the screen groove 13 is provided with an inclined plate 17.

[0036] In a specific embodiment: the picked objects fall onto the sieve slot 13 through the guiding action of the guide slot 12, and at the same time, the motor 19 drives the sieve slot 13 to move back and forth through the crank and the connecting rod 20 to form vibration, and at the same time, the fan 18 is started by powering the battery, sucking in the external airflow through the air inlet and blowing upward to form an upward airflow, and the picked objects pass through the inclined plate 17 to form a short suspension, and under the action of the airflow, the lighter debris is blown to the two sides of the sieve slot 13, and then discharged from the discharge slot 16 through the inclined guide plate 14, so as to remove impurities from the picked objects, and the picked objects after impurities removal pass through the sieve slot 13 and fall into the silo 21 for storage and collection.

[0037] like Figure 7 and Figure 8 As shown, the self-driving picking robot includes a cutting device, which includes a mounting plate 23, a squeezing wheel 25, a toggle plate 26 and a cutting plate 27. The mounting plates 23 are fixed on both sides of the outer shell 3 and are located above the guide cloth 11. A rotating shaft 24 and a driving motor 19 for driving the rotating shaft 24 to rotate are provided at the end of the mounting plate 23. The squeezing wheels 25 are divided into multiple parts and mounted on the rotating shaft 24. The multiple squeezing wheels 25 are arranged in a large middle and small arrangement on both sides. The squeezing wheels 25 are eccentrically fixed on the rotating shaft 24. The cutting plate 27 is fixed on the mounting plate 23 and is located at the lower rear of the rotating shaft 24. The toggle plate 26 is fixed on the rotating shaft 24 and is located between the cutting plates 27.

[0038] In a specific embodiment: when in use, the driving motor 19 drives the rotating shaft 24 to rotate through an external power supply, so that the squeezing wheel 25 rotates eccentrically, thereby intermittently stretching and pressing the guide cloth 11 below, so that the angle of the guide cloth 11 changes intermittently, and the picked objects on the guide cloth 11 are quickly rolled and collected. At the same time, the rotating shaft 24 drives the toggle plate 26 to rotate, so that the debris dropped with the picked objects on the guide cloth 11 is moved, and then the rotation of the toggle plate 26 forms a shear with the cutting plate 27, so that the debris is cut into small pieces, which is convenient for separation by the debris removal device and prevents blockage.

[0039] Working principle: When in use, the wireless control component 4 receives the control signal through the network signal, thereby controlling the mobile component 2 to start, so that the mobile component 2 moves on the track 1, and automatically drives through the magnetic track in the middle of the track 1, and then finds the picking object through the visual component 5, and then stops moving, and drives the moving rod 7 to extend through the first push rod 8, so that the clamping claws 9 clamp the plants on both sides of the picking object. During the process, the angle of the clamping claws 9 can be changed by the second push rod 10, so that the clamping claws 9 can better fix the plants, and then the first push rod 8 reciprocates to push the moving rod 7, so that the moving rod 7 drives the clamping claws 9, so that the plants vibrate, so that the picking objects fall off the plants, and then the guide cloth 11 is used to guide and buffer the fallen picking objects, so as to complete the picking of the picking objects, and then the driving motor 19 drives the rotating shaft 24 to rotate through the external power supply, so that the squeezing wheel 25 rotates eccentrically, thereby intermittently stretching and pressing the guide cloth 11 below, so that The angle of the guide cloth 11 changes intermittently, so that the picked objects on the guide cloth 11 are quickly rolled and collected. At the same time, the rotating shaft 24 drives the toggle plate 26 to rotate, so that the debris dropped with the picked objects on the guide cloth 11 moves, and then the toggle plate 26 rotates and forms shear with the cutting plate 27, so that the debris is cut into small pieces, which is convenient for separation of the impurity removal device and prevents blockage. Then the picked objects fall on the screen slot 13 through the guiding effect of the guide slot 12. At the same time, the motor 19 drives the screen slot 13 to move back and forth through the crank and the connecting rod 20 to form vibration. At the same time, the fan 18 is started by the battery power supply, and the external air flow is sucked in through the air inlet and blown upward to form an upward airflow. The picked objects pass through the inclined plate 17 to form a short stagnation, and under the action of the airflow, the lighter debris is blown to the two sides of the screen slot 13, so that it is discharged from the discharge slot 16 through the inclined guide plate 14, thereby removing the impurities of the picked objects. The picked objects after impurity removal pass through the screen slot 13 and fall into the silo 21 for storage and collection.

Claims

1. An automatic driving harvesting robot, comprising a mobile component (2), a housing (3), and a wireless control component (4), wherein a storage battery is arranged in the mobile component (2), the housing (3) is arranged above the mobile component (2), and the wireless control component (4) is arranged above the housing (3), characterized in that: Also includes: The mobile device disposed below the mobile component (2) performs automatic driving through the control of the wireless control component (4); The picking devices are arranged on both sides of the housing (3) to automatically pick the objects on both sides; A debris removal device disposed in the housing (3); A cutting device arranged above the picking device speeds up the collection of the picked material.

2. The autonomous picking robot according to claim 1, characterized in that: The mobile device comprises a track (1), wherein the track (1) is arranged on a use site and is located below the mobile component (2).

3. The automatic driving picking robot according to claim 2, characterized in that: The track (1) is in the shape of a belt that is high in the middle and low on both sides, and the moving component (2) is provided with corresponding wheels that are small on the inside and large on the outside.

4. The automatic driving picking robot according to claim 2, characterized in that: A magnetic track is provided in the middle of the track (1), and a corresponding scanner is provided below the moving component (2).

5. The autonomous picking robot according to claim 1, characterized in that: The picking device comprises a visual component (5), a support rod (6), a moving rod (7), a first push rod (8), a clamping claw (9), a second push rod (10) and a cloth guide (11). The visual component (5) is arranged on both sides of the wireless control component (4). The support rod (6) is arranged at both ends of both sides of the housing (3) in an inclined manner. The moving rod (7) is slidably mounted on the support rod (6). The first push rod (8) is arranged below the support rod (6). The telescopic rod of the first push rod (8) is connected to the moving rod (7). The clamping claw (9) is rotatably mounted on the front end of one end of the rod. The second push rod (10) is arranged in front of the one end of the rod. The end of the telescopic rod of the second push rod (10) is hinged to the clamping claw (9). Fixed rods (22) are arranged on the outer sides of the support rod (6) and the moving rod (7). The rear end of the cloth guide (11) is fixed to the housing (3). Both sides of the cloth guide (11) are mounted on the fixed rod (22).

6. The automatic driving picking robot according to claim 5, characterized in that: The impurity removal device comprises a guide groove (12), a screen groove (13), a material guide plate (14), a fan (18), a motor (19) and a silo (21). The guide groove (12) is arranged on both sides of the interior of the housing (3). The material guide plate (14) is arranged on both sides of the lower end of the interior of the housing (3). A slide rail (15) is arranged on the upper end of the material guide plate (14). The screen groove (13) is slidably mounted above the material guide plate (14) via the slide rail (15). The screen groove (13) is in an inclined state. A silo (21) mounted on the moving component (2) is arranged at the end of the screen groove (13). The motor (19) is fixed between the material guide plates (14). The motor (19) is connected to the screen groove (13) via a crank and a connecting rod (20). The fan (18) is arranged between the material guide plates (14) and below the screen groove (13). The material guide plates (14) are in an inclined state.

7. The autonomous picking robot according to claim 1, characterized in that: The shell (3) is provided with slit-shaped air inlets located below the material guide plate (14) on both sides, and is also provided with a material discharge trough (16) located above the material guide plate (14).

8. The autonomous picking robot according to claim 1, characterized in that: The bottom surface of the sieve slot (13) is provided with sieve holes, and an inclined plate (17) is provided on the sieve slot (13).

9. The autonomous picking robot according to claim 1, characterized in that: The cutting device comprises a mounting plate (23), an extrusion wheel (25), a toggle plate (26) and a cutting plate (27); the mounting plate (23) is fixed to both sides of the housing (3) and is located above the cloth guide (11); a rotating shaft (24) and a driving motor (19) for driving the rotating shaft (24) to rotate are provided at the end of the mounting plate (23); the extrusion wheel (25) is mounted on the rotating shaft (24); the cutting plate (27) is fixed on the mounting plate (23) and is located below and behind the rotating shaft (24); and the toggle plate (26) is fixed on the rotating shaft (24) and is located between the cutting plates (27).

10. The autonomous picking robot according to claim 1, characterized in that: The extrusion wheels (25) are divided into a plurality of parts and arranged in a pattern of a large one in the middle and small ones on both sides. The extrusion wheels (25) are eccentrically fixed on the rotating shaft (24).

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