Intelligent forest fruit picking machine

Abstract

The invention belongs to the technical field of forest fruit industry, and discloses an intelligent forest fruit picking machine. The collecting frame is arranged on the trolley; the picking robot is arranged on the trolley; the displacement mechanism is arranged on the trolley and comprises a mounting plate, an electric telescopic rod, a moving plate, a driving part I, a screw rod and a placing frame; one end of the electric telescopic rod is connected to the mounting plate, the other end of the electric telescopic rod is connected to the moving plate, and the electric telescopic rod is used for driving the moving plate to move in the horizontal direction, so that frequent reciprocating of the mechanical arm of the picking robot between the picking position and the collecting frame is reduced, and the motion path and working time of the mechanical arm are shortened; the mechanical arm is simple in structure and convenient to operate, part abrasion caused by frequent starting and stopping is reduced, the service life of equipment is prolonged, the problems that in a traditional picking mode, the reciprocating efficiency of the mechanical arm is low, and loss is fast are solved, the picking amount per unit time is increased, and therefore the picking efficiency is indirectly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of forestry and fruit industry, and in particular relates to an intelligent forestry and fruit picking machine. Background Art

[0002] The background technology of intelligent fruit picking machines is based on the development trend of agricultural production automation and intelligent technology. With the continuous advancement of agricultural technology, the traditional manual picking mode faces problems such as high labor costs, low picking efficiency, and unstable picking quality. These problems have seriously affected the development of the fruit industry and the competitiveness of agricultural products. In order to improve picking efficiency and quality, researchers and companies have begun to explore and develop efficient intelligent picking machines, aiming to achieve precise picking of various fruits by applying advanced sensors, image recognition technology, and automated control technology. However, the existing intelligent fruit picking machines need to place the fruits one by one in the collection box after picking the fruits. At this time, the picking robot arm needs to frequently move back and forth between the picking position and the collection box, which not only increases the movement path and working time of the robot arm, but also aggravates the wear of mechanical parts due to frequent starting and stopping, shortens the service life of the equipment, and at the same time, causes the problem of low picking efficiency of the intelligent fruit picking machine. Summary of the Invention

[0003] The present invention addresses the problem in the prior art that the picking robot arm needs to frequently move back and forth between the picking position and the collection frame, which not only increases the movement path and working time of the robot arm, but also aggravates the wear of mechanical parts due to frequent starts and stops, shortens the service life of the equipment, and also causes low picking efficiency of the intelligent fruit picking machine. The present invention proposes the following technical solutions: An intelligent fruit picking machine, comprising: small car; a collection frame, arranged on the trolley; A picking robot is arranged on the trolley; The displacement mechanism is arranged on the trolley and includes a mounting plate, an electric telescopic rod, a moving plate, a driving member 1, a screw and a placement frame; One end of the electric telescopic rod is connected to the mounting plate, and the other end is connected to the movable plate, for driving the movable plate to move in the horizontal direction so that the placement frame switches between a position below the picking head of the picking robot and a position inside the collection frame; The driving member is connected to and drives the screw to rotate, and the screw is threadedly connected to the placement frame, and is used to drive the placement frame to move along one end of the movable plate; The fruit unloading mechanism is arranged inside the collecting frame and includes a second driving member, a fixing plate, a metal wire mesh and a barrier component; The second driving member drives the fixed plate to move synchronously; the metal mesh is laid on one end of the fixed plate, and a buffer layer and a smooth layer are sequentially provided on the surface of the metal mesh, and the barrier component is provided inside the placement frame; When the placement frame moves into the collection frame, the second driving member drives the fixed plate to move, causing the smooth layer to move and the fruits in the placement frame to move under the action of the blocking component, and fall into the collection frame from the gap between the fixed plate and the bottom of the placement frame.

[0004] As a preferred embodiment of the above technical solution, the blocking assembly includes a baffle, a column, a reset member and a pusher, the baffle is connected to the pusher via the column, and the reset member acts on the baffle to drive the baffle to rise and reset; At the same time, the triangular plate on the movable fixed plate is separated from the pushing member, and the reset member drives the baffle to rise to the blocking position to prevent the fruits on the smooth layer.

[0005] As a preferred embodiment of the above technical solution, there are two fixing plates, which are arranged diagonally in the upper and lower directions; clamping plates are symmetrically arranged on the outer sides of the fixing plates, and a transmission structure is arranged on the outer sides of the clamping plates.

[0006] As a preferred embodiment of the above technical solution, the placement frame is in a circular shape, and a guide groove corresponding to the fixing plate is provided inside the placement frame.

[0007] As a preferred embodiment of the above technical solution, the triangular plate is fixedly connected to one of the fixed plates. When the fixed plate moves to the starting position for unloading the fruit, the triangular plate contacts the pushing member and presses down the baffle.

[0008] As a preferred embodiment of the above technical solution, a convex groove is provided on the inner wall of the movable plate, a convex block is welded on one side of the placement frame, the convex block is slidably connected in the convex groove, and the screw rod is threadedly connected to the placement frame to drive it to move along the convex groove.

[0009] As a preferred embodiment of the above technical solution, the buffer layer is made of a soft and elastic material, and the smooth layer is made of polytetrafluoroethylene or ultra-high molecular weight polyethylene.

[0010] As a preferred embodiment of the above technical solution, one end surface of the triangular plate away from the second driving member is on an inclined surface, and one end surface of the triangular plate close to the second driving member is on a vertical surface.

[0011] As a preferred embodiment of the above technical solution, a linkage structure is provided at one end of the second driving member, and a transmission structure is provided at one end of the linkage structure. The second driving member drives the transmission structure through the linkage structure, and the transmission structure connects and drives the at least two fixed plates to move synchronously.

[0012] The beneficial effects of the present invention are: (1) It reduces the frequent round trips of the picking robot arm between the picking position and the collection frame, shortens the movement path and working time of the robot arm, reduces the wear of components caused by frequent start and stop, extends the service life of the equipment, solves the problem of "low efficiency and fast wear of the robot arm" in the traditional picking mode, and increases the picking volume per unit time, thereby indirectly improving the picking efficiency; (2) The smooth layer reduces the friction damage between the fruit and the contact surface through its low friction characteristics. At the same time, the barrier component guides the fruit to fall along the preset path through its barrier effect, preventing the fruit from deflecting or colliding due to the deformation of the buffer layer. (3) The method of blocking the fruits by metal mesh is different from the method of opening and closing the double doors and sliding doors in the prior art. It solves the problem that the fruits gather together during the opening and closing of the existing doors and that a certain distance needs to be maintained between the fruits and the collection frame. It also solves the problem that the sliding doors occupy the edge of the inner wall of the collection frame during the opening and closing process, making it impossible to place fruits in the area near the two sides of the inner wall of the collection frame, resulting in low utilization of the internal space of the collection frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The figure shows a schematic structural diagram of an intelligent fruit picking machine in Example 1; Figure 2 The figure shows the installation structure diagram of the placement frame in Example 1; Figure 3 The figure shows the installation structure diagram of the screw rod in Example 1; Figure 4 The figure shows the installation structure diagram of the linkage structure in Example 1; Figure 5 The figure shows the installation structure diagram of the clamping plate in Example 1; Figure 6 The figure shows the installation structure diagram of the metal mesh in Example 1; Figure 7 Shown is Figure 6 Schematic diagram of the structure of area A; Figure 8 Shown is a physical picture of an intelligent fruit picking machine in Example 1.

[0014] In the figure: 1. Trolley; 2. Collection frame; 3. Picking robot; 41. Mounting plate; 42. Electric telescopic rod; 43. Moving plate; 44. Driving member 1; 45. Screw; 46. Placement frame; 51. Driving member 2; 52. Linkage structure; 53. Transmission structure; 54. Fixed plate; 55. Wire mesh; 56. Buffer layer; 57. Smooth layer; 58. Clamping plate; 59. Triangular plate; 61. Baffle; 62. Column; 63. Reset member; 64. Pushing member. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0016] Example 1 The present invention provides an intelligent fruit picking machine, such as Figures 1 to 8 As shown, it includes a trolley 1, a collection frame 2, a picking robot 3, a displacement mechanism and a fruit unloading mechanism; the trolley 1 serves as a mobile platform, carrying other components to move autonomously in the orchard, and the collection frame 2 is arranged on the trolley 1; it is used to finally store the picked fruits; the picking robot 3 is arranged on the trolley 1; it is equipped with a visual recognition system, and a picking head is provided at one end for precise picking of fruits (which belongs to the existing technology and is not elaborated here), and the displacement mechanism is arranged on the trolley 1, including a mounting plate 41, an electric telescopic rod 42, a moving plate 43, a driving member 44, a screw 45 and a placement frame 46; one end of the electric telescopic rod 42 is connected to the mounting plate 41, and the other end is connected to the moving plate 43, which is used to drive the moving plate 43 to move in the horizontal direction, so that the placement frame 46 is located below the picking head of the picking robot 3 and inside the collection frame 2. Switch between; driving member 1 44 connects and drives the screw rod 45 to rotate, and the screw rod 45 is threadedly connected to the placement frame 46, for driving the placement frame 46 to move along one end of the movable plate 43; the fruit unloading mechanism is arranged inside the collection frame 2, and includes a driving member 2 51, a fixed plate 54, a wire mesh 55 and a barrier component; the driving member 2 51 drives the fixed plate 54 to move synchronously; the wire mesh 55 is laid on one end of the fixed plate 54, and a buffer layer 56 and a smooth layer 57 are sequentially provided on the surface of the wire mesh 55, and the barrier component is arranged inside the placement frame 46; when the placement frame 46 moves to the inside of the collection frame 2, the driving member 2 51 drives the fixed plate 54 to move, so that the smooth layer 57 moves and the fruit in the placement frame 46 moves under the action of the barrier component, and falls into the collection frame 2 from the gap between the fixed plate 54 and the bottom of the placement frame 46.

[0017] After picking the fruits, the intelligent fruit picking machine needs to place the fruits one by one in the collection frame 2. At this time, the mechanical arm of the picking robot 3 needs to frequently move back and forth between the picking position and the collection frame 2, which not only increases the movement path and working time of the mechanical arm of the picking robot 3, but also aggravates the wear of mechanical parts due to frequent starting and stopping, shortens the service life of the equipment, and at the same time, causes the problem of low picking efficiency of the intelligent fruit picking machine; This method reduces the motion path and working time of the mechanical arm of the picking robot 3, thereby reducing the wear and tear of the mechanical arm caused by the motion path and working time, and shortens the operation path, thereby effectively reducing the maintenance cost of the mechanical arm of the picking robot 3 and extending the continuous operation time of the equipment; It also enables the intelligent fruit picking machine to complete more fruit picking work in the same amount of time. The efficient picking ability can also reduce the orchard's dependence on manual picking, alleviate the problem of labor shortage during the busy farming season, and at the same time reduce the possible mispicking and damage to fruits and vegetables caused by manual picking, further improving the quality of fruit harvest.

[0018] Specifically, a collection frame 2 is provided at the top of the trolley 1, and a picking robot 3 is installed on the top of the trolley 1 through screws (the picking robot 3 is composed of a mechanical arm, a picking head, a visual recognition system, etc., which belongs to the existing technology and will not be elaborated on here). A mounting plate 41 is mounted on one end of the picking robot 3 through screws, and an electric telescopic rod 42 is symmetrically fixedly mounted on the inner wall of the mounting plate 41. A moving plate 43 is mounted on the movable end of the electric telescopic rod 42. A driving member 44 is mounted on one end of the moving plate 43 through a mounting seat, and the output shaft of the driving member 44 is connected to the screw rod 4 through a flat key. 5. The screw rod 45 is coaxial with the output shaft of the driving member 1 44. A convex groove is provided on the inner wall of the movable plate 43. A convex block is slidably connected to the inner wall of the convex groove. A placement frame 46 is welded to one end of the convex block. The placement frame 46 is in the shape of a circle. The screw rod 45 is threadedly connected to the convex block to drive the convex block to move along the convex groove, thereby driving the placement frame 46 to move. A driving member 2 51 is installed on the outer side of the placement frame 46 through a mounting seat. The output shaft of the driving member 2 51 is connected to a linkage structure 52 (the linkage structure 52 is composed of two gears, one of which is connected to the output shaft of the driving member 2 51 by a flat key The transmission structure 53 is connected to the other gear and is rotatably connected to the placement frame 46. One end of the linkage structure 52 is connected to a transmission structure 53 (the transmission structure 53 is composed of a chain and two sprockets, wherein the two sprockets are rotatably connected to the placement frame 46, and the chain is sleeved on the outside of the two sprockets). A clamping plate 58 is welded to the outside of the transmission structure 53 (the clamping plate 58 is welded to the chain). The number of the clamping plates 58 is set to four, two clamping plates 58 form a group, and the two groups of clamping plates 58 are diagonally arranged on the transmission structure 53. The two groups of clamping plates 58 are fixed by screws. A fixed plate 54 is installed, and the second driving member 51 drives the transmission structure 53 through the linkage structure 52. The transmission structure 53 is connected and drives the fixed plate 54 to move synchronously. A metal mesh 55 is fixedly installed between the two fixed plates 54. The metal mesh 55 passes through the placement frame 46. A buffer layer 56 is bonded to the surface of the metal mesh 55. The buffer layer 56 is made of a soft and elastic material (such as sponge). A smooth layer 57 is bonded to the surface of the buffer layer 56. The smooth layer 57 is made of polytetrafluoroethylene or ultra-high molecular weight polyethylene. A barrier component is provided inside the placement frame 46.

[0019] like Figure 2 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7As shown, since the fixed plate 54 drives the metal mesh 55 to move when it moves, the metal mesh 55 needs to drive the buffer layer 56 and the smooth layer 57 to move when it moves. When the buffer layer 56 moves along the inner wall of the placement frame 46, the buffer layer 56 will be compressed and deformed. Since fruits are provided on the buffer layer 56, when the deformation position is too close to the position of the fruits, the fruits will shift to the recessed position, which will easily cause the fruits to move. For this reason, the blocking assembly includes a baffle 61, a column 62, a reset member 63 and a push member 64. The baffle 61 is connected to the push member 64 through the column 62. The reset member 63 acts on the baffle 61 to drive the baffle 61 to rise and reset. At the same time, the triangular plate 59 on the movable fixed plate 54 separates from the pushing member 64 , and the reset member 63 drives the baffle 61 to rise to the blocking position, thereby preventing the fruits on the smooth layer 57 from falling.

[0020] When in use, since the two fixing plates 54 move synchronously along the inside of the placement frame 46, the top fixing plate 54 drives the wire mesh 55 to block the top of the placement frame 46, and the wire mesh 55 changes the blocking position of the bottom end of the placement frame 46 (the bottom fixing plate 54 and the top fixing plate 54 are arranged at an angle relative to each other and are both located inside the placement frame 46), so that the space in the middle of the placement frame 46 (the placement frame 46 is in the shape of a circular shape and is hollow in the middle) is exposed. At this time, the wire mesh 55 moves while driving the buffer layer 56 and the smooth layer 57 to move. At this time, the fruits come into contact with the baffle 61, and the baffle 61 generates abutment force on the fruits, which makes it impossible for the smooth layer 57 to continue to drive the fruits to move when it moves, and due to the low friction between the smooth layer 57 and the fruits, the smooth layer 57 moves along the bottom of the fruits. When the smooth layer 57 is completely separated from the fruits, the fruits fall into the collection frame 2; When the upper fixed plate 54 moves, the triangular plate 59 is driven to move. At this time, the tension of the reset member 63 drives the baffle 61 to rise to the blocking position, preventing the fruits on the smooth layer 57, and making it impossible for the baffle 61 to press the buffer layer 56, thereby causing the pressing position of the buffer layer 56 to change, so that the pressing deformation point of the buffer layer 56 is farther away from the fruits, thereby reducing the interference of the deformation of the buffer layer 56 on the fruits.

[0021] Specifically, a triangular plate 59 is installed at the bottom end of a fixed plate 54 by screws, and a pushing member 64 is provided at the bottom end of the triangular plate 59 inside the placement frame 46. The bottom end of the pushing member 64 is symmetrically embedded with a column 62, and the column 62 is slidably connected to the inside of the placement frame 46. A baffle 61 is sleeved and installed at the bottom end of the column 62. A reset member 63 is provided at the top end of the baffle 61 and the outside position of the column 62 inside the placement frame 46. The reset member 63 is specifically a reset spring. When the fixed plate 54 moves to the starting position for unloading the fruit, the triangular plate 59 contacts the pushing member 64 and presses down the baffle 61. The end face of the triangular plate 59 away from the driving member 2 51 is in an inclined surface, and the end face of the triangular plate 59 close to the driving member 2 51 is in a vertical surface.

[0022] Working principle: During actual use of the device, the trolley 1 drives the collecting frame 2 and the picking robot 3 to move simultaneously. Then, when the picking robot 3 moves to a predetermined position, the electric telescopic rod 42 at one end of the mounting plate 41 operates. The electric telescopic rod 42 extends during operation. When the electric telescopic rod 42 extends, it drives the placing frame 46 to enter under the picking head of the picking robot 3 through the moving plate 43. Then, the picking head of the picking robot 3 picks the fruits. After the picking is completed, the picking head of the picking robot 3 is released. At this time, the fruits clamped on the picking head of the picking robot 3 fall into the placing frame 46 and contact with the buffer layer 56. At this time, the fruits are buffered by the buffer layer 56 inside the placing frame 46 to prevent the fruits from being damaged due to impact force. Then, the driving member 44 is started. When the driving member 44 rotates, it drives the screw rod 45 to rotate. When the screw rod 45 rotates, it drives the placement frame 46 to move along one end of the movable plate 43 (a convex block is welded on one end face of the placement frame 46, and a convex groove is provided on the inner wall of the movable plate 43 corresponding to one end of the convex block, and the convex block is slidably connected to the inside of the convex groove), so that the area inside the placement frame 46 where no fruit is left enters under the picking head of the picking robot 3, and then the picking head of the picking robot 3 puts the second fruit into the placement frame 46, and moves horizontally and vertically in sequence, so that the placement frame 46 is filled with fruit; Next, the robotic arm of the picking robot 3 places the placement frame 46 into the collection frame 2. At this time, the second driving member 51 drives the transmission structure 53 to operate through the linkage structure 52. When the transmission structure 53 is in operation, it drives the two fixed plates 54 arranged diagonally above and below to move simultaneously through the clamping plate 58. The two fixed plates 54 move synchronously and drive the wire mesh 55 to move. At this time, the fixed plate 54 at the top drives the wire mesh 55 to block the top of the placement frame 46. At the same time, the wire mesh 55 changes the blocking position of the bottom of the placement frame 46, so that the space in the middle of the placement frame 46 (the placement frame 46 is in the shape of a round shape and is hollow in the middle) is exposed, so that the fruits fall along the middle area. When the metal mesh 55 moves, the buffer layer 56 on the surface moves, and when the buffer layer 56 moves, the smooth layer 57 on the surface moves. At this time, the forest fruits are blocked by the baffle 61, so that they move along the surface of the smooth layer 57, and then move along the bottom fixed plate 54 and fall away from the placement frame 46. At this time, the forest fruits fall along the hollow part of the placement frame 46 and enter the collection frame 2. At the same time, when the fixed plate 54 at the top moves, it drives the triangular plate 59 to move. At this time, the triangular plate 59 is separated from the pusher 64. At this time, the baffle 61 is driven to rise under the action of the reset member 63. When the baffle 61 rises, it drives the pusher 64 to rise through the column 62. At this time, the baffle 61 rises and enters the top surface of the smooth layer 57. At this time, the fruits on the top surface of the smooth layer 57 are blocked. On the contrary, the triangular plate 59 enters the top of the pusher 64 and drives the pusher 64 down through the action of the inclined surface. At this time, the pusher 64 drives the reset member 63 to compress.

[0023] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same.

Claims

1. An intelligent fruit picking machine, characterized in that: include: Cart (1); A collection frame (2) is provided on the trolley (1); A picking robot (3) is arranged on the trolley (1); A displacement mechanism is provided on the trolley (1), comprising a mounting plate (41), an electric telescopic rod (42), a movable plate (43), a driving member (44), a screw (45) and a placement frame (46); one end of the electric telescopic rod (42) is connected to the mounting plate (41), and the other end is connected to the movable plate (43), for driving the movable plate (43) to move in a horizontal direction, so that the placement frame (46) switches between a position below the picking head of the picking robot (3) and a position inside the collection frame (2); the driving member (44) is connected to and drives the screw (45) to rotate, and the screw (45) is threadedly connected to the placement frame (46), for driving the placement frame (46) to move along one end of the movable plate (43); The fruit unloading mechanism is arranged inside the collection frame (2), and includes a second driving member (51), a fixed plate (54), a metal wire mesh (55) and a barrier component; the second driving member (51) drives the fixed plate (54) to move synchronously; the metal wire mesh (55) is laid on one end of the fixed plate (54), and a buffer layer (56) and a smooth layer (57) are sequentially provided on the surface of the metal wire mesh (55), and the barrier component is arranged inside the placement frame (46); when the placement frame (46) moves to the inside of the collection frame (2), the second driving member (51) drives the fixed plate (54) to move, so that the smooth layer (57) moves and the fruits in the placement frame (46) move under the action of the barrier component, and fall into the collection frame (2) from the gap between the fixed plate (54) and the bottom of the placement frame (46).

2. The intelligent fruit picking machine according to claim 1, characterized in that: The blocking assembly includes a baffle (61), a column (62), a reset member (63) and a push member (64), wherein the baffle (61) is connected to the push member (64) via the column (62), and the reset member (63) acts on the baffle (61) to drive the baffle (61) to rise and reset; at the same time, the triangular plate (59) on the moving fixed plate (54) is separated from the push member (64), and the reset member (63) drives the baffle (61) to rise to a blocking position, thereby preventing the fruit on the smooth layer (57).

3. The intelligent fruit picking machine according to claim 2, characterized in that: There are two fixing plates (54) which are arranged diagonally in the upper and lower directions. Clamping plates (58) are symmetrically arranged on the outside of the fixing plates (54), and a transmission structure (53) is arranged on the outside of the clamping plates (58).

4. The intelligent fruit picking machine according to claim 2, characterized in that: The placement frame (46) is in the shape of a circle, and a guide groove corresponding to the fixing plate (54) is provided inside the placement frame (46).

5. The intelligent fruit picking machine according to claim 2, characterized in that: The triangular plate (59) is fixedly connected to one of the fixed plates (54). When the fixed plate (54) moves to the fruit unloading starting position, the triangular plate (59) contacts the pushing member (64) and presses down the baffle (61).

6. The intelligent fruit picking machine according to claim 2, characterized in that: A convex groove is provided on the inner wall of the movable plate (43), a convex block is welded on one side of the placement frame (46), and the convex block is slidably connected in the convex groove. The screw rod (45) is threadedly connected to the placement frame (46) to drive it to move along the convex groove.

7. The intelligent fruit picking machine according to claim 1, characterized in that: The buffer layer (56) is made of a soft and elastic material, and the smooth layer (57) is made of polytetrafluoroethylene or ultra-high molecular weight polyethylene.

8. The intelligent fruit picking machine according to claim 2, characterized in that: One end surface of the triangular plate (59) away from the second driving member (51) is on an inclined surface, and one end surface of the triangular plate (59) close to the second driving member (51) is on a vertical surface.

9. The intelligent fruit picking machine according to claim 2, characterized in that: A linkage structure (52) is provided at one end of the second driving member (51), and a transmission structure (53) is provided at one end of the linkage structure (52). The second driving member (51) drives the transmission structure (53) through the linkage structure (52), and the transmission structure (53) connects and drives the at least two fixed plates (54) to move synchronously.

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