A kiwi fruit automatic picking robot

Abstract

The present invention discloses an automatic kiwifruit picking robot, which relates to the technical field of automatic picking robots. The present invention includes a tracked vehicle, a collection box is fixed on the top of the tracked vehicle, a control terminal is fixed on the front side of the tracked vehicle, multi-axis robotic arms are fixed on both sides of the top of the tracked vehicle, an end effector and an infrared camera are provided on the top of the multi-axis robotic arm, a lifting assembly is provided on the rear side of the top of the tracked vehicle, a transmission pipe is fixed to the movable end of the lifting assembly through a bracket, and a buffer device is provided at the transmission pipe. The present invention uses the buffer device to allow the cover plate to stop the kiwifruit at the discharge port of the transmission pipe, which can effectively slow down the falling speed of the kiwifruit and prevent the kiwifruit from generating excessive impact force due to inertia when falling. The stopping process is equivalent to a buffer stage, allowing the kiwifruit to enter the collection box smoothly.

Description

Technical Field

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

[0002] The kiwifruit automated harvesting robot is a high-tech agricultural device that utilizes intelligent sensors, computer vision, and robotic arm technology to automatically identify, locate, and harvest kiwifruit. The robot can operate precisely in diverse climates and environmental conditions, reducing labor costs, improving harvesting efficiency, and minimizing fruit damage. It is suitable for large-scale kiwifruit plantations, promoting the development of intelligent agricultural production.

[0003] The Chinese patent with patent publication number CN204259425U discloses a kiwifruit automatic picking and grading robot including a box body, a robotic arm, an end effector, an automatic grading device, and a fruit collection box; the automatic grading device and the robotic arm are installed flat on the shelf, 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 shelf through a motor frame, and the fruit grading box is installed on the L-shaped guide rail inside the shelf; 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 the fruit, the automatic grading device can realize the grading of the fruit, and the fruit collection box can realize the collection of the fruit; the utility model proposes a robot with automatic picking and grading of kiwifruit, automatic picking saves manpower and improves efficiency; the automatic grading device realizes immediate grading after picking, saving time cost and transportation cost.

[0004] However, the current picking robots have the following problems: the end effector of the picking and grading robot is not convenient for cushioning the kiwifruit transported through the pipeline when the picked kiwifruit is put into the collection box through the pipeline. The kiwifruit peel is relatively thin and easily damaged by external impact. Without proper cushioning measures, the fruit is easily hit during the delivery process, causing the peel to break or the inside to be damaged, thus affecting the quality of the fruit. Therefore, we propose an automatic kiwifruit picking robot. Summary of the Invention

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

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an automatic kiwifruit picking robot, comprising a crawler vehicle, a collection box is fixed on the top of the crawler vehicle, a control terminal is fixed on the front side of the crawler vehicle, multi-axis mechanical 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 mechanical arm, a lifting assembly is provided on the rear side of the top of the crawler vehicle, a transmission pipe is fixed to the moving end of the lifting assembly through a bracket, a buffer device is provided at the transmission pipe, and the buffer device includes a square shell fixed in the middle of the transmission pipe, Two cover plates are hinged on both sides of the discharge port of the transmission pipe respectively. The square shell divides the transmission pipe into an upper tube and a lower tube. Swing plates are hinged on both sides of the inner wall of the square shell, and a torsion spring is provided between the swing plate and the square shell. An arc plate is fixed to the bottom of the swing plate, and the arc plate passes through the inner wall of the square shell. A reciprocating rod is fixed on the side where the two cover plates are away from each other. A driving assembly for driving the reciprocating rod to drive the cover plates to swing is provided on the outside of the square shell. A counting assembly for counting the number of times the driving assembly operates is provided on the outside of the bracket of the lifting assembly. The driving assembly includes two elastic telescopic rods. The two The fixed ends of the elastic telescopic rod are respectively fixed to both sides of the outer wall of the square shell, and an L-shaped plate is fixed on the top of the telescopic end of the elastic telescopic rod, and the bottom of the vertical plate of the L-shaped plate is hinged with a hinged rod, and the bottom of the hinged rod is hinged with a connecting rod, and the connecting rod is horizontally slidably installed on the outside of the bracket of the lifting assembly, and a telescopic column is fixed to the bottom of the connecting rod, and the bottom of the telescopic column is slidably installed inside the circular rod, and the bottom of the horizontal plate of the L-shaped plate is located on the movement track of the arc plate. In the process of transporting kiwifruit in the transmission pipeline, the kiwifruit will first fall to the swing plate until the kiwifruit crosses the swing plate and falls to the cover plate position, and the cover The plate intercepts the kiwifruit in the transmission pipeline. When the next kiwifruit passes over the swing plate, the swing plate will swing downward, and 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, and 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 move, and the connecting rod drives the telescopic column to move. The bottom of the telescopic column slides along the inside of the return rod, and the telescopic column pushes the return rod to drive the cover plate to rotate. The cover plate no longer blocks the discharge port of the transmission pipeline. At this time, the kiwifruit intercepted at the discharge port of the transmission pipeline will fall into the collection box.

[0007] According to the above technical solution, the lifting assembly includes two electric lifting rods, the fixed ends of the two electric lifting rods are 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, and a pipe bracket for fixing the transmission pipe is fixed on the front side of the cross frame. The cross frame is the moving end of the lifting assembly, and the pipe bracket is the bracket of the lifting assembly. As the kiwifruit inside the collection box increases, the control terminal will start the electric lifting rod, and the telescopic end of the electric lifting rod will push the cross frame and the pipe bracket to drive the transmission pipe to move upward.

[0008] According to the above technical solution, the counting component includes a fixing frame, which is fixed to the outer wall of the pipe support. A counter is fixed to the top of the fixing frame. Both sides of the counter are connected to counting probes through wires, and the counting probes pass through and are fixed to 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, end effector, infrared camera, electric lifting rod, and counter are all electrically connected to the control terminal. At the same time, the counting probe will record the number of displacements of the connecting rod, and the counting probe data will be fed back to the counter, and the counter will transmit 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, and fixed columns are fixed on both sides of the rear side of the U-shaped connecting column. A long groove for sliding the fixed column of the U-shaped connecting column is opened on the outer wall of the square shell, and a sliding groove is opened on the front side of the swing plate. The fixed column of the U-shaped connecting column is slidably installed inside the sliding groove of the swing plate.

[0010] When the kiwi fruit passes through the swing plate and falls to one side, the kiwi fruit will first push the swing plate on one side to swing downward. During the downward swing, the swing plate on one side will drive the U-shaped connecting column to move downward along the long groove of the square shell. The U-shaped connecting column will drive the swing plate on the other side to swing downward synchronously, thereby helping to maintain the consistency of the movement of the swing plates on both sides.

[0011] According to the above technical solution, several overpressure prevention devices are provided at the collection box, and 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, and a rotating rod is rotatably installed between the two side plates, the motor is fixed on the front side of the collection box, and the motor and the counter are electrically connected, a threaded rod is fixed at the output end of the motor, and the threaded rod is rotatably installed inside the collection box, the external thread of the threaded rod is connected to a threaded block, and a movable plate is fixed at the bottom of the threaded block, and the movable plate is slidably installed inside the collection box, and a rolling plate is fixedly connected between the movable plate and the outer wall of the rotating rod. After the counter counts to a certain value, such as the counter counts to one hundred displacements of the connecting rod, that is, the kiwi fruit covers a 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 movable plate to move forward, the movable plate drives the rolling plate to displace, and the rolling plate forms a gap on the upper layer of the kiwi fruit.

[0012] According to the above technical solution, a plurality of fruit and vegetable preservative bags are evenly and equidistantly fixed on the bottom surface of the rolling shutter plate, and when the rolling shutter plate is unfolded, the fruit and vegetable preservative bags are simultaneously driven to unfold.

[0013] The present invention provides a kiwi fruit automatic picking robot. It has the following beneficial effects:

[0014] (1) The present invention uses a buffer device to allow the cover plate to stop the kiwifruit at the outlet of the transmission pipe, which can effectively slow down the falling speed of the kiwifruit and prevent the kiwifruit from generating excessive impact force due to inertia when falling. The stopping process is equivalent to a buffer stage, which allows the kiwifruit to enter the collection box smoothly and avoid damage due to violent collision. In addition, the cover plate ensures that the space in the transmission pipe is reasonably utilized by temporarily stopping the kiwifruit, avoiding the risk of kiwifruit accumulation or blockage, thereby ensuring that each kiwifruit enters the collection box smoothly at an appropriate speed and order.

[0015] (2) The present invention sets a counting probe and a counting probe, so that the counting probe can record the number of displacements of the connecting rod, thereby facilitating the staff to observe the number of kiwis picked; at the same time, the setting of the U-shaped connecting column makes the U-shaped connecting column drive the swing plates on both sides to move in unison, thereby ensuring that the swing plates on both sides can synchronously drive the two cover plates to open, avoiding the problem of abnormal opening of the cover plates, which causes the kiwis to be stuck at the discharge port of the transmission pipe.

[0016] (3) The present invention sets an anti-overpressure device so that the counter, motor, threaded rod, threaded block and movable plate cooperate to drive the rolling shutter plate to move. The rolling shutter plate forms a gap on the upper layer of kiwi fruit, thereby effectively reducing the direct pressure of the upper layer of kiwi fruit on the lower layer of kiwi fruit. The upper layer of kiwi fruit and the lower layer of kiwi fruit have no direct contact pressure, and the lower layer of kiwi fruit will not be squeezed due to the weight of the upper layer of fruit, thereby reducing the damage to the surface and flesh of the kiwi fruit. At the same time, after the rolling shutter plate is unfolded, it will synchronously drive the fruit and vegetable preservative bag to unfold. The fruit and vegetable preservative bag can release ingredients that help delay the ripening of the fruit, slow down the oxidation process, and extend the shelf life of the kiwi fruit. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the present invention as a whole Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the present invention as a whole Figure 2 ;

[0019] Figure 3 It is a partial cross-sectional schematic diagram of the present invention;

[0020] Figure 4 Schematic diagram of the buffer device of the present invention Figure 1 ;

[0021] Figure 5 Schematic diagram of the counting assembly and the lifting assembly of the present invention;

[0022] Figure 6 Schematic diagram of the buffer device of the present invention Figure 2 ;

[0023] Figure 7 is a partial cross-sectional schematic diagram of the buffer device of the present invention;

[0024] Figure 8 is a schematic diagram of an overpressure prevention device of the present invention;

[0025] Figure 9 Schematic diagram of the deployment of the overpressure protection device of the present invention Figure 1 ;

[0026] Figure 10 Schematic diagram of the deployment of the overpressure protection device of the present invention Figure 2 .

[0027] In the figure: 1. Crawler vehicle; 2. Control terminal; 3. Collection box; 4. Buffer device; 41. Square shell; 42. Swing plate; 43. Arc plate; 44. L-shaped plate; 45. Articulated rod; 46. Connecting rod; 47. Elastic telescopic rod; 48. Telescopic column; 49. Reciprocating rod; 410. Cover plate; 411. U-shaped connecting column; 40. Counting assembly; 401. Counter; 402. Fixed bracket; 403. Counting probe; 5. Overpressure protection device; 51. Side plate; 52. Rotating rod; 53. Rolling shutter 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 assembly; 91. Electric lifting rod; 92. Cross frame; 93. Pipe support; 10. Transmission pipeline. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] See also Figures 1-10 One embodiment of the present invention is: a kiwi fruit automatic picking robot, including a crawler vehicle 1, a collection box 3 is fixed on the top of the crawler vehicle 1, a control terminal 2 is fixed on the front side of the crawler vehicle 1, multi-axis mechanical arms 6 are fixed on both sides of the top of the crawler vehicle 1, and an end effector 7 and an infrared camera 8 are provided on the top of the multi-axis mechanical arm 6. A lifting component 9 is provided on the rear side of the top of the crawler vehicle 1, and a transmission pipe 10 is fixed to the moving end of the lifting component 9 through a bracket. A buffer device 4 is provided at the transmission pipe 10, and the buffer device 4 includes a square shell 41 fixed to the middle of the transmission pipe 10 and two cover plates 410 respectively hinged on both sides of the discharge port of the transmission pipe 10. The square shell 41 divides the transmission pipe 10 into an upper tube and a lower tube, and a swing plate 42 (such as Figure 7As shown), 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 passes through the inner wall of the square shell 41, and a reciprocating rod 49 is fixed on the side where the two cover plates 410 are away from each other. A driving component for driving the reciprocating rod 49 to drive the cover plate 410 to swing is provided on the outside of the square shell 41, and a counting component 40 for calculating the number of times the driving component operates is provided on the outside of the bracket of the lifting component 9. The driving component includes two elastic telescopic rods 47, and 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. An L-shaped plate 44 is fixed to the top of the telescopic end of the elastic telescopic rod 47, and a hinged rod 45 is hinged at the bottom of the vertical plate of the L-shaped plate 44. A connecting rod 46 is hinged at the bottom of the hinged rod 45, and the connecting rod 46 is installed on the bracket of the lifting component 9 for horizontal sliding. On the outside, a telescopic column 48 is fixed to the bottom of the connecting rod 46, and the bottom of the telescopic column 48 is slidably installed inside the circular rod 49. The bottom of the horizontal plate of the L-shaped plate 44 is located on the movement trajectory of the arc plate 43. Through the arrangement of the above structure, the cover plate 410 stops the kiwi fruit at the discharge port of the transmission pipe 10, which can effectively slow down the falling speed of the kiwi fruit and avoid the kiwi fruit from generating excessive impact force due to inertia when falling. The pause process is equivalent to a buffer stage, so that the kiwi fruit can enter the collection box 3 smoothly to avoid damage due to violent collision. In addition, the cover plate 410 ensures that the space in the transmission pipe 10 is reasonably utilized by temporarily stopping the position of the kiwi fruit, avoiding the risk of kiwi fruit accumulation or blockage, thereby ensuring that each kiwi fruit enters the collection box 3 smoothly at an appropriate speed and order.

[0030] The lifting assembly 9 includes two electric lifting rods 91, the fixed ends of the two electric lifting rods 91 are fixed on the top of the crawler vehicle 1, and a cross frame 92 is fixed between the tops of the telescopic ends of the two electric lifting rods 91. A pipe bracket 93 for fixing the transmission pipe 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 pipe 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 end of the electric lifting rod 91 pushes the cross frame 92 and the pipe bracket 93 to drive the transmission pipe 10 to move upward, thereby avoiding the existence of the transmission pipe 10 affecting the transmission of kiwifruit to the inside of the collection box 3.

[0031] The counting component 40 includes a fixing frame 402, which is fixed to the outer wall of the pipe support 93. A counter 401 is fixed to the top of the fixing frame 402. Both sides of the counter 401 are connected to counting probes 403 through wires, and the counting probes 403 pass through and are fixed to the top of the fixing frame 402. The counting probe 403 is directly above the connecting rod 46, and the counting probe 403 is 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 probe 403 will record the number of displacements of the connecting rod 46, and the counting probe 403 data will be fed back to the counter 401, and the counter 401 will transmit the data to the control terminal 2, which is beneficial for the staff to observe the number of kiwis picked.

[0032] A U-shaped connecting column 411 is slidably installed on the front side of the square shell 41, and fixed columns are fixed on both sides of the rear side of the U-shaped connecting column 411. A long groove for the sliding fixed column of the U-shaped connecting column 411 is provided on the outer wall of the square shell 41, and a slide groove is provided on the front side of the swing plate 42. The fixed column of the U-shaped connecting column 411 is slidably installed inside the slide groove of the swing plate 42. Through the arrangement 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, thereby ensuring that the swing plates 42 on both sides can synchronously drive the two cover plates 410 to open, avoiding the abnormal opening of the cover plate 410, which causes the kiwi fruit to be stuck at the discharge port of the transmission pipe 10.

[0033] During use, the crawler vehicle 1 moves to the kiwi picking area, the infrared camera 8 shoots and identifies and transmits the shooting data to the control terminal 2, the control terminal 2 calculates the shooting data and feeds the data back to the multi-axis robot arm 6 and the end effector 7, the multi-axis robot arm 6 and the end effector 7 will pick the kiwi, and the picked kiwi will be put into the feed port of the transmission pipe 10, and the transmission pipe 10 will transmit the kiwi to the collection box 3 for collection. In the process of transmitting the kiwi in the transmission pipe 10, the kiwi will first fall to the swing plate 42 until the kiwi passes over the swing plate 42 and falls to the position of the cover plate 410. The cover plate 410 intercepts the kiwi in the transmission pipe 10. When the next kiwi passes over the swing plate 42, the swing plate 42 will swing downward, and 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, and 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 hinge The connecting rod 45 drives the connecting rod 46 to move, and 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 circular rod 49, and the telescopic column 48 pushes the circular rod 49 to drive the cover plate 410 to rotate. The cover plate 410 no longer blocks the discharge port of the transmission pipe 10. At this time, the kiwifruit intercepted at the discharge port of the transmission pipe 10 will fall into the collection box 3. The kiwifruit is stopped at the discharge port of the transmission pipe 10 by the cover plate 410, which can effectively slow down the falling speed of the kiwifruit and avoid the kiwifruit from generating excessive impact force due to inertia when falling. The stopping process is equivalent to a buffer stage, so that the kiwifruit can enter the collection box 3 smoothly and avoid damage due to violent collision. In addition, the cover plate 410 ensures that the space in the transmission pipe 10 is reasonably utilized by temporarily stopping the position of the kiwifruit, avoiding the risk of kiwifruit accumulation or blockage, thereby ensuring that each kiwifruit enters the collection box 3 smoothly at an appropriate speed and order.

[0034] At the same time, the counting probe 403 records the number of displacements of the connecting rod 46, and the data of the counting probe 403 is fed back to the counter 401, and the counter 401 transmits the data to the control terminal 2, thereby facilitating the staff to observe the number of kiwis picked.

[0035] When the kiwi fruit passes through the swing plate 42 and falls to one side, the kiwi fruit will first push the swing plate 42 on one side to swing downward. During the downward swing, the swing plate 42 on one side will drive the U-shaped connecting column 411 to move 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, thereby ensuring that the swing plates 42 on both sides can synchronously drive the two cover plates 410 to open, avoiding the abnormal opening of the cover plate 410, which causes the kiwi fruit to be stuck at the discharge port of the transmission pipe 10.

[0036] It should be noted that as the amount of kiwifruit inside the collection box 3 increases, the control terminal 2 will start the electric lifting rod 91. The telescopic end of the electric lifting rod 91 pushes the cross frame 92 and the pipe bracket 93 to drive the transmission pipe 10 to move upward, thereby avoiding the existence of the transmission pipe 10 affecting the transmission of kiwifruit to the inside of the collection box 3.

[0037] See also Figures 1-10 On the basis of the above embodiment, in another embodiment of the present invention, a plurality of overpressure prevention devices 5 are provided at the collection box 3. The overpressure prevention devices 5 include a motor 58 and two side plates 51. The two side plates 51 are fixed to both sides of the collection box 3 respectively. 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. The motor 58 is electrically connected to the counter 401. A threaded rod 56 is fixed to the output end of the motor 58. The threaded rod 56 is rotatably installed inside the collection box 3. The external thread of the threaded rod 56 is connected to The threaded block 54 has a movable plate 55 fixed at its bottom, which is slidably installed inside the collecting box 3. A rolling plate 53 is fixedly connected between the movable plate 55 and the outer wall of the rotating rod 52. Through the arrangement of the above structure, the rolling plate 53 forms a gap on the upper layer of kiwifruit, thereby effectively reducing the direct pressure of the upper kiwifruit on the lower kiwifruit. There is no direct contact pressure between the upper kiwifruit and the lower kiwifruit, and the lower kiwifruit will not be squeezed due to the weight of the upper layer of fruit, reducing the damage to the surface and pulp of the kiwifruit.

[0038] Several fruit and vegetable preservative bags 57 are evenly and equidistantly fixed to the bottom surface of the rolling shutter plate 53. Through the above-mentioned structure, the rolling shutter plate 53 drives the fruit and vegetable preservative bags 57 to unfold. The fruit and vegetable preservative bags 57 can release ingredients that help delay the ripening of the fruit, slow down the oxidation process, and extend the shelf life of kiwifruit.

[0039] During use, after the counter 401 counts to a certain value, such as when the counter 401 counts that the connecting rod 46 has moved 100 times, that is, the kiwifruit has covered a layer inside the collecting 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 movable plate 55 to move in the front direction, and the movable plate 55 drives the rolling plate 53 to move, and the rolling plate 53 forms a gap on the upper layer of the kiwifruit, thereby effectively reducing the direct pressure of the upper kiwifruit on the lower layer of the kiwifruit, and the upper kiwifruit and the lower kiwifruit have no direct contact pressure. The kiwifruit below will not be squeezed due to the weight of the upper layer of fruit, reducing damage to the surface and flesh of the kiwifruit; at the same time, after the rolling plate 53 is unfolded, it will synchronously drive the fruit and vegetable preservative bag 57 to unfold. The fruit and vegetable preservative bag 57 can release ingredients that help delay the ripening of the fruit, slow down the oxidation process, and extend the shelf life of the kiwifruit.

[0040] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A kiwifruit automatic picking robot, comprising a crawler vehicle (1), characterized in that: A collecting box (3) is fixed on the top of the crawler vehicle (1), a control terminal (2) is fixed on the front side of the crawler vehicle (1), multi-axis mechanical arms (6) are fixed on both sides of the top of the crawler vehicle (1), an end effector (7) and an infrared camera (8) are provided on the top of the multi-axis mechanical arm (6), a lifting assembly (9) is provided on the rear side of the top of the crawler vehicle (1), a transmission pipe (10) is fixed to the moving end of the lifting assembly (9) through a bracket, a buffer device (4) is provided at the transmission pipe (10), and the buffer device (4) includes a square shell (41) fixed at the middle of the transmission pipe (10), and two blocks (41) are hinged on the transmission pipe (10). (10) Two cover plates (410) on both sides of the discharge port, swing plates (42) are hinged on both sides of the inner wall of the square shell (41), and 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) passes through the inner wall of the square shell (41), a reciprocating rod (49) is fixed on the side away from each other of the two cover plates (410), a driving component for driving the reciprocating rod (49) to drive the cover plates (410) to swing is provided on the outside of the square shell (41), and a counting component (40) for counting the number of times the driving component operates is provided on the outside of the bracket of the lifting component (9); The driving assembly includes two elastic telescopic rods (47), the fixed ends of the two elastic telescopic rods (47) are respectively fixed to the outer walls of the square shell (41), an L-shaped plate (44) is fixed to the top of the telescopic end of the elastic telescopic rod (47), a hinged rod (45) is hinged to the bottom of the vertical plate of the L-shaped plate (44), and a connecting rod (46) is hinged to the bottom of the hinged rod (45), and the connecting rod (46) is installed in a transverse sliding manner on the outside of the bracket of the lifting assembly (9), and a telescopic column (48) is fixed to the bottom of the connecting rod (46), and the bottom of the telescopic column (48) is installed in a sliding manner inside the retractable rod (49); The lifting assembly (9) includes two electric lifting rods (91), the fixed ends of the two electric lifting rods (91) are 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 pipe bracket (93) for fixing the transmission pipe (10) is fixed to the front side of the cross frame (92), the cross frame (92) is the moving end of the lifting assembly (9), and the pipe bracket (93) is the bracket of the lifting assembly (9); The counting assembly (40) includes a fixing frame (402), the fixing frame (402) is fixed to the outer wall of the pipe support (93), a counter (401) is fixed on the top of the fixing frame (402), both sides of the counter (401) are connected to counting probes (403) through wires, and the counting probes (403) pass through and are fixed to the top of the fixing frame (402), the counting probes (403) are located directly above the connecting rod (46), and the counting probes (403) are used to count the number of displacement movements of the connecting rod (46); A U-shaped connecting column (411) is slidably mounted on the front side of the square shell (41), and fixed columns are fixed on both sides of the rear side of the U-shaped connecting column (411). A long groove for sliding the fixed column of the U-shaped connecting column (411) is provided on the outer wall of the square shell (41), and a sliding groove is provided on the front side of the swing plate (42), and the fixed column of the U-shaped connecting column (411) is slidably mounted inside the sliding groove of the swing plate (42).

2. The automatic kiwifruit picking robot according to claim 1, 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).

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

4. The automatic kiwifruit picking robot according to claim 1, characterized in that: The collecting box (3) is provided with a plurality of overpressure prevention devices (5), the overpressure prevention devices (5) comprising a motor (58) and two side plates (51), the two side plates (51) being fixed on both sides of the collecting box (3) respectively, a rotating rod (52) being rotatably mounted between the two side plates (51), the motor (58) being fixed on the front side of the collecting box (3), a threaded rod (56) being fixed on the output end of the motor (58), and the threaded rod (56) being rotatably mounted inside the collecting box (3), the external thread of the threaded rod (56) being connected to a threaded block (54), the bottom of the threaded block (54) being fixed with a movable plate (55), the movable plate (55) being slidably mounted inside the collecting box (3), and a rolling shutter plate (53) being fixedly connected between the movable plate (55) and the outer wall of the rotating rod (52).

5. The automatic kiwifruit picking robot according to claim 4, characterized in that: A plurality of fruit and vegetable preservative bags (57) are evenly and equidistantly fixed on the bottom surface of the rolling shutter plate (53).

6. The automatic kiwifruit picking robot according to claim 4, characterized in that: 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), and the motor (58) and the counter (401) are electrically connected.

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