Pineapple picking robot and picking device

Abstract

The present application relates to the technical field of crop picking device, especially to a pineapple picking execution manipulator and picking device, the pineapple picking execution manipulator comprises: a rack, the rack is fixedly connected to a pineapple picking vehicle, the pineapple picking vehicle is provided with a pineapple frame; a detection assembly, the detection assembly is used for detecting the position of the pineapple; a picking assembly, the picking assembly comprises a turnover mechanism, a mounting frame, a position adjusting mechanism, a driving mechanism and a gripper; an energy storage assembly, the energy storage assembly is used for compressing and storing air when the turnover mechanism moves; a cutting assembly, the cutting assembly comprises a pneumatic driving mechanism and a cutting knife; the present application is suitable for picking pineapple fruits with lower maturity, the air bag self-adaptive wrapping characteristic can effectively reduce the mechanical damage caused by the gripper when picking the pineapple, greatly improves the picking effect, and the self-cleaning of the gripper and the cutting knife can effectively reduce the maintenance cost.

Description

Technical Field

[0001] This invention relates to the field of crop harvesting equipment technology, specifically to a pineapple harvesting robot and harvesting device. Background Technology

[0002] As a tropical fruit, pineapple harvesting has long relied on manual labor. However, the sharp leaves of pineapple plants, the hidden growth of the fruit, and their location on hilly slopes make manual harvesting inefficient, labor-intensive, and prone to causing injuries. With the acceleration of agricultural modernization, traditional manual harvesting methods can no longer meet the needs of large-scale planting. Coupled with rising labor costs and labor shortages caused by the concentrated harvest season, there is an urgent need to overcome the bottlenecks through mechanization and intelligent technologies.

[0003] Existing pineapple harvesting robots typically separate the pineapple stem from the pedicel by clamping it and twisting it off. However, these devices have several drawbacks: First, the rigid clamping method can damage the fruit. Second, to ensure the pineapples are ripe enough for sale, they are usually harvested when they are only 70-80% ripe. At this stage, the stems of less ripe pineapples are not yet brittle, making it difficult to separate them by twisting, resulting in inconsistent harvesting efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a pineapple harvesting robot and harvesting device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] On the one hand, a pineapple harvesting robot is provided, comprising:

[0007] A frame, which is fixedly connected to a pineapple picking vehicle, and the pineapple picking vehicle is equipped with a pineapple frame;

[0008] A detection component, wherein the detection component is used to detect the position of the pineapple;

[0009] The harvesting assembly includes a flipping mechanism, a mounting frame, a position adjustment mechanism, a drive mechanism, and grippers. The flipping mechanism is disposed on the frame and is used to drive the mounting frame to flip. The mounting frame is provided with grippers. The position adjustment mechanism is used to adjust the position of the grippers on the mounting frame. The drive mechanism is used to drive the grippers to clamp the pineapple.

[0010] An energy storage component, which is used to compress and store air when the flipping mechanism is in motion;

[0011] A cutting assembly, comprising a pneumatic drive mechanism and a cutting blade, wherein the pneumatic drive mechanism is used to drive the cutting blade to cut a pineapple using compressed air stored in the energy storage assembly;

[0012] The cleaning component includes a conveying mechanism, an airbag, a release mechanism one, a triggering mechanism, and a release mechanism two. The conveying mechanism is used to input a portion of the air stored in the energy storage component into the airbag, which is disposed on the gripper. The release mechanism one is used to release the air in the airbag and clean the gripper with airflow after the gripper places the pineapple into the pineapple frame. The release mechanism two is used to clean the cutting blade with airflow when the gripper moves over the pineapple.

[0013] Preferably, the detection component includes a mounting rod and a camera, the mounting rod being connected to the frame and the camera being mounted on the mounting rod.

[0014] Preferably, the flipping mechanism includes a flipping motor, a first parallel rod group, a driven rod, a second parallel rod group, and an angle sensor. The flipping motor is mounted on the frame and drives the first parallel rod group to rotate. The two ends of the first parallel rod group are respectively connected to the output end of the flipping motor and the mounting frame. The driven rod is mounted on the frame. The two ends of the second parallel rod group are respectively connected to the mounting frame and the driven rod. The angle sensor is used to detect the flipping angle of the mounting frame.

[0015] Preferably, the position adjustment mechanism includes a fixed frame, a fixed block, an angle adjustment motor, an adjustment rod, and a torsion motor. The drive mechanism includes a mounting box, a drive motor, and several driven gears. The fixed frame is mounted on the mounting frame, and the fixed block is bolted to the fixed frame. The angle adjustment motor is mounted on the fixed block and is used to drive the adjustment rod to rotate. The torsion motor is located at the end of the adjustment rod away from the angle adjustment motor and is connected to the mounting box. The drive motor is mounted on the mounting box. Two grippers are symmetrically arranged, and each gripper has driven gears connected to both sides. Adjacent driven gears mesh with each other, and one of the driven gears is connected to the output end of the drive motor.

[0016] Preferably, the energy storage assembly includes a first rotating connecting block, a connecting rod, a piston, a second rotating connecting block, a cylinder, and an air storage tank. The first rotating connecting block is connected to the first parallel rod assembly. The connecting rod is connected to the first rotating connecting block via a ball joint connecting block. The end of the connecting rod away from the first rotating connecting block is connected to a piston. The piston is connected to the cylinder. The cylinder is connected to the second rotating connecting block via a ball joint connecting block. The second rotating connecting block is connected to the second parallel rod assembly. The air compressed by the reciprocating motion of the piston in the cylinder is stored in the air storage tank. The air storage tank is mounted on the mounting frame.

[0017] Preferably, the pneumatic drive mechanism includes an electromagnetic opening valve and a pneumatic telescopic rod. The electromagnetic opening valve is connected to the air storage tank, and the electromagnetic opening valve is connected to the pneumatic telescopic rod through a pipe. The pneumatic telescopic rod is connected to the mounting box, and the moving end of the pneumatic telescopic rod is connected to the cutting blade.

[0018] Preferably, the conveying mechanism includes a second electromagnetic opening valve and a connecting pipe. The second electromagnetic opening valve is connected to the gas storage tank and to the air bag via the connecting pipe.

[0019] Preferably, the release mechanism includes a pressure relief valve connected to the airbag. When the angle sensor detects that the mounting bracket has moved above the pineapple frame, the pressure relief valve will open.

[0020] Preferably, the second release mechanism includes a second pressure relief valve and a return spring. The second pressure relief valve is located at the connection end between the pneumatic telescopic rod and the cutting blade. The return spring is located inside the pneumatic telescopic rod. The return spring is used to drive the pneumatic telescopic rod to return to its original position when pressure is released. When the angle sensor detects that the mounting bracket is rising, the second pressure relief valve will open.

[0021] On the other hand, a harvesting device is provided, including the aforementioned pineapple harvesting robot.

[0022] Compared with existing technologies, the beneficial effects of this invention are as follows: By compressing air during the transport of pineapples with the grippers and using this compressed air to drive an airbag for flexible clamping, this invention effectively avoids crushing or damaging the pineapples, ensuring fruit safety during harvesting. Simultaneously, the airbag design allows the clamping force to be adjusted according to the shape and size of the pineapple, improving adaptability and flexibility. The compressed air also drives the cutting blade to harvest the pineapple via a pneumatic drive mechanism. Furthermore, when the airbag resets, the air in the airbag cleans the surface dust of the grippers, and when the pneumatic telescopic rod resets, the air in the pneumatic telescopic rod cleans the cutting blade, achieving multi-stage energy application. This invention is suitable for harvesting pineapples with low ripeness. During use, the self-adaptive wrapping characteristics of the airbag effectively reduce mechanical damage caused by the grippers during harvesting, significantly improving harvesting efficiency. The self-cleaning of the grippers and cutting blade effectively reduces maintenance costs. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the axle view of the structure of the present invention installed on a pineapple picking vehicle. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the axle view of the structure of the present invention installed on a pineapple picking vehicle. Figure 2 ;

[0025] Figure 3 This is a schematic diagram of the axial view structure of the present invention;

[0026] Figure 4 This is a schematic diagram of the mounting bracket, fixing bracket, and angle adjustment motor position structure of the present invention;

[0027] Figure 5 This is a schematic diagram of the internal structure of the cylinder of the present invention;

[0028] Figure 6 This is a schematic diagram of the connection structure of the gas storage tank, electromagnetic opening valve one, and electromagnetic opening valve two of the present invention.

[0029] Figure 7 This is a schematic diagram of the internal structure of the pneumatic telescopic rod of the present invention.

[0030] In the diagram: 1. Frame, 2. Pineapple picking cart, 3. Pineapple frame, 4. Mounting bracket, 5. Gripper, 6. Cutting blade, 7. Airbag, 8. Mounting rod, 9. Camera, 10. Tilting motor, 11. Parallel rod group one, 12. Driven rod, 13. Parallel rod group two, 14. Angle sensor, 15. Fixing bracket, 16. Fixing block, 17. Angle adjustment motor, 18. Adjusting rod, 19. Torsion motor, 20. Mounting box, 21. Drive motor, 22. Driven gear, 23. Rotary connecting block one, 24. Connecting rod, 25. Piston, 26. Rotary connecting block two, 27. Cylinder, 28. Air tank, 29. Electromagnetic opening valve one, 30. Pneumatic telescopic rod, 31. Electromagnetic opening valve two, 32. Connecting pipe, 33. Pressure relief valve one, 34. Pressure relief valve two, 35. Return spring, 2801. Air inlet. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figure 1-7 The present invention provides a technical solution:

[0033] A pineapple harvesting robot, as shown in the instruction manual. Figure 1 As shown, it includes:

[0034] Frame 1 is used to fix the pineapple harvesting robot to the pineapple harvesting vehicle 2. Frame 1 is fixedly connected to the pineapple harvesting vehicle 2. The pineapple harvesting vehicle 2 is equipped with a pineapple frame 3, which is used to store the harvested pineapples.

[0035] The detection component is used to detect the position of the pineapple.

[0036] The harvesting assembly includes a flipping mechanism, a mounting frame 4, a position adjustment mechanism, a drive mechanism, and grippers 5. The flipping mechanism is located on the frame 1 and is used to flip the mounting frame 4. The mounting frame 4 is used to mount the position adjustment mechanism and the drive mechanism. The mounting frame 4 is equipped with grippers 5. The position adjustment mechanism is used to adjust the position of the grippers 5 on the mounting frame 4. The drive mechanism is used to drive the grippers 5 to clamp the pineapple.

[0037] Energy storage component, used to compress and store air when the tilting mechanism is in motion;

[0038] The cutting assembly includes a pneumatic drive mechanism and a cutting blade 6. The cutting blade 6 is used to cut the pineapple stem, and the pneumatic drive mechanism is used to drive the cutting blade 6 to cut the pineapple using compressed air stored in the energy storage assembly.

[0039] The cleaning component includes a conveying mechanism, an airbag 7, a release mechanism one, a triggering mechanism, and a release mechanism two. The conveying mechanism is used to input a portion of the air stored in the energy storage component into the airbag 7. One side of the airbag 7 is fixedly connected to the gripper 5. The release mechanism one is used to release the air in the airbag 7 and clean the gripper 5 with airflow after the gripper 5 places the pineapple into the pineapple frame 3. The release mechanism two is used to clean the cutting blade 6 with airflow when the gripper 5 moves over the pineapple.

[0040] The detection component includes a mounting rod 8 and a camera 9. The mounting rod 8 is used to install the camera 9 and is connected to the frame 1. The camera 9 is mounted on the mounting rod 8 and is used to collect the position of the pineapple. The picking component adjusts the position of the gripper 5 based on the image collected by the camera 9, thereby controlling the gripper 5 to hold the pineapple.

[0041] The flipping mechanism includes a flipping motor 10, a first parallel rod group 11, a driven rod 12, a second parallel rod group 13, and an angle sensor 14. The flipping motor 10 is a servo motor that can precisely control its rotation angle. The flipping motor 10 is fixedly connected to the frame 1. The flipping motor 10 is used to drive the first parallel rod group 11 to rotate. The two ends of the first parallel rod group 11 are respectively connected to the output end of the flipping motor 10 and the mounting frame 4. The driven rod 12 is rotatably connected to the frame 1. The two ends of the second parallel rod group 13 are respectively connected to the mounting frame 4 and the driven rod 12. In this embodiment, the angle sensor 14 is a laser angle sensor 14, which is used to detect the flipping angle of the mounting frame 4.

[0042] The position adjustment mechanism includes a fixed frame 15, a fixed block 16, an angle adjustment motor 17, an adjustment rod 18, and a torsion motor 19. The drive mechanism includes a mounting box 20, a drive motor 21, and several driven gears 22. The fixed frame 15 is fixedly connected to the mounting frame 4 and is used to mount the fixed block 16. The fixed block 16 is connected to the fixed frame 15 by bolts (not shown in the accompanying drawings). The fixed block 16 is used to fix the angle adjustment motor 17 to the mounting frame 4. The angle adjustment motor 17 is mounted on the fixed block 16 and drives the adjustment rod 18 to rotate. Both the angle adjustment motor 17 and the torsion motor 19 are servo motors, capable of precise rotation. The angle of the control jaw 5 is adjusted, thereby adjusting the position of the adjusting rod 18. The torsion motor 19 is located at the end of the adjusting rod 18 away from the angle adjusting motor 17. The torsion motor 19 is used to drive the mounting box 20 to rotate, thereby driving the jaw 5 to rotate. The torsion motor 19 is connected to the mounting box 20. The drive motor 21 is located in the mounting box 20. The drive motor 21 drives one of the driven gears 22 to move, thereby driving the two jaws 5 to move closer or further apart. There are two jaws 5 symmetrically arranged. Each jaw 5 has a driven gear 22 connected to both sides. Adjacent driven gears 22 mesh with each other. One of the driven gears 22 is connected to the output end of the drive motor 21.

[0043] The energy storage assembly includes a rotating connecting block 23, a connecting rod 24, a piston 25, a rotating connecting block 26, a cylinder 27, and an air storage tank 28. The rotating connecting block 23 connects the connecting rod 24 and the parallel rod assembly 11. A ball joint is provided at the end of the connecting rod 24 connected to the rotating connecting block, and a ball groove is provided on the rotating connecting block 23 corresponding to the ball joint. The connecting rod 24 is connected to the rotating connecting block 23 via the ball joint. A piston 25 is connected at the end of the connecting rod 24 away from the rotating connecting block 23. The piston 25 is movably connected to the cylinder 27. A ball joint is also provided at the end of the cylinder 27 connected to the rotating connecting block 26. Rotary connecting block 26 is provided with a ball groove. Cylinder 27 is connected to rotary connecting block 26 through ball head connecting block. Rotary connecting block 26 is rotatably connected to parallel rod assembly 13. The air compressed by piston 25 reciprocating in cylinder 27 is stored in air tank 28. Cylinder 27 and air tank 28 are connected by a pipe. The pipe is not shown in the attached drawings of the specification. Only the air inlet 2801 of air tank 28 is marked. Air tank 28 is set on mounting bracket 4. In this embodiment, air tank 28 is provided with two air outlets. One air outlet is connected to electromagnetic opening valve 29 and electromagnetic opening valve 31 respectively. The other air outlet is connected to electromagnetic opening valve 31.

[0044] The pneumatic drive mechanism includes an electromagnetic opening valve 29 and a pneumatic telescopic rod 30. The electromagnetic opening valve 29 is connected to the air outlet of the air tank 28. The electromagnetic opening valve 29 is connected to the pneumatic telescopic rod 30 through a pipe. The pipe and the connecting pipe 32 are both made of PVC material. They can be purchased according to the actual situation when using them. The pneumatic telescopic rod 30 is controlled to extend and retract by compressed air. The pneumatic telescopic rod 30 is fixedly connected to the bottom of the mounting box 20. The moving end of the pneumatic telescopic rod 30 is fixedly connected to a cutting blade 6.

[0045] The delivery mechanism includes a second electromagnetic opening valve 31 and a connecting pipe 32. The second electromagnetic opening valve 31 is fixedly connected to an air storage tank 28. The second electromagnetic opening valve 31 is connected to the air bag 7 through the connecting pipe 32, which is used to deliver compressed air to the air bag 7.

[0046] The release mechanism includes a pressure relief valve 33, which is used to expel air from the airbag 7 to clean the gripper 5. The pressure relief valve 33 is connected to the airbag 7 and will open when the angle sensor 14 detects that the mounting bracket 4 has moved above the pineapple frame 3.

[0047] The second release mechanism includes a second pressure relief valve 34 and a return spring 35. The second pressure relief valve 34 is located at the connection end between the pneumatic telescopic rod 30 and the cutting blade 6. The return spring 35 is located inside the pneumatic telescopic rod 30. The return spring 35 is used to drive the pneumatic telescopic rod 30 to return to its original position when pressure is released. When the angle sensor 14 detects that the mounting bracket 4 is rising (that is, it means that the gripper 5 has stably clamped the pineapple), the second pressure relief valve 34 will open.

[0048] Working principle: During use, the camera 9 identifies the position of the pineapple. After the pineapple is identified, the angle adjustment motor 17 and the torsion motor 19 adjust the clamping angle of the gripper 5. Then, the gripper 5 clamps the pineapple. After clamping, the electromagnetic opening valve 29 opens and the pneumatic telescopic rod 30 drives the cutting blade 6 to cut the stem of the pineapple. At the same time, the torsion motor 19 drives the gripper 5 to rotate, thereby picking the pineapple. After picking, the flip motor 10 starts, thereby flipping the mounting frame 4. When the mounting frame 4 moves above the pineapple frame 3, the gripper 5 will release the gripper, thereby releasing the pineapple into the glass frame. Then, the flip motor 10 drives the mounting frame 4 to reset.

[0049] When the flip motor 10 drives the parallel rod assembly 11 to move, it will drive the piston 25 to reciprocate in the cylinder 27 through the connecting rod 24. At this time, the air is compressed into the air storage tank 28.

[0050] Before clamping the pineapple, a portion of the air in the air tank 28 is introduced into the air bag 7 through the electromagnetic opening valve 21. When the angle sensor 14 detects that the mounting bracket 4 has moved above the pineapple frame 3 (meaning that the pineapple has been released into the pineapple frame 3), the pressure relief valve 133 will open to clean the gripper 5.

[0051] After the pineapple is stably clamped, a portion of the air in the air tank 28 is input into the pneumatic telescopic rod 30 through the electromagnetic opening valve 29, which drives the cutting blade 6 to cut the stem of the pineapple. When the angle sensor 14 detects that the mounting bracket 4 is rising, the pressure relief valve 34 opens. Driven by the return spring 35, the air in the pneumatic telescopic rod 30 is sprayed onto the cutting blade 6 to clean it.

[0052] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pineapple harvesting robot, characterized in that, include: A frame, which is fixedly connected to a pineapple picking vehicle, and the pineapple picking vehicle is equipped with a pineapple frame; A detection component, wherein the detection component is used to detect the position of the pineapple; The harvesting assembly includes a flipping mechanism, a mounting frame, a position adjustment mechanism, a drive mechanism, and grippers. The flipping mechanism is disposed on the frame and is used to drive the mounting frame to flip. The mounting frame is provided with grippers. The position adjustment mechanism is used to adjust the position of the grippers on the mounting frame. The drive mechanism is used to drive the grippers to clamp the pineapple. An energy storage component, which is used to compress and store air when the flipping mechanism is in motion; A cutting assembly, comprising a pneumatic drive mechanism and a cutting blade, wherein the pneumatic drive mechanism is used to drive the cutting blade to cut a pineapple using compressed air stored in the energy storage assembly; The cleaning component includes a conveying mechanism, an airbag, a first release mechanism, a triggering mechanism, and a second release mechanism. The conveying mechanism is used to input a portion of the air stored in the energy storage component into the airbag, which is disposed on the gripper. The first release mechanism is used to release the air in the airbag and clean the gripper with airflow after the gripper places the pineapple into the pineapple frame. The second release mechanism is used to clean the cutting blade with airflow when the gripper moves over the pineapple. The flipping mechanism includes a flipping motor, a first parallel rod assembly, a driven rod, a second parallel rod assembly, and an angle sensor. The flipping motor is mounted on the frame and drives the first parallel rod assembly to rotate. The two ends of the first parallel rod assembly are respectively connected to the output end of the flipping motor and the mounting frame. The driven rod is mounted on the frame. The two ends of the second parallel rod assembly are respectively connected to the mounting frame and the driven rod. The angle sensor is used to detect the flipping angle of the mounting frame. The energy storage assembly includes a first rotating connecting block, a connecting rod, a piston, a second rotating connecting block, a cylinder, and an air storage tank. The first rotating connecting block is connected to the first parallel rod assembly. The connecting rod is connected to the first rotating connecting block via a ball joint connecting block. The end of the connecting rod away from the first rotating connecting block is connected to a piston. The piston is connected to the cylinder. The cylinder is connected to the second rotating connecting block via a ball joint connecting block. The second rotating connecting block is connected to the second parallel rod assembly. The air compressed by the reciprocating motion of the piston in the cylinder is stored in the air storage tank. The air storage tank is mounted on the mounting frame.

2. The pineapple harvesting robot according to claim 1, characterized in that: The detection component includes a mounting rod and a camera. The mounting rod is connected to the frame, and the camera is mounted on the mounting rod.

3. The pineapple harvesting robot according to claim 1, characterized in that: The position adjustment mechanism includes a fixed frame, a fixed block, an angle adjustment motor, an adjustment rod, and a torsion motor. The drive mechanism includes a mounting box, a drive motor, and several driven gears. The fixed frame is mounted on the mounting frame, and the fixed block is bolted to the fixed frame. The angle adjustment motor is mounted on the fixed block and is used to drive the adjustment rod to rotate. The torsion motor is located at the end of the adjustment rod away from the angle adjustment motor and is connected to the mounting box. The drive motor is located in the mounting box. Two grippers are symmetrically arranged, and each gripper has driven gears connected to both sides. Adjacent driven gears mesh with each other, and one of the driven gears is connected to the output end of the drive motor.

4. The pineapple harvesting robot according to claim 3, characterized in that: The pneumatic drive mechanism includes an electromagnetic opening valve and a pneumatic telescopic rod. The electromagnetic opening valve is connected to the air storage tank and is connected to the pneumatic telescopic rod via a pipe. The pneumatic telescopic rod is connected to the mounting box, and the moving end of the pneumatic telescopic rod is connected to the cutting blade.

5. The pineapple harvesting robot according to claim 1, characterized in that: The conveying mechanism includes a second electromagnetic opening valve and a connecting pipe. The second electromagnetic opening valve is connected to the gas storage tank and is connected to the air bag through the connecting pipe.

6. The pineapple harvesting robot according to claim 5, characterized in that: The release mechanism includes a pressure relief valve connected to the airbag. When the angle sensor detects that the mounting bracket has moved above the pineapple frame, the pressure relief valve will open.

7. The pineapple harvesting robot according to claim 4, characterized in that: The second release mechanism includes a second pressure relief valve and a return spring. The second pressure relief valve is located at the connection end between the pneumatic telescopic rod and the cutting blade. The return spring is located inside the pneumatic telescopic rod. The return spring is used to drive the pneumatic telescopic rod to return to its original position when pressure is released. When the angle sensor detects that the mounting bracket is rising, the second pressure relief valve will open.

8. A harvesting device, characterized in that: The pineapple harvesting robot as described in any one of claims 1-7.

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