A tomato picking robot

Abstract

The application discloses a tomato picking robot in the technical field of picking robots, which comprises a base, mobile wheels are arranged around the bottom of the base, a control console is fixedly connected to the top end of the base, a rotary pair assembly is arranged on the top end of the base, the rotary pair assembly is used for controlling the height position to pick tomatoes in different positions, a collecting frame is fixedly connected to the top end of the base, and a buffer picking assembly is arranged on the rotary pair assembly. The buffer picking assembly is used for picking tomatoes, the buffer picking assembly places the tomatoes in a container during picking, and the rootstock is pulled off from the top of the tomatoes, so that the tomatoes are detached from the plants. The rootstock is fixed during picking, and then picking is performed. The force applied to the tomatoes is blocked at the rootstock, so that the whole tomato plant will not be subjected to the recoil force after forcibly picking the tomatoes, and the separation of the rootstock and the tomatoes can be effectively ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of picking robots, in particular to a tomato picking robot. BACKGROUND

[0002] The tomato picking robot captures tomatoes through the camera on the automatic robot, and identifies the maturity of the tomatoes through an algorithm. The mature tomatoes are picked and collected by mechanical clamps. The picking degree of the picking robot for mature tomatoes has certain errors, but for large-area planted tomatoes, the use of a robot for picking can effectively reduce the consumption of labor.

[0003] Some invention patents in the technical field of agricultural machinery are disclosed in the prior art. The invention patent with the application number CN113099845B discloses a tomato picking robot and an accurate picking method thereof, which comprises a vehicle body, a walking mechanism, a power mechanism, a hopper, a buffer, a detection mechanism, a picking mechanism, a sensing radar and a controller. The detection mechanism has a camera that can be lifted along the vertical direction. The picking mechanism has a picking port sleeve, a cutting assembly, a conveying channel and an anti-collision rubber pad. The picking port sleeve can move along the vertical direction and the horizontal direction. The picking port sleeve can rotate and the rotation axis is perpendicular to the vertical plane. The cutting assembly is arranged at the tomato inlet of the picking port sleeve. The cutting assembly has a rotatable cutter. The cutter makes the tomato fall into the picking port sleeve by rotating and detaching from the vine. The conveying channel is connected to the hopper. The anti-collision rubber pad is arranged in the conveying channel. The problem of low tomato picking efficiency caused by the inability of the picking robot in the prior art to accurately position the position of the tomato is solved.

[0004] However, there are the following problems. The tomatoes are cut off from the vine and collected by the cutter. When the tomatoes are collected, multiple tomatoes are stacked together. The vine of the tomato with the root will pierce the tomato when they are pressed against each other, resulting in wounds on the surface of the tomato. This will affect the storage and subsequent sale of the tomato. The existing tomato picking robot also has a way of picking tomatoes by clamping and pulling the tomatoes off the root. This way of picking tomatoes will produce a large impact force on the tomato plant, making it easy for the tomatoes with high maturity to fall off the tomato plant under the impact force, affecting collection.

[0005] Therefore, the present application designs a tomato picking robot to solve the above-mentioned problem of unreasonable picking method affecting the storage of tomatoes and causing the tomatoes to fall off the plant. SUMMARY

[0006] The present application aims to provide a tomato picking robot to solve the problems raised in the background.

[0007] In order to achieve the above object, the present application provides the following technical scheme: a tomato picking robot, comprising a base, the bottom of the base is provided with moving wheels around, the top end of the base is fixedly connected with a control console, the top end of the base is provided with a rotating pair assembly, the rotating pair assembly is used for controlling the height position to pick tomatoes in different positions, the top end of the base is fixedly connected with a collecting frame, the rotating pair assembly is provided with a buffer picking assembly, the buffer picking assembly fixes the stems of tomatoes when picking tomatoes, avoiding the impact force caused by directly clamping and pulling tomatoes to cause the remaining tomatoes to fall off from the roots.

[0008] As a further scheme of the present application, the rotating pair assembly comprises a first rotating pair, the first rotating pair is rotatably arranged on the upper end of the base, a second rotating pair is rotatably connected to the side wall of the first rotating pair, a third rotating pair is rotatably connected to the top end of the second rotating pair, a fourth rotating pair is rotatably connected to the top end of the third rotating pair, a fifth rotating pair is rotatably connected to the top end of the fourth rotating pair, and a camera is fixedly connected to the top end of the fifth rotating pair.

[0009] As a further scheme of the present application, the buffer picking assembly comprises a fixing seat, the fixing seat is fixed on the side wall of the fifth rotating pair, two telescopic cylinders are fixedly connected to the top end of the fixing seat on both sides respectively, a fixed plate is rotatably connected to the output end of the telescopic cylinder, a clamping frame is fixedly connected to one end of the fixed plate, a clamping plate is rotatably connected to the top end of the clamping frame, and a collecting and transferring assembly is arranged in the fixing seat.

[0010] As a further scheme of the present application, the collecting and transferring assembly comprises a connecting cylinder, the connecting cylinder is fixedly sleeved in the fixing seat, a connecting seat is fixedly connected to the top end of the connecting cylinder, the connecting seat is rotatably connected to the bottom of the clamping frame at the top end, a sliding groove is formed in one side of the bottom of the connecting cylinder, a sliding sealing plate is slidably connected in the sliding groove, a first butt plate is fixedly connected to the bottom of the sliding sealing plate, a second butt plate used for butt joint with the first butt plate is fixedly connected to one side of the top end of the collecting frame, and a discharging plate is fixedly connected in the collecting frame.

[0011] As a further scheme of the present application, a push plate is slidably connected to the inside of the top end of the clamping frame, a second spring used for resetting the push plate is fixedly connected to the push plate, and a convex shaft is fixedly connected to the inner wall of the top end of the clamping frame.

[0012] As a further scheme of the present application, a connecting shaft is slidably connected to the bottom of the connecting cylinder, a buffer plate is fixedly connected to the top end of the connecting shaft, and a first spring used for resetting the buffer plate is fixed to the bottom of the buffer plate.

[0013] As a further scheme of the present application, a friction pad is fixedly connected to the top end of the clamping plate, and a buffer pad is fixedly connected to the bottom end of the push plate.

[0014] As a further scheme of the present application, the buffer plate is downwardly inclined towards the side of the sliding sealing plate, and a soft pad for buffering is fixedly connected to the top end of the buffer plate.

[0015] Compared with the prior art, the present application has the following beneficial effects:

[0016] 1. The present application adopts a buffer picking assembly to pick tomatoes, and the buffer picking assembly places the tomatoes in the container during picking, and then pulls off the rootstock from the top of the tomato, so that the tomato is detached from the plant. The rootstock is fixed before picking, and then picking is performed. Thus, the force applied to the tomato is blocked at the rootstock, so that the entire tomato plant will not be affected by the recoil force after the tomato is forcibly picked, and the un-picked tomatoes on the plant will not be detached from the plant under the action of the recoil force. Moreover, the picking method can effectively ensure the detachment of the rootstock from the tomato, so that the top of the picked tomato does not contain the rootstock. During collection, the skin of other tomatoes is not scratched by the rootstock of the tomatoes due to stacking, which is not conducive to storage. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 Fig. 1 is a schematic view of the overall structure of the present application;

[0018] Figure 2 Fig. 2 is a schematic view of the rear structure of the present application;

[0019] Figure 3 Fig. 3 is a schematic view of the rotating pair assembly structure of the present application;

[0020] Figure 4 Fig. 4 is a schematic view of the buffer picking assembly structure of the present application;

[0021] Figure 5 Fig. 5 is a schematic view of the internal structure of the connecting cylinder of the present application;

[0022] Figure 6 Fig. 6 is a schematic view of the clamping frame structure of the present application.

[0023] In the drawings, the components represented by the respective reference numerals are as follows:

[0024] 1, base; 2, moving wheel; 3, control console; 4, collection frame; 5, first rotation pair; 6, second rotation pair; 7, third rotation pair; 8, fourth rotation pair; 9, fifth rotation pair; 10, camera; 11, clamping frame; 12, clamping plate; 13, fixed plate; 14, telescopic air cylinder; 15, fixed seat; 16, connecting barrel; 17, sliding sealing plate; 18, first butt joint plate; 19, sliding groove; 20, buffer plate; 21, connecting shaft; 22, first spring; 23, friction pad; 24, push plate; 25, second spring; 26, convex shaft; 27, connecting seat; 28, second butt joint plate; 29, blanking plate. DETAILED DESCRIPTION

[0025] Please refer to Figures 1-6 The application provides a technical scheme: a tomato picking robot, comprising a base 1, the bottom of the base 1 is provided with moving wheels 2 around, the top end of the base 1 is fixedly connected with a control console 3, the top end of the base 1 is provided with a rotation pair assembly, the rotation pair assembly is used for controlling the height position to pick tomatoes in different positions, the top end of the base 1 is fixedly connected with a collection frame 4, the rotation pair assembly is provided with a buffer picking assembly, the buffer picking assembly fixes the stems of tomatoes when picking tomatoes, avoids the impact force caused by directly clamping and picking tomatoes to pull, and causes the remaining tomatoes to fall off from the roots, the rotation pair assembly comprises a first rotation pair 5, the first rotation pair 5 is rotationally arranged on the upper end of the base 1, the side wall of the first rotation pair 5 is rotationally connected with a second rotation pair 6, the top end of the second rotation pair 6 is rotationally connected with a third rotation pair 7, the top end of the third rotation pair 7 is rotationally connected with a fourth rotation pair 8, the top end of the fourth rotation pair 8 is rotationally connected with a fifth rotation pair 9, and the top end of the fifth rotation pair 9 is fixedly connected with a camera 10;

[0026] See Figure 1 , 2When harvesting tomatoes, the robot is controlled by pre-programmed instructions via console 3 to harvest tomatoes along a predetermined route. The rotating sub-component adjusts the height of camera 10 by adjusting the angle of the appropriate rotating sub-component. When camera 10 detects a tomato that meets the harvesting standard, the rotating sub-component adjusts the height accordingly and controls the buffer harvesting component to harvest the tomato. The buffer harvesting component places the tomato inside a container and then pulls off the stem from the top of the tomato, causing it to fall off the plant. The advantage of this method is that the stem is fixed during harvesting, thus blocking the force applied to the tomato at the stem. This prevents the entire tomato plant from being subjected to the recoil force after the tomato is forcefully removed, avoiding the fall of unharvested tomatoes from the plant due to the recoil force. Furthermore, because the force is applied to the stem, this harvesting method effectively ensures the separation of the stem from the tomato. Tomatoes harvested in this way do not contain stems at the top, preventing the stems from scratching the skin of other tomatoes during collection, which is detrimental to storage.

[0027] As a further embodiment of the present invention, the buffer picking assembly includes a fixed base 15, which is fixed on the side wall of the fifth rotating joint 9. Telescopic cylinders 14 are fixedly connected to both sides of the top end of the fixed base 15. A fixed plate 13 is rotatably connected to the output end of the telescopic cylinder 14. A clamping frame 11 is fixedly connected to one end of the fixed plate 13. A clamping plate 12 is rotatably connected to the top end of the clamping frame 11. A collection and transfer assembly is provided inside the fixed base 15. The collection and transfer assembly is used to collect the picked tomatoes and transfer them to the collection frame 4. A push plate 24 is slidably connected inside the top end of the clamping frame 11. A second spring 25 for resetting is fixedly connected to the push plate 24. A convex shaft 26 is fixedly connected to the inner wall of the top end of the clamping frame 11.

[0028] See Figure 4 , 6 When harvesting tomatoes, the rotating sub-assembly moves the clamping frame 11 to the outside of the bottom of the tomato. The telescopic cylinder 14 is activated to drive the clamping frame 11 to rotate upward. The clamping frames 11 on both sides rotate in opposite directions to wrap the tomato from the bottom. Before the wrapping is complete, the clamping plates 12 on both sides will rotate to the position of contact with the stem. As the rotation continues, the clamping plates 12 on both sides will continuously increase the pressure on the stem. At the same time, the rotation of the clamping frames 11 on both sides causes the convex shaft 26 at the top to rotate to the position of contact with the top of the push plate 24. As the rotation continues, the convex shaft 26 continuously squeezes the push plate 24 to compress the second spring 25 and slides downward. At this time, the push plate 24 will squeeze the tomato downward. With the clamping plates 12 fixing the stem, the tomato can be quickly detached from the stem until the clamping frame 11 rotates completely. Then, the clamping frame 11 is released to complete the harvesting of the tomato.

[0029] As a further scheme of the present application, the collecting and transporting assembly comprises a connecting cylinder 16 fixedly sleeved in the fixed seat 15, a connecting seat 27 fixedly connected to the top end of the connecting cylinder 16, the top end of the connecting seat 27 being rotatably connected to the bottom of the clamping frame 11, a sliding groove 19 being formed in one side of the bottom of the connecting cylinder 16, a sliding sealing plate 17 being slidably connected in the sliding groove 19, a first docking plate 18 being fixedly connected to the bottom of the sliding sealing plate 17, a second docking plate 28 being fixedly connected to one side of the top end of the collecting frame 4 for docking with the first docking plate 18, a discharging plate 29 being fixedly connected in the collecting frame 4, a connecting shaft 21 being slidably connected to the bottom of the connecting cylinder 16, a buffer plate 20 being fixedly connected to the top end of the connecting shaft 21, a first spring 22 being fixed to the bottom of the buffer plate 20 for resetting the buffer plate 20, the buffer plate 20 being downwardly inclined toward the side close to the sliding sealing plate 17, and a soft pad being fixedly connected to the top end of the buffer plate 20 for buffering;

[0030] Referring to Figures 4-5 When the clamping frame 11 falls off the tomatoes from the rhizomes by clamping, the tomatoes directly fall into the connecting cylinder 16 from the clamping frame 11, and continuously fall to the position in contact with the buffer plate 20 under the action of gravity, and the falling tomatoes are buffered by the elastic force of the first spring 22. After the clamping frame 11 repeatedly picks up several tomatoes, the connecting cylinder 16 is controlled to rotate to the position where the first docking plate 18 is located directly above the second docking plate 28 by the rotating subassembly, and then the connecting cylinder 16 is controlled to slide downward by the rotating subassembly, so that the second docking plate 28 pushes the first docking plate 18 to drive the sliding sealing plate 17 to move upward, and the opening on one side of the connecting cylinder 16 is opened. Since the buffer plate 20 is inclinedly arranged at the bottom of the connecting cylinder 16, the tomatoes in the connecting cylinder 16 naturally incline to the opening at the bottom of the connecting cylinder 16. When the sliding sealing plate 17 rises to the inside of the sliding groove 19, the tomatoes in the connecting cylinder 16 can naturally fall into the collecting frame 4 along the buffer plate 20, and roll into the collecting frame 4 through the discharging plate 29. The impact of the tomatoes when falling can be effectively reduced by the guidance of the discharging plate 29. The advantage of this is that the picked tomatoes can be batch transported by the connecting cylinder 16 during the picking process, and it is not necessary to transport the tomatoes into the collecting frame 4 after picking one tomato each time, and the transportation process can be automatically performed by only controlling the connecting cylinder 16 to displace to the specified position by the rotating subassembly.

[0031] As a further scheme of the present application, the clamping plate 12 has a friction pad 23 fixedly connected to the top end thereof, and the push plate 24 has a buffer pad fixedly connected to the bottom end thereof.

[0032] The friction pad 23 increases the friction between the clamping plate 12 and the surface of the rhizome, so as to avoid relative sliding between the rhizome and the clamping plate 12. The buffer pad at the bottom of the push plate 24 provides a buffering effect when the push plate 24 exerts pressure on the tomato from the top of the tomato, so as to avoid deformation of the tomato caused by extrusion.

[0033] Working principle: when picking tomatoes, the corresponding program is input in advance through the console 3 to control the robot to pick tomatoes along the established route. The height of the camera 10 is adjusted by the rotating subassembly by adjusting the angle of the adaptive rotating sub. When the camera 10 detects tomatoes that meet the picking standard, the rotating subassembly moves the clamping frame 11 to the outside of the bottom end of the tomato, and the telescopic cylinder 14 is started to drive the clamping frame 11 upward. The clamping frames 11 on both sides rotate towards each other to wrap the tomato from the bottom. Before the wrapping is completed, the clamping plates 12 on both sides will rotate to the position in contact with the rootstock in advance, and the clamping plates 12 on both sides will continuously increase the pressure on the rootstock as the rotation continues. At the same time, the rotation of the clamping frames 11 on both sides makes the convex shaft 26 on the top thereof rotate to the position in contact with the top end of the push plate 24, and as the rotation continues, the convex shaft 26 continuously extrudes the push plate 24 to compress the second spring 25 to slide downward. At this time, the push plate 24 will extrude the tomato downward, and in cooperation with the fixation of the clamping plates 12 on the rootstock, the tomato can be quickly detached from the rootstock;

[0034] When the clamping frame 11 detaches the tomato from the rootstock by clamping, the tomato will directly slide from the clamping frame 11 to the inside of the connecting cylinder 16, and continuously descend to the position in contact with the buffer plate 20 under the action of gravity, and the falling tomato is buffered by the elastic force of the first spring 22. After the clamping frame 11 repeats picking several tomatoes, the connecting cylinder 16 is rotated to the position where the first abutting plate 18 is located directly above the second abutting plate 28 by the rotating subassembly, and then the connecting cylinder 16 is controlled to slide downward by the rotating subassembly, so that the second abutting plate 28 pushes the first abutting plate 18 to drive the sliding sealing plate 17 to move upward, so that the opening on one side of the connecting cylinder 16 is opened. Since the buffer plate 20 is inclinedly arranged at the bottom of the connecting cylinder 16, the tomatoes inside the connecting cylinder 16 naturally incline to the opening at the bottom of the connecting cylinder 16. When the sliding sealing plate 17 rises to the inside of the sliding groove 19, the tomatoes inside the connecting cylinder 16 can naturally fall into the collecting frame 4 along the buffer plate 20, and roll into the collecting frame 4 through the discharging plate 29. The guidance of the discharging plate 29 can effectively reduce the impact when the tomatoes slide.

Claims

1. A tomato harvesting robot, comprising a base (1), wherein casters (2) are provided around the bottom of the base (1), a control console (3) is fixedly connected to the top of the base (1), a rotating joint assembly is provided at the top of the base (1), the rotating joint assembly is used to control the height position for harvesting tomatoes at different positions, and a collection frame (4) is fixedly connected to the top of the base (1), characterized in that: The rotating pair assembly is provided with a buffer picking assembly, which fixes the stems of tomatoes when picking tomatoes, avoiding the impact force caused by directly clamping and pulling tomatoes to cause the remaining tomatoes to fall off from the roots; The buffer picking assembly comprises a fixing seat (15) provided on the rotating pair assembly, both sides of the top end of the fixing seat (15) are fixedly connected with telescopic air cylinders (14), the output end of the telescopic air cylinder (14) is rotatably connected with a fixed plate (13), one end of the fixed plate (13) is fixedly connected with a clamping frame (11), the top end of the clamping frame (11) is rotatably connected with a clamping plate (12), and the inside of the fixing seat (15) is provided with a collecting and transferring assembly. The top end of the clamping frame (11) is slidably connected with a push plate (24), the push plate (24) is fixedly connected with a second spring (25) for resetting thereof, and the inner wall of the top end of the clamping frame (11) is fixedly connected with a convex shaft (26).

2. A tomato picking robot according to claim 1, characterized in that: The rotating pair assembly comprises a first rotating pair (5) rotatably arranged on the upper end of the base (1), a second rotating pair (6) rotatably connected with the side wall of the first rotating pair (5), a third rotating pair (7) rotatably connected with the top end of the second rotating pair (6), a fourth rotating pair (8) rotatably connected with the top end of the third rotating pair (7), a fifth rotating pair (9) rotatably connected with the top end of the fourth rotating pair (8), and the fixing seat (15) is fixed on the side wall of the fifth rotating pair (9).

3. The tomato picking robot according to claim 1, characterized in that: The collecting and transferring assembly comprises a connecting barrel (16) fixedly sleeved in the fixing seat (15), a connecting seat (27) fixedly connected with the top end of the connecting barrel (16), the connecting seat (27) is rotatably connected with the bottom of the clamping frame (11), a sliding groove (19) is formed in one side of the bottom of the connecting barrel (16), a sliding sealing plate (17) is slidably connected in the sliding groove (19), a first butt joint plate (18) is fixedly connected with the bottom of the sliding sealing plate (17), a second butt joint plate (28) used for butt joint with the first butt joint plate (18) is fixedly connected with one side of the top end of the collecting frame (4), and a discharging plate (29) is fixedly connected in the collecting frame (4).

4. A tomato picking robot according to claim 3, characterized in that: The bottom of the connecting barrel (16) is slidably connected with a connecting shaft (21), the top end of the connecting shaft (21) is fixedly connected with a buffer plate (20), and the bottom of the buffer plate (20) is fixedly connected with a first spring (22) for resetting thereof.

5. The tomato picking robot according to claim 1, characterized in that: The top end of the clamping plate (12) is fixedly connected with a friction pad (23), and the bottom end of the push plate (24) is fixedly connected with a buffer pad.

6. The tomato picking robot according to claim 4, characterized in that: The buffer plate (20) is inclined downward on the side close to the sliding sealing plate (17), and the top end of the buffer plate (20) is fixedly connected with a soft pad for buffering.

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