A smart fruit harvesting machine

Abstract

This invention belongs to the field of forestry and fruit industry technology and discloses an intelligent fruit harvesting machine, including: a trolley; a collection frame disposed on the trolley; a harvesting robot disposed on the trolley; and a displacement mechanism disposed on the trolley, including a mounting plate, an electric telescopic rod, a moving plate, a drive component, a lead 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 moving plate, which drives the moving plate to move horizontally. This reduces the frequent back-and-forth movement of the harvesting robot arm between the harvesting position and the collection frame, shortens the movement path and working time of the robot arm, reduces component wear caused by frequent start-stop, extends the service life of the equipment, solves the problem of "low efficiency and rapid wear of the robot arm" in the traditional harvesting mode, and increases the harvesting amount per unit time, thereby indirectly improving the harvesting efficiency.

Description

Technical Field

[0001] This invention belongs to the field of forestry and fruit industry technology, and in particular relates to an intelligent fruit harvesting machine. Background Technology

[0002] The background technology of intelligent fruit and forestry harvesting machines is based on the development trend of agricultural production automation and intelligent technology. With the continuous progress of agricultural technology, the traditional manual harvesting mode faces problems such as high labor costs, low harvesting efficiency, and unstable harvesting quality. These problems seriously affect the development of the fruit and forestry industry and the competitiveness of agricultural products. In order to improve harvesting efficiency and harvesting quality, researchers and enterprises have begun to explore and develop efficient intelligent harvesting machines, aiming to achieve precise harvesting of various fruits and forestry products by applying advanced sensors, image recognition technology, and automated control technology.

[0003] Existing intelligent fruit picking machines require placing each fruit into a collection box after harvesting. This necessitates the robotic arm to frequently move back and forth between the harvesting location and the collection box, increasing the arm's movement path and working time. Frequent starts and stops also exacerbate wear and tear on mechanical parts, shortening the equipment's lifespan and resulting in low harvesting efficiency. Summary of the Invention

[0004] This invention addresses the problem in existing technologies where the harvesting robotic arm needs to frequently move back and forth between the harvesting position and the collection frame. This not only increases the movement path and working time of the robotic arm but also exacerbates the wear and tear on mechanical parts due to frequent starts and stops, shortening the service life of the equipment. Furthermore, it results in low harvesting efficiency in intelligent fruit and nut harvesting machines. The invention proposes the following technical solution:

[0005] A smart fruit harvesting machine includes:

[0006] Car;

[0007] A collection box is provided on the vehicle;

[0008] A harvesting robot is mounted on the vehicle.

[0009] The displacement mechanism, mounted on the trolley, includes a mounting plate, an electric telescopic rod, a moving plate, a drive component, a lead screw, and a placement frame.

[0010] One end of the electric telescopic rod is connected to the mounting plate, and the other end is connected to the moving plate, which is used to drive the moving plate to move horizontally so that the placement frame can switch between the position below the picking head of the picking robot and the position inside the collection frame;

[0011] The driving component is connected to and drives the lead screw to rotate. The lead screw is threadedly connected to the placement frame and is used to drive the placement frame to move along one end of the moving plate.

[0012] The fruit unloading mechanism is located inside the collection frame and includes a second driving component, a fixing plate, a metal wire mesh, and a barrier component.

[0013] The second driving component drives the fixed plate to move synchronously; the metal wire 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 wire mesh; the barrier component is located inside the placement frame.

[0014] When the placement frame moves into the collection frame, the second driving component drives the fixed plate to move, causing the smooth layer to move and, through the action of the barrier component, causing the fruit in the placement frame to move and fall into the collection frame through the gap between the fixed plate and the bottom of the placement frame.

[0015] As a preferred embodiment of the above technical solution, the blocking component includes a baffle, a column, a reset component, and a pusher component. The baffle is connected to the pusher component through the column, and the reset component acts on the baffle to drive the baffle to rise and reset.

[0016] Simultaneously, the triangular plate on the movable fixed plate separates from the pusher, and the reset member drives the baffle to rise to the blocking position, preventing the fruit on the smooth layer from entering.

[0017] As a preferred embodiment of the above technical solution, there are two fixing plates, which are arranged diagonally at the top and bottom; clamping plates are symmetrically arranged on the outer side of the fixing plates, and a transmission structure is arranged on the outer side of the clamping plates.

[0018] As a preferred embodiment of the above technical solution, the placement frame is U-shaped, and a guide groove corresponding to the fixing plate is provided inside the placement frame.

[0019] 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 fruit unloading start position, the triangular plate contacts the pushing member and presses down the baffle.

[0020] As a preferred embodiment of the above technical solution, the inner wall of the movable plate is provided with a groove, a protrusion is welded to one side of the placement frame, the protrusion is slidably connected in the groove, and the lead screw is threadedly connected to the placement frame to drive it to move along the groove.

[0021] 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.

[0022] As a preferred embodiment of the above technical solution, the end face of the triangular plate away from the second driving component is in an inclined plane, and the end face of the triangular plate close to the second driving component is in a vertical plane.

[0023] As a preferred embodiment of the above technical solution, one end of the driving component two is provided with a linkage structure, and one end of the linkage structure is provided with a transmission structure. The driving component two drives the transmission structure through the linkage structure, and the transmission structure connects to and drives the at least two fixed plates to move synchronously.

[0024] The beneficial effects of this invention are as follows:

[0025] (1) It reduces the frequent back-and-forth movement of the robotic arm between the picking position and the collection box, shortens the movement path and working time of the robotic arm, reduces the wear and tear of parts caused by frequent start-stop, extends the service life of the equipment, solves the problem of "low efficiency and fast wear and tear of robotic arm" in the traditional picking mode, and increases the picking amount per unit time, thereby indirectly improving the picking efficiency.

[0026] (2) The smooth layer reduces frictional damage between the fruit and the contact surface through its low frictional properties. At the same time, the barrier component guides the fruit to fall along the preset path through its barrier effect, preventing the fruit from shifting or colliding due to the deformation of the buffer layer.

[0027] (3) The method of using metal wire mesh to block the fruit is different from the opening and closing of double doors and sliding doors in the existing technology. It solves the problem that the fruit will gather during the opening and closing of the existing doors and that a certain distance needs to be maintained between the fruit and the collection box. It also solves the problem that the sliding door occupies the area of ​​the inner wall of the collection box during the opening and closing process, making it impossible to place the fruit in the area near the inner wall of the collection box, resulting in low utilization of the internal space of the collection box. Attached Figure Description

[0028] Figure 1 The diagram shown is a structural schematic of an intelligent fruit harvesting machine according to Embodiment 1;

[0029] Figure 2 The diagram shown is a schematic diagram of the installation structure of the placement frame in Embodiment 1;

[0030] Figure 3 The diagram shown is a schematic of the screw mounting structure in Embodiment 1;

[0031] Figure 4 The diagram shown is a schematic diagram of the installation structure of the linkage structure in Embodiment 1;

[0032] Figure 5 The diagram shown is a schematic of the installation structure of the clamping plate in Embodiment 1;

[0033] Figure 6The diagram shown is a schematic of the installation structure of the metal wire mesh in Example 1;

[0034] Figure 7 What is shown is Figure 6 Schematic diagram of the structure of region A in the middle;

[0035] Figure 8 The image shown is a physical picture of an intelligent fruit harvesting machine according to Embodiment 1.

[0036] In the diagram: 1. Cart; 2. Collection box; 3. Harvesting robot; 41. Mounting plate; 42. Electric telescopic rod; 43. Moving plate; 44. Drive component one; 45. Lead screw; 46. Placement box; 51. Drive component two; 52. Linkage structure; 53. Transmission structure; 54. Fixing plate; 55. Metal wire mesh; 56. Buffer layer; 57. Smoothing layer; 58. Clamping plate; 59. Triangular plate; 61. Baffle; 62. Column; 63. Reset component; 64. Pushing component. Detailed Implementation

[0037] To make the objectives, 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.

[0038] Example 1

[0039] This invention provides an intelligent fruit harvesting machine, such as... Figures 1 to 8As shown, the system includes a trolley 1, a collection box 2, a harvesting robot 3, a displacement mechanism, and a fruit unloading mechanism. The trolley 1 serves as a mobile platform, carrying other components and moving autonomously within the orchard. The collection box 2 is mounted on the trolley 1 for final storage of the harvested fruit. The harvesting robot 3 is mounted on the trolley 1 and equipped with a visual recognition system. One end of the robot has a harvesting head for precise fruit harvesting (this is prior art and will not be elaborated here). The displacement mechanism, mounted on the trolley 1, includes a mounting plate 41, an electric telescopic rod 42, a moving plate 43, a drive component 44, a lead screw 45, and a placement box 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, driving the moving plate 43 to move horizontally so that the placement box 46 is positioned below the harvesting head of the harvesting robot 3 and inside the collection box 2. Switching between; Drive component 44 connects to and drives lead screw 45 to rotate, lead screw 45 is threadedly connected to placement frame 46, used to drive placement frame 46 to move along one end of moving plate 43; Fruit unloading mechanism, set inside collection frame 2, includes drive component 51, fixed plate 54, metal wire mesh 55 and barrier component; Drive component 51 drives fixed plate 54 to move synchronously; Metal wire mesh 55 is laid on one end of fixed plate 54, and buffer layer 56 and smooth layer 57 are sequentially provided on the surface of metal wire mesh 55, and barrier component is set inside placement frame 46; When placement frame 46 moves into collection frame 2, drive component 51 drives fixed plate 54 to move, causing smooth layer 57 to move and the fruit in placement frame 46 to move under the action of barrier component, and fall into collection frame 2 from the gap between fixed plate 54 and bottom of placement frame 46.

[0040] After harvesting the fruit, the intelligent fruit picking machine needs to place the fruit into the collection box 2 one by one. At this time, the mechanical arm of the picking robot 3 needs to move back and forth frequently between the picking position and the collection box 2. This not only increases the movement path and working time of the mechanical arm of the picking robot 3, but also aggravates the wear and tear of mechanical parts due to frequent start and stop, shortens the service life of the equipment, and causes the intelligent fruit picking machine to have low picking efficiency.

[0041] This method reduces the movement path and working time of the 3-arm robotic arm of the harvesting robot, thereby reducing the wear and tear caused by the movement path and working time. It also reduces the running path, thus effectively reducing the maintenance cost of the 3-arm robotic arm of the harvesting robot and extending the continuous running time of the equipment.

[0042] Furthermore, the intelligent fruit harvesting machine can complete the harvesting of more fruits in the same amount of time. Its efficient harvesting capacity can also reduce the orchard's reliance on manual harvesting, alleviate the labor shortage during the busy farming season, and reduce the possibility of accidental picking and damage to fruits that may occur during manual harvesting, thereby further improving the quality of fruit harvest.

[0043] Specifically, a collection frame 2 is set at the top of the cart 1, and a harvesting robot 3 is installed at the top of the cart 1 by screws. (The harvesting robot 3 consists of a robotic arm, a harvesting head, a vision recognition system, etc., which is existing technology and will not be elaborated on here.) A mounting plate 41 is installed at one end of the harvesting robot 3 by screws. Electric telescopic rods 42 are symmetrically fixed to the inner wall of the mounting plate 41. A movable plate 43 is installed at the movable end of the electric telescopic rod 42. A drive component 44 is installed at one end of the movable plate 43 through a mounting base. The output shaft of the drive component 44 is connected to a lead screw 4 by a flat key. 5. The output shafts of the lead screw 45 and the first drive component 44 are coaxial. A groove is provided on the inner wall of the moving plate 43. A protrusion is slidably connected inside the groove. A placement frame 46 is welded to one end of the protrusion. The placement frame 46 is U-shaped. The lead screw 45 is threadedly connected to the protrusion to drive the protrusion to move along the groove, thereby driving the placement frame 46 to move. The second drive component 51 is mounted on the outside of the placement frame 46 through a mounting base. The output shaft of the second drive component 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 second drive component 51 by a flat key). The linkage structure 52 is connected to a transmission structure 53 (which consists of a chain and two sprockets, both of which 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). There are four clamping plates 58 in total, with two clamping plates 58 forming a group. The two groups of clamping plates 58 are diagonally arranged on the transmission structure 53, and are connected by screws. The frame is equipped with a fixed plate 54. The driving component 51 drives the transmission structure 53 through the linkage structure 52. The transmission structure 53 connects to and drives the fixed plate 54 to move synchronously. A metal wire mesh 55 is fixedly installed between the two fixed plates 54. The metal wire mesh 55 passes through the placement frame 46. A buffer layer 56 is bonded to the surface of the metal wire 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 set inside the placement frame 46.

[0044] like Figure 2 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, when the fixed plate 54 moves, it drives the wire mesh 55 to move. When the wire mesh 55 moves, it needs to drive the buffer layer 56 and the smooth layer 57 to move. When the buffer layer 56 moves along the inner wall of the placement frame 46, it will cause the buffer layer 56 to be compressed and deformed. Since there are fruits on the buffer layer 56, when the deformation position is too close to the position of the fruits, the fruits will shift to the concave area, which will easily cause the fruits to move. Therefore, the blocking component includes a baffle 61, a column 62, a reset component 63 and a pusher 64. The baffle 61 is connected to the pusher 64 through the column 62. The reset component 63 acts on the baffle 61 to drive the baffle 61 to rise and reset.

[0045] At the same time, the triangular plate 59 on the movable fixed plate 54 separates from the pusher 64, and the reset member 63 drives the baffle 61 to rise to the blocking position, preventing the fruit on the smooth layer 57 from being blocked.

[0046] During use, as 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. At the same time, the position of the wire mesh 55 blocking the bottom of the placement frame 46 changes (the bottom fixing plate 54 and the top fixing plate 54 are set at an angle 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 shape of the placement frame 46 is U-shaped and the middle is hollow) 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 fruit comes into contact with the baffle 61, and the baffle 61 generates a resisting force on the fruit. At this time, the smooth layer 57 can no longer drive the fruit to move. And because the friction between the smooth layer 57 and the fruit is low, the smooth layer 57 moves along the bottom of the fruit. When the smooth layer 57 is completely separated from the fruit, the fruit falls into the collection frame 2.

[0047] When the upper fixed plate 54 moves, it drives the triangular plate 59 to move. At this time, the tension of the reset member 63 drives the baffle 61 to rise to the blocking position, preventing the fruit on the smooth layer 57 and preventing the baffle 61 from pressing the buffer layer 56. This causes the pressing position of the buffer layer 56 to change, making the pressing deformation point of the buffer layer 56 farther away from the fruit, thereby reducing the interference of the deformation of the buffer layer 56 on the fruit.

[0048] Specifically, a triangular plate 59 is screwed to the bottom of a fixed plate 54. A pusher 64 is located at the bottom of the triangular plate 59 inside the placement frame 46. A column 62 is symmetrically embedded at the bottom of the pusher 64. The column 62 is slidably connected inside the placement frame 46. A baffle 61 is sleeved at the bottom of the column 62. A reset member 63 is located at the top of the baffle 61 and at the outside of the column 62 inside the placement frame 46. The reset member 63 is a reset spring. When the fixed plate 54 moves to the unloading start position, the triangular plate 59 contacts the pusher 64 and presses down the baffle 61. The end face of the triangular plate 59 away from the second drive member 51 is in an inclined plane, and the end face of the triangular plate 59 close to the second drive member 51 is in a vertical plane.

[0049] Working principle: In actual use, the device moves the collection frame 2 and the picking robot 3 simultaneously via the trolley 1. When the picking robot 3 moves to the predetermined position, the electric telescopic rod 42 at one end of the mounting plate 41 operates and extends. When the electric telescopic rod 42 extends, it drives the placement frame 46 under the picking head of the picking robot 3 via the moving plate 43. Then, the picking head of the picking robot 3 picks the fruit. After picking, the picking head of the picking robot 3 releases, and the fruit held by the picking head of the picking robot 3 falls into the placement frame 46 and contacts the buffer layer 56. The buffer layer 56 inside the placement frame 46 cushions the fruit and prevents it from being damaged by impact.

[0050] Then, the drive unit 44 is started. When the drive unit 44 rotates, it drives the lead screw 45 to rotate. When the lead screw 45 rotates, it drives the placement frame 46 to move along one end of the moving plate 43 (a protrusion is welded to one end face of the placement frame 46, and a groove is opened on the inner wall of the moving plate 43 corresponding to the protrusion. The protrusion is slidably connected to the inside of the groove). This allows the area inside the placement frame 46 that does not yet contain any fruit to enter under the picking head of the picking robot 3. Then, the picking head of the picking robot 3 puts the second fruit into the placement frame 46. The robot moves horizontally and vertically in sequence until the placement frame 46 is filled with fruit.

[0051] Next, the robotic arm of the harvesting robot 3 places the placement box 46 into the collection box 2. At this time, the driving component 2 51 drives the transmission structure 53 through the linkage structure 52. When the transmission structure 53 runs, it drives the two fixed plates 54 set diagonally above and below to move simultaneously through the clamping plate 58. When the two fixed plates 54 move synchronously, they drive the metal wire mesh 55 to move. At this time, the top fixed plate 54 drives the metal wire mesh 55 to block the top of the placement box 46. At the same time, the metal wire mesh 55 changes the blocking position at the bottom of the placement box 46, so that the space in the middle of the placement box 46 (the shape of the placement box 46 is U-shaped and the middle is hollow) is exposed, so that the fruits fall along the middle area.

[0052] When the wire mesh 55 moves, it causes the buffer layer 56 on the surface to move. When the buffer layer 56 moves, it causes the smooth layer 57 on the surface to move. At this time, the fruit moves along the surface of the smooth layer 57 due to the obstruction of the baffle 61. Then, the fruit falls off the bottom fixed plate 54 and the distance between it and the placement frame 46. At this time, the fruit falls into the collection frame 2 through the hollow part of the placement frame 46.

[0053] Simultaneously, when the top fixed plate 54 moves, it drives the triangular plate 59 to move. At this time, the triangular plate 59 separates from the pusher 64. Under the action of the reset member 63, the baffle 61 is driven to rise. When the baffle 61 rises, it drives the pusher 64 to rise through the column 62. After the baffle 61 rises, it enters the top surface of the smooth layer 57, thus blocking the fruit on the top surface of the smooth layer 57. Conversely, the triangular plate 59 enters the top of the pusher 64 and drives the pusher 64 to fall under the action of the inclined plane. At this time, the pusher 64 drives the reset member 63 to compress.

[0054] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it.

Claims

1. An intelligent fruit picking machine characterized in that, The utility model relates to a forest fruit picking device, including: Trolley (1); Collecting frame (2) are set up in trolley (1); Picking robot (3) are set up in trolley (1); Displacement mechanism, be set up in trolley (1), including mounting plate (41), electric telescopic link (42), moving plate (43), drive piece one (44), screw rod (45) and placing frame (46);Electric telescopic link (42) one end is connected to mounting plate (41), the other end is connected to moving plate (43), is used for driving moving plate (43) moves in horizontal direction, with the placing frame (46) is under the picking head of picking robot (3) position and collecting frame (2) inside position between switching;Drive piece one (44) is connected and drives screw rod (45) rotates, screw rod (45) is connected with placing frame (46) threadedly, is used for driving placing frame (46) moves along moving plate (43) one end; Fruit unloading mechanism, be set up in collecting frame (2) inside, including drive piece two (51), fixed plate (54), wire mesh (55) and barrier component;Drive piece two (51) drives fixed plate (54) synchronous movement;Wire mesh (55) is laid in fixed plate (54) one end, wire mesh (55) surface is sequentially provided with buffer layer (56) and smooth layer (57), barrier component is located in placing frame (46) inside;When placing frame (46) moves to collecting frame (2) inside, drive piece two (51) drives fixed plate (54) moves, makes smooth layer (57) move and through the effect under barrier component makes forest fruit in placing frame (46) move, and falls into collecting frame (2) from the gap of opening and closing between fixed plate (54) and placing frame (46) bottom.

2. The intelligent forest fruit picking machine according to claim 1, characterized in that, The barrier component includes a baffle (61), a stand (62), a return element (63), and a push element (64). The baffle (61) is connected to the push element (64) through the stand (62). The return element (63) acts on the baffle (61) to drive the baffle (61) to rise and reset. Meanwhile, the triangular plate (59) on the moving fixed plate (54) is separated from the push element (64), and the return element (63) drives the baffle (61) to rise to a blocking position to prevent forest fruits on the smooth layer (57).

3. The intelligent forest fruit picking machine according to claim 2, characterized in that, The fixed plate (54) is two and is diagonally arranged up and down. The fixed plate (54) is symmetrically provided with a clamping plate (58) outside. The clamping plate (58) is provided with a transmission structure (53) outside.

4. The intelligent forest fruit picking machine according to claim 2, characterized in that, The shape of the placing frame (46) is a loop. A flow guide groove corresponding to the fixed plate (54) is formed in the placing frame (46).

5. The intelligent forest 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 a fruit unloading starting position, the triangular plate (59) contacts the push element (64) and presses down the baffle (61).

6. The intelligent forest fruit picking machine according to claim 2, characterized in that, The inner wall of the moving plate (43) is provided with a convex slot, one side of the placing frame (46) is welded with a convex block, the convex block is slidably connected in the convex slot, and the lead screw (45) is threadedly connected with the placing frame (46) to drive the placing frame (46) to move along the convex slot.

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

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

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

Images