Anti-collision automatic picking and stacking device for vulnerable fruits and vegetables and stacking method

Abstract

The invention relates to the field of agricultural robots, and provides an anti-collision automatic picking and stacking device and a stacking method for vulnerable fruits and vegetables in order to solve the problems that fruits and vegetables are prone to collision and cannot be stacked in order when picked and placed in the prior art, and the anti-collision automatic picking and stacking device comprises a vehicle body, a picking robot and an open collecting box; the output end of the picking robot is connected with a flexible conduit, the outlet end of the flexible conduit is provided with a deceleration conduit, and the bottom of the open collection box is a separable bottom plate; the vehicle body is provided with a rectangular mounting frame used for placing an open collecting box, the rectangular mounting frame located at the open end of the open collecting box is provided with a two-dimensional moving assembly, the outlet end of the speed reduction guide pipe is connected with the moving end of the two-dimensional moving assembly, and the two-dimensional moving assembly is used for driving and controlling the speed reduction guide pipe to move in the X-axis direction or the Y-axis direction; a lifting assembly is arranged on the rectangular mounting frame at the bottom of the open collection box, the lifting assembly comprises a lifter and a lifting platform arranged on the lifter, and the separable bottom plate of the open collection box is placed on the lifting platform.

Description

Technical Field

[0001] The invention relates to the field of agricultural robots, and in particular to a collision-proof automatic picking and stacking device and a stacking method for fragile fruits and vegetables. Background Art

[0002] Kiwi fruit is a fruit with rich nutritional value. It is loved by the general public because of its small fruit, delicious taste, rich vitamins and various minerals. When the kiwi fruit is ripe, its fruit is round in shape, similar to a ball, and the skin is relatively thin, which undoubtedly increases the difficulty of picking and transportation.

[0003] The existing kiwifruit picking robots can pick kiwifruit from trees and then place them in picking boxes through hoses. However, the kiwifruit will inevitably collide with each other during the placement process, causing damage to the kiwifruit. As the number of kiwifruit picked increases, the kiwifruit will stack together in the collection box and cannot be neatly stacked in the picking box. Finally, manual intervention is required for placement. Manual placement greatly increases the risk of secondary damage to the kiwifruit, which not only increases the damage rate of kiwifruit and the property loss rate of fruit farmers, but also greatly reduces the efficiency of the overall picking process and increases manpower and material costs. The above-mentioned collision risks also exist in the picking and stacking of fruits and vegetables.

[0004] Therefore, it is necessary to find a device that can prevent fruits and vegetables from colliding during the stacking process and automatically stack them, so as to improve the efficiency of picking and packing fruits and vegetables. Summary of the invention

[0005] The purpose of the present invention is to solve the problems that when existing fruit and vegetable picking robots place fruits and vegetables in a picking box, they cannot avoid mutual collision, causing damage to the fruits and vegetables, and cannot neatly stack the picked fruits and vegetables. A collision-proof automatic picking and stacking device and stacking method for fragile fruits and vegetables are proposed.

[0006] A collision-proof automatic picking and stacking device for fragile fruits and vegetables comprises a vehicle body, a picking robot and an open collection box arranged on the vehicle body; the device is special in that:

[0007] The output end of the picking robot is connected to a flexible conduit, and the outlet end of the flexible conduit is provided with a deceleration conduit for decelerating the picked objects; the outlet end of the deceleration conduit is opposite to the open end of the open collection box, and a detachable bottom plate is provided at the bottom of the open collection box;

[0008] The vehicle body is provided with a rectangular mounting frame for placing an open collection box, and the open end of the rectangular mounting frame located at the top of the open collection box is provided with a two-dimensional moving component, the outlet end of the deceleration duct is connected to the moving end of the two-dimensional moving component, and the two-dimensional moving component is used to drive and control the deceleration duct to move along the X-axis direction or the Y-axis direction;

[0009] A lifting assembly is arranged on the rectangular mounting frame below the detachable bottom plate at the bottom of the open collection box. The lifting assembly includes an elevator and a lifting platform arranged on the elevator. The detachable bottom plate of the open collection box is placed on the lifting platform. The lifting assembly is used to drive and control the detachable bottom plate to move up and down.

[0010] Further, the two-dimensional moving assembly includes a first driving motor, a second driving motor and two first sliding bars arranged on opposite sides of the rectangular mounting frame, each of the first sliding bars is provided with a first sliding sleeve sliding along the first sliding bar, two second sliding bars parallel to each other and perpendicular to the first sliding bars are arranged between the two first sliding sleeves, each of the second sliding bars is provided with a second sliding sleeve sliding along the second sliding bar, and a fixing ring for fixing the deceleration guide tube is arranged between the two second sliding sleeves;

[0011] The first driving motor is used to drive the two first sliding sleeves to drive the deceleration tube to move along the X-axis; the second driving motor is used to drive the two second sliding sleeves to drive the deceleration tube to move along the Y-axis.

[0012] Furthermore, the two-dimensional moving component is a corexy structure driven by a double-layer synchronous belt and a double stepping motor.

[0013] Furthermore, an apron is provided along the circumference of the outlet end of the deceleration duct to enable the picked objects to slide smoothly into the open collection box.

[0014] Furthermore, a deceleration brush is arranged on the circumference of the inner wall of the deceleration conduit.

[0015] Furthermore, a silicone reduction sleeve is provided on the circumference of the inner wall of the flexible conduit.

[0016] Furthermore, a flexible anti-slip pad is provided on the lifting platform.

[0017] Furthermore, the apron is a silicone strip apron.

[0018] Further, the flexible conduit is a flexible corrugated tube;

[0019] The lift is a scissor lift.

[0020] At the same time, the present invention also proposes a method for automatically picking and stacking fragile fruits and vegetables with anti-collision, which uses the above-mentioned automatic picking and stacking device for fragile fruits and vegetables. The special feature of the method is that it includes the following steps:

[0021] Step 1: Place the open collection box in the rectangular mounting frame on the vehicle body;

[0022] Step 2: The lifting platform is driven by the lift to raise the detachable bottom plate of the open collection box to a set position;

[0023] Step 3: The picking robot transfers the picked objects from the flexible conduit to the deceleration conduit, and drives the deceleration conduit through the two-dimensional moving component to stack the picked objects in the open collection box in sequence. If all the empty spaces on this layer in the open collection box have been stacked with picked objects, the lifting platform is controlled to descend to the set position through the elevator to stack the next layer until the picked objects fill the open collection box;

[0024] Step 4: When the open collection box is filled with the picked objects, the elevator controls the lifting platform to separate it from the detachable bottom plate of the open collection box, thereby completing the automatic picking and stacking of fragile fruits and vegetables.

[0025] Beneficial effects of the present invention:

[0026] [1] The anti-collision automatic picking and stacking device for fragile fruits and vegetables of the present invention has a simple structure, can effectively avoid collision between any two picked objects, reduce the damage rate of the picked objects, effectively improve the picking and packing efficiency of fragile fruits and vegetables, and save production costs and labor costs; through the two-dimensional moving component and the lifting component, the picked objects can be stacked in real time without interruption, so that multiple layers can be stacked one by one to avoid accumulation, which not only effectively improves the stacking efficiency of the device, but also ensures the neatness and finished product rate of the picked objects.

[0027] [2] The present invention can decelerate the falling speed of the freely falling picked objects to near zero through the deceleration brush in the deceleration duct and the silicone strip apron at the outlet end of the deceleration duct, so that the picked objects can be stacked in the open collection box without damage or collision, effectively avoiding high-speed collisions during the falling process of the picked objects, thereby effectively improving the yield rate and stacking efficiency of the picked objects.

[0028] [3] The bottom of the open collection box adopted by the present invention is a detachable bottom plate, which is driven up or down by a lift to further ensure that the picked objects are placed in the open collection box without damage. At the same time, combined with a two-dimensional moving component, the picked objects can be neatly stacked in multiple rows, columns and layers without any collision, without the need for manual intervention, which effectively improves the picking efficiency and the picking yield rate and saves the picking and stacking time.

[0029] [4] The anti-collision automatic picking and stacking method for fragile fruits and vegetables of the present invention has a simple operation process and is easy to implement. The two-dimensional moving component and the lifting component drive the deceleration guide tube to realize uninterrupted real-time stacking of the picked objects, so that multiple rows, columns, and layers can be stacked one by one, which effectively improves the stacking efficiency, saves the picking and stacking time, and improves the picking efficiency and the yield rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of an embodiment of a collision-proof automatic picking and stacking device for fragile fruits and vegetables of the present invention;

[0031] Figure 2 It is a schematic diagram of the position structure of the two-dimensional moving component, the lifting component and the open collection box in the embodiment of the present invention;

[0032] Figure 3 It is a schematic diagram of the structure of a two-dimensional mobile component in an embodiment of the present invention;

[0033] Figure 4 It is a structural schematic diagram of a lifting assembly in an embodiment of the present invention;

[0034] Figure 5 It is a schematic diagram of the structure of the deceleration conduit in an embodiment of the present invention;

[0035] Reference numerals:

[0036] 1-car body, 2-picking robot, 3-open collection box, 4-flexible conduit, 5-deceleration conduit, 6-detachable bottom plate, 7-rectangular mounting frame, 8-two-dimensional moving component, 9-lifting component, 10-lifting machine, 11-lifting platform, 12-first sliding bar, 13-first sliding sleeve, 14-second sliding bar, 15-second sliding sleeve, 16-apron, 17-deceleration brush, 18-fixing ring. DETAILED DESCRIPTION

[0037] like Figure 1 As shown, an anti-collision automatic picking and stacking device for fragile fruits and vegetables includes a vehicle body 1, a picking robot 2 and an open collection box 3 arranged on the vehicle body 1; the output end of the picking robot 2 is connected to a flexible conduit 4, the flexible conduit 4 adopts a flexible corrugated tube, a silicone deceleration sleeve is arranged on the circumference of the inner wall of the flexible conduit 4, and a deceleration conduit 5 is arranged at the outlet end of the flexible conduit 4 for decelerating the picked objects; Figure 5 As shown, a silicone strip apron 16 is provided along the circumference of the outlet end of the deceleration duct 5 to make the picked objects slide smoothly into the open collection box 3, a deceleration brush 17 is provided on the circumference of the inner wall of the deceleration duct 5, the outlet end of the deceleration duct 5 is opposite to the open end of the open collection box 3, and a detachable bottom plate 6 is provided at the bottom of the open collection box 3;

[0038] The vehicle body 1 is provided with a rectangular mounting frame 7 for placing the open collection box 3. A handle is provided on one side of the open collection box 3 for conveniently pulling the open collection box 3 out of the rectangular mounting frame 7. Figure 2 As shown, a two-dimensional moving component 8 is provided at the open end of the rectangular mounting frame 7 located at the top of the open collection box 3, and the outlet end of the deceleration tube 5 is connected to the moving end of the two-dimensional moving component 8. The two-dimensional moving component 8 is used to drive and control the deceleration tube 5 to move along the X-axis direction or the Y-axis direction. The deceleration tube 5 can move arbitrarily within the two-dimensional plane of the two-dimensional moving component 8;

[0039] A lifting assembly 9 is provided on the rectangular mounting frame 7 below the detachable bottom plate 6 at the bottom of the open collection box 3. Figure 4 As shown, the lifting component 9 includes a lift 10 and a lifting platform 11 arranged on the lift 10, the detachable bottom plate 6 of the open collection box 3 is placed on the lifting platform 11, the lifting component 9 is used to drive and control the detachable bottom plate 6 to move up and down, and a flexible anti-slip pad is arranged on the lifting platform 11. The lift 10 adopts a scissor lift, which is a single-layer cross-arm structure and is driven by a stepper motor.

[0040] like Figure 3 As shown, the two-dimensional moving assembly 8 includes a first driving motor, a second driving motor and two first sliding rods 12 arranged on opposite sides of the rectangular mounting frame 7, each of the first sliding rods 12 is provided with a first sliding sleeve 13 sliding along the first sliding rod 12, two second sliding rods 14 parallel to each other and perpendicular to the first sliding rods 12 are arranged between the two first sliding sleeves 13, each of the second sliding rods 14 is provided with a second sliding sleeve 15 sliding along the second sliding rod 14, and a fixing ring 18 for fixing the deceleration guide tube 5 is arranged between the two second sliding sleeves 15;

[0041] The first driving motor is used to drive the two first sliding sleeves 13 to drive the deceleration tube 5 to move along the X-axis; the second driving motor is used to drive the two second sliding sleeves 15 to drive the deceleration tube 5 to move along the Y-axis.

[0042] The two-dimensional moving component 8 can also adopt a corexy structure driven by a double-layer synchronous belt and dual stepper motors, wherein the corexy structure controls the movement of the motion platform by two motors at the same time, and the deceleration duct 5 is arranged on its moving end. When the left and right motors of the corexy structure rotate in the same direction, they drive the deceleration duct 5 to move in the X-axis direction; when the left and right motors rotate in opposite directions, they drive the deceleration duct 5 to move in the Y-axis direction, thereby realizing the arbitrary movement of the deceleration duct 5 in the two-dimensional space, and effectively enhancing the stability and reliability of the structure.

[0043] At the same time, this embodiment also proposes a stacking method using a collision-proof automatic picking and stacking device for fragile fruits and vegetables, including the following steps:

[0044] Step 1: Place the open collection box 3 in the rectangular mounting frame 7 on the vehicle body 1;

[0045] Step 2: The lifting platform 11 is driven by the lift 10 to drive the detachable bottom plate 6 of the open collection box 3 to rise to a set position;

[0046] Step 3: The picking robot 2 transfers the picked objects from the flexible conduit 4 to the deceleration conduit 5, and drives the deceleration conduit 5 through the two-dimensional moving component 8 to stack the picked objects into the open collection box 3 in sequence. If all the empty spaces on the current layer in the open collection box 3 have been stacked with picked objects, the lifting platform 11 is controlled by the lift 10 to descend to the set position, and the next layer is stacked until the picked objects fill the open collection box 3;

[0047] Step 4: When the picked objects fill the open collection box 3, the elevator 10 controls the lifting platform 11 to separate it from the detachable bottom plate 6 of the open collection box 3, thereby completing the automatic picking and stacking of fragile fruits and vegetables.

Claims

1. A collision-proof automatic picking and stacking device for fragile fruits and vegetables, comprising a vehicle body (1), a picking robot (2) and an open collection box (3) arranged on the vehicle body (1); characterized in that: The output end of the picking robot (2) is connected to a flexible conduit (4), and the outlet end of the flexible conduit (4) is provided with a deceleration conduit (5) for decelerating the picked objects; the outlet end of the deceleration conduit (5) is opposite to the open end of the open collection box (3), and the bottom of the open collection box (3) is provided with a detachable bottom plate (6); The vehicle body (1) is provided with a rectangular mounting frame (7) for placing the open collection box (3); the open end of the rectangular mounting frame (7) located at the top of the open collection box (3) is provided with a two-dimensional moving component (8); the outlet end of the deceleration duct (5) is connected to the moving end of the two-dimensional moving component (8); the two-dimensional moving component (8) is used to drive and control the deceleration duct (5) to move along the X-axis direction or the Y-axis direction; A lifting assembly (9) is arranged on the rectangular mounting frame (7) below the detachable bottom plate (6) at the bottom of the open collection box (3); the lifting assembly (9) comprises an elevator (10) and a lifting platform (11) arranged on the elevator (10); the detachable bottom plate (6) of the open collection box (3) is placed on the lifting platform (11); and the lifting assembly (9) is used to drive and control the detachable bottom plate (6) to move up and down.

2. According to claim 1, a collision-proof automatic picking and stacking device for fragile fruits and vegetables, characterized in that: The two-dimensional moving assembly (8) comprises a first driving motor, a second driving motor and two first sliding rods (12) arranged on opposite sides of a rectangular mounting frame (7), each of the first sliding rods (12) is provided with a first sliding sleeve (13) sliding along the first sliding rod, two second sliding rods (14) parallel to each other and perpendicular to the first sliding rods (12) are provided between the two first sliding sleeves (13), each of the second sliding rods (14) is provided with a second sliding sleeve (15) sliding along the second sliding rod, and a fixing ring (18) for fixing the deceleration guide tube (5) is provided between the two second sliding sleeves (15); The first drive motor is used to drive the two first sliding sleeves (13) to drive the deceleration tube (5) to move along the X-axis; the second drive motor is used to drive the two second sliding sleeves (15) to drive the deceleration tube (5) to move along the Y-axis.

3. According to claim 1, the anti-collision automatic picking and stacking device for fragile fruits and vegetables is characterized by: The two-dimensional moving component (8) is a corexy structure driven by a double-layer synchronous belt and double stepping motors.

4. The anti-collision automatic picking and stacking device for fragile fruits and vegetables according to claim 2 or 3, characterized in that: The outlet end of the deceleration duct (5) is provided with an apron (16) along its circumference, which is used to allow the picked objects to slide smoothly into the open collection box (3).

5. According to claim 4, the anti-collision automatic picking and stacking device for fragile fruits and vegetables is characterized by: A deceleration brush (17) is arranged on the circumference of the inner wall of the deceleration conduit (5).

6. According to claim 5, the anti-collision automatic picking and stacking device for fragile fruits and vegetables is characterized by: A silicone reduction sleeve is provided on the circumference of the inner wall of the flexible conduit (4).

7. The anti-collision automatic picking and stacking device for fragile fruits and vegetables according to claim 6, characterized in that: A flexible anti-slip pad is provided on the lifting platform (11).

8. The anti-collision automatic picking and stacking device for fragile fruits and vegetables according to claim 7, characterized in that: The apron (16) is a silicone strip apron (16).

9. The anti-collision automatic picking and stacking device for fragile fruits and vegetables according to claim 8, characterized in that: The flexible conduit (4) is a flexible corrugated tube; The lift (10) is a scissor lift.

10. A method for automatically picking and stacking fragile fruits and vegetables with anti-collision, using the device for automatically picking and stacking fragile fruits and vegetables with anti-collision according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: placing the open collection box (3) in a rectangular mounting frame (7) on the vehicle body (1); Step 2: The lifting platform (11) is driven by the lift (10) to drive the detachable bottom plate (6) of the open collection box (3) to rise to a set position; Step 3: The picking robot (2) transfers the picked objects from the flexible conduit (4) to the deceleration conduit (5), and drives the deceleration conduit (5) through the two-dimensional moving component (8) to stack the picked objects in the open collection box (3) in sequence. If all the empty spaces on the current layer in the open collection box (3) have been stacked with picked objects, the lifting platform (11) is controlled by the lift (10) to descend to a set position, and stacking is performed on the next layer until the picked objects fill the open collection box (3); Step 4: When the picked fruits and vegetables fill up the open collection box (3), the lift (10) controls the lift platform (11) to separate it from the detachable bottom plate (6) of the open collection box (3), thereby completing the automatic picking and stacking of fragile fruits and vegetables.

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