Automatic kiwi fruit picking robot

Abstract

The invention discloses an automatic kiwi fruit picking robot, and relates to the technical field of automatic picking robots. The device comprises a tracked vehicle, a collecting box is fixed to the top of the tracked vehicle, a control terminal is fixed to the front side of the tracked vehicle, multi-axis mechanical arms are fixed to the two sides of the top of the tracked vehicle, end executors and infrared cameras are arranged at the tops of the multi-axis mechanical arms, and a lifting assembly is arranged on the rear side of the top of the tracked vehicle; a conveying pipeline is fixed to the moving end of the lifting assembly through a support, and a buffering device is arranged on the conveying pipeline. According to the kiwi fruit conveying device, due to the arrangement of the buffering device, kiwi fruits are stopped at the discharging port of the conveying pipeline through the cover plate, the falling speed of the kiwi fruits can be effectively reduced, the situation that too large impact force is generated due to inertia during falling of the kiwi fruits is avoided, the stopping process is equivalent to a buffering stage, and the kiwi fruits can stably enter a collecting box.

Description

Technical Field

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

[0002] A kiwifruit automatic picking robot is a high-tech agricultural device that uses intelligent sensors, computer vision, and robotic arm technology to achieve automatic identification, positioning, and picking of kiwifruit. This robot can operate precisely under different climate and environmental conditions, reducing labor costs, improving picking efficiency, and reducing damage to fruits. It is suitable for large-scale kiwifruit plantations and promotes the intelligent development of agricultural production.

[0003] Chinese Patent with Patent Publication No. CN204259425U discloses a kiwifruit automatic picking and grading robot, which includes a box body, a robotic arm, an end effector, an automatic grading device, and a fruit collection box; an automatic grading device and a robotic arm are installed on the upper plane of the frame, the end effector is installed at the front end of the robotic arm, the automatic grading device is connected to the upper surface of the frame through a motor bracket, and the fruit grading box is installed on the L-shaped guide rail inside the frame; the box body can realize the construction of the overall structure of the robot, the robotic arm can realize the transportation of the end effector, the end effector can realize the picking of fruits, the automatic grading device can realize the grading of fruits, and the fruit collection box can realize the collection of fruits; the present invention provides a robot with automatic picking and grading of kiwifruit, and the automatic picking saves manpower and improves efficiency; the automatic grading device realizes grading immediately after picking, saving time cost and transportation cost at the same time.

[0004] However, the current picking robots have the following problems: when the end effector of this picking and grading robot puts the picked kiwifruit into the collection box through a pipeline, it is not convenient to buffer the kiwifruit transported through the pipeline. The kiwifruit peel is relatively thin and is easily damaged by external impacts. Without appropriate buffering measures, the fruits are prone to being impacted during the dropping process, resulting in cracked peels or internal damage, thus affecting the quality of the fruits. Therefore, we propose a kiwifruit automatic picking robot. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides a kiwifruit automatic picking robot, which solves the problems raised in the above background art.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions: An automatic kiwifruit picking robot, including a crawler vehicle, on the top of which a collection box is fixed, a control terminal is fixed on the front side of the crawler vehicle, multi-axis robotic arms are fixed on both sides of the top of the crawler vehicle, an end effector and an infrared camera are provided on the top of the multi-axis robotic arm, a lifting component is provided on the rear side of the top of the crawler vehicle, a transfer pipeline is fixed to the moving end of the lifting component through a bracket, a buffer device is arranged at the transfer pipeline, the buffer device includes a square shell fixed in the middle of the transfer pipeline, and two cover plates respectively hinged on both sides of the discharge port of the transfer pipeline. The square shell divides the transfer pipeline into an upper pipe and a lower pipe. Swing plates are hinged on both sides of the inner wall of the square shell, and a torsion spring is arranged between the swing plate and the square shell. An arc plate is fixed to the bottom of the swing plate and penetrates through the inner wall of the square shell. Return-shaped rods are fixed on the sides of the two cover plates away from each other. A driving component for driving the return-shaped rod to drive the cover plate to swing is arranged outside the square shell. A counting component for calculating the operation times of the driving component is arranged outside the bracket of the lifting component. The driving component includes two elastic telescopic rods, the fixed ends of the two elastic telescopic rods are respectively fixed on both sides of the outer wall of the square shell, the top of the telescopic end of the elastic telescopic rod is fixed with an L-shaped plate, the bottom of the vertical plate of the L-shaped plate is hinged with a hinged rod, the bottom of the hinged rod is hinged with a connecting rod, the connecting rod is horizontally slidably installed outside the bracket of the lifting component, the bottom of the connecting rod is fixed with a telescopic column, and the bottom of the telescopic column is slidably installed inside the return-shaped rod. The bottom of the horizontal plate of the L-shaped plate is located on the movement track of the arc plate. During the process of the transfer pipeline transporting kiwifruit, the kiwifruit will first fall to the swing plate until the kiwifruit crosses the swing plate and falls to the cover plate position. The cover plate intercepts the kiwifruit in the transfer pipeline. When the next kiwifruit crosses the swing plate, the swing plate will swing downward. The swing plate drives the arc plate to swing. The arc plate pushes the bottom of the horizontal plate of the L-shaped plate to lift the L-shaped plate. The L-shaped plate drives the telescopic end of the elastic telescopic rod to move upward. And the L-shaped plate pulls the hinged rod to drive the connecting rod to displace. The connecting rod drives the telescopic column to move accordingly. The bottom of the telescopic column slides along the inside of the return-shaped rod. And the telescopic column pushes the return-shaped rod to drive the cover plate to rotate. The cover plate no longer blocks the discharge port of the transfer pipeline. At this time, the kiwifruit intercepted at the discharge port position of the transfer pipeline will fall into the collection box.

[0007] According to the above technical solution, the lifting component includes two electric lifting rods, the fixed ends of the two electric lifting rods are both fixed on the top of the crawler vehicle, a cross frame is fixed between the tops of the telescopic ends of the two electric lifting rods, a pipeline bracket for fixing the transfer pipeline is fixed on the front side of the cross frame. The cross frame is the moving end of the lifting component, and the pipeline bracket is the bracket of the lifting component. As the kiwifruit in the collection box increases, the control terminal will start the electric lifting rods. The telescopic ends of the electric lifting rods push the cross frame and the pipeline bracket to drive the transfer pipeline to move upward.

[0008] According to the above technical solution, the counting component includes a fixing frame, the fixing frame is fixed on the outer wall of the pipeline support, a counter is fixed on the top of the fixing frame, both sides of the counter are connected with counting probes through wires, and the counting probes penetrate and are fixed on the top of the fixing frame. The counting probes are directly above the connecting rod, and the counting probes are used to calculate the number of displacement movements of the connecting rod. The multi-axis robotic arm, the end effector, the infrared camera, the electric lifting rod, and the counter are all electrically connected to the control terminal. At the same time, the counting probe will record the number of displacement times of the connecting rod, and the data of the counting probe is fed back to the counter, and the counter transmits the data to the control terminal.

[0009] According to the above technical solution, a U-shaped connecting column is slidably installed on the front side of the square shell. Fixed columns are fixed on both sides at the rear of the U-shaped connecting column. Long grooves for the fixed columns of the U-shaped connecting column to slide are opened on the outer wall of the square shell. A chute is opened on the front side of the swing plate, and the fixed columns of the U-shaped connecting column are slidably installed inside the chute of the swing plate. When the kiwifruit passes through the swing plate and the kiwifruit falls to one side, the kiwifruit will first push one side of the swing plate to swing downward. During the downward swing of one side of the swing plate, it will drive the U-shaped connecting column to displace downward along the long groove of the square shell, and the U-shaped connecting column will drive the swing plate on the other side to swing downward synchronously, which helps to maintain the consistency of the movement of the swing plates on both sides.

[0010] According to the above technical solution, a number of overpressure prevention devices are provided at the collection box. The overpressure prevention device includes a motor and two side plates. The two side plates are respectively fixed on both sides of the collection box. A rotating rod is rotatably installed between the two side plates. The motor is fixed on the front side of the collection box. The motor is electrically connected to the counter. A threaded rod is fixed to the output end of the motor, and the threaded rod is rotatably installed inside the collection box. A threaded block is threadedly connected to the outside of the threaded rod. A moving plate is fixed to the bottom of the threaded block. The moving plate is slidably installed inside the collection box. A rolling curtain plate is fixedly connected between the outer wall of the moving plate and the rotating rod. After the counter counts to a certain value, such as when the counter counts 100 displacements of the connecting rod, that is, the kiwifruit covers one layer inside the collection box, the counter transmits a signal to the motor, the motor drives the threaded rod to rotate, the threaded rod drives the threaded block to drive the moving plate to move forward, and the moving plate drives the rolling curtain plate to displace, and the rolling curtain plate forms an interval on the upper layer of the kiwifruit.

[0011] According to the above technical solution, a number of fruit and vegetable preservative bags are evenly and equidistantly fixed on the bottom surface of the rolling curtain plate, and at the same time, when the rolling curtain plate is unfolded, it will drive the fruit and vegetable preservative bags to unfold synchronously.

[0012] The present invention provides an automatic kiwifruit picking robot. It has the following beneficial effects: (1) Through the setting of the buffer device, the cover plate pauses the kiwifruit at the discharge port of the transmission pipeline, which can effectively slow down the falling speed of the kiwifruit and avoid excessive impact force generated by inertia during the falling process of the kiwifruit. The pausing process is equivalent to a buffer stage, enabling the kiwifruit to smoothly enter the collection box, avoiding damage due to violent collision, and the cover plate ensures the rational use of the space in the transmission pipeline by temporarily pausing the position of the kiwifruit, avoiding the risk of kiwifruit accumulation or blockage, so as to ensure that each kiwifruit can smoothly enter the collection box at an appropriate speed and order.

[0013] (2) Through the setting of the counting probe and the counting probe, the counting probe will record the displacement times of the connecting rod, which is conducive to the staff observing the picking quantity of the kiwifruit; at the same time, the setting of the U-shaped connecting column makes the movement of the two swinging plates driven by the U-shaped connecting column consistent, thus ensuring that the two swinging plates on both sides can synchronously drive the two cover plates to open, avoiding abnormal opening of the cover plates and the problem of kiwifruit being stuck at the discharge port of the transmission pipeline.

[0014] (3) Through the setting of the overpressure prevention device, the counter, motor, threaded rod, threaded block, and moving plate cooperate to drive the rolling curtain plate to displace, and the rolling curtain plate forms an interval above the kiwifruit layer, thus effectively reducing the direct pressure of the upper-layer kiwifruit on the lower-layer kiwifruit. Without the direct contact pressure between the upper-layer kiwifruit and the lower-layer kiwifruit, the lower kiwifruit will not be squeezed by the weight of the upper-layer fruits, reducing the damage to the surface and pulp of the kiwifruit; at the same time, after the rolling curtain plate unfolds, it will synchronously drive the fruit and vegetable preservative bag to unfold, and the fruit and vegetable preservative bag can release components that help delay fruit ripening, slow down the oxidation process, and extend the shelf life of the kiwifruit. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the whole of the present invention Figure 1 ; Figure 2 is a schematic diagram of the whole of the present invention Figure 2 ; Figure 3 is a schematic diagram of a partial cross-section of the present invention; Figure 4 is a schematic diagram of the buffer device of the present invention Figure 1 ; Figure 5 is a schematic diagram of the counting component and the lifting component of the present invention; Figure 6 is a schematic diagram of the buffer device of the present invention Figure 2 ; Figure 7 is a schematic diagram of a partial cross-section of the buffer device of the present invention; Figure 8 is a schematic diagram of the overpressure prevention device of the present invention; Figure 9 Schematic diagram of the deployment and use of the overvoltage protection device of the present invention Figure 1 ; Figure 10 Schematic diagram of the deployment and use of the overvoltage protection device of the present invention Figure 2 。

[0016] In the figure: 1, tracked vehicle; 2, control terminal; 3, collection box; 4, buffer device; 41, square shell; 42, swing plate; 43, arc plate; 44, L-shaped plate; 45, hinge rod; 46, connecting rod; 47, elastic telescopic rod; 48, telescopic column; 49, return-shaped rod; 410, cover plate; 411, U-shaped connecting column; 40, counting component; 401, counter; 402, fixing bracket; 403, counting probe; 5, overvoltage protection device; 51, side plate; 52, rotating rod; 53, rolling curtain plate; 54, threaded block; 55, moving plate; 56, threaded rod; 57, fruit and vegetable preservative bag; 58, motor; 6, multi-axis robotic arm; 7, end effector; 8, infrared camera; 9, lifting component; 91, electric lifting rod; 92, cross frame; 93, pipeline support; 10, transmission pipeline. Detailed implementation manners

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0018] Please refer to Figures 1 - 10 , one embodiment of the present invention is: An automatic kiwifruit picking robot includes a tracked vehicle 1, a collection box 3 is fixed on the top of the tracked vehicle 1, a control terminal 2 is fixed on the front side of the tracked vehicle 1, multi-axis robotic arms 6 are fixed on both sides of the top of the tracked vehicle 1, an end effector 7 and an infrared camera 8 are provided on the top of the multi-axis robotic arm 6, a lifting component 9 is provided on the rear side of the top of the tracked vehicle 1, a transmission pipeline 10 is fixed to the moving end of the lifting component 9 through a bracket, a buffer device 4 is arranged at the transmission pipeline 10, and the buffer device 4 includes a square shell 41 fixed in the middle of the transmission pipeline 10 and two cover plates 410 respectively hinged on both sides of the discharge port of the transmission pipeline 10. The square shell 41 divides the transmission pipeline 10 into an upper pipe and a lower pipe. Swing plates 42 are hinged on both sides of the inner wall of the square shell 41 (as Figure 7As shown in the figure, a torsion spring is provided between the swing plate 42 and the square shell 41. An arc plate 43 is fixed to the bottom of the swing plate 42, and the arc plate 43 penetrates through the inner wall of the square shell 41. Return-shaped rods 49 are fixed to the outer sides of the two cover plates 410 away from each other. A driving assembly for driving the return-shaped rod 49 to drive the cover plate 410 to swing is arranged outside the square shell 41. A counting assembly 40 for calculating the number of operations of the driving assembly is arranged outside the bracket of the lifting assembly 9. The driving assembly includes two elastic telescopic rods 47. The fixed ends of the two elastic telescopic rods 47 are respectively fixed to both sides of the outer wall of the square shell 41. The top of the telescopic end of the elastic telescopic rod 47 is fixed with an L-shaped plate 44. The bottom of the vertical plate of the L-shaped plate 44 is hinged with a hinge rod 45. The bottom of the hinge rod 45 is hinged with a connecting rod 46. The connecting rod 46 is horizontally slidably installed outside the bracket of the lifting assembly 9. The bottom of the connecting rod 46 is fixed with a telescopic column 48. The bottom of the telescopic column 48 is slidably installed inside the return-shaped rod 49. The bottom of the horizontal plate of the L-shaped plate 44 is located on the movement track of the arc plate 43. Through the setting of the above structure, the cover plate 410 pauses the kiwifruit at the discharge port of the conveying pipeline 10, which can effectively slow down the falling speed of the kiwifruit and avoid excessive impact force generated by the kiwifruit due to inertia during the fall. The pausing process is equivalent to a buffering stage, enabling the kiwifruit to smoothly enter the collection box 3 and avoiding damage caused by violent collision. Moreover, by temporarily pausing the position of the kiwifruit, the cover plate 410 ensures the reasonable utilization of the space inside the conveying pipeline 10 and avoids the risk of kiwifruit accumulation or blockage, so as to ensure that each kiwifruit can smoothly enter the collection box 3 at an appropriate speed and order.

[0019] The lifting assembly 9 includes two electric lifting rods 91. The fixed ends of the two electric lifting rods 91 are both fixed to the top of the crawler vehicle 1. A cross frame 92 is fixed between the tops of the telescopic ends of the two electric lifting rods 91. A pipeline bracket 93 for fixing the conveying pipeline 10 is fixed to the front side of the cross frame 92. The cross frame 92 is the mobile end of the lifting assembly 9, and the pipeline bracket 93 is the bracket of the lifting assembly 9. Through the setting of the above structure, as the kiwifruit inside the collection box 3 increases, the telescopic ends of the electric lifting rods 91 push the cross frame 92 and the pipeline bracket 93 to drive the conveying pipeline 10 to move upward, thus avoiding the problem that the existence of the conveying pipeline 10 affects the transmission of kiwifruit into the collection box 3.

[0020] The counting component 40 includes a fixing frame 402 which is fixed to the outer wall of the pipeline support 93. A counter 401 is fixed to the top of the fixing frame 402. Counting probes 403 are connected to both sides of the counter 401 through wires, and the counting probes 403 penetrate and are fixed to the top of the fixing frame 402. The counting probes 403 are directly above the connecting rod 46, and the counting probes 403 are used to calculate the number of displacement movements of the connecting rod 46. The multi-axis robotic arm 6, the end effector 7, the infrared camera 8, the electric lifting rod 91, and the counter 401 are all electrically connected to the control terminal 2. Through the setting of the above structure, the counting probes 403 will record the number of displacements of the connecting rod 46, and the data of the counting probes 403 is fed back to the counter 401, and the counter 401 transmits the data to the control terminal 2, which is beneficial for the staff to observe the picking quantity of kiwifruits.

[0021] A U-shaped connecting column 411 is slidably installed on the front side of the square shell 41. Fixed columns are fixed to both sides of the rear side of the U-shaped connecting column 411. Long grooves for the fixed columns of the U-shaped connecting column 411 to slide are formed in the outer wall of the square shell 41. A sliding groove is formed in the front side of the swing plate 42, and the fixed columns of the U-shaped connecting column 411 are slidably installed inside the sliding groove of the swing plate 42. Through the setting of the above structure, the U-shaped connecting column 411 drives the swing plates 42 on both sides to swing downward synchronously, which helps to maintain the consistency of the movement of the swing plates 42 on both sides, so as to ensure that the swing plates 42 on both sides can drive the two cover plates 410 to open synchronously, avoiding the problem that the abnormal opening of the cover plates 410 causes kiwifruits to get stuck at the discharge port of the transmission pipeline 10.

[0022] During use, the tracked vehicle 1 moves to the kiwifruit picking area. The infrared camera 8 takes pictures for identification and transmits the captured data to the control terminal 2. The control terminal 2 calculates the captured data and feeds the data back to the multi-axis robotic arm 6 and the end effector 7. The multi-axis robotic arm 6 and the end effector 7 will pick the kiwifruit. The picked kiwifruit will be placed at the feed inlet of the transfer pipeline 10. The transfer pipeline 10 transports the kiwifruit to the collection box 3 for collection. During the process of the transfer pipeline 10 transporting the kiwifruit, the kiwifruit will first fall to the swing plate 42 until the kiwifruit crosses the swing plate 42 and falls to the position of the cover plate 410. The cover plate 410 intercepts the kiwifruit inside the transfer pipeline 10. When the next kiwifruit crosses the swing plate 42, the swing plate 42 will swing downward. The swing plate 42 drives the arc plate 43 to swing. The arc plate 43 pushes the bottom of the horizontal plate of the L-shaped plate 44 to lift the L-shaped plate 44. The L-shaped plate 44 drives the telescopic end of the elastic telescopic rod 47 to move upward. And the L-shaped plate 44 pulls the articulated rod 45 to drive the connecting rod 46 to displace. The connecting rod 46 drives the telescopic column 48 to move accordingly. The bottom of the telescopic column 48 slides along the inside of the return rod 49. And the telescopic column 48 pushes the return rod 49 to drive the cover plate 410 to rotate. The cover plate 410 no longer blocks the discharge port of the transfer pipeline 10. At this time, the kiwifruit intercepted at the discharge port position of the transfer pipeline 10 will fall into the collection box 3. By pausing the kiwifruit at the discharge port of the transfer pipeline 10 through the cover plate 410, the falling speed of the kiwifruit can be effectively slowed down, avoiding excessive impact force generated by the kiwifruit due to inertia during falling. The pausing process is equivalent to a buffering stage, enabling the kiwifruit to smoothly enter the collection box 3, avoiding damage caused by violent collision. And by temporarily pausing the position of the kiwifruit through the cover plate 410, it ensures the reasonable utilization of the space inside the transfer pipeline 10, avoiding the risk of kiwifruit accumulation or blockage, so as to ensure that each kiwifruit can smoothly enter the collection box 3 at an appropriate speed and order.

[0023] At the same time, the counting probe 403 will record the displacement times of the connecting rod 46. The data of the counting probe 403 is fed back to the counter 401. The counter 401 transmits the data to the control terminal 2, which is conducive to the staff observing the picking quantity of the kiwifruit.

[0024] During the process of the kiwifruit passing through the swing plate 42, when the kiwifruit falls to one side, the kiwifruit will first push the swing plate 42 on one side to swing downward. During the downward swing of the swing plate 42 on one side, it will drive the U-shaped connecting column 411 to displace downward along the long groove of the square shell 41. The U-shaped connecting column 411 will drive the swing plate 42 on the other side to swing downward synchronously, which helps to maintain the consistency of the movement of the swing plates 42 on both sides, thus ensuring that the swing plates 42 on both sides can drive the two cover plates 410 to open synchronously, avoiding the problem that the cover plate 410 opens abnormally and causes the kiwifruit to get stuck at the discharge port of the transfer pipeline 10.

[0025] It should be noted that as the number of kiwifruits inside the collection box 3 increases, the control terminal 2 will activate the electric lifting rod 91. The telescopic end of the electric lifting rod 91 pushes the cross frame 92 and the pipeline support 93 to drive the transmission pipeline 10 to move upward, thus avoiding the problem that the presence of the transmission pipeline 10 affects the transmission of kiwifruits into the collection box 3.

[0026] Please refer to Figures 1 - 10 , on the basis of the above embodiment, in another embodiment of the present invention, several overpressure prevention devices 5 are provided at the collection box 3. The overpressure prevention device 5 includes a motor 58 and two side plates 51. The two side plates 51 are respectively fixed on both sides of the collection box 3. A rotating rod 52 is rotatably installed between the two side plates 51. The motor 58 is fixed on the front side of the collection box 3. The motor 58 is electrically connected to the counter 401. A threaded rod 56 is fixed to the output end of the motor 58, and the threaded rod 56 is rotatably installed inside the collection box 3. A threaded block 54 is threadedly connected to the outside of the threaded rod 56. A moving plate 55 is fixed to the bottom of the threaded block 54. The moving plate 55 is slidably installed inside the collection box 3. A rolling curtain plate 53 is fixedly connected between the outer wall of the moving plate 55 and the rotating rod 52. Through the setting of the above structure, the rolling curtain plate 53 forms a space on the upper layer of kiwifruits, thus effectively reducing the direct pressure of the upper layer of kiwifruits on the lower layer of kiwifruits. Without the direct contact pressure between the upper layer and the lower layer of kiwifruits, the lower kiwifruits will not be squeezed by the weight of the upper layer of fruits, reducing the damage to the surface and pulp of the kiwifruits.

[0027] A number of fruit and vegetable preservative bags 57 are evenly and equidistantly fixed to the bottom surface of the rolling curtain plate 53. Through the setting of the above structure, the rolling curtain plate 53 drives the fruit and vegetable preservative bags 57 to unfold. The fruit and vegetable preservative bags 57 can release components that help delay the ripening of fruits, slow down the oxidation process, and extend the preservation period of kiwifruits.

[0028] During use, after the counter 401 counts to a certain value, for example, when the counter 401 counts that the connecting rod 46 has displaced 100 times, that is, the kiwifruits cover one layer inside the collection box 3, the counter 401 transmits a signal to the motor 58. The motor 58 drives the threaded rod 56 to rotate. The threaded rod 56 drives the threaded block 54 to drive the moving plate 55 to move forward. The moving plate 55 drives the rolling curtain plate 53 to displace. The rolling curtain plate 53 forms a space on the upper layer of kiwifruits, thus effectively reducing the direct pressure of the upper layer of kiwifruits on the lower layer of kiwifruits. Without the direct contact pressure between the upper layer and the lower layer of kiwifruits, the lower kiwifruits will not be squeezed by the weight of the upper layer of fruits, reducing the damage to the surface and pulp of the kiwifruits; at the same time, after the rolling curtain plate 53 unfolds, it will synchronously drive the fruit and vegetable preservative bags 57 to unfold. The fruit and vegetable preservative bags 57 can release components that help delay the ripening of fruits, slow down the oxidation process, and extend the preservation period of kiwifruits.

[0029] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

Claims

1. An automatic kiwifruit picking robot, comprising a crawler vehicle (1), characterized in that: A collection box (3) is fixed on the top of the tracked vehicle (1), a control terminal (2) is fixed on the front side of the tracked vehicle (1), multi-axis robotic arms (6) are fixed on both sides of the top of the tracked vehicle (1), an end effector (7) and an infrared camera (8) are arranged on the top of the multi-axis robotic arm (6), a lifting assembly (9) is arranged at the rear side of the top of the tracked vehicle (1), a transfer pipeline (10) is fixed on the moving end of the lifting assembly (9) through a bracket, a buffer device (4) is arranged at the transfer pipeline (10), the buffer device (4) includes a square shell (41) fixed in the middle of the transfer pipeline (10), and two cover plates (410) respectively hinged on both sides of the discharge port of the transfer pipeline (10), swing plates (42) are hinged on both sides of the inner wall of the square shell (41), and a torsion spring is arranged between the swing plate (42) and the square shell (41), an arc plate (43) is fixed at the bottom of the swing plate (42), and the arc plate (43) penetrates through the inner wall of the square shell (41), return-shaped rods (49) are fixed on the sides of the two cover plates (410) away from each other, and a driving assembly for driving the return-shaped rod (49) to drive the cover plate (410) to swing is arranged outside the square shell (41), and a counting assembly (40) for calculating the operation times of the driving assembly is arranged outside the bracket of the lifting assembly (9).

2. The automatic kiwifruit picking robot according to claim 1, characterized in that: The driving assembly includes two elastic telescopic rods (47), the fixed ends of the two elastic telescopic rods (47) are respectively fixed on both sides of the outer wall of the square shell (41), the top of the telescopic end of the elastic telescopic rod (47) is fixed with an L-shaped plate (44), the bottom of the vertical plate of the L-shaped plate (44) is hinged with a hinged rod (45), the bottom of the hinged rod (45) is hinged with a connecting rod (46), the connecting rod (46) is horizontally slidably installed outside the bracket of the lifting assembly (9), the bottom of the connecting rod (46) is fixed with a telescopic column (48), and the bottom of the telescopic column (48) is slidably installed inside the return-shaped rod (49).

3. The automatic kiwifruit picking robot according to claim 2, characterized in that: The bottom of the horizontal plate of the L-shaped plate (44) is located on the movement track of the arc plate (43).

4. The automatic kiwifruit picking robot according to claim 1, wherein: The lifting assembly (9) includes two electric lifting rods (91), the fixed ends of the two electric lifting rods (91) are both fixed on the top of the tracked vehicle (1), a cross frame (92) is fixed between the tops of the telescopic ends of the two electric lifting rods (91), a pipeline bracket (93) for fixing the transfer pipeline (10) is fixed on the front side of the cross frame (92), the cross frame (92) is the moving end of the lifting assembly (9), and the pipeline bracket (93) is the bracket of the lifting assembly (9).

5. The automatic kiwifruit picking robot according to claim 4, characterized in that: The counting component (40) includes a fixing bracket (402) fixed to the outer wall of the pipeline bracket (93). A counter (401) is fixed to the top of the fixing bracket (402). Counting probes (403) are connected to both sides of the counter (401) through wires, and the counting probes (403) penetrate and are fixed to the top of the fixing bracket (402). The counting probes (403) are directly above the connecting rod (46), and the counting probes (403) are used to calculate the number of displacement movements of the connecting rod (46).

6. The automatic kiwifruit picking robot according to claim 5, characterized in that: A U-shaped connecting column (411) is slidably installed on the front side of the square shell (41). Fixed columns are fixed to both sides at the rear of the U-shaped connecting column (411). Long grooves for the fixed columns of the U-shaped connecting column (411) to slide are formed in the outer wall of the square shell (41). A chute is formed on the front side of the swing plate (42), and the fixed columns of the U-shaped connecting column (411) are slidably installed inside the chute of the swing plate (42).

7. The automatic kiwifruit picking robot according to claim 1, characterized in that: The square shell (41) divides the transmission pipeline (10) into an upper pipe and a lower pipe.

8. The automatic kiwifruit picking robot according to claim 5, characterized in that: A number of overpressure prevention devices (5) are provided at the collection box (3). The overpressure prevention device (5) includes a motor (58) and two side plates (51). The two side plates (51) are respectively fixed to both sides of the collection box (3). A rotating rod (52) is rotatably installed between the two side plates (51). The motor (58) is fixed to the front side of the collection box (3). A threaded rod (56) is fixed to the output end of the motor (58), and the threaded rod (56) is rotatably installed inside the collection box (3). A threaded block (54) is threadedly connected to the outside of the threaded rod (56). A moving plate (55) is fixed to the bottom of the threaded block (54). The moving plate (55) is slidably installed inside the collection box (3). A rolling curtain plate (53) is fixedly connected between the moving plate (55) and the outer wall of the rotating rod (52).

9. The automatic kiwifruit picking robot according to claim 8, wherein: A number of fruit and vegetable preservative bags (57) are evenly and equidistantly fixed to the bottom surface of the rolling curtain plate (53).

10. The automatic kiwifruit picking robot according to claim 8, wherein: The multi-axis robotic arm (6), the end effector (7), the infrared camera (8), the electric lifting rod (91), and the counter (401) are all electrically connected to the control terminal (2). The motor (58) is electrically connected to the counter (401).

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