Fruit and vegetable picking robot with multi-arm collaborative operation function

Abstract

The invention discloses a fruit and vegetable picking robot with a multi-arm collaborative operation function, and relates to the field of fruit and vegetable picking, the fruit and vegetable picking robot comprises a picking trolley, and the fruit and vegetable picking robot with the multi-arm collaborative operation function drives a mounting box to move through a mechanical arm main body; after the clamping plate is located below the tomatoes and moves upwards to enable the tomatoes to enter the clamping plate, the first driving mechanism drives the transmission ring to rotate according to the sizes of the tomatoes, and then the transmission block and the clamping plate are driven to get close to the middle. At the moment, only the first buffering air bags on the clamping plates make contact with the tomatoes, the situation that mechanical parts directly apply pressure to the tomatoes in a traditional picking mode is avoided, and the tomatoes are effectively prevented from being damaged due to extrusion. Meanwhile, the second transmission mechanism drives the baffle to move, the tops of the tomatoes are blocked, all-directional wrapping is formed, and the tomatoes are further protected. According to the non-extrusion picking mode, the integrity and freshness of the tomatoes are reserved to the maximum extent, the damage rate in the picking process is reduced, and the quality of the picked tomatoes is improved.

Description

Technical Field

[0001] This invention relates to fruit and vegetable harvesting technology, specifically to a fruit and vegetable harvesting robot with multi-arm collaborative operation capabilities. Background Technology

[0002] In the fruit and vegetable planting industry, harvesting is a crucial step affecting the quality and economic benefits of fruits and vegetables. Traditional fruit and vegetable harvesting methods mainly rely on manual labor; however, this method has many drawbacks. On the one hand, manual harvesting is inefficient and cannot meet the harvesting needs of large-scale planting, especially during peak harvesting seasons when labor shortages are particularly acute, leading to untimely harvesting and affecting the ripeness and quality of fruits and vegetables. On the other hand, manual harvesting is costly. With the continuous rise in labor prices, harvesting costs are gradually increasing as a proportion of fruit and vegetable production costs, squeezing growers' profit margins.

[0003] With the development of technology, fruit and vegetable harvesting robots have emerged. Existing robots use depth vision cameras to identify ripe fruits, determining their location and size. A robotic arm then drives mechanical grippers to pick the fruit, thus addressing the shortcomings of manual harvesting. However, this method still has some limitations. When harvesting fragile fruits and vegetables like tomatoes, most robots use direct mechanical gripping, which can easily cause crushing damage, leading to surface damage and bruising. This not only reduces the appearance of the tomatoes but also affects their preservation during storage and transportation, ultimately lowering the overall quality of the harvested tomatoes and creating numerous difficulties for subsequent storage, transportation, and sales.

[0004] Therefore, developing a harvesting robot that can avoid crushing damage to fruits and vegetables during the harvesting process is of great practical significance. Summary of the Invention

[0005] The purpose of this invention is to provide a fruit and vegetable harvesting robot with multi-arm collaborative operation function to solve the problem that the harvested fruit and vegetable surface is easily damaged in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a fruit and vegetable harvesting robot with multi-arm collaborative operation function, comprising a harvesting cart, characterized in that a mounting frame is fixedly connected to the top of the harvesting cart, multiple robotic arm bodies are fixedly connected to the mounting frame, a depth vision camera is fixedly connected to one side of the mounting frame, a mounting box is fixedly connected to the output end of the robotic arm body, multiple transmission blocks are slidably connected to the mounting box, a clamping plate is fixedly connected to the top of the transmission blocks, a first transmission mechanism connected to the mounting box is fixedly connected to the bottom of the transmission blocks, the first transmission mechanism is used to drive the transmission blocks and clamping plates to move towards the center of the mounting box, a first buffer airbag is fixedly connected to one side of the clamping plate, a baffle is slidably connected to the clamping plate, a second buffer airbag is fixedly connected to the bottom of the baffle, a second transmission mechanism connected to the mounting box is driven to one side of the baffle, the second transmission mechanism is used to drive the baffle to move.

[0007] Furthermore, the first transmission mechanism includes a transmission ring rotatably connected to the mounting box. The transmission ring has multiple arc-shaped transmission grooves, and a transmission column is slidably connected in the arc-shaped transmission grooves. The top end of the transmission column is fixedly connected to the bottom of the transmission block. The inner surface of the transmission ring is connected to a first driving mechanism connected to the mounting box. The first driving mechanism is used to drive the transmission ring to rotate.

[0008] Furthermore, the first driving mechanism includes a rotating driving component fixedly connected to the mounting box, a driving shaft fixedly connected to the output end of the rotating driving component, a driving gear fixedly sleeved on the outer surface of the driving shaft, and a transmission gear ring fixedly connected to the transmission ring on the outer surface of the driving gear.

[0009] Furthermore, the second transmission mechanism includes a first transmission gear rotatably connected to the clamping plate, a first transmission rack fixedly connected to the baffle is meshed on the outer surface of the first transmission gear, a first connecting frame is fixedly connected to the mounting box, and a second transmission rack meshing with the first transmission gear is fixedly connected to one side of the first connecting frame.

[0010] Furthermore, the cutting mechanism includes a second connecting frame fixedly connected to the mounting box, a drive shaft rotatably connected to the second connecting frame, a cutting blade fixedly connected to the outer surface of the drive shaft, and a second driving mechanism connected to the second connecting frame driving the drive shaft to rotate.

[0011] Furthermore, the second drive mechanism includes a telescopic drive member fixedly connected to the second connecting frame, and a third transmission rack slidably connected to the output end of the telescopic drive member. A second transmission gear fixedly sleeved with the transmission shaft is engaged on one side of the third transmission rack.

[0012] Furthermore, a third buffer airbag is fixedly connected to the top of the mounting box.

[0013] Furthermore, a cutting mechanism is fixedly connected to the outer surface of the mounting box. The cutting mechanism is used to cut the stems of fruits and vegetables. Multiple conveyor belts are fixedly connected to the top of the picking cart. Multiple receiving boxes are fixedly connected to the top of the conveyor belts. The size of the receiving boxes on the conveyor belts is large, medium, and small from left to right.

[0014] Compared with existing technologies, the fruit and vegetable harvesting robot with multi-arm collaborative operation function provided by the present invention has the following beneficial effects:

[0015] The robotic arm moves the mounting box, positioning the clamping plate below the tomato and then moving it upwards to allow the tomato to enter. Depending on the tomato's size, the first drive mechanism rotates the transmission ring, causing the transmission block and clamping plate to move closer together. At this point, only the first buffer airbag on the clamping plate is in contact with the tomato, avoiding direct pressure from mechanical parts as in traditional harvesting methods and effectively preventing damage from compression. Simultaneously, the second transmission mechanism moves a baffle to cover the top of the tomato, creating a comprehensive enclosure for further protection. This compression-free harvesting method maximizes the preservation of the tomato's integrity and freshness, reduces damage during harvesting, improves the quality of harvested tomatoes, and provides strong support for subsequent storage, transportation, and sales.

[0016] After the tomatoes are harvested, the robotic arm moves the harvested tomatoes, while a conveyor belt moves correspondingly sized collection bins to the back of the robotic arm based on the tomato size. The robotic arm then places the tomatoes into the appropriate collection bins, thus sorting them by size. This function not only facilitates subsequent tomato processing and management but also meets the size requirements of different markets. Furthermore, the entire harvesting and sorting process is automated, requiring no manual intervention, significantly saving manpower and time and improving harvesting efficiency. Simultaneously, the sorted tomatoes are easier to package and sell, helping to enhance the product's market competitiveness and bringing better economic benefits to fruit and vegetable growers and merchants. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 This is a first perspective view of the external structure of the present invention;

[0019] Figure 2 This is a second perspective view of the external structure of the present invention;

[0020] Figure 3 This is a perspective view of the external structure of the robotic arm body, mounting box, and clamping plate of the present invention.

[0021] Figure 4 This is a top view of the internal structure of the mounting box of the present invention;

[0022] Figure 5 For the present invention Figure 3 Enlarged view of A in the middle;

[0023] Figure 6 For the present invention Figure 3 A magnified view of B in the middle.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1. Harvesting trolley; 2. Mounting frame; 3. Main body of robotic arm; 4. Depth vision camera; 5. Mounting box; 6. Transmission block; 7. Clamping plate; 8. First buffer airbag; 9. Baffle; 10. Conveyor belt; 11. Receiving box; 12. Second buffer airbag; 13. Third buffer airbag; 21. Transmission ring; 22. Arc-shaped transmission groove; 23. Transmission column; 31. Rotation drive component; 32. Drive shaft; 33. Drive gear; 34. Transmission gear ring; 41. First transmission gear; 42. First transmission rack; 43. First connecting frame; 44. Second transmission rack; 51. Second connecting frame; 52. Transmission shaft; 53. Cutting blade; 61. Telescopic drive component; 62. Third transmission rack; 63. Second transmission gear. Detailed Implementation

[0026] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0027] Example

[0028] Please see Figures 1 to 6As shown, the present invention provides a fruit and vegetable harvesting robot with multi-arm collaborative operation function, including a harvesting cart 1, a mounting frame 2 fixedly connected to the top of the harvesting cart 1, multiple robotic arm bodies 3 fixedly connected to the mounting frame 2, a depth vision camera 4 fixedly connected to one side of the mounting frame 2, a mounting box 5 fixedly connected to the output end of the robotic arm body 3, multiple transmission blocks 6 slidably connected to the mounting box 5, a first transmission mechanism fixedly connected to the bottom of the transmission block 6 and connected to the mounting box 5, the first transmission mechanism being used to drive the transmission block 6 to move, a clamping plate 7 fixedly connected to the top of the transmission block 6, a first buffer airbag 8 fixedly connected to one side of the clamping plate 7, the first buffer airbag being used to buffer the fruit, a baffle 9 slidably connected to the clamping plate 7, a second buffer airbag 12 fixedly connected to the bottom of the baffle 9, a second transmission mechanism connected to the mounting box 5 being driven to one side of the baffle 9, the second transmission mechanism being used to drive the baffle 9 to move;

[0029] A cutting mechanism is fixedly connected to the outer surface of the mounting box 5. The cutting mechanism is used to cut the stems of fruits and vegetables. Multiple conveyor belts 10 are fixedly connected to the top of the picking cart 1. Multiple receiving boxes 11 are fixedly connected to the top of the conveyor belts 10.

[0030] The first transmission mechanism includes a transmission ring 21 rotatably connected to the mounting box 5. The transmission ring 21 has multiple arc-shaped transmission grooves 22. A transmission column 23 is slidably connected in the arc-shaped transmission grooves 22. The top end of the transmission column 23 is fixedly connected to the bottom of the transmission block 6. The inner surface of the transmission ring 21 is connected to a first drive mechanism connected to the mounting box 5. The first drive mechanism is used to drive the transmission ring 21 to rotate.

[0031] The first drive mechanism includes a rotating drive component 31 fixedly connected to the mounting box 5. The rotating drive component 31 is a servo motor, which is controlled by a PLC programming program. The servo motor can be controlled to rotate forward and backward and rotate at different angles. The output end of the rotating drive component 31 is fixedly connected to a drive shaft 32. A drive gear 33 is fixedly sleeved on the outer surface of the drive shaft 32. A transmission gear ring 34 fixedly connected to the transmission ring 21 is meshed on the outer surface of the drive gear 33. The rotating drive component 31 drives the drive shaft 32 to rotate. The drive shaft 32 drives the transmission gear ring 34 to rotate through the drive gear 33. The transmission gear ring 34 drives the transmission ring 21 to rotate. The transmission ring 21 drives the transmission column 23 and the transmission block 6 to move through the arc-shaped transmission groove 22.

[0032] The second transmission mechanism includes a first transmission gear 41 rotatably connected to the clamping plate 7, a first transmission rack 42 fixedly connected to the baffle 9 on the outer surface of the first transmission gear 41, a first connecting frame 43 fixedly connected to the mounting box 5, and a second transmission rack 44 fixedly connected to the first connecting frame 43 and meshing with the first transmission gear 41 on one side.

[0033] The cutting mechanism includes a second connecting frame 51 fixedly connected to the mounting box 5. A drive shaft 52 is rotatably connected to the second connecting frame 51. A cutting blade 53 is fixedly connected to the outer surface of the drive shaft 52. A second drive mechanism connected to the second connecting frame 51 is driven to the outer surface of the drive shaft 52. The second drive mechanism is used to drive the drive shaft 52 to rotate.

[0034] The second drive mechanism includes a telescopic drive component 61 fixedly connected to the second connecting frame 51. The telescopic drive component 61 is an electric telescopic rod and an electric hydraulic rod. The output end of the telescopic drive component 61 is fixedly connected to a third transmission rack 62 that is slidably connected to the second connecting frame 51. One side of the third transmission rack 62 is meshed with a second transmission gear 63 that is fixedly sleeved with the transmission shaft 52. The telescopic drive component 61 drives the third transmission rack 62 to move, and the third transmission rack 62 drives the second transmission gear 63 and the transmission shaft 52 to rotate. The transmission shaft 52 drives the cutting blade 53 to rotate.

[0035] A third buffer airbag 13 is fixedly connected to the top of the mounting box 5.

[0036] The receiving bins 11 on the conveyor belt 10 are large, medium, and small in size from left to right.

[0037] First, the picking cart 1 moves the mounting frame 2 to the tomato picking position. Then, the depth vision camera 4 on the mounting frame 2 identifies ripe tomatoes and determines their position and size. Next, the robotic arm 3 moves, causing the mounting box 5 to move, moving the clamping plates 7 on the mounting box 5 below the corresponding tomato. The clamping plates 7 then move upwards, allowing the tomato to enter the multiple clamping plates 7. Based on the tomato's size, the drive shaft 32 rotates via the drive component 31. The drive shaft 32, through the drive gear 33, drives the transmission gear ring 34 to rotate, which in turn drives the transmission ring 21 to rotate. Ring 21 drives transmission column 23 and transmission block 6 to move via arc-shaped transmission groove 22. At this time, the four transmission blocks 6 drive the four clamping plates 7 to move towards the center, wrapping the tomato between the clamping plates 7, allowing only the first buffer airbag 8 on the clamping plate 7 to contact the tomato without squeezing it. Simultaneously, as the clamping plates 7 move, the first transmission gear 41 on the clamping plate 7 meshes with the second transmission rack 44. The second transmission rack 44 drives the first transmission gear 41 to rotate, and the first transmission gear 41 drives the first transmission rack 42 to move. The first transmission rack 42 drives the baffle 9 to move, so that the baffle 9 enters the position between the multiple clamping plates 7, blocking the top. The tomato is encased between the clamping plate 7 and the baffle 9. Simultaneously, the second buffer airbag 12 on the baffle cushions the tomato when it comes into contact with the baffle 9 during transport, preventing hard contact and damage to the tomato's surface. Then, the telescopic drive 61 moves the third transmission rack 62, which in turn rotates the second transmission gear 63. The second transmission gear 63 then rotates the transmission shaft 52, which in turn rotates the cutting blade 53. The cutting blade 53 cuts off the tomato's stem, and the tomato falls onto the top of the mounting box 5, where it is further cushioned by the third buffer airbag 13. The robotic arm 3 then moves the harvested tomatoes, and simultaneously, according to the size of the tomatoes, the conveyor belt 10 moves the receiving box 11 to the rear of the robotic arm 3. The robotic arm 3 then places the harvested tomatoes into the corresponding receiving box 11, thus classifying the tomatoes by size. This allows for non-compression harvesting of the tomatoes, reducing damage during the harvesting process, further improving the harvesting effect, and ensuring the quality of the harvested tomatoes. At the same time, through the coordinated action of multiple robotic arms 3, all-round harvesting is achieved, further improving the harvesting efficiency of tomatoes.

[0038] Working principle:

[0039] Location and identification stage:

[0040] First, the installation rack 2 is moved to the tomato picking position using the picking cart 1.

[0041] Then, the depth vision camera 4 on the mounting bracket 2 is used to identify ripe tomatoes and accurately identify the position and size of the ripe tomatoes.

[0042] Clamping preparation stage:

[0043] By controlling the movement of the robotic arm body 3, the robotic arm body 3 drives the installation box 5 to move, so that the clamping plate 7 on the installation box 5 moves to the bottom of the corresponding tomato.

[0044] Next, the clamping plate 7 is moved upward, allowing the tomato to enter the space enclosed by the multiple clamping plates 7.

[0045] Clamping and adjustment phase:

[0046] Based on the size of the tomato, the first drive mechanism is activated. In the first drive mechanism, the rotation drive component 31 (servo motor, controlled by a PLC programming program, which can rotate in both directions and adjust the rotation angle) drives the drive shaft 32 to rotate.

[0047] The drive shaft 32 drives the transmission gear ring 34 to rotate via the drive gear 33, and the transmission gear ring 34 drives the transmission ring 21 to rotate.

[0048] The transmission ring 21 drives the transmission column 23 and the transmission block 6 to move through the arc-shaped transmission groove 22 on it. At this time, the four transmission blocks 6 drive the four clamping plates 7 to move closer to the middle, wrapping the tomato between the clamping plates 7, and only allowing the first buffer airbag 8 on the clamping plate 7 to contact the tomato to avoid squeezing the tomato.

[0049] Baffle 9 moving phase:

[0050] As the clamping plate 7 moves, the first transmission gear 41 on the clamping plate 7 meshes with the second transmission rack 44 fixed on one side of the first connecting frame 43 on the mounting box 5.

[0051] The second transmission rack 44 drives the first transmission gear 41 to rotate, and the first transmission gear 41 drives the first transmission rack 42, which meshes with it and is fixed on the baffle 9, to move.

[0052] The first transmission rack 42 drives the baffle 9 to move, so that the baffle 9 enters the middle position of the multiple clamping plates 7, blocking the top of the tomato and making the tomato completely wrapped between the clamping plates 7 and the baffle 9.

[0053] Fruit stalk cutting stage:

[0054] The second drive mechanism is activated, and the telescopic drive component 61 (electric telescopic rod or electric hydraulic rod) drives the third transmission rack 62 to move.

[0055] The third transmission rack 62 drives the second transmission gear 63, which meshes with it and is fixedly sleeved on the transmission shaft 52, to rotate.

[0056] The second transmission gear 63 drives the transmission shaft 52 to rotate, and the transmission shaft 52 drives the cutting blade 53 to rotate, and the cutting blade 53 cuts off the stem of the tomato.

[0057] Tomato collection stage:

[0058] After the stem is cut off, the tomato falls onto the top of the installation box 5, and is cushioned by the third buffer airbag 13 fixed to the top of the installation box 5 to prevent the tomato from being damaged.

[0059] The robotic arm body 3 moves the harvested tomatoes, and at the same time, according to the size of the tomatoes, the conveyor belt 10 moves the receiving box 11 on them, so that the receiving box 11 of the corresponding size (the size of the receiving box 11 on the conveyor belt 10 from left to right is large, medium and small) moves to the rear of the robotic arm body 3.

[0060] Finally, the robotic arm 3 places the harvested tomatoes into the corresponding receiving bin 11, thus sorting the harvested tomatoes by size.

[0061] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A fruit and vegetable harvesting robot with multi-arm collaborative operation function, comprising a harvesting cart (1), characterized in that, The top of the picking cart (1) is fixedly connected to a mounting frame (2), and multiple robotic arm bodies (3) are fixedly connected to the mounting frame (2). A depth vision camera (4) is fixedly connected to one side of the mounting frame (2). A mounting box (5) is fixedly connected to the output end of the robotic arm body (3). Multiple transmission blocks (6) are slidably connected to the mounting box (5). A clamping plate (7) is fixedly connected to the top of the transmission block (6). A first transmission mechanism connected to the mounting box (5) is fixedly connected to the bottom of the transmission block (6). The first transmission mechanism is used to drive the transmission block (6) and the clamping plate (7) to move towards the center of the mounting box (5). A first buffer airbag (8) is fixedly connected to one side of the clamping plate (7). A baffle (9) is slidably connected to the clamping plate (7). A second buffer airbag (12) is fixedly connected to the bottom of the baffle (9). A second transmission mechanism connected to the mounting box (5) is driven to one side of the baffle (9). The second transmission mechanism is used to drive the baffle (9) to move.

2. The fruit and vegetable harvesting robot with multi-arm collaborative operation function according to claim 1, characterized in that, The first transmission mechanism includes a transmission ring (21) rotatably connected to the mounting box (5). The transmission ring (21) has multiple arc-shaped transmission grooves (22). A transmission column (23) is slidably connected in the arc-shaped transmission grooves (22). The top end of the transmission column (23) is fixedly connected to the bottom of the transmission block (6). The inner surface of the transmission ring (21) is connected to a first driving mechanism connected to the mounting box (5). The first driving mechanism is used to drive the transmission ring (21) to rotate.

3. A fruit and vegetable harvesting robot with multi-arm collaborative operation function according to claim 1, characterized in that, The first driving mechanism includes a rotating drive component (31) fixedly connected to the mounting box (5). The output end of the rotating drive component (31) is fixedly connected to a drive shaft (32). A drive gear (33) is fixedly sleeved on the outer surface of the drive shaft (32). A transmission gear ring (34) fixedly connected to the transmission ring (21) is meshed on the outer surface of the drive gear (33).

4. A fruit and vegetable harvesting robot with multi-arm collaborative operation function according to claim 1, characterized in that, The second transmission mechanism includes a first transmission gear (41) rotatably connected to the clamping plate (7), and a first transmission rack (42) fixedly connected to the baffle (9) meshing with the outer surface of the first transmission gear (41). A first connecting frame (43) is fixedly connected to the mounting box (5), and a second transmission rack (44) meshing with the first transmission gear (41) is fixedly connected to one side of the first connecting frame (43).

5. A fruit and vegetable harvesting robot with multi-arm collaborative operation function according to claim 1, characterized in that, The cutting mechanism includes a second connecting frame (51) fixedly connected to the mounting box (5), a drive shaft (52) rotatably connected to the second connecting frame (51), a cutting blade (53) fixedly connected to the outer surface of the drive shaft (52), and a second driving mechanism connected to the second connecting frame (51) for driving the drive shaft (52) to rotate.

6. A fruit and vegetable harvesting robot with multi-arm cooperative operation function according to claim 5, characterized in that, The second drive mechanism includes a telescopic drive member (61) fixedly connected to the second connecting frame (51). The output end of the telescopic drive member (61) is fixedly connected to a third transmission rack (62) which is slidably connected to the second connecting frame (51). One side of the third transmission rack (62) is meshed with a second transmission gear (63) which is fixedly sleeved with the transmission shaft (52).

7. A fruit and vegetable harvesting robot with multi-arm collaborative operation function according to claim 1, characterized in that, The top of the mounting box (5) is fixedly connected to a third buffer airbag (13).

8. A fruit and vegetable harvesting robot with multi-arm collaborative operation function according to claim 1, characterized in that, The outer surface of the mounting box (5) is fixedly connected to a cutting mechanism, which is used to cut the stems of fruits and vegetables. The top of the picking cart (1) is fixedly connected to multiple conveyor belts (10), and the top of the conveyor belts (10) is fixedly connected to multiple receiving boxes (11). The receiving boxes (11) on the conveyor belts (10) are large, medium, and small in size from left to right.

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