High-stability self-adaptive fruit and vegetable picking robot

Abstract

The application relates to a high-stability self-adaptive fruit and vegetable picking robot, which comprises a robot body, a driving assembly, a plurality of movable arms and a clamping plate. The top of the robot body is provided with a feeding mechanism, the bottom of the robot body is provided with a collecting basket near the position of an end effector, and the corner of the robot body is connected with a roller through a switching assembly. The driving assembly is used for controlling the plurality of movable arms and the end effector thereof, and the camera positioning is matched, so that accurate movement, grabbing and placing can be realized, the missing picking and the wrong picking are reduced, the feeding mechanism adopts a net structure composed of elastic ropes, the materials can be preliminarily screened through shaking, the fruits and vegetables are uniformly distributed, the subsequent mechanical grabbing is more convenient, and the interference is greatly reduced. During the grabbing process of the driving motor, the top plate moves up and down (the top plate is accompanied by slight horizontal movement because of the movement of the net structure on the left and right sides), so that the fruits and vegetables on the net structure are synchronously screened, and the picking efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of harvesting robot technology, specifically a highly stable adaptive fruit and vegetable harvesting robot. Background Technology

[0002] Existing fruit and vegetable harvesting robots, in practical applications, typically lack the ability to automatically sieve and evenly distribute mixed materials. During field harvesting, fruits are often mixed with branches, leaves, soil, and other debris, which traditional robots struggle to effectively identify and separate. This leads to interference with the end effector, high failure rates, and low harvesting efficiency. Furthermore, these robots often operate in fixed modes, making them unsuitable for complex terrain or environments with uneven crop distribution. They also lack the ability to optimize the sorting process in real-time through effective structural design, impacting the overall stability and quality of automated harvesting.

[0003] Therefore, a highly stable adaptive fruit and vegetable harvesting robot is proposed to address the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a highly stable adaptive fruit and vegetable harvesting robot.

[0005] The objective of this invention is achieved through the following technical solution: a highly stable adaptive fruit and vegetable harvesting robot, comprising a robot body, wherein multiple movable arms are connected to the robot body through a drive component, the bottom of each movable arm is provided with a locking plate for engaging an end effector, the top of the robot body is provided with a feeding mechanism, a collection basket is provided at the bottom of the robot body near the end effector, and rollers are connected to the corners of the robot body through a switching component.

[0006] As a further description of the above technical solution: The movable arms are arranged in pairs, with a connecting rod fixedly connected between the ends of the two movable arms. The connecting rod at the bottom is rotatably connected to the clamping plate.

[0007] As a further description of the above technical solution: The drive assembly includes a base plate, which is connected and fixed to the robot body via multiple fixing rods. A drive motor is fixedly connected to the base plate, and the output shaft of the drive motor is fixedly connected to an active arm that is connected and fixed to a connecting rod.

[0008] As a further description of the above technical solution: The bottom support plate has a limiting groove at its end, and the active arm moves within the limiting groove. A camera corresponding to the position of the end effector is fixedly connected to the bottom of the bottom support plate.

[0009] As a further description of the above technical solution: The bottom support plate has a through hole in the middle. The feeding mechanism includes a top plate with a movable groove in the middle. A mesh structure composed of elastic ropes is provided in the movable groove and at the edges of the top plate and the bottom support plate.

[0010] As a further description of the above technical solution: The top plate and bottom support plate are equipped with baffles near the drive motor.

[0011] As a further description of the above technical solution: The switching assembly includes a connecting plate and a steering motor that are fixedly connected to the robot body. Two meshing gears are rotatably connected to the connecting plate. The central shaft of one gear with a smaller pitch circle radius is fixedly connected to the output shaft of the steering motor. The central shaft of the other gear with a larger pitch circle radius is fixedly connected to a support frame. A bracket that is rotatably connected to a roller is sleeved at the bottom of the support frame.

[0012] As a further description of the above technical solution: A drive motor is fixedly connected to the top of the bracket. The output shaft of the drive motor is connected to a drive chain that is inclined. The other end of the drive chain is fixedly connected to the central shaft of the roller.

[0013] As a further description of the above technical solution: The bracket and the support frame are connected by a shock absorber, and the two ends of the transmission chain are rotatably connected with guard plates.

[0014] Compared with the prior art, the advantages of the present invention are as follows: This application controls multiple movable arms and their end effectors through a drive component, and with the help of camera positioning, it can achieve precise movement, grasping and placement, reducing missed or incorrect harvesting. The feeding mechanism adopts a mesh structure composed of elastic ropes, which can perform preliminary screening of materials through shaking, so that fruits and vegetables are evenly distributed, making it easier for subsequent mechanical grasping and greatly reducing interference. During the grasping process, the drive motor causes the top plate to move up and down (the top plate is accompanied by slight horizontal movement due to the movement of the left and right mesh structures), so that the fruits and vegetables on the mesh structure are screened synchronously, increasing harvesting efficiency. Attached Figure Description

[0015] Figure 1 This is a structural schematic diagram of Embodiment 1 of the present invention; Figure 2 This is a side view schematic diagram of the structure of Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the cross-sectional structure of the shell of the mechanical body according to Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the feeding assembly and switching assembly according to Embodiment 1 of the present invention; Figure 5This is a schematic diagram of the cooperative structure of the feeding component and the driving component according to Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the disassembled structure of the active arm and the movable arm according to Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the disassembled structure of the top plate and the bottom support plate according to Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the switching component structure according to Embodiment 1 of the present invention; Figure 9 This is a schematic diagram of the disassembled structure of the support frame and bracket according to Embodiment 1 of the present invention; Figure 10 This is a schematic diagram of the mating structure of the knocking plate and the top plate in Embodiment 2 of the present invention.

[0016] Labeling Explanation: 1. Robot Body; 2. Movable Arm; 3. Pallet; 4. Collection Basket; 5. Roller; 6. Connecting Rod; 7. Base Plate; 8. Fixed Rod; 9. Drive Motor; 10. Active Arm; 11. Limiting Slot; 12. Camera; 13. Through Hole; 14. Top Plate; 15. Mesh Structure; 16. Baffle; 17. Connecting Plate; 18. Steering Motor; 19. Gear; 20. Support Frame; 21. Bracket; 22. Drive Motor; 23. Drive Chain; 24. Shock Absorber; 25. Protective Plate; 26. Knocking Plate. Detailed Implementation

[0017] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: Example 1 like Figures 1-9 The diagram shows an embodiment of a highly stable adaptive fruit and vegetable harvesting robot provided by the present invention. It includes a robot body 1, multiple movable arms 2 connected to the robot body 1 through a drive component, a card plate 3 for engaging an end effector at the bottom of the movable arm 2, a feeding mechanism at the top of the robot body 1, a collection basket 4 at the bottom of the robot body 1 near the end effector, and rollers 5 connected to the corners of the robot body 1 through a switching component.

[0018] The end effector in this application utilizes conventional technology and can be a pneumatic pump suction port gripper. It mainly consists of a gripper, a pneumatic pump suction port, and a pneumatic pump pipe. The gripper is an openable and closable mechanical gripper structure. The pneumatic pump suction port is located near the gripper and is connected to an external pneumatic pump via the pneumatic pump pipe. Specifically, one end of the pneumatic pump pipe is connected to an external pneumatic pump, and the other end is connected to the pneumatic pump suction port, providing pneumatic power for the opening and closing of the gripper. The gripper is connected to the end effector of the robotic arm via a mechanical connector to achieve posture adjustment. The specific implementation method is as follows: gas is delivered to the air pump inlet through an external air pump, and the opening and closing action of the gripper is controlled by the change of air pressure to realize the grasping and release of the object; in conjunction with the visual recognition of the camera 12, the target object is accurately located and the gripper is controlled to complete the grasping operation.

[0019] The end effector can also be a three-stage telescopic gripper: mainly consisting of a three-stage telescopic mechanism and a gripper. The three-stage telescopic mechanism is composed of multiple layers of telescopic mechanical structures, and the gripper is installed at the end of the telescopic mechanism. Specifically, the three-stage telescopic mechanism is connected to the end of the robotic arm via a connector, enabling multi-dimensional extension, rotation, and other posture adjustments; the gripper is fixed to the end of the telescopic mechanism and changes its position and posture as the telescopic mechanism moves. The specific implementation method is as follows: the three-stage telescopic mechanism can adjust its own telescopic length and angle according to the position of the target object identified by the camera 12, change the position of the gripper, and make it accurately reach the target position; then the gripper completes the grasping action. The entire process is visually positioned by the camera 12 to ensure the accuracy of the operation.

[0020] The movable arms 2 are arranged in pairs, with a connecting rod 6 fixedly connected between the ends of the two movable arms 2. The connecting rod 6 at the bottom is rotatably connected to the clamping plate 3. The movable arms 2 are arranged in pairs (two in a pair) and rigidly connected by the connecting rod 6 at the ends, forming a parallelogram linkage mechanism. The connecting rod 6 at the bottom is rotatably connected (such as hinged) to the clamping plate 3 where the end effector is installed. The use of a parallelogram linkage mechanism can ensure that the end effector performs pure translational motion under the drive component (especially in the horizontal plane), avoiding complex attitude calculations and adjustments, simplifying the control logic, and improving the accuracy and stability of grasping and positioning.

[0021] The drive assembly includes a base plate 7, which is connected and fixed to the robot body 1 via multiple fixing rods 8. A drive motor 9 is fixedly connected to the base plate 7, and the output shaft of the drive motor 9 is fixedly connected to an active arm 10 that is connected and fixed to a connecting rod 6.

[0022] A limiting groove 11 is provided at the end of the base plate 7, and the active arm 10 moves within the limiting groove 11. A camera 12 corresponding to the position of the end effector is fixedly connected to the bottom of the base plate 7. The limiting groove 11 physically constrains the movement trajectory of the active arm 10. The camera 12 is fixedly installed at the bottom of the base plate 7, and its field of view is directly facing the working area of ​​the end effector below. The camera 12 corresponds to the position of the end effector, which can realize visual servo control: the camera 12 captures fruit and vegetable images in real time, locates the target through image processing, and guides the drive motor 9 to adjust the position and posture of the end effector, so as to achieve accurate recognition and positioning grasping, and greatly reduce the false grasping and missed grasping rate.

[0023] A through hole 13 is provided in the middle of the bottom support plate 7. The feeding mechanism includes a top plate 14, with a movable groove in the middle of the top plate 14. A mesh structure 15 composed of elastic ropes is provided in the movable groove and at the edges of the top plate 14 and the bottom support plate 7, serving as a channel for the material (mixed fruits, vegetables, and debris) to fall. The top plate 14 of the feeding mechanism is located above the through hole 13, with a movable groove in its middle. A mesh structure 15 woven from elastic ropes is tensioned and arranged around the movable groove and between the top plate 14 and the bottom support plate 7. When the mixed material is poured onto the mesh structure 15, its elasticity generates vibration, and the elastic rope mesh structure 15 forms an active screening surface. Its vibration can effectively separate (screen) fruits and vegetables of different densities, shapes, and sizes from branches, leaves, soil, and other debris. At the same time, the vibration can make the fruits and vegetables evenly distributed on the mesh surface, avoiding accumulation, creating favorable conditions for subsequent visual recognition and mechanical grasping, solving the problem of mixed material interfering with grasping, and improving the efficiency and quality of pre-harvest processing.

[0024] It is worth noting that the top surface of the bottom support plate 7 is sloped to facilitate the entry of fruits and vegetables into the through hole 13; Among them, the top plate 14 and the bottom support plate 7 are equipped with baffles 16 near the drive motor 9 to prevent debris or small fruits and vegetables that pop out during the screening process from falling into the precision components such as the drive motor 9, causing jamming or damage, thereby improving the durability and reliability of the equipment, and can guide the screened material to fall more concentratedly into the preset area.

[0025] The switching assembly includes a connecting plate 17 and a steering motor 18 that are fixedly connected to the robot body 1. Two meshing gears 19 are rotatably connected to the connecting plate 17. The central shaft of one gear 19 with a smaller pitch circle radius is fixedly connected to the output shaft of the steering motor 18. The central shaft of the other gear 19 with a larger pitch circle radius is fixedly connected to a support frame 20. A bracket 21 that is rotatably connected to the roller 5 is sleeved at the bottom of the support frame 20.

[0026] A drive motor 22 is fixedly connected to the top of the bracket 21. The output shaft of the drive motor 22 is connected to the inclined drive chain 23. The other end of the drive chain 23 is fixedly connected to the central shaft of the roller 5.

[0027] The bracket 21 and the support frame 20 are connected by a shock absorber 24, and both ends of the transmission chain 23 are rotatably connected to guard plates 25. The shock absorber 24 can effectively absorb and buffer the impact and vibration from the ground during travel, protecting the mechanical structure (such as the drive assembly and camera 12) and electrical components above, ensuring the stability of operation in bumpy environments and extending the equipment's lifespan. The guard plates 25 are used to protect the transmission chain 23, preventing mud and weeds from getting caught in the chain and causing jamming or wear. They also serve a safety protection function, preventing operators from contacting moving parts, thus improving the reliability and safety of the system.

[0028] The working principle of the robot's movement is as follows: the transmission motor 22 is remotely controlled to drive the transmission chain 23, which in turn drives the roller 5 at the other end of the transmission chain 23 to rotate, thereby driving the motor to move.

[0029] The working principle of the robot steering is as follows: The steering motor 18 is remotely controlled, which drives the two gears 19 to rotate, thereby driving the support frame 20 to rotate. When the support frame 20 rotates, it drives the bracket 21 and the roller 5 located on the bracket 21 to rotate, thereby adjusting the direction of the roller 5. The pitch circle radius of the gear 19 connected to the support frame 20 is larger than that of the gear 19 connected to the steering motor 18, so that the roller 5 rotates slowly and accurately.

[0030] The harvesting process works as follows: By remotely controlling the drive motor 9 in one of the directions, the drive motor 9 drives the active arm 10 to rotate along the limiting groove 11, thereby pulling the parallelogram movable arm 2, so that the end effector at the bottom moves horizontally to the position corresponding to the drive motor 9 in one of the directions, so that the end effector is located on top of the fruits and vegetables. Then, control all the drive motors 9 to make the end effector move vertically downwards, contact the fruits and vegetables, and complete the grabbing through the end effector, and make the end effector grab the fruits and vegetables and raise them to a certain height (above the height of the collection box); then, by starting one of the drive motors 9, make the end effector grab the fruits and vegetables and move them to the top of the collection box 4, and finally release the fruits and vegetables through the end effector, so that the fruits and vegetables enter the collection box 4.

[0031] When fruits and vegetables are mixed with other materials, the end effector is first moved to one side, not below the through hole 13, to prevent the falling fruits and vegetables from touching the end effector. Then, the fruits and vegetables mixed with other materials are placed on the mesh structure 15. The elasticity of the mesh structure 15 completes the initial screening and makes the fruits and vegetables evenly distributed. Finally, the fruits and vegetables falling below are picked up by the end effector.

[0032] Example 2 like Figure 10 This second embodiment is a further supplement to the first embodiment. Specifically, the bottom of the baffle 16 is connected to the bottom support plate 7, the top of the baffle 16 is pressed against the top plate 14, and the end of the active arm 10 is fixedly connected to a knocking plate 26, which knocks against the top plate 14. In this embodiment, during the gripping process, the drive motor 9 simultaneously drives the knocking plate 26 to move, causing the top plate 14 to move up and down (the top plate 14 also moves slightly horizontally due to the movement of the left and right mesh structures 15), so that the fruits and vegetables on the mesh structure 15 are screened simultaneously, increasing the harvesting efficiency.

Claims

1. A highly stable adaptive fruit and vegetable harvesting robot, characterized in that: include, The robot body (1) has multiple movable arms (2) connected to it by a drive assembly. The bottom of the movable arm (2) is provided with a card plate (3) for engaging the end effector. The top of the robot body (1) is provided with a feeding mechanism. The bottom of the robot body (1) is provided with a collection basket (4) near the end effector. The corners of the robot body (1) are connected with rollers (5) by a switching assembly. The drive assembly includes a base plate (7), which is connected and fixed to the robot body (1) via multiple fixing rods (8). A drive motor (9) is fixedly connected to the base plate (7), and the output shaft of the drive motor (9) is fixedly connected to an active arm (10) that is connected and fixed to a connecting rod (6). The bottom support plate (7) has a through hole (13) in the middle. The feeding mechanism includes a top plate (14). The top plate (14) has a movable groove in the middle. A mesh structure (15) composed of elastic ropes is provided in the movable groove and at the edges of the top plate (14) and the bottom support plate (7). The switching assembly includes a connecting plate (17) and a steering motor (18) that are fixedly connected to the robot body (1). Two meshing gears (19) are rotatably connected on the connecting plate (17). The central shaft of one gear (19) with a smaller pitch circle radius is fixedly connected to the output shaft of the steering motor (18). The central shaft of the other gear (19) with a larger pitch circle radius is fixedly connected to a support frame (20). A bracket (21) that is rotatably connected to a roller (5) is sleeved at the bottom of the support frame (20). During the grabbing process, the drive motor (9) simultaneously drives the tapping plate (26) to move, causing the top plate (14) to move up and down. The top plate (14) is accompanied by slight horizontal movement, and the left and right mesh structures (15) move, so that the fruits and vegetables on the mesh structure (15) are screened simultaneously, increasing the picking efficiency.

2. The highly stable adaptive fruit and vegetable harvesting robot according to claim 1, characterized in that: The movable arms (2) are arranged in pairs, and a connecting rod (6) is fixedly connected between the ends of the two movable arms (2). The connecting rod (6) at the bottom is rotatably connected to the card plate (3).

3. The highly stable adaptive fruit and vegetable harvesting robot according to claim 1, characterized in that: The bottom support plate (7) has a limiting groove (11) at its end, and the active arm (10) moves within the limiting groove (11). A camera (12) corresponding to the position of the end effector is fixedly connected to the bottom of the bottom support plate (7).

4. The highly stable adaptive fruit and vegetable harvesting robot according to claim 1, characterized in that: The top plate (14) and the bottom support plate (7) are provided with baffles (16) near the drive motor (9).

5. The highly stable adaptive fruit and vegetable harvesting robot according to claim 1, characterized in that: The top of the bracket (21) is fixedly connected to a drive motor (22), the output shaft of the drive motor (22) is connected to a drive chain (23) that is inclined, and the other end of the drive chain (23) is fixedly connected to the central shaft of the roller (5).

6. The highly stable adaptive fruit and vegetable harvesting robot according to claim 1, characterized in that: The bracket (21) and the support frame (20) are connected by a shock absorber (24), and the two ends of the transmission chain (23) are rotatably connected with guard plates (25).

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