Walking device of agricultural product picking robot

Abstract

The invention belongs to the technical field of picking robots and relates to an agricultural product picking robot walking device. The robot comprises a robot body, a walking mechanism and a picking mechanism, the walking mechanism is arranged at the bottom of the robot body, a mechanical arm is installed on the robot body, and the mechanical arm is connected with a connecting base; the picking mechanism comprises a cutting knife, a circular plate and a rotating plate; the connecting base is rotationally connected with a circular plate, the rotating plate is rotationally connected with the circular plate, two guide grooves are formed in the circular plate, two limiting sliding grooves are symmetrically formed in the rotating plate, sliding blocks are elastically arranged in the limiting sliding grooves in a sliding mode, and the sliding rods are arranged in the guide grooves in a sliding mode. And the circular plate rotates, the two sliding blocks get close to each other, and the two cutting knives abut against each other to cut the fruit stems. If cutting is incomplete, the circular plate continues to rotate, the arc-shaped rack is meshed with the second gear, the circular plate drives the rotating plate to rotate synchronously, the cutting knife drives the fruit stem to rotate, the fruit stem rotates around the axis of the rotating plate, the fruit stem is separated from the fruit stem, and then the picking effect is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of picking robots and relates to a walking device of an agricultural product picking robot. Background Art

[0002] A harvesting robot is an automated machine that harvests agricultural products using existing technologies such as visual sensors. A harvesting robot generally has an autonomous walking function to find the target crops and harvest them, so it can also be called a harvesting robot walking device. It mainly includes a harvesting mechanism, a walking mechanism, and an autonomous navigation system. The walking mechanism is mainly composed of a chassis frame and a driving wheel set. The walking mechanism works closely with the autonomous navigation system and can autonomously walk according to environmental information and preset paths, so that the harvesting robot walking device can autonomously walk on the farmland and perform harvesting tasks.

[0003] The existing picking robot walking device mainly uses a hydraulic cutting mechanism to pick agricultural products during the picking task. This picking method still has some shortcomings in actual use. After the hydraulic cutting mechanism cuts the agricultural products, the cutting knife may not cut enough or the cutting knife may be deformed, damaged or incompletely cut, causing adhesion between the agricultural products and the fruit stems, affecting normal picking work.

[0004] In order to solve the above problems, the present invention proposes a walking device for an agricultural product picking robot. Summary of the invention

[0005] In order to solve the problems existing in the background technology, the present invention proposes a walking device of an agricultural product picking robot.

[0006] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present invention is as follows: a walking device of an agricultural product picking robot comprises a robot body, a walking mechanism and a picking mechanism, the walking mechanism is arranged at the bottom of the robot body, a mechanical arm is installed on the robot body, and the mechanical arm is connected to a connecting seat; the picking mechanism comprises a cutting knife, a circular plate and a rotating plate; the connecting seat is rotatably connected to the circular plate, the rotating plate and the circular plate are rotatably connected, two guide grooves are arranged symmetrically about the axis point of the circular plate, two limiting slide grooves are symmetrically arranged on the rotating plate, a slider is elastically slidably arranged in the limiting slide groove, one end of the slider is fixedly connected to the cutting knife, and the other end of the slider is connected to a slide rod, and the slide rod is slidably arranged in the guide groove; a driving component for driving the circular plate to rotate is arranged on the connecting seat, and a transmission component is arranged between the circular plate and the rotating plate;

[0007] The arc-shaped rack rotates, and under the guidance of the guide groove, the slide bar moves toward the direction close to the axis of the circular plate, and then the two cutting knives approach each other to shear; then the circular plate drives the rotating plate to rotate through the transmission assembly, and the two cutting knives drive the fruit handle to rotate.

[0008] Furthermore, the guide groove includes a straight edge and an arc edge, the straight line where the straight edge is located passes through the axis of the circular plate, the straight edge and the arc edge are connected at one end away from the axis of the circular plate, and the end of the arc edge close to the axis of the circular plate is arranged away from the straight edge.

[0009] Furthermore, the picking mechanism also includes a collecting component, which includes a receiving bucket, a connecting hose and a collecting box. A rotating ring is rotatably arranged on the robotic arm, connecting rods are connected to both sides of the rotating ring, the connecting rods are rotatably connected to support rods, a fixed frame is connected between the two support rods, the receiving bucket is connected to the fixed frame, the collecting box is arranged on the robot body, one end of the connecting hose is connected to the receiving bucket, and the other end of the connecting hose is connected to the collecting box.

[0010] Furthermore, the driving assembly includes a motor, which is embedded and fixedly installed in the connecting seat, the motor shaft of the motor is fixedly connected to the third gear, the circular plate is coaxially fixedly connected to the gear ring, and the gear ring is meshed with the third gear.

[0011] Furthermore, the circular plate is rotatably connected to a first rotating shaft, and the first rotating shaft is fixedly connected to the rotating plate.

[0012] Furthermore, the transmission assembly includes an arc-shaped rack, a second gear, a worm wheel and a worm; the worm wheel is coaxially fixedly connected with the first rotating shaft, the worm is rotatably mounted on the connecting seat, and the worm and the worm wheel are meshed; the arc-shaped rack is fixedly mounted on the circular plate, and the arc-shaped rack and the circular plate are coaxially arranged. The second rotating shaft is rotatably mounted on the connecting seat, the second gear is fixedly connected with the second rotating shaft, and the second gear and the arc-shaped rack cooperate. The second gear is meshed with the first gear, and the first gear and the worm are coaxially fixedly connected.

[0013] Furthermore, the walking mechanism includes a chassis frame and a driving wheel set; the chassis frame is arranged at the bottom of the robot body, and the front and rear ends of the chassis frame are both provided with independent driving wheel sets.

[0014] Compared with the prior art, the present invention has the following beneficial effects: due to the self-locking property of the worm wheel and the worm, when the circular plate rotates, the rotating plate will not rotate, and under the action of the guide groove, the two sliders approach each other, and the two cutting knives approach each other to shear the fruit stalk.

[0015] If the shearing is incomplete and the fruit fails to separate from the fruit stem, the circular plate continues to rotate, the arc-shaped rack meshes with the second gear, the circular plate drives the rotating plate to rotate synchronously, and the cutting knife drives the fruit stem to rotate, so that the connection between the fruit stem and the fruit stem rotates around the axis of the rotating plate, and the connection between the fruit stem and the fruit stem has a tendency to move toward the root of the fruit stem, thereby making the fruit stem easier to fall off the fruit stem. At the same time, the connection between the fruit stem and the fruit stem has a tendency to move downward, which further helps the fruit stem to fall off the fruit stem, thereby ensuring the picking effect. At the same time, preventing the fruit stem from falling off helps to ensure the picking quality.

[0016] When the device is used to pick fruits, the fruit stems will shake less, reducing the impact on other fruits. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the connecting seat in the present invention;

[0019] Figure 3 is a cross-sectional view of the connecting seat in the present invention;

[0020] Figure 4 It is a schematic diagram of the structure of the arc-shaped rack in the present invention;

[0021] Figure 5 is a cross-sectional view of a rotating plate in the present invention;

[0022] Figure 6 The present invention Figure 5 A magnified view of part A;

[0023] Figure 7 It is a structural schematic diagram of the circular plate in the present invention;

[0024] Figure 8 It is a schematic diagram of the cooperation between the cutting knife and the fruit handle in the present invention;

[0025] Fig. 9 It is a simplified diagram of the fruit handle rotating around the axis of the rotating disk in the present invention.

[0026] In the figure: 1. robot body; 2. collection box; 3. connecting hose; 4. receiving bucket; 5. fixed frame; 6. rotating plate; 7. support rod; 8. connecting seat; 9. mechanical arm; 10. cutting knife; 11. camera; 12. rotating ring; 13. connecting rod; 14. circular plate; 15. limiting slide groove; 16. arc rack; 17. guide groove; 18. worm gear; 19. worm; 20. first rotating shaft; 21. sliding rod; 22. first gear; 23. second gear; 24. first make way groove; 25. motor; 26. third gear; 27. gear ring; 28. second make way groove; 29. ​​second rotating shaft; 30. guide rod; 31. slider; 32. third make way groove; 33. tension spring; 34. fruit handle; 35. fruit stem. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] like Figure 1-Figure 9 As shown, the technical solution adopted by the present invention is as follows: the walking device of the agricultural product picking robot includes a robot body 1, a walking mechanism and a picking mechanism. The walking mechanism is arranged at the bottom of the robot body 1 to drive the robot body 1 to move. The walking mechanism includes a chassis frame and a driving wheel set. The chassis frame is arranged at the bottom of the robot body 1, and the front and rear ends of the chassis frame are both provided with independent driving wheel sets. The robot body 1 is equipped with an autonomous navigation system, and the walking mechanism and the autonomous navigation system are closely coordinated, so that the robot body 1 can walk autonomously according to environmental information and a preset path.

[0029] The picking mechanism includes a collecting assembly, a cutting knife 10, a circular plate 14 and a rotating plate 6. The robot body 1 is equipped with a mechanical arm 9, and the mechanical arm 9 is fixedly connected to a connecting seat 8. A first clearance groove 24 is provided on the end surface of the connecting seat 8, and the circular plate 14 is rotatably installed in the first clearance groove 24. The circular plate 14 is coaxially rotatably installed with a first rotating shaft 20, and the rotating plate 6 is coaxially fixedly connected to the first rotating shaft 20. The rotating plate 6 is located at the front side of the circular plate 14.

[0030] Two limiting slide grooves 15 are symmetrically provided on the rotating plate 6, and a third clearance groove 32 is provided on the end wall of the limiting slide groove 15 away from the axis of the rotating plate 6. The rotating plate 6 is fixedly connected with a guide rod 30, which passes through the third clearance groove 32 and the limiting slide groove 15. A slider 31 is slidably provided in each limiting slide groove 15. The slider 31 is slidably sleeved on the guide rod 30. A tension spring 33 is provided in the third clearance groove 32, one end of the tension spring 33 is fixedly connected to the slider 31, and the other end of the tension spring 33 is fixedly connected to the end wall of the third clearance groove 32.

[0031] A cutting knife 10 is fixed to the front end of each slider 31. The fruit stem 34 is placed between the two cutting knives 10, and the slider 31 moves along the limiting slide groove 15 toward the axis of the rotating plate 6, the two sliders 31 approach each other, and the two cutting knives 10 approach each other to shear the fruit stem 34, and then the fruit is picked.

[0032] Two guide grooves 17 are provided on the circular plate 14, and the two guide grooves 17 are symmetrically arranged about the axis point of the circular plate 14. In this embodiment, the guide groove 17 includes a straight edge and an arc edge, the straight line where the straight edge is located passes through the axis of the circular plate 14, the straight edge and the arc edge are connected at one end away from the axis of the circular plate 14, and the end of the arc edge close to the axis of the circular plate 14 is away from the straight edge. Each slider 31 is connected to a slide rod 21. The two slide rods 21 correspond to the two guide grooves 17 one by one, and the slide rods 21 are slidably arranged in the corresponding guide grooves 17.

[0033] When the circular plate 14 rotates and the rotating plate 6 is stationary, the slide bar 21 moves along the corresponding guide groove 17 toward the direction close to the axis of the circular plate 14, and the slide block 31 slides along the limiting slide groove 15, and the two cutting knives 10 approach each other.

[0034] A driving assembly for driving the circular plate 14 to rotate is installed on the connecting seat 8, and the driving assembly includes a motor 25, which is embedded and fixedly installed in the connecting seat 8, and the motor shaft of the motor 25 is fixedly connected to the third gear 26. A gear ring 27 is coaxially fixedly connected to the circular plate 14, and the gear ring 27 is meshed with the third gear 26. The motor 25 drives the circular plate 14 to rotate through the third gear 26 and the gear ring 27. A second clearance groove 28 for accommodating the gear ring 27 and the third gear 26 is opened on the connecting seat 8.

[0035] A transmission assembly is provided between the rotating plate 6 and the circular plate 14. Specifically, the transmission assembly includes an arc-shaped rack 16, a second gear 23, a worm wheel 18 and a worm 19. The worm wheel 18 is coaxially fixedly connected to the first rotating shaft 20, and the worm 19 is rotatably mounted on the connecting seat 8, and the worm 19 is meshed with the worm wheel 18. The arc-shaped rack 16 is fixedly mounted on the circular plate 14, and the arc-shaped rack 16 and the circular plate 14 are coaxially arranged. A second rotating shaft 29 is rotatably mounted on the connecting seat 8, and the second gear 23 is fixedly connected to the second rotating shaft 29, and the second gear 23 cooperates with the arc-shaped rack 16. The second gear 23 is meshed with the first gear 22, and the first gear 22 and the worm 19 are coaxially fixedly connected.

[0036] The circular plate 14 drives the arc-shaped rack 16 to rotate. When the arc-shaped rack 16 meshes with the second gear 23, the arc-shaped rack 16 drives the second gear 23 to rotate, the first gear 22 rotates, the worm 19 rotates, the worm wheel 18 rotates, and then the first rotating shaft 20 and the rotating plate 6 rotate. The rotating plate 6 and the circular plate 14 rotate synchronously. The rotating plate 6 drives the cutting knife 10 to rotate through the slider 31, so that the cutting knife 10 rotates around the axis of the rotating plate 6. The two cutting knives 10 drive the fruit handle 34 to rotate, so that the fruit handle 34 rotates around the axis of the rotating plate 6, and the connection between the fruit handle 34 and the fruit stem 35 has a tendency to move toward the root of the fruit stem 35, which is conducive to separating the fruit handle 34 from the fruit stem 35, thereby ensuring the picking effect.

[0037] A camera 11 is installed on the connecting seat 8, and the camera 11 identifies the fruit to determine whether the fruit meets the picking requirements.

[0038] The collection assembly includes a receiving bucket 4, a connecting hose 3 and a collection box 2. A rotating ring 12 is rotatably provided on the robot arm 9, and connecting rods 13 are connected to both sides of the rotating ring 12, and the connecting rods 13 are rotatably connected to the support rods 7. A fixed frame 5 is connected between the two support rods 7, and the receiving bucket 4 is connected to the fixed frame 5. The collection box 2 is set on the robot body 1, and one end of the connecting hose 3 is connected to the receiving bucket 4, and the other end of the connecting hose 3 is connected to the collection box 2.

[0039] The picked fruits pass through the receiving bucket 4 and the connecting hose 3 and enter the collecting box 2 for collection. During the movement of the mechanical arm 9, the fixed frame 5 moves under its own gravity, so that the opening of the fixed frame 5 is always facing upward and always under the connecting seat 8, which is conducive to the picked fruits falling into the receiving bucket 4.

[0040] Working principle: Initially, under the action of the tension spring 33, the slider 31 is at the end of the limiting slide 15 away from the axis of the rotating plate 6, and the slide bar 21 is at the end of the guide groove 17 away from the axis of the arc rack 16. The two cutting knives 10 are away from each other.

[0041] When in use, the robot body 1 is moved to the fruit tree to be picked by the walking mechanism. Then the robot arm 9 is started, and the camera 11 identifies the fruit. The robot arm 9 is used to place the fruit stalk 34 of the fruit to be picked between the two cutting knives 10. The length direction of the limiting slide 15 is roughly parallel to the length direction of the fruit stem 35 where the fruit to be picked is located.

[0042] Then the motor 25 is started, and the circular plate 14 rotates. Since the worm wheel 18 and the worm 19 have a self-locking property, the rotating plate 6 will not rotate with the circular plate 14. Figure 3 In the direction shown, when the circular plate 14 rotates clockwise, under the action of the guide groove 17, the slide bar 21 moves along the guide groove 17 toward the direction close to the axis of the circular plate 14, and the slider 31 moves along the limiting slide groove 15 toward the direction close to the axis of the circular plate 14, thereby making the two cutting knives 10 approach each other, and then cutting the fruit stem 34. When the slider 31 moves to one end of the limiting slide groove 15 close to the axis of the rotating plate 6, the cutting of the fruit stem 34 is completed.

[0043] However, when the slider 31 moves to the end of the limiting slide groove 15 close to the axis of the rotating plate 6, the fruit stalk may not be completely cut off due to insufficient cutting by the cutting knife 10 or deformation and damage of the cutting knife 10, so that the fruit cannot be separated from the fruit stem 35, affecting the picking effect.

[0044] When the circular plate 14 rotates, the arc-shaped rack 16 rotates synchronously, but when the slider 31 moves to the end of the limiting slide groove 15 close to the axis of the rotating plate 6, the arc-shaped rack 16 does not mesh with the second gear 23. After that, the circular plate 14 continues to rotate, and when the arc-shaped rack 16 meshes with the second gear 23, the arc-shaped rack 16 drives the second gear 23 to rotate, the first gear 22 rotates, the worm 19 rotates, the first rotating shaft 20 rotates, and the rotating plate 6 rotates. The rotating plate 6 drives the slider 31 and the cutting knife 10 to rotate, and the cutting knife 10 drives the fruit handle 34 to rotate, so that the connection between the fruit handle 34 and the fruit stem 35 rotates around the axis of the rotating plate 6, and the connection between the fruit handle 34 and the fruit stem 35 has a tendency to move toward the root of the fruit stem 35, so that the connection between the fruit handle 34 and the fruit stem 35 is torn toward the root of the fruit stem 35, thereby making it easier for the fruit handle 34 to fall off from the fruit stem 35. At the same time, during the rotation of the cutting blade 10, the connection between the fruit stalk 34 and the fruit stem 35 has a tendency to move downward, which further helps the fruit stalk 34 and the fruit stem 35 to fall off, thereby ensuring the picking effect. At the same time, the fruit stalk 34 and the fruit can be effectively prevented from falling off, which helps to ensure the quality of the picked fruit.

[0045] Of course, during the rotation of the cutting blade 10, the fruit stalk 34 may also be cut off from the cutting position, thereby completing the picking action.

[0046] After the fruit is separated from the fruit stem 35 , it falls into the receiving bucket 4 and enters the collecting box 2 through the connecting hose 3 .

[0047] Then, if Figure 3 In the direction shown, the circular plate 14 is rotated counterclockwise by the motor 25. When the arc-shaped rack 16 meshes with the second gear 23, the rotating plate 6 and the circular plate 14 rotate counterclockwise synchronously. When the arc-shaped rack 16 is disengaged from the second gear 23, the rotating plate 6 stops rotating due to the self-locking property between the worm wheel 18 and the worm 19. The circular plate 14 continues to rotate counterclockwise. Under the action of the tension spring 33, the slider 31 moves along the limiting slide groove 15 away from the axis of the rotating plate 6, and the two cutting knives 10 move away from each other. Until the cutting knives 10 return to the initial state, ready to pick the next fruit.

[0048] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. The walking device of the agricultural product picking robot is characterized by: The robot comprises a robot body (1), a walking mechanism and a picking mechanism, wherein the walking mechanism is arranged at the bottom of the robot body (1), a mechanical arm (9) is installed on the robot body (1), and the mechanical arm (9) is connected to a connecting seat (8); the picking mechanism comprises a cutting knife (10), a circular plate (14) and a rotating plate (6); the connecting seat (8) is rotatably connected to the circular plate (14), the rotating plate (6) and the circular plate (14) are rotatably connected, and two guide grooves (17) are provided on the circular plate (14), and the two guide grooves (17) are connected with respect to the circular plate (14). The axial point of the plate (14) is symmetrically arranged, and two limiting slide grooves (15) are symmetrically provided on the rotating plate (6), and a slider (31) is elastically slidably arranged in the limiting slide groove (15), one end of the slider (31) is fixedly connected to the cutting knife (10), and the other end of the slider (31) is connected to a slide rod (21), and the slide rod (21) is slidably arranged in the guide groove (17); a driving component for driving the circular plate (14) to rotate is arranged on the connecting seat (8), and a transmission component is arranged between the circular plate (14) and the rotating plate (6); The arc-shaped rack (16) rotates, and under the guidance of the guide groove (17), the slide bar (21) moves toward the direction close to the axis of the circular plate (14), so that the two cutting knives (10) approach each other to perform shearing; then the circular plate (14) drives the rotating plate (6) to rotate through the transmission assembly, and the two cutting knives (10) drive the fruit handle (34) to rotate.

2. The walking device of the agricultural product picking robot according to claim 1, characterized in that: The guide groove (17) comprises a straight edge and an arcuate edge, the straight line where the straight edge is located passes through the axis of the circular plate (14), the straight edge and the arcuate edge are connected at one end away from the axis of the circular plate (14), and the end of the arcuate edge close to the axis of the circular plate (14) is arranged away from the straight edge.

3. The walking device of the agricultural product picking robot according to claim 1, characterized in that: The picking mechanism also includes a collecting assembly, which includes a receiving bucket (4), a connecting hose (3) and a collecting box (2). A rotating ring (12) is rotatably arranged on the robot arm (9), and connecting rods (13) are connected to both sides of the rotating ring (12). The connecting rods (13) are rotatably connected to support rods (7), and a fixed frame (5) is connected between the two support rods (7). The receiving bucket (4) is connected to the fixed frame (5), and the collecting box (2) is arranged on the robot body (1), one end of the connecting hose (3) is connected to the receiving bucket (4), and the other end of the connecting hose (3) is connected to the collecting box (2).

4. The walking device of the agricultural product picking robot according to claim 1, characterized in that: The driving assembly comprises a motor (25), the motor (25) is embedded and fixedly installed in the connecting seat (8), the motor shaft of the motor (25) is fixedly connected to the third gear (26), the circular plate (14) is coaxially fixedly connected to the gear ring (27), and the gear ring (27) is meshed with the third gear (26).

5. The walking device of the agricultural product picking robot according to claim 1, characterized in that: The circular plate (14) is rotatably connected to a first rotating shaft (20), and the first rotating shaft (20) is fixedly connected to the rotating plate (6).

6. The walking device of the agricultural product picking robot according to claim 5, characterized in that: The transmission assembly comprises an arc-shaped rack (16), a second gear (23), a worm wheel (18) and a worm (19); the worm wheel (18) is coaxially fixedly connected to the first rotating shaft (20), the worm (19) is rotatably mounted on the connecting seat (8), and the worm (19) and the worm wheel (18) are meshed; the arc-shaped rack (16) is fixedly mounted on the circular plate (14), and the arc-shaped rack (16) and the circular plate (14) are coaxially arranged; a second rotating shaft (29) is rotatably mounted on the connecting seat (8), the second gear (23) and the second rotating shaft (29) are fixedly connected, and the second gear (23) and the arc-shaped rack (16) are matched; the second gear (23) is meshed with the first gear (22), and the first gear (22) and the worm (19) are coaxially fixedly connected.

7. The walking device of the agricultural product picking robot according to claim 1, characterized in that: The walking mechanism comprises a chassis frame and a driving wheel set; the chassis frame is arranged at the bottom of the robot body (1), and the front and rear ends of the chassis frame are both provided with independent driving wheel sets.

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