Picking manipulator for low-ridge strawberries and efficient picking platform

Abstract

The invention discloses a picking manipulator for low-ridge strawberries and an efficient picking platform, the picking manipulator comprises a rotary base, a parallel posture adjusting mechanism, a fruit catching and feeding mechanism, a fruit holding and shearing mechanism, a fruit position detection module and a controller, the rotary base is mounted on an inter-ridge carrying platform; the parallel posture adjusting mechanism is installed on the rotary base, the fruit catching and feeding mechanism is installed on the top of the parallel posture adjusting mechanism, and the rotary base adjusts the orientation of the fruit catching and feeding mechanism through autorotation. According to the picking manipulator and the efficient picking platform for the low-ridge strawberries, the low-ridge strawberry picking manipulator comprising the planar parallel posture adjusting mechanism is designed based on the cluster growth vigor of the low-ridge strawberries, and the efficient picking platform for the low-ridge strawberries is designed by applying the low-ridge strawberry picking manipulator; therefore, efficient and accurate selection and picking of mature strawberries on adjacent walls of low ridges are realized.

Description

Technical Field

[0001] The present invention relates to a picking robot for low-ridge strawberries and an efficient picking platform, belonging to the technical field of smart agricultural picking equipment. Background Art

[0002] As the application of robotic technology in the strawberry picking industry continues to advance, new types of robotic strawberry picking equipment are constantly emerging. Industrial robots are widely used in existing robotic strawberry platforms due to their good flexibility, strong environmental adaptability, and easy control.

[0003] However, the application of industrial robots in agricultural picking generally has redundancy in terms of load-bearing capacity, strength, and stiffness, especially for small and light individual strawberries. In order to better promote the rapid development of strawberry picking robot equipment in my country, it is necessary to design a picking manipulator and efficient picking platform for low-ridge strawberries based on the natural growth of low-ridge strawberries. Summary of the invention

[0004] The object of the present invention is to overcome the deficiencies in the prior art and provide a picking manipulator for low-ridge strawberries and an efficient picking platform. Aiming at the cluster growth potential of low-ridge strawberries, a rotating base, a parallel posture adjustment mechanism, a fruit catching and feeding mechanism, a fruit holding and shearing mechanism, a fruit position detection module and a controller are set. When picking strawberries, the position information of ripe strawberries is first obtained by the fruit position detection module and then fed back to the controller. The controller controls the rotating base, the parallel posture adjustment mechanism and the fruit catching and feeding mechanism to adjust the fruit holding and shearing mechanism to the target position according to the position information, and controls the fruit holding and shearing mechanism to pick the ripe strawberries. The present invention has the advantages of simple structure, flexible operation, easy control and low cost, and is convenient for realizing continuous picking of strawberries on adjacent ridge walls.

[0005] In order to achieve the above purpose / solve the above technical problems, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a picking manipulator for low-ridge strawberries, comprising a rotating base, a parallel posture adjustment mechanism, a fruit catching and feeding mechanism, a fruit holding and shearing mechanism, a fruit position detection module and a controller, wherein: The rotating base is installed on the inter-ridge carrying platform, the parallel posture adjustment mechanism is installed on the rotating base, the fruit catching and feeding mechanism is installed on the top of the parallel posture adjustment mechanism, the rotating base adjusts the orientation of the fruit catching and feeding mechanism by self-rotation, and the parallel posture adjustment mechanism is used to adjust the angle between the fruit catching and feeding mechanism and the horizontal plane to change its position relative to the low ridge wall; The fruit holding and shearing mechanism is installed at the end of the fruit catching and feeding mechanism, and the fruit catching and feeding mechanism is used to drive the fruit holding and shearing mechanism to move in a linear direction; The fruit position detection module is installed on the fruit holding and cutting mechanism, and is used to obtain the position information of the ripe strawberries and feed it back to the controller; The controller is electrically connected to the rotating base, the parallel posture adjustment mechanism, the fruit catching and feeding mechanism, the fruit holding and shearing mechanism and the fruit position detection module; After receiving the position information fed back by the fruit position detection module, the controller controls the rotary base, the parallel posture adjustment mechanism and the fruit catching and feeding mechanism to adjust the fruit holding and shearing mechanism to the target position, and controls the fruit holding and shearing mechanism to pick the ripe strawberries.

[0006] Furthermore, the parallel posture adjustment mechanism includes two motion branches connected in parallel between the rotating base and the fruit catching and feeding mechanism, and each motion branch includes a second rotary drive device, a columnar housing, a posture adjustment screw, a fixed column and an arc-shaped connecting seat; The second rotary drive device is mounted on the cylindrical housing, and the output shaft of the second rotary drive device rotatably passes through the lower end of the cylindrical housing downward and is connected to the upper end of the posture adjustment screw rod; The lower end of the posture adjustment screw is connected to the fixed column by a threaded pair; the lower end of the fixed column is vertically fixedly connected to the upper end surface of the rotating base; The upper end of the columnar shell is hinged to an arc-shaped connecting seat; the arc-shaped connecting seat is fixedly connected to the lower part of the fruit catching and feeding mechanism.

[0007] Furthermore, the fruit catching and feeding mechanism includes a fixed rod, a movable rod, a feeding drive device and a feeding screw, wherein: The tail of the fixed rod is fixed on the arc-shaped connecting seat, a notch is provided in the middle of the fixed rod, a center hole is opened at the front end of the fixed rod, the tail end of the movable rod is inserted into the center hole, and the front end of the movable rod is fixedly connected to the fruit holding and shearing mechanism; The feed drive device is fixed on the front end surface of the fixed rod notch, the output shaft of the feed drive device passes through the fixed rod and is fixedly connected to one end of the feed screw rod, and the other end of the feed screw rod is connected to the moving rod by a threaded pair; An interconnected key and keyway are also provided between the movable rod and the fixed rod. When the feed screw is driven to rotate by the feed drive device, the movable rod drives the fruit holding and shearing mechanism to move toward or away from the fixed rod.

[0008] Furthermore, the fruit holding and shearing mechanism comprises a palm plate, a holding and shearing driving device, a rotating disk, a push rod and a knife holder, wherein: The tail of the palm plate is fixedly connected to the front end of the moving rod; the shear holding driving device is installed at the bottom of the palm plate, and the output shaft of the shear holding driving device passes through the palm plate upward and is fixedly connected to the turntable, so as to drive the turntable to rotate; The turntable is rotatably mounted on the palm plate, and a detent pin is provided on the circumference of the top surface of the turntable; The tail of the push rod is provided with a waist-shaped groove matched with the detent pin, the head of the push rod is provided with a U-shaped fork head, the middle of the push rod passes through the guide block, the bottom end of the guide block is fixed on the palm plate, the guide block is used to limit the moving direction of the push rod, when the turntable rotates, the detent pin drives the push rod to move axially; There are two tool holders, the tail of each tool holder is rotatably connected to the head of the palm plate, each tool holder is provided with a special-shaped guide groove, the U-shaped fork is located above the special-shaped guide groove, and a guide column slidably connected to the special-shaped guide groove is provided at the bottom of the U-shaped fork, and blades for shearing and clamping functions are installed on the adjacent side of the front ends of the two tool holders, and when the push rod moves, the two tool holders rotate toward or away from the adjacent direction.

[0009] Furthermore, it also includes a U-shaped fixing bracket, the U-shaped fixing bracket is fixed to the front end of the palm plate, and the tool holder is connected to the palm plate and the U-shaped fixing bracket through a pin shaft; A cover is also provided above the rotating disk and the guide block, and the lower end surface of the cover is fixed on the palm plate.

[0010] Furthermore, the fruit position detection module includes binocular vision or a smart camera.

[0011] In a second aspect, the present invention provides an efficient picking platform for low-ridge strawberries, comprising a crawler-type walking mechanism, a box-type vehicle body, a belt conveyor mechanism, a collecting box, an autonomous mobile base, and three picking manipulators for low-ridge strawberries according to the first aspect. The crawler-type walking mechanism is used to carry the box-type vehicle body, the belt conveyor mechanism, the collection box, the autonomous movable base and the three picking manipulators to travel between the low ridges of strawberries; The box-type vehicle body is installed on the top of the crawler-type walking mechanism; the belt conveyor mechanism is embedded in the box-type vehicle body, and the output port of the belt conveyor mechanism is adjacent to the collection box, and the collection box is fixed at one end of the box-type vehicle body; The autonomous mobile base is installed on the top of the box-type vehicle body; the three picking robots are independently installed on the autonomous mobile base in sequence along the driving direction of the crawler walking mechanism, wherein the first picking robot and the second picking robot simultaneously pick ripe strawberries on the ridge walls on both sides, and the third picking robot inspects and picks the missed areas after the first picking robot and the second picking robot have picked.

[0012] Furthermore, the box-type vehicle body is provided with a fruit-dropping opening and a fruit-blocking plate on both sides along the travel direction of the crawler-type walking mechanism, and the fruit-dropping opening leads to the belt-type conveying mechanism in the box-type vehicle body; A rectangular through hole for installing an autonomous movable base is arranged on the top of the box-type vehicle body, and a front fender is arranged on the front of the box-type vehicle body.

[0013] Furthermore, the autonomous mobile base includes a fixed screw rod shared by three picking manipulators, two rectangular guide rails, and three sets of autonomous mobile drive mechanisms; The fixed screw rod is hoisted on the top of the box-type vehicle body through the bearing seat along the travel direction of the crawler-type walking mechanism and is located in the middle of the rectangular through hole; the two rectangular guide rails are installed on both sides of the long side of the rectangular through hole; The picking manipulator is installed on the fixed screw rod, and the power output ends of the three sets of autonomous mobile driving mechanisms are connected to the fixed screw rod through a threaded pair to drive the picking manipulator to move along the axial direction of the fixed screw rod.

[0014] Furthermore, the autonomous mobile drive mechanism includes a translation drive device, a worm gear bracket, a worm wheel and a translation nut; The translation drive device is fixed on the top surface of the fixed base, and the output shaft of the translation drive device rotatably passes through the fixed base downward and is coaxially connected to the worm; the worm is fixed to the bottom surface of the fixed base through a worm bracket; The worm wheel is fixedly connected to the outer circle of the middle part of the translation nut and is connected to the worm by a gear pair; the translation nut is sleeved on the fixed screw rod, and the two ends of the translation nut are hoisted on the lower bottom surface of the fixed base through ear seats.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The picking manipulator for low-ridge strawberries provided by the present invention aims at the cluster growth potential of low-ridge strawberries, and by arranging a rotating base, a parallel posture adjustment mechanism, a fruit catching and feeding mechanism, a fruit holding and shearing mechanism, a fruit position detection module and a controller, when picking strawberries, firstly obtains position information of ripe strawberries through the fruit position detection module and then feeds it back to the controller, and the controller controls the rotating base, the parallel posture adjustment mechanism and the fruit catching and feeding mechanism to adjust the fruit holding and shearing mechanism to the target position according to the position information, and controls the fruit holding and shearing mechanism to pick the ripe strawberries, and has the advantages of simple structure, flexible operation, easy control, low cost, and convenient realization of continuous picking of strawberries on adjacent ridge walls; The high-efficiency picking platform for low-ridge strawberries provided by the present invention carries three low-ridge strawberry picking manipulators through an autonomous mobile base, and the three picking manipulators cooperate to complete picking, wherein the first picking manipulator and the second picking manipulator simultaneously pick ripe strawberries on the ridge walls on both sides, and the third picking manipulator performs missed inspection and picking work on the areas picked by the first picking manipulator and the second picking manipulator, which can significantly improve the picking efficiency of low-ridge strawberries. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A perspective view of the present invention; Figure 2 It is a structural schematic diagram of a picking robot for low-ridge strawberries of the present invention; Figure 3 A bottom view of the rotating base of the present invention; Figure 4 It is a structural schematic diagram of the parallel posture adjustment mechanism of the present invention; Figure 5 It is a structural schematic diagram of the fruit catching and feeding mechanism and the fruit holding and shearing mechanism of the present invention; Figure 6 It is a schematic structural diagram of the push rod of the present invention; Figure 7 It is a structural schematic diagram of the tool holder of the present invention; Figure 8 It is a schematic structural diagram of the efficient picking platform for low-ridge strawberries of the present invention; Fig. 9 It is a schematic diagram of the structure of the autonomous mobile base of the present invention.

[0017] In the figure: 1000, picking manipulator; 1100, rotating base; 1101, fixed base; 1101-1, upward extension shaft; 1102, rotating machine base; 1103, first rotating drive device; 1200, parallel posture adjustment mechanism; 1201, second rotating drive device; 1202, columnar housing; 1203, posture adjustment screw rod; 1204, fixed column; 1205, arc-shaped connecting seat; 1300, fruit catching and feeding mechanism; 1301, fixed rod; 1302, moving rod; 1303, feeding drive device; 1304, feeding screw rod; 1400, fruit holding and shearing mechanism; 1401, palm plate; 1402, holding and shearing drive device; 1403, rotating disk; 1403-1, deflector pin; 1404, push rod; 1404-1, waist-shaped groove; 1404-2, U-shaped fork; 1404- 3. Guide column; 1405. Knife holder; 1405-1. Special-shaped guide groove; 1405-2. Blade; 1406. Guide block; 1407. U-shaped fixing bracket; 1408. Cover; 1409. Pin; 1500. Fruit position detection module; 2100. Crawler-type walking mechanism; 2200. Box-type vehicle body; 2210. Fruit inlet; 2220. Fruit blocking plate; 2230. Rectangular Through hole; 2240, front fruit baffle; 2300, belt conveyor mechanism; 2400, collecting box; 2500, autonomous movable base; 2510, fixed screw rod; 2520, rectangular guide rail; 2530, autonomous movable drive mechanism; 2531, translation drive device; 2532, worm; 2533, worm bracket; 2534, worm wheel; 2535, translation nut; 2536, ear seat. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances. Example

[0021] like Figure 1~Figure 2 As shown, this embodiment provides a picking robot for low-ridge strawberries, including a rotating base 1100, a parallel posture adjustment mechanism 1200, a fruit catching and feeding mechanism 1300, a fruit holding and shearing mechanism 1400, a fruit position detection module 1500 and a controller, characterized in that: The rotating base 1100 is installed on the inter-ridge transport platform, the parallel posture adjustment mechanism 1200 is installed on the rotating base 1100, and the fruit catching and feeding mechanism 1300 is installed on the top of the parallel posture adjustment mechanism 1200. The rotating base 1100 adjusts the orientation of the fruit catching and feeding mechanism 1300 by self-rotation, and the parallel posture adjustment mechanism 1200 is used to adjust the angle between the fruit catching and feeding mechanism 1300 and the horizontal plane to change its position relative to the low ridge wall; The fruit holding and shearing mechanism 1400 is installed at the end of the fruit catching and feeding mechanism 1300, and the fruit catching and feeding mechanism 1300 is used to drive the fruit holding and shearing mechanism 1400 to move in a linear direction; The fruit position detection module 1500 is installed on the fruit holding and cutting mechanism 1400, and is used to obtain the position information of the ripe strawberries and feed it back to the controller; The controller is electrically connected to the rotating base 1100, the parallel posture adjustment mechanism 1200, the fruit catching and feeding mechanism 1300, the fruit holding and cutting mechanism 1400 and the fruit position detection module 1500; After receiving the position information fed back by the fruit position detection module 1500, the controller controls the rotating base 1100, the parallel posture adjustment mechanism 1200 and the fruit catching and feeding mechanism 1300 to adjust the fruit holding and shearing mechanism 1400 to the target position, and controls the fruit holding and shearing mechanism 1400 to pick the ripe strawberries.

[0022] In the above technical scheme, by setting a rotating base 1100, a parallel posture adjustment mechanism 1200, a fruit catching and feeding mechanism 1300, a fruit holding and shearing mechanism 1400, a fruit position detection module 1500 and a controller, when picking strawberries, the position information of the ripe strawberries is first obtained by the fruit position detection module 1500 and then fed back to the controller. According to the position information, the controller controls the rotating base 1100, the parallel posture adjustment mechanism 1200 and the fruit catching and feeding mechanism 1300 to adjust the fruit holding and shearing mechanism 1400 to the target position, and controls the fruit holding and shearing mechanism 1400 to pick the ripe strawberries, thereby realizing efficient and accurate picking of ripe strawberries on the adjacent walls of low ridges.

[0023] The working process of the picking robot for low-ridge strawberries is as follows: Step 1: The picking robot 1000 for low-ridge strawberries is installed on the inter-ridge traveling platform and travels between the ridges of low-ridge strawberries.

[0024] Step 2: When picking strawberries on one side of the ridge wall, the two motion chains of the parallel posture adjustment mechanism 1200 first automatically adjust the position of the fruit catching and feeding mechanism 1300 relative to the low ridge wall. At the same time, the fruit position detection module 1500 automatically captures the ripe strawberries and their positions on the ridge wall, and feeds back the position information of the ripe strawberries to the picking robot controller.

[0025] Step 3: The picking robot controller controls the fruit grabbing and feeding mechanism 1300 to grab and feed the fruit; when the feeding is in place, the fruit holding and shearing mechanism 1400 clamps and shears the ripe strawberry stalks on the ridge wall.

[0026] Step 4: At this point, the automatic picking of a single ripe strawberry on the ridge wall on one side is completed; when continuing to pick ripe strawberries on the ridge on the same side, return to step 2, otherwise go to step 5.

[0027] Step 5: The rotating base 1100 starts working, driving the parallel posture adjustment mechanism 1200, the fruit catching and feeding mechanism 1300, the fruit holding and shearing mechanism 1400 and the fruit position detection module 1500 to adjust to the required position of the adjacent ridge wall to be picked; then repeat steps 2, 3 and 4 until the picking operation of all ripe strawberries on the ridge wall is completed. Example

[0028] like Figure 1 to Figure 7 As shown, the picking robot for low ridge strawberries provided in this embodiment is different from the picking robot for low ridge strawberries provided in Example 1 in that: In order to adjust the orientation of the fruit catching and feeding mechanism 1300 by self-rotation of the rotating base 1100, the rotating base 1100 includes a fixed base 1101, a rotating base 1102 and a first rotating driving device 1103; The first rotary drive device 1103 is installed in the central hole at the bottom of the fixed base 1101. The output shaft of the first rotary drive device 1103 rotatably passes through the top of the fixed base 1101 and is fixedly connected to the center of the rotating base 1102. The rotating base 1102 is sleeved on the upper extension shaft 1101-1 of the fixed base 1101. The upper extension shaft 1101-1 is used for positioning between the rotating base 1102 and the fixed base 1101. In order to realize that the parallel posture adjustment mechanism 1200 changes its position relative to the low ridge wall by adjusting the angle between the fruit catching and feeding mechanism 1300 and the horizontal plane, the parallel posture adjustment mechanism 1200 includes two motion branches connected in parallel between the rotating base 1100 and the fruit catching and feeding mechanism 1300, and each motion branch includes a second rotary drive device 1201, a columnar housing 1202, a posture adjustment screw 1203, a fixed column 1204 and an arc-shaped connecting seat 1205; The second rotation drive device 1201 is installed on the cylindrical housing 1202, and the output shaft of the second rotation drive device 1201 rotatably passes through the lower end of the cylindrical housing 1202 and is connected to the upper end of the posture adjustment screw 1203; The lower end of the posture adjustment screw rod 1203 is connected to the fixed column 1204 by a threaded pair; the lower end of the fixed column 1204 is vertically fixedly connected to the upper end surface of the rotating base 1100; The upper end of the columnar shell 1202 is hinged to an arc-shaped connecting seat 1205; the arc-shaped connecting seat 1205 is fixedly connected to the lower part of the fruit catching and feeding mechanism 1300.

[0029] In order to realize that the fruit catching and feeding mechanism 1300 drives the fruit holding and shearing mechanism 1400 to move in a linear direction, the fruit catching and feeding mechanism 1300 includes a fixed rod 1301, a movable rod 1302, a feeding driving device 1303 and a feeding screw rod 1304, wherein: The tail of the fixed rod 1301 is fixed on the arc-shaped connecting seat 1205, a notch is provided in the middle of the fixed rod 1301, a center hole is provided at the front end of the fixed rod 1301, the tail end of the movable rod 1302 is inserted into the center hole, and the front end of the movable rod 1302 is fixedly connected to the fruit holding and shearing mechanism 1400; The feed drive device 1303 is fixed on the front end face of the notch of the fixed rod 1301, and the output shaft of the feed drive device 1303 passes through the fixed rod 1301 and is fixedly connected to one end of the feed screw rod 1304, and the other end of the feed screw rod 1304 is connected to the moving rod 1302 by a threaded pair; Interconnected keys and keyways are also provided between the movable rod 1302 and the fixed rod 1301 . When the feed screw 1304 is driven by the feed drive device 1303 to rotate, the movable rod 1302 drives the fruit holding and shearing mechanism 1400 to move toward or away from the fixed rod 1301 .

[0030] In order to realize the picking of ripe strawberries by the fruit holding and shearing mechanism 1400, the fruit holding and shearing mechanism 1400 includes a palm plate 1401, a holding and shearing driving device 1402, a rotating disk 1403, a push rod 1404 and a knife holder 1405, wherein: The tail of the palm plate 1401 is fixedly connected to the front end of the moving rod 1302; the shear holding driving device 1402 is installed at the bottom of the palm plate 1401, and the output shaft of the shear holding driving device 1402 passes through the palm plate 1401 and is fixedly connected to the rotating disk 1403, so as to drive the rotating disk 1403 to rotate; The rotating disk 1403 is rotatably mounted on the palm plate 1401, and a pin 1403-1 is provided on the circumference of the top surface of the rotating disk 1403; The rear end of the push rod 1404 is provided with a waist-shaped groove 1404-1 matched with the detent pin 1403-1, the head of the push rod 1404 is provided with a U-shaped fork head 1404-2, the middle of the push rod 1404 passes through a guide block 1406, the bottom end of the guide block 1406 is fixed on the palm plate 1401, and the guide block 1406 is used to limit the moving direction of the push rod 1404. When the turntable 1403 rotates, the detent pin 1403-1 drives the push rod 1404 to move axially; There are two tool holders 1405, and the tail of each tool holder 1405 is rotatably connected to the head of the palm plate 1401. Each tool holder 1405 is provided with a special-shaped guide groove 1405-1. The U-shaped fork 1404-2 is located above the special-shaped guide groove 1405-1, and a guide column 1404-3 slidingly connected to the special-shaped guide groove 1405-1 is provided at the bottom of the U-shaped fork 1404-2. A blade 1405-2 for shearing and clamping functions is installed on the adjacent side of the front end of the two tool holders 1405. When the push rod 1404 moves, the two tool holders 1405 rotate toward or away from the adjacent direction.

[0031] In order to realize the connection between the knife holder 1405 and the palm plate 1401, so as to ensure the stability of the knife holder 1405 when cutting the strawberry by rotating, a U-shaped fixing bracket 1407 is also included, and the U-shaped fixing bracket 1407 is fixed to the front end of the palm plate 1401, and the knife holder 1405 is connected to the palm plate 1401 and the U-shaped fixing bracket 1407 through a pin shaft 1409; A cover 1408 is further provided above the rotating disk 1403 and the guide block 1406 , and the lower end surface of the cover 1408 is fixed on the palm plate 1401 .

[0032] In order to enable the fruit position detection module 1500 to obtain the position information of ripe strawberries, the fruit position detection module 1500 includes binocular vision or a smart camera. Example

[0033] like Figure 8~Figure 9 As shown, this embodiment provides an efficient picking platform for low-ridge strawberries, including a crawler-type walking mechanism 2100, a box-type vehicle body 2200, a belt conveyor mechanism 2300, a collection box 2400, an autonomous mobile base 2500 and three picking manipulators 1000 for low-ridge strawberries described in the first embodiment. The crawler-type walking mechanism 2100 is used to carry the box-type vehicle body 2200, the belt conveyor mechanism 2300, the collection box 2400, the autonomous mobile base 2500 and the three picking manipulators 1000 to travel between the low ridges of strawberries; The box-type vehicle body 2200 is installed on the top of the crawler-type walking mechanism 2100; the belt conveyor mechanism 2300 is embedded in the box-type vehicle body 2200, and the output port of the belt conveyor mechanism 2300 is adjacent to the collection box 2400, and the collection box 2400 is fixed at one end of the box-type vehicle body 2200; The autonomous mobile base 2500 is installed on the top of the box-type vehicle body 2200 ; the three picking manipulators 1000 are independently installed on the autonomous mobile base 2500 in sequence along the driving direction of the crawler walking mechanism 2100 .

[0034] The box-type vehicle body 2200 is provided with a fruit-throwing opening 2210 and a fruit-blocking plate 2220 on both sides along the travel direction of the crawler-type walking mechanism 2100, and the fruit-throwing opening 2210 leads to the belt conveying mechanism 2300 in the box-type vehicle body 2200; A rectangular through hole 2230 for installing the autonomous mobile base 2500 is provided on the top of the box-type body 2200, and a front baffle plate 2240 is installed at the front of the box-type body 2200.

[0035] The autonomous mobile base 2500 includes a fixed screw rod 2510 shared by three picking manipulators 1000, two rectangular guide rails 2520, and three sets of autonomous mobile drive mechanisms 2530; The fixed screw rod 2510 is hoisted on the top of the box-type vehicle body 2200 through the bearing seat 2540 along the travel direction of the crawler-type walking mechanism 2100, and is located in the middle of the rectangular through hole 2230; the two rectangular guide rails 2520 are installed on both sides of the long side of the rectangular through hole 2230; The picking robot 1000 is installed on the fixed screw rod 2510 , and the power output ends of the three sets of autonomous mobile driving mechanisms 2530 are connected to the fixed screw rod 2510 through a threaded pair, which is used to drive the fixed screw rod 2510 to drive the picking robot 1000 to move axially along the fixed screw rod 2510 .

[0036] The autonomous mobile driving mechanism 2530 includes a translation driving device 2531, a worm 2532, a worm support 2533, a worm wheel 2534 and a translation nut 2535; The translation drive device 2531 is fixed on the top surface of the fixed base 1101, and the output shaft of the translation drive device 2531 rotatably passes through the fixed base 1101 and is coaxially connected to the worm 2532; the worm 2532 is fixed to the bottom surface of the fixed base 1101 through a worm bracket 2533; The worm wheel 2534 is fixedly connected to the outer circle in the middle of the translation nut 2535, and is connected to the worm 2532 by a gear pair; the translation nut 2535 is mounted on the fixed screw 2510, and the two ends of the translation nut 2535 are hoisted on the lower bottom surface of the fixed base 1101 through the ear seat 2536. Through the drive of the translation drive device 2531, the worm 2532 can drive the turbine 2534 to rotate, so that the turbine 2534 can move along the axial direction of the fixed screw 2510 when rotating, thereby driving the entire autonomous mobile drive mechanism 2530 to move, realizing the mobile drive of the picking robot 1000.

[0037] In the above technical solution, the working process of the efficient picking platform for low-ridge strawberries is as follows: First, the efficient picking platform 2000 is driven to the strawberry ridges. According to the natural growth of the strawberries on the ridges, the operations of the three picking robots 1000 can be planned. For example, the first robot is used to pick the strawberries on one side of the ridge wall, the second robot is used to pick the strawberries on the other side of the ridge wall, and the third robot is used to pick the ripe strawberries missed on the ridge walls on both sides, thereby achieving efficient and accurate picking of ripe strawberries on the adjacent ridge walls.

[0038] During operation, the crawler walking mechanism 2100 implements a "go-stop-go" control mode. During its driving, the first manipulator and the second manipulator simultaneously carry out picking operations on the ripe strawberries on the ridge walls on both sides. The fruit position detection modules 1500 of the first manipulator and the second manipulator automatically obtain the position information of the ripe strawberries on the ridge walls, and the controller adjusts the fruit catching and feeding mechanism 1300 in turn, driving the fruit holding and shearing mechanism 1400 to complete the automatic picking of ripe strawberries. The picked strawberries are sent by the picking manipulator to the fruit drop port of the box-type vehicle body 2200, and then slide onto the belt conveyor mechanism 2300, and finally sent to the collection box 2400; during this period, the third manipulator inspects and picks the areas after the first manipulator and the second manipulator have picked, so as to achieve the full picking of the ripe strawberries on the ridge walls on both sides.

[0039] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A picking robot for low ridge strawberries, characterized in that: It comprises a rotating base (1100), a parallel posture adjustment mechanism (1200), a fruit catching and feeding mechanism (1300), a fruit holding and shearing mechanism (1400), a fruit position detection module (1500) and a controller, and is characterized in that: The rotating base (1100) is installed on the inter-ridge transport platform. The parallel posture adjustment mechanism (1200) is installed on a rotating base (1100). The fruit catching and feeding mechanism (1300) is installed on the top of the parallel posture adjustment mechanism (1200). The rotating base (1100) adjusts the orientation of the fruit catching and feeding mechanism (1300) by self-rotation. The parallel posture adjustment mechanism (1200) is used to adjust the angle between the fruit catching and feeding mechanism (1300) and the horizontal plane to change its position relative to the low ridge wall; The fruit holding and shearing mechanism (1400) is installed at the end of the fruit catching and feeding mechanism (1300). The fruit catching and feeding mechanism (1300) is used to drive the fruit holding and shearing mechanism (1400) to move in a linear direction; The fruit position detection module (1500) is installed on the fruit holding and cutting mechanism (1400) and is used to obtain position information of ripe strawberries and feed it back to the controller; The controller is electrically connected to the rotating base (1100), the parallel posture adjustment mechanism (1200), the fruit catching and feeding mechanism (1300), the fruit holding and shearing mechanism (1400), and the fruit position detection module (1500); After receiving the position information fed back by the fruit position detection module (1500), the controller controls the rotating base (1100), the parallel posture adjustment mechanism (1200) and the fruit catching and feeding mechanism (1300) to adjust the fruit holding and shearing mechanism (1400) to a target position, and controls the fruit holding and shearing mechanism (1400) to pick ripe strawberries.

2. The picking manipulator for low ridge strawberries according to claim 1, characterized in that: The parallel posture adjustment mechanism (1200) comprises two motion branches connected in parallel between the rotating base (1100) and the fruit catching and feeding mechanism (1300), each motion branch comprising a second rotary drive device (1201), a columnar housing (1202), a posture adjustment screw (1203), a fixed column (1204) and an arc-shaped connecting seat (1205); The second rotation drive device (1201) is mounted on the columnar housing (1202), and the output shaft of the second rotation drive device (1201) rotatably passes through the lower end of the columnar housing (1202) downward and is connected to the upper end of the posture adjustment screw rod (1203); The lower end of the posture adjustment screw rod (1203) is connected to the fixing column (1204) by a threaded pair; The lower end of the fixed column (1204) is vertically fixedly connected to the upper end surface of the rotating base (1100); The upper end of the columnar housing (1202) is hingedly connected to an arc-shaped connecting seat (1205); The arc-shaped connecting seat (1205) is fixedly connected to the lower part of the fruit catching and feeding mechanism (1300).

3. The picking manipulator for low ridge strawberries according to claim 2, characterized in that: The fruit catching and feeding mechanism (1300) comprises a fixed rod (1301), a movable rod (1302), a feeding driving device (1303) and a feeding screw (1304), wherein: The tail of the fixed rod (1301) is fixed on the arc-shaped connecting seat (1205), a notch is provided in the middle of the fixed rod (1301), a center hole is provided at the front end of the fixed rod (1301), the tail end of the movable rod (1302) is inserted into the center hole, and the front end of the movable rod (1302) is fixedly connected to the fruit holding and shearing mechanism (1400); The feed drive device (1303) is fixed on the front end surface of the notch of the fixed rod (1301). The output shaft of the feed drive device (1303) passes through the fixed rod (1301) and is fixedly connected to one end of the feed screw rod (1304). The other end of the feed screw (1304) is connected to the moving rod (1302) via a threaded pair; An interconnected key and keyway are also provided between the movable rod (1302) and the fixed rod (1301). When the feed screw rod (1304) is driven by the feed drive device (1303) to rotate, the movable rod (1302) drives the fruit holding and shearing mechanism (1400) to move towards or away from the fixed rod (1301).

4. The picking manipulator for low ridge strawberries according to claim 1, characterized in that: The fruit holding and shearing mechanism (1400) comprises a palm plate (1401), a holding and shearing driving device (1402), a rotating disk (1403), a push rod (1404) and a knife holder (1405), wherein: The rear end of the palm plate (1401) is fixedly connected to the front end of the moving rod (1302); The shear holding driving device (1402) is installed at the bottom of the palm plate (1401), and the output shaft of the shear holding driving device (1402) passes through the palm plate (1401) upward and is fixedly connected to the rotating disk (1403) for driving the rotating disk (1403) to rotate; The rotating disk (1403) is rotatably mounted on the palm plate (1401), and a detent pin (1403-1) is provided on the circumference of the top surface of the rotating disk (1403); The push rod (1404) has a waist-shaped groove (1404-1) matched with the detent pin (1403-1) at its tail end, a U-shaped fork head (1404-2) at its head end, a guide block (1406) passing through the middle of the push rod (1404), the bottom end of the guide block (1406) being fixed on the palm plate (1401), and the guide block (1406) being used to limit the moving direction of the push rod (1404), and when the rotating disk (1403) rotates, the detent pin (1403-1) drives the push rod (1404) to move axially; There are two knife holders (1405), the tail of each knife holder (1405) is rotatably connected to the head of the palm plate (1401), each knife holder (1405) is provided with a special-shaped guide groove (1405-1), the U-shaped fork head (1404-2) is located above the special-shaped guide groove (1405-1), and a guide column (1404-3) slidably connected to the special-shaped guide groove (1405-1) is provided at the bottom of the U-shaped fork head (1404-2), and a blade (1405-2) for shearing and clamping functions is installed on one side adjacent to the front end of the two knife holders (1405), and when the push rod (1404) moves, the two knife holders (1405) rotate towards or away from the adjacent direction.

5. The picking robot for low ridge strawberries according to claim 4, characterized in that: It also includes a U-shaped fixing bracket (1407), wherein the U-shaped fixing bracket (1407) is fixed to the front end of the palm plate (1401), and the tool holder (1405) is connected to the palm plate (1401) and the U-shaped fixing bracket (1407) via a pin shaft (1409); A cover (1408) is also provided above the rotating disk (1403) and the guide block (1406), and the lower end surface of the cover (1408) is fixed on the palm plate (1401).

6. The picking manipulator for low ridge strawberries according to claim 1, characterized in that: The fruit position detection module (1500) includes binocular vision or a smart camera.

7. An efficient picking platform for low-ridge strawberries, characterized in that: The invention comprises a crawler-type walking mechanism (2100), a box-type vehicle body (2200), a belt conveying mechanism (2300), a collecting box (2400), an autonomous movable base (2500), and three picking manipulators (1000) for low-ridge strawberries as described in any one of claims 1 to 6, wherein the crawler-type walking mechanism (2100) is used to carry the box-type vehicle body (2200), the belt conveying mechanism (2300), the collecting box (2400), the autonomous movable base (2500), and the three picking manipulators (1000) to travel between the low ridges of strawberries; The box-type vehicle body (2200) is installed on the top of the crawler-type walking mechanism (2100); the belt conveyor mechanism (2300) is embedded in the box-type vehicle body (2200), and the output port of the belt conveyor mechanism (2300) is adjacent to the collection box (2400), and the collection box (2400) is fixed to one end of the box-type vehicle body (2200); The autonomous mobile base (2500) is installed on the top of the box-type vehicle body (2200); the three picking manipulators (1000) are independently installed on the autonomous mobile base (2500) in sequence along the travel direction of the crawler-type walking mechanism (2100), wherein the first picking manipulator (1000) and the second picking manipulator (1000) simultaneously perform picking operations on ripe strawberries on the ridge walls on both sides, and the third picking manipulator (1000) performs inspections and picking operations on the areas after the first picking manipulator (1000) and the second picking manipulator (1000) have been picked.

8. The efficient picking platform for low-ridge strawberries according to claim 7, characterized in that: The box-type vehicle body (2200) is provided with a fruit insertion opening (2210) and a fruit blocking plate (2220) on both sides along the travel direction of the crawler-type walking mechanism (2100); the fruit insertion opening (2210) leads to a belt conveying mechanism (2300) inside the box-type vehicle body (2200); A rectangular through hole (2230) for installing the autonomous mobile base (2500) is provided on the top of the box-type vehicle body (2200), and a front baffle plate (2240) is provided on the front of the box-type vehicle body (2200).

9. The efficient picking platform for low-ridge strawberries according to claim 8, characterized in that: The autonomous mobile base (2500) comprises a fixed screw rod (2510) shared by three picking manipulators (1000), two rectangular guide rails (2520), and three sets of autonomous mobile drive mechanisms (2530); The fixed screw rod (2510) is hoisted on the top of the box-type vehicle body (2200) through the bearing seat (2540) along the travel direction of the crawler-type walking mechanism (2100) and is located in the middle of the rectangular through hole (2230); the two rectangular guide rails (2520) are installed on both sides of the long side of the rectangular through hole (2230); The picking robot (1000) is slidably mounted on the rectangular guide rail (2520) and is in transmission with the fixed screw rod (2510). The power output ends of the three sets of autonomous mobile drive mechanisms (2530) are connected to the fixed screw rod (2510) via a threaded pair, so as to drive the picking robot (1000) to move along the axial direction of the fixed screw rod (2510).

10. The efficient picking platform for low-ridge strawberries according to claim 9, characterized in that: The autonomous mobile driving mechanism (2530) comprises a translation driving device (2531), a worm (2532), a worm support (2533), a worm wheel (2534) and a translation nut (2535); The rotating base (1100) comprises a fixed base (1101), a rotating machine base (1102) and a first rotating driving device (1103); The first rotary drive device (1103) is installed in the central hole at the bottom of the fixed base (1101); the output shaft of the first rotary drive device (1103) rotatably passes through the top of the fixed base (1101) and is fixedly connected to the center of the rotary base (1102); the rotary base (1102) is sleeved on the upper extension shaft (1101-1) of the fixed base (1101); The translation drive device (2531) is fixed on the top surface of the fixed base (1101); the output shaft of the translation drive device (2531) rotatably passes through the fixed base (1101) downward and is coaxially connected to the worm (2532); the worm (2532) is fixed to the bottom surface of the fixed base (1101) via a worm support (2533); The worm wheel (2534) is fixedly connected to the outer circle in the middle of the translation nut (2535) and is connected to the worm (2532) by a gear pair; the translation nut (2535) is sleeved on the fixed screw (2510), and the two ends of the translation nut (2535) are hoisted on the lower bottom surface of the fixed base (1101) through ear seats (2536).

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