Apple picking robot

Abstract

The invention provides an apple picking robot, and relates to the technical field of agricultural product picking. Comprising a lifting platform, a mechanical arm assembly, a picking device, a fruit guide device, a fruit conveying device and a fruit storage device. The lifting platform is used for adjusting the height, the mechanical arm assembly is used for driving the picking device to move to any grabbing station to pick fruits, the shearing assembly is combined to shear stems of the fruits, the grabbing assembly is used for synchronously achieving the function of grabbing the fruits, and the picking efficiency is improved. Picked fruits are conveyed into the fruit storage device through the fruit guide device and the fruit conveying device, and according to the scheme, the apples can be picked and collected into a whole, so that damage easily caused by apple picking is reduced, the picking efficiency is improved, the labor cost is reduced, and modernization upgrading of the apple industry is promoted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural product picking, in particular to an apple picking robot. BACKGROUND

[0002] Traditional apple picking methods rely on ladders and manual labor, which is labor-intensive, easy to damage fruit and low in efficiency, and difficult to meet the needs of large-scale planting.

[0003] With the development of smart agriculture, there is an urgent need for a multifunctional apple picking structure that combines picking and collecting to reduce damage, improve efficiency, and reduce labor costs, promoting the modernization and upgrading of the apple industry. SUMMARY

[0004] The purpose of the present application is to provide an apple picking robot to solve the technical problems of traditional apple picking methods relying on ladders and manual labor, which is labor-intensive, easy to damage fruit and low in efficiency, and difficult to meet the needs of large-scale planting.

[0005] To achieve the above purpose, the present application provides an apple picking robot, which comprises a lifting platform, a mechanical arm assembly, a picking device, a fruit guiding device, a fruit conveying device and a fruit storage device.

[0006] The mechanical arm assembly is arranged on the lifting platform.

[0007] The picking device is connected to the end of the mechanical arm assembly and is used to move the picking device to the grabbing station to pick fruit.

[0008] The picking device comprises a picking shell, a picking drive device, a grabbing assembly and a shearing assembly. The picking shell is connected to the end of the mechanical arm assembly. The grabbing assembly and the shearing assembly are respectively connected to the picking shell through a rotating shaft. The picking drive device is connected to each rotating shaft through a transmission assembly, which is used to drive the grabbing assembly to perform fruit grabbing action and the shearing assembly to perform shearing action on the fruit stem simultaneously.

[0009] The fruit guiding device is connected to the mechanical arm assembly through a connecting rod assembly, which is used to receive the fruit grabbed by the grabbing assembly and guide the fruit into the fruit conveying device.

[0010] The fruit storage device is arranged on the lifting platform and is used to receive the fruit transmitted by the fruit conveying device.

[0011] Further, in the picking device:

[0012] The transmission assembly comprises a driving gear and a driven gear connected to each rotating shaft.

[0013] The shearing assembly comprises a pair of oppositely arranged shearing fingers, the shearing fingers are connected with the picking shell through shafts respectively, the driven gears connected with the shafts of the shearing fingers are first driven gears, and the picking driving device is meshed with the first driven gears through driving gears respectively.

[0014] The grabbing assembly comprises a pair of oppositely arranged fruit grabbing fingers, the fruit grabbing fingers are connected with the picking shell through shafts respectively, the driven gears connected with the shafts of the fruit grabbing fingers are second driven gears, and the second driven gears are meshed with the corresponding first driven gears respectively.

[0015] Further, the end of the fruit grabbing finger for contacting the fruit is provided in a semicircular shape, so that the two fruit grabbing fingers can wrap around the fruit when in a closed state.

[0016] Further, the mechanical arm assembly comprises a first mechanical arm motor, a second mechanical arm motor, a third mechanical arm motor, a large arm and a small arm, a fourth mechanical arm motor and a fifth mechanical arm motor.

[0017] The first mechanical arm motor is fixed on the lifting platform through a base;

[0018] The shell of the second mechanical arm motor is connected with the output end of the first mechanical arm motor, so that the second mechanical arm motor can rotate around a horizontal axis;

[0019] The bottom of the large arm is connected with the output end of the second mechanical arm motor, so that the large arm can be driven to rotate around a vertical axis by the second mechanical arm motor;

[0020] The third mechanical arm motor is fixed on the top of the large arm, the output end of the third mechanical arm motor is connected with the small arm, for driving the small arm to rotate around a horizontal axis;

[0021] The fourth mechanical arm motor is arranged on the top of the small arm, the shell of the fifth mechanical arm motor is connected with the output end of the fourth mechanical arm motor, for driving the fifth mechanical arm motor to rotate around a horizontal axis by the fourth mechanical arm motor;

[0022] The output end of the fifth mechanical arm motor is used for connecting the picking device.

[0023] Further, the fruit guiding device comprises a first rigid pipe, a flexible pipe, a second rigid pipe and a pipe connecting rod;

[0024] The first rigid pipe is communicated with the second rigid pipe through the flexible pipe, and the first rigid pipe is located above the second rigid pipe;

[0025] The first rigid pipe is connected with the big arm through a pipe connecting rod, and the second rigid pipe is connected with the small arm through a pipe connecting rod.

[0026] Further, the fruit conveying device is arranged on the lifting platform and is located below the second rigid pipe, and is used to convey the fruits discharged by the second rigid pipe into the fruit storage device.

[0027] Further, the fruit storage device comprises a placing table, a fruit basket and an elastic telescopic mechanism.

[0028] The side of the placing table close to the fruit conveying device is higher than the side away from the fruit conveying device, the circumferential side of the placing table is provided with a baffle, the placing table is provided with a storage station and a fruit receiving station, and the fruit receiving station is located at the outlet of the fruit conveying device.

[0029] The bottom surface of the placing table is provided with elastic supporting pads on both sides, so that the bottom surface of the fruit basket and the bottom surface of the placing table have a preset interval, and the fruit basket is divided into a first fruit basket and a second fruit basket.

[0030] The elastic telescopic mechanism is located on one side of the placing table, the first fruit basket is placed on the fruit receiving station, the second fruit basket is placed on the storage station, and the telescopic end of the elastic telescopic mechanism is in contact with the side of the second fruit basket away from the first fruit basket.

[0031] After the first fruit basket is removed from the fruit receiving station, the elastic telescopic mechanism can drive the second fruit basket to move to the fruit receiving station.

[0032] Further, the fruit storage device comprises a baffle lifting mechanism arranged on the lifting platform and located below the placing table; the baffle lifting mechanism comprises a fruit baffle, an intermediate plate body, a lifting support plate, a gravity sensor, a lifting driving motor, a lifting connecting shaft and a lifting support seat.

[0033] The intermediate plate body is connected between the fruit baffle and the lifting support plate through an inclined arrangement, the gravity sensor is arranged in a flat plate shape and is fixed to the top of the lifting support plate.

[0034] One end of the lifting connecting shaft is connected with the lifting driving motor, the other end is rotationally connected with the lifting support seat, and the bottom surface of the intermediate plate body is connected with the lifting connecting shaft.

[0035] The fruit receiving station of the placing table is provided with a first groove and a second groove; the first groove is located downstream of the second groove, the first groove is used for penetrating the gravity sensor and the lifting support plate, and the second groove is used for penetrating the fruit baffle; the fruit basket is provided with a third groove, the third groove is located above the second groove and is used for penetrating the fruit baffle;

[0036] In the first use state, the gravity sensor protrudes from the first groove, and the upper end surface of the gravity sensor is in contact with the bottom surface of the fruit basket to monitor the weight of the fruit, and the top surface of the fruit baffle is not higher than the bottom surface of the placing table.

[0037] In the second use state, the lifting driving motor drives the intermediate plate body to rotate through the lifting connecting shaft, so that the gravity sensor moves to the lower side of the placing table, and at the same time, the fruit baffle protrudes above the third groove to block the fruit.

[0038] Further, the baffle lifting mechanism further comprises a lifting adjusting limiting assembly, and the lifting adjusting limiting assembly comprises a V-shaped connecting rod, an L-shaped connecting rod, a spring, a blocking column and a limiting column.

[0039] The V-shaped connecting rod is connected to one end of the lifting connecting shaft penetrating the lifting support seat, the L-shaped connecting rod is rotationally connected to the lifting support seat through a pin shaft at the corner, the blocking column is connected to the horizontal rod of the L-shaped connecting rod, the V-shaped connecting rod is in contact with the blocking column, the limiting column is connected to the lifting support seat and located below the horizontal rod, one end of the spring is connected to the vertical rod of the L-shaped connecting rod through a first fixed shaft, the other end of the spring is connected to the lifting support seat through a second fixed shaft, and the second fixed shaft is located below the horizontal rod.

[0040] Further, a walking device is further included, which is fixed below the lifting chassis.

[0041] By adopting the technical scheme, the apple picking robot provided by the present application has the following technical effects compared with the prior art:

[0042] In the present scheme, the lifting platform plays a height adjusting role, the mechanical arm assembly can drive the picking device to move to any picking station to pick the fruit, the shearing assembly is combined to realize shearing of the fruit stem, the grabbing assembly is used to realize synchronous grabbing of the fruit, the picked fruit is transported to the fruit storage device through the fruit guiding device and the fruit conveying device, the present scheme can realize picking and collecting of apples in one step, reduce damage to apples during picking, improve picking efficiency, reduce labor cost, and promote modernization of the apple industry. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the specific embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative work on the premise of not paying any creative work.

[0044] Figure 1 is a structural schematic diagram of an apple picking robot in a first perspective provided by an embodiment of the present application;

[0045] Figure 2 is a structural schematic diagram of an apple picking robot in a second perspective provided by an embodiment of the present application;

[0046] Figure 3 is an assembly structural schematic diagram of a mechanical arm assembly and a fruit guiding device;

[0047] Figure 4 is a structural schematic diagram of a picking device in a first perspective;

[0048] Figure 5 is a structural schematic diagram of a picking device in a second perspective;

[0049] Figure 6 is a structural schematic diagram of a fruit storage device;

[0050] Figure 7 is a structural schematic diagram of a baffle lifting mechanism in a fruit storage device;

[0051] Figure 8 is a structural schematic diagram of a placing table in a fruit storage device;

[0052] Figure 9 is a structural schematic diagram of a second fruit basket in a fruit receiving station in a fruit storage device.

[0053] 100-lifting platform; 200-mechanical arm assembly; 210-first mechanical arm motor; 220-second mechanical arm motor; 230-third mechanical arm motor; 240-large arm; 250-small arm; 260-fourth mechanical arm motor; 270-fifth mechanical arm motor; 300-picking device; 310-picking shell; 320-picking driving device; 321-driving gear; 322-first driven gear; 323-second driven gear; 330-grabbing assembly; 340-cutting assembly; 400-fruit guiding device; 410-first rigid pipe; 420-flexible pipe; 430-second rigid pipe; 440-pipe connecting rod; 500-fruit conveying device; 600-fruit storing device; 610-placing table; 611-first groove; 612-second groove; 620-fruit basket; 621-elastic support pad; 622-first fruit basket; 623-second fruit basket; 624-third groove; 630-elastic telescopic mechanism; 640-lifting plate lifting mechanism; 641-fruit blocking plate; 642-intermediate plate body; 643-lifting support plate; 644-gravity sensor; 645-lifting driving motor; 646-lifting connecting shaft; 647-lifting support seat; 650-lifting adjusting and limiting assembly; 651-V-shaped connecting rod; 652-L-shaped connecting rod; 653-spring; 654-blocking column; 655-limiting column; 700-traveling device. DETAILED DESCRIPTION

[0054] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0055] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0056] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0057] As shown in Figure 1 and Figure 2 , the apple picking robot provided by the embodiment of the present application comprises a lifting platform 100, a mechanical arm assembly 200, a picking device 300, a fruit guiding device 400, a fruit conveying device 500 and a fruit storage device 600;

[0058] The mechanical arm assembly 200 is arranged on the lifting platform 100, and the height of the whole is adjusted through the lifting platform 100. In actual application, the lifting platform 100 can adopt a hydraulic type, pneumatic type or electric type lifting mechanism;

[0059] The picking device 300 is connected with the tail end of the mechanical arm assembly 200, and the mechanical arm assembly 200 is used to drive the picking device 300 to move to a grabbing station to pick fruits;

[0060] As shown in Figure 3 , Figure 4 and Figure 5 , wherein the picking device 300 comprises a picking shell 310, a picking driving device 320, a grabbing assembly 330 and a shearing assembly 340; the picking shell 310 is connected with the tail end of the mechanical arm assembly 200, the grabbing assembly 330 and the shearing assembly 340 are respectively movably connected with the picking shell 310 through shafts, the shearing assembly 340 is located above the grabbing assembly 330, the picking driving device 320 is connected with each shaft through a transmission assembly, and is used to drive the grabbing assembly 330 to perform a fruit grabbing action, and simultaneously drive the shearing assembly 340 to perform a shearing action on the fruit stem;

[0061] The fruit guiding device 400 is connected with the mechanical arm assembly 200 through a connecting rod assembly, and is used to receive the fruit grabbed by the grabbing assembly 330 and guide the fruit into the fruit conveying device 500; the fruit storage device 600 is arranged on the lifting platform 100, and is used to receive the fruit transmitted by the fruit conveying device 500.

[0062] In the scheme, the lifting platform 100 plays a role in height adjustment, the mechanical arm assembly 200 can drive the picking device 300 to move to any picking station to pick fruits, and the shearing assembly 340 is combined to realize shearing of the stems of the fruits, the grabbing assembly 330 is used to realize synchronous grabbing of the fruits, the picked fruits are transported to the fruit storage device 600 through the fruit guiding device 400 and the fruit conveying device 500, the scheme can realize the integration of picking and collecting to reduce the damage of apple picking, improve the picking efficiency, reduce the labor cost, and promote the modernization of the apple industry.

[0063] Please continue to refer to Figure 4 and Figure 5 In the picking device 300 provided by the embodiment, the picking device 300 comprises a picking shell 310, a picking driving device 320, a shearing assembly 340, and a grabbing assembly 330.

[0064] The transmission assembly comprises a driving gear 321 and a driven gear connected to each rotating shaft;

[0065] The shearing assembly 340 comprises a pair of oppositely arranged shearing fingers, and the shearing fingers are respectively connected to the picking shell 310 through rotating shafts. Specifically, the rotating shafts and the picking shell 310 are rotatably connected through bearings. The driven gears connected to the rotating shafts of the shearing fingers are first driven gears 322. The picking driving device 320 adopts a servo motor. The picking driving device 320 is meshed with the two first driven gears 322 through the driving gear 321, so as to drive the two shearing fingers to move relatively.

[0066] The grabbing assembly 330 comprises a pair of oppositely arranged fruit grabbing fingers, and the fruit grabbing fingers are respectively connected to the picking shell 310 through rotating shafts. Specifically, the rotating shafts and the picking shell 310 are rotatably connected through bearings. The driven gears connected to the rotating shafts of the fruit grabbing fingers are second driven gears 323. The second driven gears 323 are respectively meshed with the corresponding first driven gears 322, so as to realize synchronous shearing and grabbing actions on the fruits.

[0067] As a preferred embodiment, the end part of the fruit grabbing finger for contacting the fruit is provided in a semicircular shape, which is matched with the shape of the fruit, so that the two fruit grabbing fingers can wrap the fruit when they are in a closed state.

[0068] Please refer to Figure 3 The mechanical arm assembly 200 provided in the embodiment comprises a first mechanical arm motor 210, a second mechanical arm motor 220, a third mechanical arm motor 230, a large arm 240, a small arm 250, a fourth mechanical arm motor 260, and a fifth mechanical arm motor 270.

[0069] The first mechanical arm motor 210 is fixed on the lifting platform 100 through the base; the shell of the second mechanical arm motor 220 is connected with the output end of the first mechanical arm motor 210, so that the second mechanical arm motor 220 can rotate around the horizontal axis; the bottom of the large arm 240 is connected with the output end of the second mechanical arm motor 220, so that the large arm 240 can be driven to rotate around the vertical axis by the second mechanical arm motor 220; the third mechanical arm motor 230 is fixed on the top of the large arm 240, the output end of the third mechanical arm motor 230 is connected with the small arm 250, and the third mechanical arm motor 230 is used for driving the small arm 250 to rotate around the horizontal axis; the fourth mechanical arm motor 260 is arranged on the top of the small arm 250, the shell of the fifth mechanical arm motor 270 is connected with the output end of the fourth mechanical arm motor 260, and the fifth mechanical arm motor 270 is driven to rotate around the horizontal axis by the fourth mechanical arm motor 260; and the output end of the fifth mechanical arm motor 270 is used for connecting the picking device 300. Through the mechanical arm, the picking device 300 can be driven to move in multiple degrees of freedom, so that the picking of fruits is better realized.

[0070] The fruit guiding device 400 provided in the embodiment comprises a first rigid pipeline 410, a flexible pipeline 420, a second rigid pipeline 430 and a pipeline connecting rod 440; the first rigid pipeline 410 is communicated with the second rigid pipeline 430 through the flexible pipeline 420, and the first rigid pipeline 410 is located above the second rigid pipeline 430; the first rigid pipeline 410 is connected with the large arm 240 through the pipeline connecting rod 440, and the second rigid pipeline 430 is connected with the small arm 250 through the pipeline connecting rod 440.

[0071] In the scheme, the flexible pipeline 420 can adopt a bellows pipe, which is deformable and extendable, so as to ensure that each pipeline can follow the movement of the mechanical arm, thereby saving the fruit placing time after the picking device 300 picks apples and improving the picking efficiency of the apples. The scheme adopts a structure in which the rigid pipeline and the flexible pipeline are combined with each other, and meanwhile, the scheme also avoids the situation that the full-flexible pipeline on the market is deformed and displaced too much to be wound around the mechanical arm when following the movement of the mechanical arm.

[0072] In the scheme, the fruit conveying device 500 is arranged on the lifting platform 100, and the fruit conveying device 500 is located below the second rigid pipeline 430, and is used for conveying the fruits discharged from the second rigid pipeline 430 into the fruit storage device 600. In actual application, the fruit conveying device 500 can adopt a belt transmission device or a channel configured according to a preset angle.

[0073] Please refer to Figure 1 、 Figure 2 and Figure 6 shown in the scheme, the fruit storage device 600 comprises a placing table 610, a fruit basket 620 and an elastic expansion mechanism 630.

[0074] Wherein, the side of the placing table 610 close to the fruit conveying device 500 is higher than the side far from the fruit conveying device 500, the circumferential side of the placing table 610 is provided with a baffle, the placing table 610 has a storage station and a fruit receiving station, and the fruit receiving station is located at the outlet of the fruit conveying device 500;

[0075] As shown in Figure 7 , the bottom of the placing table 610 is provided with two elastic support pads 621 respectively, and the two elastic support pads 621 extend along the length direction of the placing table 610. The fruit basket 620 is placed on the elastic support pad 621, so that there is a preset interval between the bottom of the fruit basket 620 and the bottom of the placing table 610. The fruit basket 620 is divided into a first fruit basket 622 and a second fruit basket 623;

[0076] The elastic telescopic mechanism 630 is located at one side of the placing table 610. The first fruit basket 622 is placed on the fruit receiving station, and the second fruit basket 623 is placed on the storage station. The telescopic end of the elastic telescopic mechanism 630 is in contact with the side of the second fruit basket 623 away from the first fruit basket 622. After the first fruit basket 622 is full of fruits and is taken out from the fruit receiving station, the elastic telescopic mechanism 630 can drive the second fruit basket 623 to move to the fruit receiving station (see Figure 9 ).

[0077] In application, since the placing table 610 is inclined, the two fruit baskets 620 are also inclined. After the fruits conveyed from the fruit conveying device 500 enter the first fruit basket 622, they will roll to the low side of the first fruit basket 622 (i.e. the side far from the fruit conveying device 500). In this way, the inclined placement can fully store the fruits, avoid the problem that the fruits are naturally accumulated in a certain position when the fruit basket 620 is placed horizontally, and reduce the secondary collision damage of apples. In addition, when the first fruit basket 622 is full of apples, the worker takes away the first fruit basket 622. At this time, the second fruit basket 623 is no longer blocked by the first fruit basket 622, and the second fruit basket 623 will be bounced to the fruit receiving station under the action of the elastic telescopic mechanism 630 to automatically compensate the fruit basket 620, so as to avoid the situation that the apples continue to fall without entering the fruit basket 620 when the first fruit basket 622 is full and taken away.

[0078] As shown in Figure 1 , Figure 2 , Figure 6 and Figure 7 , in this scheme, the fruit storage device 600 further comprises a baffle lifting mechanism 640, which is arranged on the lifting platform 100 and located below the placing table 610. The function of the baffle lifting mechanism 640 is to divide the inside of the fruit basket 620, so as to effectively alleviate the problem that the mutual collision of apples in the fruit basket 620 easily causes damage.

[0079] Specifically, the baffle lifting mechanism 640 comprises a fruit baffle 641, an intermediate plate body 642, a lifting support plate 643, a gravity sensor 644, a lifting driving motor 645, a lifting connecting shaft 646 and a lifting support seat 647;

[0080] The fruit baffle 641 is connected with the lifting support plate 643 through the inclined intermediate plate body 642, and the gravity sensor 644 is arranged in a flat plate shape and is fixed to the top of the lifting support plate 643.

[0081] One end of the lifting connecting shaft 646 is connected with the lifting driving motor 645, the other end is rotationally connected with the lifting support seat 647, and the bottom surface of the intermediate plate body 642 is connected with the lifting connecting shaft 646. When the lifting driving motor 645 drives the lifting connecting shaft 646 to rotate, the fruit baffle 641 and the lifting support plate 643 are driven to rotate through the intermediate plate body 642, so as to adjust the height of the fruit baffle 641 and the lifting support plate 643.

[0082] The fruit receiving station of the placement table 610 is provided with a first groove body 611 and a second groove body 612. The first groove body 611 is located at the downstream position of the second groove body 612, the first groove body 611 is used for penetrating the gravity sensor 644 and the lifting support plate 643, and the second groove body 612 is used for penetrating the fruit baffle 641. The fruit basket 620 is provided with a third groove body 624, which is located directly above the second groove body 612, so as to ensure that the fruit baffle 641 can penetrate the second groove body 612 and the third groove body 624 at the same time, and is used for blocking the fruits in the fruit basket 620.

[0083] In the first use state, the gravity sensor 644 protrudes from the first groove body 611, and the upper end surface of the gravity sensor 644 is in contact with the bottom surface of the fruit basket 620, which is used for monitoring the weight of the fruits in the fruit basket 620, and the top surface of the fruit baffle 641 is not higher than the bottom surface of the placement table 610.

[0084] In the second use state, that is, after the gravity sensor 644 detects that the weight of the fruit basket 620 reaches a preset value, the lifting driving motor 645 drives the intermediate plate body 642 to rotate through the lifting connecting shaft 646, so as to move the gravity sensor 644 to the lower side of the placement table 610, and at the same time, the fruit baffle 641 protrudes above the third groove body 624 to block the fruits, so as to isolate the fruit basket 620 and prevent the fruits collected in the fruit basket 620 from being damaged by the subsequent fruits.

[0085] Reference Figure 7In the embodiment, the baffle lifting mechanism 640 further comprises a lifting adjusting limiting assembly 650, and the lifting adjusting limiting assembly 650 comprises a V-shaped connecting rod 651, an L-shaped connecting rod 652, a spring 653, a blocking column 654 and a limiting column 655.

[0086] The V-shaped connecting rod 651 is connected with one end of the lifting connecting shaft 646 penetrating through the lifting support seat 647, the L-shaped connecting rod 652 is rotationally connected with the lifting support seat 647 at the corner of the L-shaped connecting rod 652 through a pin shaft, the blocking column 654 is connected with the horizontal rod of the L-shaped connecting rod 652, the V-shaped connecting rod 651 is in contact with the blocking column 654, the limiting column 655 is connected with the lifting support seat 647 and located below the horizontal rod, one end of the spring 653 is connected with the vertical rod of the L-shaped connecting rod 652 through a first fixed shaft, and the other end of the spring 653 is connected with the lifting support seat 647 through a second fixed shaft, and the second fixed shaft is located below the horizontal rod.

[0087] In application, in the first use state, the V-shaped connecting rod 651 drives the blocking column 654 to descend, so that the vertical rod of the L-shaped connecting rod 652 swings outward to stretch the spring 653, and the spring 653 is in an elongated state; when the fruits in the fruit basket 620 gradually accumulate to reach a preset weight, the gravity sensor 644 monitors the output signal reaching the preset weight to the control system, the control system outputs the control signal to the lifting driving motor 645, the lifting driving motor 645 drives the lifting connecting shaft 646 to rotate, drives the V-shaped connecting rod 651 to swing, the V-shaped connecting rod 651 drives the blocking column 654 to move upward, so that the spring 653 is quickly reset, so that the fruit baffle 641 is quickly lifted to the upper side of the fruit basket 620, and the fruit baffle 641 plays a role in partitioning and isolating the fruits, and effectively alleviates the problem that the subsequent fruits are easily damaged by mutual collision.

[0088] It should be noted that the baffle lifting mechanism 640 in the embodiment can be configured one or multiple; when configured one, the baffle lifting mechanism 640 is located below the fruit basket and close to the middle region, so that the internal space of the fruit basket can be divided into two parts by the fruit baffle 641; when the baffle lifting mechanism 640 is configured multiple, the baffle lifting mechanism 640 is evenly distributed below the fruit basket according to a preset interval, in use, the baffle lifting mechanism 640 located downstream of the fruit basket detects the preset gravity first, the space in the fruit basket is partitioned by the fruit baffle 641, then the adjacent baffle lifting mechanism 640 detects the preset gravity and starts, the space in the fruit basket is partitioned by the fruit baffle 641 again, and so on.

[0089] The apple picking robot provided in the embodiment further comprises a walking device 700 fixed below the lifting chassis, the walking device 700 can adopt a tracked walking device or a wheeled walking device, and is used for moving the apple picking robot.

[0090] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An apple-picking robot, characterized in that, It includes a lifting platform, robotic arm components, harvesting device, fruit guiding device, fruit conveying device, and fruit storage device; The robotic arm assembly is mounted on a lifting platform; The picking device is connected to the end of the robotic arm assembly and is used to drive the picking device to the gripping station to pick the fruit. The harvesting device includes a harvesting shell, a harvesting drive device, a gripping component, and a shearing component. The harvesting shell is connected to the end of the robotic arm component. The gripping component and the shearing component are movably connected to the harvesting shell via rotating shafts. The harvesting drive device is connected to each rotating shaft via a transmission component to drive the gripping component to perform fruit gripping actions, and the shearing component to simultaneously perform shearing actions on the fruit stems. The fruit guiding device is connected to the robotic arm assembly via a linkage assembly, and is used to receive the fruit grasped by the grasping assembly and guide the fruit into the fruit conveying device. The fruit storage device is installed on the lifting platform and is used to receive the fruit transported by the fruit conveying device.

2. The apple-picking robot according to claim 1, characterized in that, In the harvesting device: The transmission assembly includes a driving gear and driven gears connected to each rotating shaft; The shearing assembly includes a pair of oppositely arranged shearing fingers, which are connected to the picking housing via rotating shafts. The driven gear connected to the rotating shafts of the shearing fingers is a first driven gear, and the picking drive device meshes with the first driven gear via a driving gear. The grasping assembly includes a pair of fruit grasping fingers arranged opposite each other. The fruit grasping fingers are connected to the picking shell through a rotating shaft. The driven gear connected to the rotating shaft of the fruit grasping fingers is a second driven gear, and the second driven gear meshes with the corresponding first driven gear.

3. The apple-picking robot according to claim 2, characterized in that, The fruit-grabbing fingers are designed with semi-circular ends for contacting the fruit, so that when the two fruit-grabbing fingers are in a closed state, they can wrap around the fruit.

4. The apple-picking robot according to claim 1, characterized in that, The robotic arm assembly includes a first robotic arm motor, a second robotic arm motor, a third robotic arm motor, a large arm and a small arm, a fourth robotic arm motor, and a fifth robotic arm motor. The first robotic arm motor is fixed to the lifting platform via a base; The housing of the second robotic arm motor is connected to the output end of the first robotic arm motor so that the second robotic arm motor can rotate around a horizontal axis; The bottom of the upper arm is connected to the output end of the second robotic arm motor, so that the upper arm can be rotated around the vertical axis by the second robotic arm motor. The third robotic arm motor is fixed to the top of the upper arm, and the output end of the third robotic arm motor is connected to the lower arm to drive the lower arm to rotate around the horizontal axis. The fourth robotic arm motor is located at the top of the forearm, and the housing of the fifth robotic arm motor is connected to the output end of the fourth robotic arm motor, so as to drive the fifth robotic arm motor to rotate around the horizontal axis through the fourth robotic arm motor. The output end of the fifth robotic arm motor is used to connect to the harvesting device.

5. The apple-picking robot according to claim 4, characterized in that, The fruit guiding device includes a first rigid pipe, a flexible pipe, a second rigid pipe, and a pipe connecting rod; The first rigid pipe is connected to the second rigid pipe through a flexible pipe, and the first rigid pipe is located above the second rigid pipe. The first rigid pipe is connected to the boom via a pipe connecting rod, and the second rigid pipe is connected to the forearm via a pipe connecting rod.

6. The apple-picking robot according to claim 5, characterized in that, The fruit conveying device is installed on the lifting platform and is located below the second rigid pipe, for conveying the fruit discharged from the second rigid pipe to the fruit storage device.

7. The apple-picking robot according to claim 1, characterized in that, The fruit storage device includes a placement platform, a fruit basket, and an elastic telescopic mechanism; The side of the placement platform closer to the fruit conveying device is higher than the side farther from the fruit conveying device. The placement platform is equipped with baffles around its perimeter. The placement platform has a storage station and a fruit receiving station. The fruit receiving station is located at the exit of the fruit conveying device. Elastic support pads are provided on both sides of the bottom surface of the placement platform, so that there is a preset gap between the bottom surface of the fruit basket and the bottom surface of the placement platform. The fruit basket is divided into a first fruit basket and a second fruit basket. The elastic telescopic mechanism is located on one side of the placement platform. The first fruit basket is placed on the fruit receiving station, and the second fruit basket is placed on the storage station. The telescopic end of the elastic telescopic mechanism contacts the side of the second fruit basket away from the first fruit basket. After the first fruit basket is filled with fruit and taken out to the fruit receiving station, the elastic telescopic mechanism can drive the second fruit basket to move to the fruit receiving station.

8. The apple-picking robot according to claim 7, characterized in that, The fruit storage device includes a baffle lifting mechanism, which is installed on the lifting platform and located below the placement table; the baffle lifting mechanism includes a fruit baffle, an intermediate plate, a lifting support plate, a gravity sensor, a lifting drive motor, a lifting connecting shaft, and a lifting support base; The fruit baffle and the lifting support plate are connected by an inclined intermediate plate, and the gravity sensor is flat and fixed to the top of the lifting support plate. One end of the lifting connecting shaft is connected to the lifting drive motor, and the other end is rotatably connected to the lifting support base. The middle part of the bottom surface of the intermediate plate is connected to the lifting connecting shaft. The fruit receiving station of the placement platform is provided with a first trough and a second trough; the first trough is located downstream of the second trough and is used to pass through the gravity sensor and the lifting support plate, while the second trough is used to pass through the fruit baffle; a third trough is provided on the fruit basket and is located above the second trough for passing through the fruit baffle. In the first usage state, the gravity sensor extends out of the first groove, and the upper surface of the gravity sensor contacts the bottom surface of the fruit basket to monitor the weight of the fruit. The top surface of the fruit baffle is not higher than the bottom surface of the placement platform. In the second usage state, the lifting drive motor drives the middle plate to rotate through the lifting connecting shaft, thereby moving the gravity sensor to below the placement platform, while the fruit baffle extends above the third groove to block the fruit.

9. The apple-picking robot according to claim 8, characterized in that, The baffle lifting mechanism also includes a lifting adjustment limit assembly, which includes a V-shaped connecting rod, an L-shaped connecting rod, a spring, a stop post, and a limit post. The V-shaped connecting rod is connected to one end of the lifting connecting shaft that passes through the lifting support seat. The L-shaped connecting rod is rotatably connected to the lifting support seat at its corner via a pin. The stop post is connected to the horizontal rod of the L-shaped connecting rod. The V-shaped connecting rod is in contact with the stop post. The limiting post is connected to the lifting support seat and is located below the horizontal rod. One end of the spring is connected to the vertical rod of the L-shaped connecting rod via a first fixed shaft. The other end of the spring is connected to the lifting support seat via a second fixed shaft, which is located below the horizontal rod.

10. The apple-picking robot according to claim 1, characterized in that, It also includes a walking device, which is fixed below the lifting chassis.

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