Large tomato picking robot and use method thereof

Abstract

The invention discloses a large tomato picking robot and a using method thereof. The large tomato picking robot mainly comprises a transport vehicle, a stand column, a mechanical arm and at least one set of picking mechanical arms. The transport vehicle can automatically navigate to walk and run; the stand column is arranged on the transport vehicle; the mechanical arm is arranged on the stand column and can freely bend and rotate; the picking mechanical arms are arranged at the front end of the mechanical arm, and each picking mechanical arm comprises a mechanical arm support, a picking air cylinder, a suction cup assembly, a tooth cutter frame, an arc cutter, a clamping frame and a multi-rod device; according to the large tomato picking robot, the intelligent automatic picking process can be achieved, the picking efficiency is high, and the fruit damage phenomenon can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of automated agricultural fruit and vegetable picking, and particularly to a large tomato picking robot and its usage method. Background Art

[0002] Fruits and vegetables are rich in nutrients and are essential in human life. Fruit and vegetable picking is a labor-intensive task and is the most time-consuming and laborious link in the entire production chain. Existing fruit and vegetable picking operations mainly rely on manual labor, which has problems such as low efficiency, high cost, and high labor intensity. Existing tomato picking robots have a low picking success rate and are prone to damaging fruits. In recent years, due to the serious shortage of human resources caused by the problem of population aging, the cost of manual picking operations accounts for a relatively high proportion in the entire production cost. Therefore, realizing the automation of picking operations has become an urgent need and a key technical bottleneck for the in-depth development of agriculture. Research on intelligent fruit picking based on agricultural robots has become a major focus in agricultural development in recent years. As an important type of agricultural robot, picking robots can reduce the labor intensity of workers and production costs, improve labor productivity and product quality, and ensure the timely harvesting of fruits, thus having great development potential. The growth environment of tomatoes is relatively complex, in a highly unstructured and uncertain unknown environment. Although facility agriculture has achieved standardized operations to a certain extent, due to the random and diverse natural growth states of crops, the spatial layout of crop branches (vines), true leaves, brackets, etc. with fruits and vegetables is complex, and their shapes are also complex and diverse. When a picking robot is picking, it should have a high adaptability to the picking object, have less disturbance and damage to the surrounding environment and the fruit object, and be able to better handle the vulnerability of the picking object and the difference in individual shapes.

[0003] Traditional clamping-type end-effectors generally clamp the fruit and pick the fruit by pulling or twisting methods. The force for clamping the fruit during picking is difficult to control, and it is easy to damage the fruit.

[0004] The information disclosed in this background art section is only intended to increase the understanding of the overall background of the present invention and should not be regarded as an admission or any form of suggestion that this information constitutes prior art already known to those of ordinary skill in the art. Summary of the Invention

[0005] The purpose of the present invention is to provide a large tomato picking robot, which can realize an intelligent automatic picking process, has high picking efficiency, and can also greatly reduce the phenomenon of fruit damage.

[0006] Another purpose of the present invention is to provide a large tomato picking robot and its usage method.

[0007] To achieve the above object, the present invention provides a large tomato picking robot, comprising a transport vehicle, a column, a robotic arm, and at least one set of picking manipulators; the transport vehicle can automatically navigate and run; the column is arranged on the transport vehicle; the robotic arm is arranged on the column and can freely bend and rotate; and at least one set of picking manipulators is arranged at the front end of the robotic arm. The picking manipulator includes a manipulator bracket, a picking cylinder, a suction cup assembly, a toothed knife holder and an arc knife, a clamping bracket and a multi-bar device; the lower part of the manipulator bracket is pivotally connected to the front end of the robotic arm, and a picking bowl is arranged at the front part. The picking bowl is in a hemispherical bowl shape structure. The rear part of the picking bowl is fixedly connected to the rear cross-frame and the lower vertical frame through a front cross-frame; the picking cylinder is arranged in the rear cross-frame of the manipulator bracket, and the front end of the cylinder rod of the picking cylinder extends into the picking bowl from the center of the bottom of the hemispherical bowl shape structure of the picking bowl; the rear end of the suction cup assembly is connected to the front end of the cylinder rod of the picking cylinder through a connecting piece; both the toothed knife holder and the arc knife are arranged on one side of the bowl mouth of the picking bowl, and both the toothed knife holder and the arc knife are in a semi-circular ring structure. The two ends of the semi-circular ring structure of the toothed knife holder and the arc knife are pivotally connected to the third fulcrum arranged at the bowl mouth of the picking bowl; the clamping bracket is arranged on the other side of the bowl mouth of the picking bowl in a counter-bracing manner with the toothed knife holder and the arc knife. The clamping bracket is in a semi-circular ring structure, and the two ends of the semi-circular ring structure of the clamping bracket are pivotally connected to the third fulcrum of the picking bowl; the rear end of the multi-bar device is pivotally connected to both sides of the rear part of the connecting piece, the middle part is pivotally connected to the picking bowl through the first fulcrum arranged on both sides of the rear part of the picking bowl, and the front part is pivotally connected to the third secondary fulcrum near the third fulcrum at both ends of the toothed knife holder and the arc knife and the clamping bracket.

[0008] In a preferred embodiment, the picking cylinder drives the suction cup assembly to extend or retract through a connecting piece. As the suction cup assembly gradually extends and sucks the tomato to be picked, the multi-bar device controls the toothed knife holder, the arc knife and the clamping bracket to gradually open. As the suction cup assembly gradually retracts, the multi-bar device controls the toothed knife holder, the arc knife and the clamping bracket to gradually close and cut off the fruit stalk.

[0009] In a preferred embodiment, the multi-bar device includes a first short rod, a swing rod, a second short rod, a pull rod and two third short rods; one end of the first short rod is pivotally connected to both sides of the rear part of the connecting piece; after one end of the swing rod is pivotally connected to the other end of the first short rod, the other end extends out of the picking bowl from the avoidance notch at the rear part of the picking bowl. The swing rod includes a hinge hole arranged at the outer part of the middle part thereof, and the hinge hole is used for being pivotally connected to the first fulcrum arranged on the picking bowl; one end of the second short rod is pivotally connected to the other end of the swing rod; one end of the pull rod is pivotally connected to the other end of the second short rod, and the other end of the pull rod includes a threaded end. The threaded end passes through the bushing of the second fulcrum arranged on the picking bowl and is connected to the threaded hole at the middle part of the driving rod; one ends of the two third short rods are respectively pivotally connected to both ends of the driving rod, and the other ends are respectively pivotally connected to the third secondary fulcrum near the third fulcrum at both ends of the toothed knife holder and the arc knife and the clamping bracket.

[0010] In a preferred embodiment, the front cross-frame and the rear cross-frame are integrally formed into a semi-cylindrical structure. The picking cylinder is arranged inside the semi-cylindrical structure. The lower vertical frame is in a plate-like structure and is perpendicularly connected to the outer arc at the lower part of the semi-cylindrical structure. The manipulator support further includes an upper vertical frame, which is in a long strip plate-like structure and is perpendicularly connected to the inner arc at the upper part of the semi-cylindrical structure. The upper vertical frame includes an avoidance long hole and a camera mounting hole. The avoidance long hole extends along the height direction of the upper vertical frame and is used for the cylinder rod of the picking cylinder to pass through. The camera mounting hole is arranged at the top of the upper vertical frame and is used for mounting a camera.

[0011] In a preferred embodiment, the large tomato picking robot further includes a collecting basket transfer device, which is arranged on the transport vehicle and is located behind the column. The collecting basket transfer device includes a transfer frame body, a basket supply lifting device, a basket changing device, a palletizing lifting device, a flap device and multiple groups of electric rollers. The transfer frame body is in a cubic frame structure, and the cubic frame structure includes two front angle irons, two rear angle irons, two lower cross beams, two upper cross beams and two middle angle irons. The two front angle irons are perpendicularly arranged on both sides of the front part of the upper plane of the transport vehicle; the two rear angle irons are perpendicularly arranged on both sides of the rear part of the upper plane of the transport vehicle, and the height of the two rear angle irons is higher than that of the two front angle irons; the two lower cross beams are arranged in parallel and in a bracing manner between the lower parts of the front angle irons and the rear angle irons respectively; the two upper cross beams are arranged in parallel and in a bracing manner between the upper parts of the front angle irons and the rear angle irons respectively; the two middle angle irons are parallel to the front angle irons and the rear angle irons, and are perpendicularly arranged at the position of the upper cross beam close to the rear angle iron, and the tops of the two middle angle irons are flush with the tops of the two rear angle irons. The basket supply lifting device is arranged at the position closest to the column and is used for lifting the collecting basket from bottom to top to the top position of the collecting basket transfer device. The basket changing device is arranged above the basket supply lifting device and is located at the tops of the two front angle irons and the front part of the two upper cross beams. The palletizing lifting device is arranged in the space surrounded by the two rear angle irons, the two middle angle irons and the two upper cross beams. The flap device is arranged above the palletizing lifting device and is located between the lower parts of the two rear angle irons and the two middle angle irons. Multiple groups of electric rollers are respectively arranged at the top of the basket supply lifting device, the top of the palletizing lifting device, between the rear parts of the two lower cross beams and between the middle parts of the two upper cross beams.

[0012] In a preferred embodiment, the basket lifting device includes a lifting bottom plate, an electric push rod hinge base, an electric push rod, a driving shaft, two pairs of lifting rods, and a lifting top plate; the lifting bottom plate is arranged at the front part of the upper plane of the transport vehicle, and is located behind the column, between two front angle irons and in the middle of the front parts of two lower cross beams. The lifting bottom plate has a flat plate flanging structure, and the lifting bottom plate includes side flanges, hinge holes, and long slots; the side flanges are arranged on both sides of the lifting bottom plate and extend upward; the hinge holes are arranged at the front parts of the side flanges; the long slots are arranged at the rear parts of the side flanges; the electric push rod hinge base is arranged at the middle position of the front part of the lifting bottom plate; the rear end of the electric push rod is hinged to the electric push rod hinge base; both ends of the driving shaft are slidably arranged in the long slots of the side flanges, a connection hole is arranged in the middle of the driving shaft, and the connection hole is connected to the front end of the electric push rod; the two pairs of lifting rods are in a structure of multi-stage X-shaped cross-hinged rods hinged end to end in sequence. One end of the lower part of each pair of lifting rods is hinged to the hinge hole on one side of the side flange, and the other end is hinged to one end of the driving shaft. The other end of the lower part of each pair of lifting rods can move along with the sliding of the driving shaft in the long slot; when viewed from front to back, the lifting top plate has an inverted I-shaped structure, and the lifting top plate includes upper flanges and lower flanges; the upper flanges are arranged on both sides of the lifting top plate and extend downward, and a hinge hole is arranged at the front end of the lower flange for hinging to one end of the upper parts of the two pairs of lifting rods, and a long slot is arranged at the rear end of the lower flange for slidably hinging to the other end of the upper parts of the two pairs of lifting rods; the lower flanges are arranged on both sides of the lifting top plate and extend upward, and electric rollers are arranged between the lower flanges; wherein the telescoping of the electric push rod can drive the driving shaft to slide along the long slot, and at the same time drive the other ends of the lower parts of the two pairs of lifting rods to move together, so as to control the two pairs of lifting rods to drive the lifting top plate to rise or fall.

[0013] In a preferred embodiment, the palletizing lifting device includes a palletizing fixing plate, an electric push rod hinge base, an electric push rod, a driving shaft, two pairs of lifting rods, and a lifting top plate; one end of the palletizing fixing plate is arranged on the rear angle iron and is located below the upper cross beam. The palletizing fixing plate includes a rear lower bent edge and two upper vertical plates; the rear lower bent edge is arranged on both sides of the rear end of the palletizing fixing plate and bends and extends downward, and the rear lower bent edge is used for connecting with the rear angle iron; the two upper vertical plates are perpendicularly arranged on both sides of the palletizing fixing plate and extend upward. The upper vertical plates include hinge holes and long slots; the hinge holes are arranged at the front of the upper vertical plates; and the long slots are arranged at the rear of the upper vertical plates; the electric push rod hinge base is arranged at the middle position of the front part of the palletizing fixing plate; the rear end of the electric push rod is hinged with the electric push rod hinge base; both ends of the driving shaft are slidably arranged in the long slots of the upper vertical plates along the long slots. A connection hole is arranged in the middle of the driving shaft, and the connection hole is connected with the front end of the electric push rod; the two pairs of lifting rods are in a multi-stage X-shaped cross-hinged rod structure that is sequentially hinged end to end. One end of the lower part of each pair of lifting rods is hinged with the hinge hole on one side of the upper vertical plate, and the other end is hinged with one end of the driving shaft. The other end of the lower part of each pair of lifting rods can move along with the sliding of the driving shaft in the long slot; looking from front to back, the lifting top plate has an inverted I-shaped structure. The lifting top plate includes an upper turned edge and a lower turned edge; the upper turned edge is arranged on both sides of the lifting top plate and extends downward. The front end of the lower turned edge is provided with a hinge hole, which is used for hinging with one end of the upper part of the two pairs of lifting rods. The rear end of the lower turned edge is provided with a long slot, which is used for slidably hinging with the other end of the upper part of the two pairs of lifting rods; the lower turned edge is arranged on both sides of the lifting top plate and extends upward. An electric roller is arranged between the lower turned edges; wherein the telescopic movement of the electric push rod can drive the driving shaft to slide along the long slot, and at the same time drive the other end of the lower part of the two pairs of lifting rods to move together, so as to control the two pairs of lifting rods to drive the lifting top plate to rise or fall.

[0014] In a preferred embodiment, the turning plate device includes two pairs of turning plate brackets, adjusting screws, a turning plate, and a first rotating shaft; the two pairs of turning plate brackets are perpendicularly arranged and braced on the rear parts of the two upper cross beams and are located between the lower parts of the two rear angle irons and the two middle angle irons. The lower ends of the turning plate brackets are fixedly connected with the upper cross beams. The turning plate brackets include first rotating shaft mounting holes and adjusting mounting parts; the first rotating shaft mounting holes are arranged at the upper ends of the turning plate brackets; the adjusting mounting parts are arranged on the inner sides of the upper parts of the turning plate brackets, and the adjusting mounting parts include threaded holes; the adjusting screws are arranged in the threaded holes of the adjusting mounting parts; the turning plate has a long strip plate-like structure, and a first rotating shaft through hole is arranged on one long side of the turning plate; and the first rotating shaft sequentially passes through the first rotating shaft mounting hole of a turning plate bracket, the first rotating shaft through hole of the turning plate, and the first rotating shaft mounting hole of another turning plate bracket. The first rotating shaft is respectively connected with a middle angle iron and a rear angle iron; wherein under the action of an external force, the turning plate can be turned upward by an angle not greater than 90° with the first rotating shaft as the axis, and then fall back and press on the adjusting screws by its own gravity. The adjusting screws can adjust and keep the turning plate in a horizontal state after it falls back.

[0015] In a preferred embodiment, the basket-changing device includes a cylinder hinge, a basket-changing cylinder, a basket-changing support frame, a basket-changing frame, a second rotating shaft, a piston rod of the basket-changing cylinder, a pushing basket cylinder support, and a pushing basket cylinder; the cylinder hinge is arranged at the front part of the upper crossbeam; the lower end of the basket-changing cylinder is hinged to the cylinder hinge; the lower end of the basket-changing support frame is fixedly connected to the upper crossbeam, and the upper end is provided with a second rotating shaft mounting hole; the main body of the basket-changing frame is in a thin cylindrical structure, and the basket-changing frame includes a plurality of rollers and a rotating rod; the plurality of rollers are uniformly arranged in a line on the outer circumference of the thin cylindrical structure, and the central axes of the plurality of rollers are perpendicular to and intersect with the central axis of the thin cylindrical structure; one end of the rotating rod is vertically arranged at the middle position of the thin cylindrical structure perpendicular to the thin cylindrical structure, and when viewed along the central axis of the thin cylindrical structure, the rotating rod and the central axes of the plurality of rollers form an angle; one end of the second rotating shaft is arranged in the second rotating shaft mounting hole of the basket-changing support frame, and the other end passes through the thin cylindrical structure and is connected to the upper part of the front angle iron, wherein the basket-changing frame can take the second rotating shaft as an axis, turn the plurality of rollers upwards by an angle, and lift the lower part of the side of the collection basket by abutting against the plurality of rollers; the lower end of the piston rod of the basket-changing cylinder is movably arranged in the basket-changing cylinder, and the other end is hinged to the other end of the rotating rod; the pushing basket cylinder support is arranged between the upper parts of two front angle irons; the pushing basket cylinder is vertically arranged at the middle part of the pushing basket cylinder support perpendicular to the pushing basket cylinder support, and a push plate is arranged at the front end of the pushing basket cylinder; when the piston rod of the basket-changing cylinder retracts, it drives the basket-changing frame to rotate, controls the plurality of rollers to abut against the lower part of the side of the collection basket and lift it, and at the same time, the pushing basket cylinder acts to push the collection basket from the basket supply lifting device to the electric roller located in the middle of the upper crossbeam.

[0016] To achieve the above-mentioned another object, the present invention also provides a using method of a large tomato picking robot, which uses the large tomato picking robot as described above to pick tomatoes, and the using method includes:

[0017] The transport vehicle automatically navigates to the tomato picking area, the depth camera collects the picture information of the tomatoes, the robotic arm drives the picking manipulator to approach the tomatoes to be picked, the suction cup contacts the tomatoes, the suction cup sucks air, the suction cup sucks the tomatoes, the picking cylinder retracts, the tomatoes are separated from other tomatoes, the picking cylinder closes the tooth knife holder and the clamping holder through a multi-link mechanism, when the picking cylinder is completely retracted, the arc knife in the tooth knife holder and the clamping holder are completely closed to cut off the fruit stalk of the tomatoes, the robotic arm drives the picking manipulator to transfer the tomatoes into the collection basket, the picking cylinder pushes out, the picking cylinder opens the tooth knife holder and the clamping holder through a multi-link mechanism, the suction cup drives the tomatoes to push out of the manipulator bracket, the suction cup stops sucking air, the tomatoes fall into the collection basket, and the picking process is completed;

[0018] After the first basket collection bin has collected tomatoes a certain number of times, the basket-changing cylinder retracts, the basket-changing frame flips, the entire row of rollers applies a lifting force to the edge of the collection bin to lift the collection bin, the bin-pushing cylinder extends, and the push plate pushes the collection bin along the rollers to the electric rollers between the upper crossbeams. The electric rollers between the middle parts of the upper crossbeams rotate to convey the collection bin backward to the electric rollers on the palletizing lifting device. The palletizing lifting device drives the collection bin to rise. The collection bin pushes the left and right turning plates upward and turns them outward respectively. When the collection bin continues to rise and is higher than the turning plates, the turning plates are pressed onto the adjustment screws under the action of gravity to reset. The palletizing lifting device descends, and the collection bin descends and presses onto the left and right turning plates to complete the palletizing of the collection bin;

[0019] The basket supply lifting device lifts, lifting the second collection bin to the fruit placement position to perform the tomato collection process for the second bin. After the first row of collection bins is fully loaded, the electric rollers between the rear parts of the lower crossbeams rotate to move the second row of collection bins forward to the electric rollers of the basket supply lifting device. The basket supply lifting device rises to lift the uppermost collection bin of the second row of collection bins to the fruit placement position. After the second row of collection bins is collected, they are palletized through the palletizing lifting device and the turning plate device, and then the third row of collection bins is picked. After all three rows of collection bins are picked and palletized through the palletizing lifting device and the turning plate device, the large tomato picking robot automatically navigates to the gathering place of the collection bins to unload and add empty collection bins for the next round of picking.

[0020] Compared with the prior art, the large tomato picking robot and its usage method of the present invention have the following beneficial effects: This solution integrates tomato picking, collection, collection bin replacement, collection bin palletizing, and automatic walking, with a high degree of automation. The automatic collection bin replacement device of this solution can effectively extend the automatic operation time of the picking robot and improve the tomato picking efficiency; The suction cup-assisted picking can drag the tomato before the fruit stalk is cut, separating the picked tomato from other tomatoes and the main stem, and increasing the fruit stalk tension to reduce the picking difficulty; The suction cup, toothed circular knife, and clamping frame multi-rod mechanism are integrally driven, and a single actuator can achieve the retraction of the suction cup and the cutting of the fruit stalk, with a simple structure and reliable performance, improving the success rate of tomato picking and reducing tomato damage; The tomato picking robot has functions such as automatic collection bin replacement, automatic collection bin palletizing, and automatic navigation walking. The tomato picking robot can fill multiple collection bins in one operation to achieve continuous long-time automatic picking operations; This solution has a simple, compact structure, a high degree of automation, high fruit picking efficiency, a low damaged fruit rate, wide adaptability, and can effectively reduce the labor intensity and production cost of picking workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the picking manipulator according to the present invention;

[0022] Figure 2 It is a schematic diagram of the front axle side structure of the picking manipulator according to the present invention;

[0023] Figure 3 Schematic diagram of the rear axle side structure of the picking manipulator according to the present invention;

[0024] Figure 4 Schematic diagram of the structure of the manipulator bracket according to the present invention;

[0025] Figure 5 Schematic diagram of the positions of the third fulcrum and the third auxiliary fulcrum of the picking manipulator according to the present invention;

[0026] Figure 6 Schematic diagram of the rear axle side sectional structure of the picking manipulator according to the present invention;

[0027] Figure 7 Schematic diagram of the initial picking state structure of the picking manipulator (removing the manipulator bracket) according to the present invention;

[0028] Figure 8 Schematic diagram of the structure after picking of the picking manipulator (removing the manipulator bracket) according to the present invention;

[0029] Figure 9 (a) to (f) Schematic diagrams of the tomato picking process of the picking manipulator according to the present invention;

[0030] Figure 10 Schematic diagram of the structure of the collection basket transfer device according to the present invention;

[0031] Figure 11 Schematic diagram of the structure of the basket supply lifting device according to the present invention;

[0032] Figure 12 Schematic diagram of the structure of the palletizing lifting device according to the present invention;

[0033] Figure 13 Schematic diagram of the structure of the tipping device according to the present invention;

[0034] Figure 14 Schematic diagram of the process of palletizing the collection baskets according to the present invention;

[0035] Figure 15 Schematic diagram of the structure of the basket changing device according to the present invention;

[0036] Figure 16 Schematic diagram of the process of changing the collection basket according to the present invention;

[0037] Figures 17a to 17 b Schematic diagram for comparing the positions of the collection baskets in the initial picking state and the end picking state of the picking robot according to the present invention.

[0038] Main reference numeral description:

[0039] 1 - Tomato, 2 - Picking manipulator, 21 - Manipulator support, 211 - Lower vertical frame, 212 - Rear cross frame, 213 - Upper vertical frame, 214 - Front cross frame, 215 - Picking bowl, 2151 - Avoidance notch, 2152 - Yielding notch, 22 - Picking cylinder, 23 - Camera, 24 - Tooth cutter holder, 25 - Arc cutter, 26 - Clamping holder, 27 - Suction cup assembly, 28 - Connecting piece, 29 - Multi - rod device, 291 - First short rod, 292 - Swing rod, 293 - Second short rod, 294 - Pull rod, 295 - Bush, 296 - Driving rod, 297 - Third short rod, A - First fulcrum, B - Second fulcrum, C - Third fulcrum, C1 - Third secondary fulcrum, 3 - Robot arm, 4 - Column, 5 - Transport vehicle, 6 - Collection basket transfer device, 61 - Basket supply lifting device, 611 - Electric push rod hinge base, 612 - Electric push rod, 613 - Driving shaft, 614 - Lifting bottom plate, 615 - Lifting rod, 616 - Lifting top plate, 62 - Electric roller, 63 - Lower cross beam, 64 - Rear angle iron, 65 - Palletizing lifting device, 651 - Electric push rod hinge base, 652 - Electric push rod, 653 - Driving shaft, 654 - Palletizing fixing plate, 655 - Lifting rod, 656 - Lifting top plate, 66 - Flap device, 661 - Flap support, 662 - Flap, 663 - Adjusting screw, 664 - First rotating shaft, 67 - Middle angle iron, 68 - Upper cross beam, 69 - Basket changing device, 691 - Cylinder hinge, 692 - Basket changing cylinder, 693 - Basket changing support frame, 694 - Basket changing cylinder piston rod, 695 - Roller, 696 - Basket changing frame, 697 - Second rotating shaft, 698 - Basket pushing cylinder, 699 - Basket pushing cylinder support, 6910 - Pushing plate, 7 - Front angle iron, 8 - Collection basket. Detailed implementation manners

[0040] The following combines the accompanying drawings to describe the detailed implementation manners of the present invention in detail. However, it should be understood that the protection scope of the present invention is not limited by the detailed implementation manners.

[0041] Unless otherwise clearly stated, in the whole specification and claims, the term "comprise" or its variations such as "comprising" or "including" etc. will be understood to include the stated elements or components, without excluding other elements or other components.

[0042] As Figures 1 to 8As shown in the figure, a large tomato picking robot according to a preferred embodiment of the present invention includes a transport vehicle 5, a column 4, a robotic arm 3, and at least one set of picking manipulators 2; the transport vehicle 5 can automatically navigate and run; the column 4 is arranged on the transport vehicle 5; the robotic arm 3 is arranged on the column 4, and the robotic arm 3 can be freely bent and rotated, and the column 4 and the robotic arm 3 also have settings for accommodating circuits, air paths and other lines; and at least one set of picking manipulators 2 is arranged at the front end of the robotic arm 3, and the picking manipulator 2 includes a manipulator bracket 21, a picking cylinder 22, a suction cup assembly 27, a toothed knife holder 24, an arc knife 25, a clamping bracket 26 and a multi-rod device 29; the lower part of the manipulator bracket 21 is pivotally connected to the front end of the robotic arm 3, and a picking bowl 215 is arranged at the front part, and the picking bowl 215 has a hemispherical bowl-shaped structure. The rear part of the picking bowl 215 is fixedly connected to the rear cross frame 212 and the lower vertical frame 211 through the front cross frame 214; the picking cylinder 22 is arranged in the rear cross frame 212 of the manipulator bracket 21, and the front end of the cylinder rod of the picking cylinder 22 extends into the picking bowl 215 from the center of the bottom of the hemispherical bowl-shaped structure of the picking bowl 215; the rear end of the suction cup assembly 27 is connected to the front end of the cylinder rod of the picking cylinder 22 through a connecting piece 28; the toothed knife holder 24 and the arc knife 25 are both arranged on one side of the bowl mouth of the picking bowl 215, and the toothed knife holder 24 and the arc knife 25 both have a semi-circular ring structure. The two ends of the semi-circular ring structure of the toothed knife holder 24 and the arc knife 25 are pivotally connected to the third fulcrum C arranged at the bowl mouth of the picking bowl 215; the clamping bracket 26 is arranged on the other side of the bowl mouth of the picking bowl 215 in a strutting manner with the toothed knife holder 24 and the arc knife 25. The clamping bracket 26 has a semi-circular ring structure, and the two ends of the semi-circular ring structure of the clamping bracket 26 are pivotally connected to the third fulcrum C of the picking bowl 215; the rear end of the multi-rod device 29 is pivotally connected to both sides of the rear part of the connecting piece 28, and the middle part is pivotally connected to the picking bowl 215 through the first fulcrum A arranged on both sides of the rear part of the picking bowl 215, and the front part is pivotally connected to the third secondary fulcrum C1 near the third fulcrum C at both ends of the toothed knife holder 24, the arc knife 25 and the clamping bracket 26.

[0043] As shown in Figure 9 (a) to (f), in some embodiments, the picking cylinder 22 drives the suction cup assembly 27 to extend or retract through the connecting piece 28. As the suction cup assembly 27 gradually extends and sucks the tomato 1 to be picked, the multi-rod device 29 controls the toothed knife holder 24, the arc knife 25 and the clamping bracket 26 to gradually open. As the suction cup assembly 27 gradually retracts, the multi-rod device 29 controls the toothed knife holder 24, the arc knife 25 and the clamping bracket 26 to gradually close and cut off the fruit stalk.

[0044] Please refer to Figure 2As shown, in some embodiments, the toothed cutter holder 24 and the circular arc cutter 25 are concentric semi-circular ring structures. The outer arc surface of the circular arc cutter 25 is concentrically attached to the inner arc surface of the toothed cutter holder 24. The cutting edge of the circular arc cutter 25 only extends to about half of the tooth height of the toothed cutter holder 24. When closed, the cutting edge of the circular arc cutter 25 closes with the clamping holder 26 to cut off the fruit stalk. The saw teeth of the toothed cutter holder 24 can gather the fruit stalk without sliding, making it easier to cut off the fruit stalk.

[0045] Please refer to Figures 4 to 6 As shown, in some embodiments, the multi-rod device 29 includes a first short rod 291, a swing rod 292, a second short rod 293, a pull rod 294, and two third short rods 297. One end of the first short rod 291 is pivotally connected to both sides of the rear part of the connecting member 28. After one end of the swing rod 292 is pivotally connected to the other end of the first short rod 291, the other end extends out of the picking bowl 215 from the avoidance notch 2151 at the rear of the picking bowl 215. The swing rod 292 includes a hinge hole provided at an outer position in the middle thereof, and the hinge hole is used for pivotally connecting to the first fulcrum A provided on the picking bowl 215. One end of the second short rod 293 is pivotally connected to the other end of the swing rod 292. One end of the pull rod 294 is pivotally connected to the other end of the second short rod 293. The other end of the pull rod 294 includes a threaded end, and the threaded end passes through the bushing 295 of the second fulcrum B provided on the picking bowl 215 and is connected to the threaded hole in the middle of the driving rod 296. One ends of the two third short rods 297 are respectively pivotally connected to both ends of the driving rod 296, and the other ends are respectively pivotally connected to the third secondary fulcrums C1 near the third fulcrum C at both ends of the toothed cutter holder 24, the circular arc cutter 25, and the clamping holder 26.

[0046] Please refer to Figure 2 and Figure 5 As shown in and, on both sides of the third fulcrum C on the picking bowl 215, there are also provided avoidance notches 2152 for the third secondary fulcrums C1. The provision of the avoidance notches 2152 can prevent interference between the third secondary fulcrums C1 at the positions near the third fulcrum C at both ends of the toothed cutter holder 24, the circular arc cutter 25, and the clamping holder 26 and the picking bowl 215 when the multi-rod device 29 retracts.

[0047] Please refer to Figure 4 As shown, in some embodiments, the front cross frame 214 and the rear cross frame 212 are integrally formed into a semi-cylindrical structure. The picking cylinder 22 is arranged inside the semi-cylindrical structure. The lower vertical frame 211 is in a plate-like structure and is vertically connected to the outer arc at the lower part of the semi-cylindrical structure. The manipulator bracket 21 further includes an upper vertical frame 213. The upper vertical frame 213 is in a long strip plate-like structure and is vertically connected to the inner arc at the upper part of the semi-cylindrical structure. The upper vertical frame 213 includes an avoidance long hole and a camera mounting hole. The avoidance long hole extends along the height direction of the upper vertical frame 213 and is used for the cylinder rod of the picking cylinder 22 to pass through. The camera mounting hole is provided at the top of the upper vertical frame 213 and is used for mounting the camera 23.

[0048] Please continue to refer to Figure 4 As shown, in some embodiments, actually the first fulcrum A, the second fulcrum B, and the third fulcrum C are all provided on the picking bowl 215. The first fulcrum A and the second fulcrum B are integrally provided on both sides of the rear part of the picking bowl 215. The first fulcrum A is more rearward and is a hinge point, and the second fulcrum B is more forward and is a sleeve structure. The third fulcrum C is provided at the edge of the bowl mouth of the picking bowl 215 and is also a hinge point, which is used as the common hinge point for the tooth cutter holder 24, the circular arc cutter 25, and the clamping holder 26.

[0049] As Figure 10 shown, please also refer to Figure 1 , in some embodiments, the transport vehicle 5 of the large tomato picking robot has functions of automatic driving and navigation; the large tomato picking robot further includes a collecting basket transfer device 6. The collecting basket transfer device 6 is provided on the transport vehicle 5 and is located behind the column 4. The collecting basket transfer device 6 includes a transfer frame body, a basket supply lifting device 61, a basket changing device 69, a palletizing lifting device 65, a flap device 66, and multiple groups of electric rollers 62; the transfer frame body is in a cubic frame structure, and the cubic frame structure includes two front angle irons 7, two rear angle irons 64, two lower cross beams 63, two upper cross beams 68, and two middle angle irons 67; the two front angle irons 7 are vertically arranged on both sides of the front part of the upper plane of the transport vehicle 5 perpendicular to the upper plane of the transport vehicle 5; the two rear angle irons 64 are vertically arranged on both sides of the rear part of the upper plane of the transport vehicle 5 perpendicular to the upper plane of the transport vehicle 5, and the height of the two rear angle irons 64 is higher than that of the two front angle irons 7; the two lower cross beams 63 are arranged in parallel and in a bracing manner between the lower parts of the front angle irons 7 and the rear angle irons 64 respectively; the two upper cross beams 68 are arranged in parallel and in a bracing manner between the upper parts of the front angle irons 7 and the rear angle irons 64 respectively; the two middle angle irons 67 are parallel to the front angle irons 7 and the rear angle irons 64, and are vertically arranged at the position of the upper cross beam 68 close to the rear angle irons 64 perpendicular to the upper cross beam 68, and the tops of the two middle angle irons 67 are flush with the tops of the two rear angle irons 64; the basket supply lifting device 61 is arranged at the position closest to the column 4, and the basket supply lifting device 61 is used to lift the collecting basket 8 from bottom to the top position of the collecting basket transfer device 6; the basket changing device 69 is arranged above the basket supply lifting device 61 and is located at the tops of the two front angle irons 7 and the front part of the two upper cross beams 68; the palletizing lifting device 65 is arranged in the space surrounded by the two rear angle irons 64, the two middle angle irons 67, and the two upper cross beams 68; the flap device 66 is arranged above the palletizing lifting device 65 and is located between the lower parts of the two rear angle irons 64 and the two middle angle irons 67; multiple groups of electric rollers 62 are respectively arranged between the top of the basket supply lifting device 61, the top of the palletizing lifting device 65, the rear parts of the two lower cross beams 63, and the middle parts of the two upper cross beams 68.

[0050] As Figure 11As shown, in some embodiments, the basket lifting device 61 includes a lifting bottom plate 614, an electric push rod hinge base 611, an electric push rod 612, a drive shaft 613, two pairs of lifting rods 615, and a lifting top plate 616; the lifting bottom plate 614 is arranged at the front part of the upper plane of the transport vehicle 5, and is located behind the column 4, between two front angle irons 7, and in the middle of the front parts of two lower cross beams 63. The lifting bottom plate 614 has a flat plate flanging structure, and the lifting bottom plate 614 includes side flanges, hinge holes, and long slots; the side flanges are arranged on both sides of the lifting bottom plate 614 and extend upward; the hinge holes are arranged at the front parts of the side flanges; the long slots are arranged at the rear parts of the side flanges; the electric push rod hinge base 611 is arranged at the middle position of the front part of the lifting bottom plate 614; the rear end of the electric push rod 612 is hinged to the electric push rod hinge base 611; both ends of the drive shaft 613 are slidably arranged in the long slots of the side flanges, a connection hole is arranged in the middle of the drive shaft 613, and the connection hole is connected to the front end of the electric push rod 612; the two pairs of lifting rods 615 are in a structure of multi-stage X-shaped cross-hinged rods hinged end to end in sequence. One end of the lower part of each pair of lifting rods 615 is hinged to the hinge hole on one side of the side flange, and the other end is hinged to one end of the drive shaft 613. The other end of the lower part of each pair of lifting rods 615 can move along with the sliding of the drive shaft 613 in the long slot; when viewed from front to back, the lifting top plate 616 has an inverted I-shaped structure, and the lifting top plate 616 includes an upper flange and a lower flange; the upper flanges are arranged on both sides of the lifting top plate 616 and extend downward. A hinge hole is arranged at the front end of the lower flange for hinging to one end of the upper part of the two pairs of lifting rods 615, and a long slot is arranged at the rear end of the lower flange for slidably hinging to the other end of the upper part of the two pairs of lifting rods 615; the lower flanges are arranged on both sides of the lifting top plate 616 and extend upward, and an electric roller 62 is arranged between the lower flanges; wherein the telescopic movement of the electric push rod 612 can drive the drive shaft 613 to slide along the long slot, and at the same time drive the other ends of the lower parts of the two pairs of lifting rods 615 to move together, so as to control the two pairs of lifting rods 615 to drive the lifting top plate 616 to rise or fall.

[0051] As Figure 12As shown, in some embodiments, the stacking lifting device 65 includes a stacking fixed plate 654, an electric push rod hinge base 651, an electric push rod 652, a driving shaft 653, two lifting rods 655 and a lifting top plate 656; one end of the stacking fixed plate 654 is set on the rear angle iron 64 and is located below the upper crossbeam 68. The stacking fixed plate 654 includes a rear lower bent edge and two upper vertical plates; the rear lower bent edge is set on both sides of the rear end of the stacking fixed plate 654, and is bent and extended downward, and the rear lower bent edge is used to connect with the rear angle iron 64; the two upper The vertical plate and the stacking fixing plate 654 are vertically arranged at both sides of the stacking fixing plate 654 and extend upward. The upper vertical plate includes a hinge hole and a long slot; the hinge hole is arranged at the front of the upper vertical plate; and the long slot is arranged at the rear of the upper vertical plate; the electric push rod hinge base 651 is arranged at the middle position of the front of the stacking fixing plate 654; the rear end of the electric push rod 652 is hinged to the electric push rod hinge base 651; the two ends of the drive shaft 653 can be slidably arranged in the long slot of the upper vertical plate along the long slot, and a connecting hole is arranged in the middle of the drive shaft 653, and the connecting hole is connected to the electric push rod 652 The two lifting rods 655 are in a multi-stage X-shaped cross-hinged rod structure that is hinged end to end in sequence. One end of the lower part of each lifting rod 655 is hinged to the hinge hole on one side of the upper vertical plate, and the other end is hinged to one end of the driving shaft 653. The other end of the lower part of each lifting rod 655 can move with the sliding of the driving shaft 653 in the long groove. When viewed from the front to the back, the lifting top plate 656 is in an inverted I-shaped structure. The lifting top plate 656 includes an upper flange and a lower flange. The upper flange is arranged on both sides of the lifting top plate 656 and extends downward. The front end of the lower flange is provided with There is a hinge hole, which is used to hinge with one end of the upper part of the two lifting rods 655, and a long groove is set at the rear end of the lower flange, which is used to slide and hinge with the other end of the upper part of the two lifting rods 655; the lower flange is set on both sides of the lifting top plate 656 and extends upward, and an electric roller 62 is set between the lower flanges; the extension and retraction of the electric push rod 652 can drive the driving shaft 653 to slide along the long groove, and at the same time drive the other end of the lower part of the two lifting rods 655 to move together, thereby controlling the two lifting rods 655 to drive the lifting top plate 656 to rise or fall.

[0052] See also Figure 11 and Figure 12 In some embodiments, by comparison, the basket lifting device 61 is substantially similar to the palletizing lifting device 65, the main difference being that there are some differences between the lifting bottom plate 614 and the palletizing fixing plate 654, and the rest of the structures are substantially the same.

[0053] See also Figures 11 to 12, in some embodiments, multiple sets of electric rollers 62 respectively arranged between the top of the basket lifting device 61, the top of the palletizing lifting device 65, the rear parts of the two lower crossbeams 63, and the middle parts of the two upper crossbeams 68 can all be driven by motors. The driving motors are connected to the computer data, and the start, forward and reverse rotation or stop of the driving motors are controlled according to the picking program.

[0054] As Figures 13 to 14 shown, also referring to Figure 10 , in some embodiments, the flap device 66 includes two pairs of flap brackets 661, adjusting screws 663, flaps 662, and a first rotating shaft 664; the two pairs of flap brackets 661 are perpendicular to the upper crossbeam 68 and are respectively arranged at the rear parts of the two upper crossbeams 68 in a counter-supporting manner, and are located between the lower parts of the two rear angle irons 64 and the two middle angle irons 67. The lower ends of the flap brackets 661 are fixedly connected to the upper crossbeam 68. The flap brackets 661 include a first rotating shaft mounting hole and an adjustment mounting part; the first rotating shaft mounting hole is arranged at the upper end of the flap bracket 661; the adjustment mounting part is arranged on the inner side of the upper part of the flap bracket 661, and the adjustment mounting part includes a threaded hole; the adjusting screw 663 is arranged in the threaded hole of the adjustment mounting part; the flap 662 has a long strip plate-like structure, and a first rotating shaft through hole is arranged on one long side of the flap 662; and the first rotating shaft 664 sequentially passes through the first rotating shaft mounting hole of a flap bracket 661, the first rotating shaft through hole of the flap 662, and the first rotating shaft mounting hole of another flap bracket 661. The first rotating shaft 664 is respectively connected to a middle angle iron 67 and a rear angle iron 64; wherein under the action of an external force, the flap 662 can rotate upward by an angle not greater than 90° with the first rotating shaft 664 as the axis. After the flap 662 rotates upward by an angle not greater than 90° and enables the collection box 8 to pass through between the two flaps 662, then it falls back by its own gravity and presses on the adjusting screw 663. At this time, the collection box 8 presses on the flap 662. Since the adjusting screw 663 supports the flap 662, the collection box 8 cannot fall any further, thereby completing the palletizing and lifting of a collection box 8. The adjusting screw 663 can adjust and keep the flap 662 in a horizontal state after it falls back to ensure the stability of the stacked collection boxes 8.

[0055] As Figures 15 to 16As shown, in some embodiments, the basket-changing device 69 includes a cylinder hinge 691, a basket-changing cylinder 692, a basket-changing support frame 693, a basket-changing frame 696, a second rotating shaft 697, a piston rod of the basket-changing cylinder 694, a pushing basket cylinder support 699, and a pushing basket cylinder 698. The cylinder hinge 691 is arranged at the front part of the upper cross beam 68. The lower end of the basket-changing cylinder 692 is hinged to the cylinder hinge 691. The lower end of the basket-changing support frame 693 is fixedly connected to the upper cross beam 68, and the upper end is provided with a second rotating shaft mounting hole. The main body of the basket-changing frame 696 is in a thin cylindrical structure. The basket-changing frame 696 includes a plurality of rollers 695 and a rotating rod. The plurality of rollers 695 are arranged in a uniform line on the outer circumference of the thin cylindrical structure. The central axes of the plurality of rollers 695 are vertically intersected with the central axis of the thin cylindrical structure. One end of the rotating rod is vertically arranged at the middle position of the thin cylindrical structure. Looking along the central axis of the thin cylindrical structure, the rotating rod and the central axes of the plurality of rollers 695 form an angle. One end of the second rotating shaft 697 is arranged in the second rotating shaft mounting hole of the basket-changing support frame 693, and the other end passes through the thin cylindrical structure and is connected to the upper part of the front angle iron 7. The basket-changing frame 696 can take the second rotating shaft 697 as an axis to turn the plurality of rollers 695 upwards by an angle, which can be controlled at about 90°, so as to support the collection basket 8 by abutting against the lower part of the side of the collection basket 8 with the plurality of rollers 695. The lower end of the piston rod 694 of the basket-changing cylinder is movably arranged in the basket-changing cylinder 692, and the other end is hinged to the other end of the rotating rod. The pushing basket cylinder support 699 is arranged between the upper parts of the two front angle irons 7. The pushing basket cylinder 698 is vertically arranged in the middle of the pushing basket cylinder support 699, and a push plate 6910 is arranged at the front end of the pushing basket cylinder. When the piston rod 694 of the basket-changing cylinder retracts, it drives the basket-changing frame 696 to rotate, controls the plurality of rollers 695 to abut against the lower part of the side of the collection basket 8 to lift it, and at the same time, the pushing basket cylinder 698 acts to push the collection basket 8 from the basket supply lifting device 61 to the electric roller 62 located in the middle of the upper cross beam 68.

[0056] In some embodiments, the basis for changing the basket of the collection basket 8 can adopt the counting method or the weight accumulation method. The counting method can be based on the fact that the sizes of the tomatoes 1 of each variety are not very different. Before picking, the approximate number of tomatoes 1 that can be stored in each collection basket can be calculated, and then the number is input into the computer. The computer will count according to the number of tomatoes 1 picked by the picking manipulator 2. When the number meets the requirements, the basket-changing action is performed, and after the basket-changing is completed, the counting is restarted. The weight accumulation method can perform weight accumulation according to the weight sensor arranged on the picking manipulator 2. When a certain number of tomatoes 1 are picked, and the weight also just meets the set weight range, at this time, the basket-changing action is performed, and after the basket-changing is completed, the weight accumulation is restarted again. The above are all illustrative, and the present invention is not limited thereto.

[0057] Please refer to Figure 2, in some embodiments, multiple picking manipulators 2 (not shown) may be employed. That is to say, multiple lower vertical frames 211 of the manipulator bracket 21 may be used, such as but not limited to two, three, four or more. The structures of multiple picking manipulators 2 are generally similar, and the difference lies in the size of the picking bowl 215. The picking bowl 215 may adopt a series of specifications. During picking, the diameter of the tomato 1 to be picked is measured by the camera 23. When the diameter is greater than or less than a certain proportion of the picking bowl 215 (such as but not limited to greater than 90% or less than 50%), a suitable picking bowl 215 is replaced. The computer AI controls the rotation of the connection between the robotic arm 3 and the lower vertical frame 211 to find the picking manipulator 2 with a picking bowl 215 suitable for the diameter of the tomato 1.

[0058] Please refer to Figures 3 to 4 , in some embodiments, the air pipeline of the suction cup assembly 27 can pass through the avoidance notch 2151 on the picking bowl 215 and be processed in parallel with the air pipeline of the picking cylinder 22 through the avoidance long hole of the upper vertical frame 213. All of these can adopt existing technologies and will not be further restricted here.

[0059] As Figures 17a to 17 shown in b, and please also refer to Figure 9 (a) to (f), a method for using a large tomato picking robot according to a preferred embodiment of the present invention, which uses the aforementioned large tomato picking robot to pick tomatoes 1. The method includes:

[0060] The transport vehicle 5 automatically navigates to the tomato 1 picking area. The depth camera 23 collects the picture information of the tomato 1. The robotic arm 3 drives the picking manipulator 2 to approach the tomato 1 to be picked. The suction cup contacts the tomato 1, the suction cup sucks air, the suction cup holds the tomato 1, the picking cylinder 22 retracts, and the tomato 1 is separated from other tomatoes 1. The picking cylinder 22 closes the tooth knife holder 24 and the clamping holder 26 through a multi-link mechanism. When the picking cylinder 22 is fully retracted, the arc knife 25 in the tooth knife holder 24 and the clamping holder 26 are fully closed to cut off the fruit stalk of the tomato 1. The robotic arm 3 drives the picking manipulator 2 to transfer the tomato 1 into the collection basket. The picking cylinder 22 pushes out. The picking cylinder 22 opens the tooth knife holder 24 and the clamping holder 26 through a multi-link mechanism. The suction cup drives the tomato 1 to push out of the manipulator bracket 21, the suction cup stops sucking air, and the tomato 1 drops into the collection basket, and the picking process is completed;

[0061] After the first basket collecting frame has placed tomatoes 1 a certain number of times, the basket-changing cylinder 692 retracts, the basket-changing frame 696 flips, the entire row of rollers 695 applies a lifting force to the edge of the collecting basket to lift the collecting basket, the basket-pushing cylinder 698 extends, and the push plate 6910 pushes the collecting basket along the rollers 695 onto the electric rollers 62 between the upper crossbeam 68. The electric rollers 62 between the middle parts of the upper crossbeam 68 rotate to convey the collecting basket backward to the electric rollers 62 on the palletizing lifting device 65. The palletizing lifting device 65 drives the collecting basket to rise. The collecting basket pushes the left and right turning plates 662 upward and turns them outward respectively. When the collecting basket continues to rise and is higher than the turning plate 662, the turning plate 662 presses onto the adjusting screw 663 under the action of gravity and resets. The palletizing lifting device 65 descends, and the collecting basket descends and presses onto the left and right turning plates 662 to complete the palletizing of the collecting basket.

[0062] The basket-supplying lifting device 61 lifts, raises the second collecting basket to the fruit-placement position, and conducts the process of collecting tomatoes 1 in the second basket. After the first row of collecting baskets is fully loaded, the electric rollers 62 between the rear parts of the lower crossbeam 63 rotate to move the second row of collecting baskets forward onto the electric rollers 62 of the basket-supplying lifting device 61. The basket-supplying lifting device 61 rises to lift the uppermost collecting basket of the second row of collecting baskets to the fruit-placement position. After the second row of collecting baskets is collected, they are palletized through the palletizing lifting device 65 and the turning plate 662 device 66. Then, the picking of the third row of collecting baskets is carried out. After all three rows of collecting baskets are picked and palletized through the palletizing lifting device 65 and the turning plate 662 device 66, the large tomato picking robot automatically navigates to the gathering place of the collecting frames to unload the goods and add empty collecting frames for the next round of picking.

[0063] In summary, the large tomato picking robot and its usage method of the present invention have the following advantages: This solution integrates tomato picking, collection, replacement of collecting baskets, palletizing of collecting baskets, and automatic walking, with a high degree of automation. The automatic collecting basket replacement device of this solution can effectively extend the automatic operation time of the picking robot and improve the tomato picking efficiency; The suction cup-assisted picking can drag the tomato before the fruit stalk is cut, separating the picked tomato from other tomatoes and the main stem, increasing the fruit stalk tension, and reducing the picking difficulty; The suction cup, toothed circular arc knife, and clamping frame multi-rod mechanism are integrally driven. A single actuator can achieve the retraction of the suction cup and the cutting of the fruit stalk, with a simple structure and reliable performance, improving the success rate of tomato picking and reducing tomato damage; The tomato picking robot has functions such as automatic replacement of collecting baskets, automatic palletizing of collecting baskets, and automatic navigation walking. The tomato picking robot can fill multiple collecting baskets in one operation and achieve continuous long-time automatic picking operations; This solution has a simple, compact structure, a high degree of automation, high fruit picking efficiency, a low fruit damage rate, wide adaptability, and can effectively reduce the labor intensity and production cost of picking workers.

[0064] The foregoing description of specific exemplary embodiments of the invention has been presented for purposes of illustration and example. Such descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that, according to the above teaching, many modifications and variations are possible. The purpose of selecting and describing the exemplary embodiments was to explain the particular principles of the invention and its practical application so as to enable those skilled in the art to implement and utilize the invention in its various different exemplary embodiments and various different selections and modifications. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A large tomato picking robot, characterized in that: include: A transport vehicle capable of walking and operating automatically; A column, which is arranged on the transport vehicle; A mechanical arm, which is arranged on the column and can bend and rotate freely; as well as At least one group of picking manipulators, which are arranged at the front end of the mechanical arm, and the picking manipulators include: A manipulator bracket, the lower part of which is pivotally connected to the front end of the manipulator arm, the front part of which is provided with a picking bowl, the picking bowl is a hemispherical bowl-shaped structure, and the rear part of the picking bowl is fixedly connected to the rear horizontal frame and the lower vertical frame through a front horizontal frame; A picking cylinder, which is arranged in the rear horizontal frame of the manipulator support, and the front end of the cylinder rod of the picking cylinder extends into the picking bowl from the bottom center of the hemispherical bowl structure of the picking bowl; A suction cup assembly, the rear end of which is connected to the front end of the cylinder rod of the picking cylinder through a connecting piece; The toothed knife holder and the circular knife are both arranged on half of the edge of the picking bowl. The toothed knife holder and the circular knife are both semicircular ring structures. Both ends of the semicircular ring structures of the toothed knife holder and the circular knife are pivotally connected to a third fulcrum arranged at the picking bowl edge. A clamping frame, which is arranged on the other half of the mouth of the picking bowl to support the toothed knife frame and the arc knife, the clamping frame is a semicircular ring structure, and both ends of the semicircular ring structure of the clamping frame are pivotally connected to the third fulcrum of the picking bowl; and A multi-rod device, the rear end of which is pivotally connected to the two sides of the rear part of the connecting piece, the middle is pivotally connected to the picking bowl through the first fulcrums arranged on the two sides of the rear part of the picking bowl, and the front part is pivotally connected to the toothed knife holder and the arc knife and the third secondary fulcrum at both ends of the clamping frame near the third fulcrum.

2. The large tomato picking robot according to claim 1, characterized in that: The picking cylinder drives the suction cup assembly to extend or retract through the connecting piece. As the suction cup assembly gradually extends and sucks the picked tomatoes, the multi-rod device controls the toothed knife frame, the arc knife and the clamping frame to gradually open. As the suction cup assembly gradually retracts, the multi-rod device controls the toothed knife frame, the arc knife and the clamping frame to gradually close and cut off the fruit stalk.

3. The large tomato picking robot according to claim 1, characterized in that: The multi-rod device comprises: A first short rod, one end of which is pivotally connected to both sides of the rear portion of the connecting member; A swing rod, one end of which is pivotally connected to the other end of the first short rod, and the other end of which extends out of the picking bowl from the avoidance notch at the rear of the picking bowl, the swing rod comprising a hinge hole arranged outside the middle part thereof, the hinge hole being used for pivotally connecting to the first fulcrum arranged on the picking bowl; A second short rod, one end of which is pivotally connected to the other end of the swing rod; A pull rod, one end of which is pivotally connected to the other end of the second short rod, the other end of the pull rod comprising a threaded end, the threaded end passing through a sleeve arranged at the second fulcrum of the picking bowl and connected to a threaded hole in the middle of the driving rod; and Two third short rods have one end pivotally connected to the two ends of the driving rod respectively, and the other end pivotally connected to the third auxiliary fulcrums of the toothed cutter holder, the arc cutter and the two ends of the clamping frame adjacent to the third fulcrum respectively.

4. The large tomato picking robot according to claim 1, characterized in that: The front cross frame and the rear cross frame are integrally formed into a semi-cylindrical structure, the picking cylinder is arranged inside the semi-cylindrical structure, the lower frame is a plate-shaped structure vertically connected to the outer arc of the lower part of the semi-cylindrical structure, and the manipulator bracket also includes: The upper frame is in the form of a long plate and is vertically connected to the inner arc of the upper part of the semi-cylindrical structure. The upper frame includes: A long avoidance hole extending in the height direction of the upper stand, the long avoidance hole being used for the cylinder rod of the picking cylinder to pass through; and A camera mounting hole is arranged at the top of the upper stand, and the camera mounting hole is used to install a camera.

5. The large tomato picking robot according to claim 1, characterized in that: It also includes a collection basket transfer device, which is arranged on the transport vehicle and located behind the column, and the collection basket transfer device includes: The transport frame has a cubic frame structure, and the cubic frame structure includes: Two front angle irons, which are arranged perpendicularly to the upper plane of the transport vehicle on both sides of the front part of the upper plane of the transport vehicle; Two rear angle irons are arranged perpendicularly to the upper plane of the transport vehicle on both sides of the rear portion of the upper plane of the transport vehicle, and the height of the two rear angle irons is higher than the height of the two front angle irons; Two lower cross beams are parallel to each other and are arranged between the lower parts of the front angle iron and the rear angle iron in a mutually supporting manner; Two upper cross beams are parallel to each other and are respectively arranged between the upper parts of the front angle iron and the rear angle iron in a supporting manner; and Two middle angle irons are parallel to the front angle iron and the rear angle iron, and are arranged perpendicular to the upper cross beam at a position of the upper cross beam close to the rear angle iron, and the tops of the two middle angle irons are flush with the tops of the two rear angle irons; A supply basket lifting device, which is arranged at a position closest to the column, and is used to lift the collection basket from bottom to top to the top position of the collection basket transfer device; A basket changing device, which is arranged above the basket supply lifting device and located at the top of the two front angle irons and the front of the two upper cross beams; A stacking and lifting device, which is arranged in the space enclosed by the two rear angle irons, the two middle angle irons and the two upper cross beams; A flap device, which is arranged above the stacking and lifting device and is located between the two rear angle irons and the lower parts of the two middle angle irons; and A plurality of groups of electric rollers are respectively arranged at the top of the basket supply lifting device, the top of the stacking lifting device, between the rear parts of the two lower beams and between the middle parts of the two upper beams.

6. The large tomato picking robot according to claim 5, characterized in that: The supply basket lifting device comprises: The lifting floor is arranged at the front of the upper plane of the transport vehicle and is located behind the column, between the two front angle irons and in the middle of the front of the two lower cross beams. The lifting floor is a flat plate flange structure and includes: Side flanges, which are arranged on both sides of the lifting bottom plate and extend upward; A hinge hole is provided at the front portion of the side flap; and A long groove, which is arranged at the rear of the side flange; An electric push rod hinge base, which is arranged at the middle position of the front part of the lifting base plate; An electric push rod, the rear end of which is hinged to the hinge base of the electric push rod; A driving shaft, both ends of which can be slidably arranged in the long groove of the side flange along the long groove, and a connecting hole is arranged in the middle of the driving shaft, and the connecting hole is connected to the front end of the electric push rod; Two pairs of lifting rods, which are in the form of a multi-stage X-shaped cross-hinged rod structure hinged end to end in sequence, one end of the lower part of each pair of lifting rods is hinged to the hinge hole on one side of the side flange, and the other end is hinged to one end of the driving shaft, and the other end of the lower part of each pair of lifting rods can move with the sliding of the driving shaft in the long slot; and The lifting top plate is an inverted I-shaped structure when viewed from the front to the back, and the lifting top plate includes: An upper flange is arranged on both sides of the lifting top plate and extends downward, a hinge hole is arranged at the front end of the lower flange, which is used to be hinged with one end of the upper part of the two lifting rods, and a long groove is arranged at the rear end of the lower flange, which is used to be slidably hinged with the other end of the upper part of the two lifting rods; and Lower flanges, which are arranged on both sides of the lifting top plate and extend upward, and the electric roller is arranged between the lower flanges; The extension and retraction of the electric push rod can drive the drive shaft to slide along the long groove, and at the same time drive the other ends of the lower parts of the two lifting rods to move together, thereby controlling the two lifting rods to drive the lifting top plate to rise or fall.

7. The large tomato picking robot according to claim 5, characterized in that: The stacking and lifting device comprises: A stacking fixing plate, one end of which is arranged on the rear angle iron and is located below the upper crossbeam, and the stacking fixing plate comprises: A rear lower bent edge, which is arranged on both sides of the rear end of the stacking fixing plate and is bent and extended downward, and the rear lower bent edge is used to connect with the rear angle iron; and Two upper plates are arranged vertically on both sides of the stacking fixing plate and extend upward, and the upper plates include: A hinge hole is provided at the front portion of the upper vertical plate; and A long slot, which is arranged at the rear of the upper vertical plate; An electric push rod hinge base, which is arranged in the middle of the front part of the stacking fixing plate; An electric push rod, the rear end of which is hinged to the hinge base of the electric push rod; A driving shaft, both ends of which can be slidably arranged in the long groove of the upper vertical plate along the long groove, and a connecting hole is arranged in the middle of the driving shaft, and the connecting hole is connected to the front end of the electric push rod; Two pairs of lifting rods, which are in the form of a multi-stage X-shaped cross-hinged rod structure hinged end to end in sequence, one end of the lower part of each pair of lifting rods is hinged to the hinge hole on one side of the upper vertical plate, and the other end is hinged to one end of the driving shaft, and the other end of the lower part of each pair of lifting rods can move with the sliding of the driving shaft in the long slot; and The lifting top plate is an inverted I-shaped structure when viewed from the front to the back, and the lifting top plate includes: An upper flange is arranged on both sides of the lifting top plate and extends downward, a hinge hole is arranged at the front end of the lower flange, which is used to be hinged with one end of the upper part of the two lifting rods, and a long groove is arranged at the rear end of the lower flange, which is used to be slidably hinged with the other end of the upper part of the two lifting rods; and Lower flanges, which are arranged on both sides of the lifting top plate and extend upward, and the electric roller is arranged between the lower flanges; The extension and retraction of the electric push rod can drive the drive shaft to slide along the long groove, and at the same time drive the other ends of the lower parts of the two lifting rods to move together, thereby controlling the two lifting rods to drive the lifting top plate to rise or fall.

8. The large tomato picking robot according to claim 5, characterized in that: The flap device comprises: Two pairs of flap brackets are perpendicular to the upper cross beam and are arranged at the rear of the two upper cross beams in a supporting manner, and are located between the two rear angle irons and the lower parts of the two middle angle irons. The lower ends of the flap brackets are fixedly connected to the upper cross beams. The flap brackets include: A first rotating shaft mounting hole, which is arranged at the upper end of the flap bracket; and An adjustment mounting portion, which is arranged on the inner side of the upper portion of the flap bracket, and the adjustment mounting portion includes a threaded hole; an adjustment screw, which is arranged in the threaded hole of the adjustment mounting portion; A flap, which is in the form of a long strip, with a first rotating shaft through hole being arranged on one long side of the flap; and A first rotating shaft, which passes through the first rotating shaft mounting hole of one flap bracket, the first rotating shaft through hole of the flap, and the first rotating shaft mounting hole of another flap bracket, and the first rotating shaft is respectively connected to one of the middle angle irons and one of the rear angle irons; Under the action of external force, the flap can flip upward at an angle not greater than 90° around the first rotating axis, and then fall back by its own gravity and be pressed onto the adjusting screw. The adjusting screw can adjust and keep the flap in a horizontal state after it falls back.

9. The large tomato picking robot according to claim 5, characterized in that: The basket changing device comprises: a cylinder hinge disposed at the front portion of the upper crossbeam; a basket-changing cylinder, the lower end of which is hinged to the cylinder hinge; A basket changing support frame, the lower end of which is fixedly connected to the upper crossbeam, and the upper end of which is provided with a second rotating shaft mounting hole; The basket changing frame has a main body in the form of a thin cylindrical structure, and the basket changing frame comprises: A plurality of rollers are evenly arranged in a line on the outer circumference of the thin cylindrical structure, and the central axes of the plurality of rollers intersect the central axis of the thin cylindrical structure perpendicularly; and A rotating rod, one end of which is arranged perpendicularly to the thin cylindrical structure at the middle position of the thin cylindrical structure, and viewed along the central axis of the thin cylindrical structure, the rotating rod and the central axis of the plurality of rollers form an angle; A second rotating shaft, one end of which is arranged in the second rotating shaft mounting hole of the basket changing support frame, and the other end of which passes through the thin cylindrical structure and is connected to the upper part of the front angle iron, wherein the basket changing frame can use the second rotating shaft as an axis to make the multiple rollers flip upward at an angle, so that the multiple rollers abut against the lower part of the side of the collection basket and lift the collection basket; A basket-changing cylinder piston rod, the lower end of which is movably disposed in the basket-changing cylinder and the other end of which is hinged to the other end of the rotating rod; A basket-pushing cylinder support, which is disposed between the upper portions of the two front angle irons; and A basket-pushing cylinder is vertically arranged at the middle of the basket-pushing cylinder bracket, and a pushing plate is arranged at the front end of the basket-pushing cylinder; The basket changing cylinder piston rod retracts to drive the basket changing frame to rotate, controlling the multiple rollers to press against the lower part of the side of the collecting basket to lift it up, and at the same time the basket pushing cylinder moves to push the collecting frame from the basket supply lifting device to the electric roller located in the middle of the upper beam.

10. A method for using a large tomato picking robot, wherein the large tomato picking robot according to any one of claims 1 to 9 is used to pick tomatoes, characterized in that: The method of use includes: The transport vehicle automatically navigates to the tomato picking area, the depth camera collects the image information of the tomatoes, the robotic arm drives the picking manipulator to approach the tomatoes to be picked, the suction cup contacts the tomatoes, the suction cup inhales air, the suction cup sucks the tomatoes, the picking cylinder retracts, the tomatoes are separated from other tomatoes, the picking cylinder closes the toothed knife holder and the clamping frame through a multi-rod mechanism, when the picking cylinder is fully retracted, the arc knife in the toothed knife holder and the clamping frame are fully closed to cut off the tomato stalk, the robotic arm drives the picking manipulator to transfer the tomatoes to the collection basket, the picking cylinder is pushed out, the picking cylinder opens the toothed knife holder and the clamping frame through a multi-rod mechanism, the suction cup drives the tomatoes to be pushed out of the manipulator bracket, the suction cup stops inhaling air, the tomatoes fall into the collection basket, and the picking process is completed; After a certain number of tomatoes are placed in the first collection basket, the basket changing cylinder retracts, the basket changing frame flips, the whole row of rollers applies a lifting force to the edge of the collection basket to lift the collection basket, the basket pushing cylinder extends, the push plate pushes the collection basket along the rollers to the electric rollers between the upper beams, the electric rollers between the middle parts of the upper beams rotate to transport the collection basket backwards to the electric rollers on the stacking lifting device, the stacking lifting device drives the collection basket to rise, the collection basket pushes the left and right flaps upwards and flips them outwards respectively, the collection basket continues to rise, when it is higher than the flaps, the flaps are pressed onto the adjustment screws under the action of gravity to reset, the stacking lifting device descends, the collection basket descends and presses onto the left and right flaps, and the stacking of the collection basket is completed; and The supply basket lifting device is lifted to lift the second collecting basket to the fruit placement position, and the tomato collection process of the second frame is carried out. After the first row of collecting baskets is fully loaded, the electric roller between the rear part of the lower crossbeam rotates to move the second row of collecting baskets forward to the electric roller of the supply basket lifting device. The supply basket lifting device rises to lift the topmost collecting basket of the second row of collecting baskets to the fruit placement position. After the collection of the second row of collecting baskets is completed, it is palletized by the stacking lifting device and the flipping device, and then the third row of collecting baskets is picked. After all three rows of collecting baskets are picked and palletized by the stacking lifting device and the flipping device, the large tomato picking robot automatically navigates to the gathering place of the collecting frames to unload and add empty collecting frames for the next round of picking.

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