Automatic kiwi fruit picking device

Abstract

The utility model provides an automatic kiwi fruit picking device which aims at solving the problems that traditional manual kiwi fruit picking is low in efficiency and high in cost. The device mainly comprises a chassis assembly, a material clamping mechanism and a material box, the material clamping mechanism and the material box are arranged on the chassis assembly, a conveying mechanism is further arranged between the material clamping mechanism and the material box, a clamping unit is arranged at the tail end of the degree of freedom of the material clamping mechanism, and the clamping unit is provided with at least one group of detection pieces to judge whether a picked object is mature or not. According to the kiwi fruit picking machine, the relative position and the maturity of kiwi fruits are dynamically obtained by integrating a visual guidance mode, the degree-of-freedom stroke of the pneumatic scissors at the tail end is controlled through the multi-shaft mechanical arm, the conveying mechanism is arranged to independently stack the picked kiwi fruits into the collecting grating, the kiwi fruit picking work can be automatically carried out, the picking efficiency is greatly improved, and the labor intensity of workers is reduced. The orchard picking cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit picking, in particular to an automatic kiwi fruit picking device. Background Art

[0002] At present, the kiwifruit picking process mainly relies on manual labor, which requires a large amount of picking labor every day. Manual picking has the problems of low efficiency and high picking cost, and is also accompanied by problems such as inconvenient manual picking management. In addition to manual picking, there is also an automated mass production picking method, which is less dependent on manual labor and is convenient for qualitative and quantitative management of picking. The actual problems faced by the current automatic picking device are how to judge the maturity of kiwifruit, how to determine the walking freedom of the robotic arm according to the relative position of the kiwifruit, and how to reasonably store the picked kiwifruit into the collection grid. Utility Model Content

[0003] In response to the shortcomings of the above-mentioned prior art, the present application provides an automatic kiwifruit picking device, which integrates a visual guidance method to dynamically obtain the relative position and maturity of kiwifruit, controls the freedom range of the terminal pneumatic scissors through a multi-axis robotic arm, and configures a conveying mechanism to independently stack the picked kiwifruit into a collection grid. The kiwifruit picking work can be automated, the picking efficiency is greatly improved, and the picking cost of the orchard is reduced.

[0004] The technical solution adopted by the utility model to solve the above technical problems is as follows:

[0005] A kiwifruit automatic picking device comprises a chassis assembly, on which a clamping mechanism and a material box are respectively arranged, a conveying mechanism is also arranged between the clamping mechanism and the material box, a clamping unit is arranged at the free end of the clamping mechanism, and the clamping unit is configured with at least one group of detection parts to judge whether the picking object is ripe.

[0006] Furthermore, the detection component is a pressure sensor or a gas sensor or a visual detection camera.

[0007] Furthermore, the chassis assembly includes a chassis bracket, and four groups of rubber wheels are arranged on the chassis bracket. The axle of each group of rubber wheels is equipped with a first driving member, and a spring shock absorbing unit is also arranged between the front and rear opposite rubber wheels.

[0008] Furthermore, the clamping mechanism includes a lifting bracket arranged at the front of the chassis assembly, lifting components are arranged on the inner sides of both sides of the lifting bracket, a longitudinal moving component is configured on the stroke of the lifting component, a transverse moving component is arranged on the stroke of the longitudinal moving component, a front end rotating mechanism is arranged on the stroke of the transverse moving component, and the clamping unit is arranged on the free end of the front end rotating mechanism.

[0009] Furthermore, the clamping unit is a pneumatic scissors.

[0010] Furthermore, the lifting assembly includes an upper beam and a lower beam arranged on both sides of the lifting bracket, and pulleys are provided on the upper beam and the lower beam. The relative pulleys are connected by belts, and a second driving member is arranged on the axle of any one of the pulleys, and a lifting seat that follows the belts is provided between the relative belts.

[0011] Furthermore, the longitudinal moving assembly includes a longitudinal lead screw linear module arranged on each group of the lifting seats, a slider is arranged on the free end of each group of the longitudinal lead screw linear module, and the longitudinal moving seats are fixedly connected between the relative sliders.

[0012] Furthermore, the transverse moving assembly includes a transverse lead screw linear module arranged on the longitudinal moving seat, a slider is arranged on the free end of the transverse lead screw linear module, and the slider is connected to the front end rotating mechanism.

[0013] Furthermore, the conveying mechanism includes a funnel, a conveying pipe connected to the funnel, and a collecting grid arranged in the material box. The collecting grid is slidably connected to the bottom surface of the material box by setting a guide rail. A conveying screw linear module for driving the collecting grid to slide is also set at the bottom center of the material box. A pipeline screw linear module is set at the waist position of the material box, and the free end of the pipeline screw linear module is connected to the conveying pipe.

[0014] The beneficial effects of the utility model are as follows:

[0015] Compared with the prior art, the utility model integrates a clamping mechanism with 6 degrees of freedom, a conveying mechanism that can convey and independently stack fruits, and a visual detection guidance method of front-end pneumatic scissors. The device can automatically reach the picking point and judge the maturity of the fruit. After visual sampling, the clamping mechanism is adjusted to the relative position of the fruit drooping, and the pneumatic scissors are used to cut it. The fallen fruit is automatically stacked in the collection grid through the conveying mechanism. The automated picking method significantly improves the picking efficiency of the orchard and reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0017] Figure 2 It is a structural schematic diagram of the chassis assembly in the utility model;

[0018] Figure 3 It is a structural schematic diagram of the material clamping mechanism in the utility model;

[0019] Figure 4for Figure 3 A schematic diagram of the structure of the middle lifting assembly;

[0020] Figure 5 It is a structural schematic diagram of the conveying mechanism in the utility model;

[0021] Figure 6 It is a structural schematic diagram of the front end rotating mechanism in the utility model.

[0022] Wherein: 1. chassis assembly; 11. chassis bracket; 12. rubber wheel; 13. first driving member; 14. spring shock absorbing unit;

[0023] 2. Conveying mechanism; 21. Material box; 22. Funnel; 23. Conveying pipeline; 24. Collecting grid; 25. Guide rail; 26. Conveying screw linear module; 27. Pipe screw linear module;

[0024] 3. Clamping mechanism; 31. Lifting bracket; 32. Lifting assembly; 321. Upper beam; 322. Lower beam; 323. Pulley; 324. Belt; 325. Second driving member; 326. Lifting seat; 33. Longitudinal moving assembly; 331. Longitudinal lead screw linear module; 332. Longitudinal moving seat; 34. Lateral moving assembly; 341. Lateral lead screw linear module; 35. Front end rotating mechanism; 36. Clamping unit; 37. Detection member. DETAILED DESCRIPTION

[0025] The technical solution of the utility model is further described below in conjunction with the accompanying drawings and specific embodiments.

[0026] The utility model provides an automatic kiwifruit picking device, aiming to solve the problems of low efficiency and high cost of traditional manual kiwifruit picking.

[0027] like Figure 1-6 As shown, the automatic kiwifruit picking device of the utility model includes a chassis assembly 1, on which a clamping mechanism 3 and a material box 21 are respectively provided, a conveying mechanism 2 is also provided between the clamping mechanism 3 and the material box 21, a clamping unit 36 ​​is provided at the end of the freedom degree of the clamping mechanism 3, and the clamping unit 36 ​​is configured with at least one group of detection parts 37 to determine whether the picking object is ripe.

[0028] In some embodiments, the detection member 37 is a pressure sensor or a gas sensor or a visual detection camera. Since the ripening characteristics of different varieties of kiwifruit are different, it is more common that kiwifruit can be picked when the diameter is 40-60mm and the surface color turns yellow-brown. At the same time, the maturity is judged according to the smell and surface hardness of the kiwifruit. In other words, the diameter, smell, surface hardness and color of the kiwifruit can all be used as the basis for judging the maturity of the kiwifruit. Therefore, the utility model can be configured with a pressure sensor, a gas sensor, a visual detection camera or a combination of sensors to judge and identify the maturity. Preferably, the present embodiment uses a visual detection camera and installs it on the upper part of the pneumatic scissors as a visual guidance method.

[0029] In some embodiments, the chassis assembly 1 includes a chassis bracket 11, on which four groups of rubber wheels 12 are arranged, and a first driving member 13 is arranged on the axle of each group of rubber wheels 12. A spring shock absorbing unit 14 is also provided between the front and rear opposite rubber wheels 12.

[0030] According to the above technical scheme, since the field soil conditions generally need to consider the oxygen of the plant root system, the texture is soft and not suitable for small wheels. The field traveling wheel set is easy to get stuck in the soil, and some potholes are difficult to overcome. There are five types of wheel sets circulating on the market, namely Mecanum wheels, track wheels 323, steering wheels, omnidirectional wheels and rubber wheels 12. In this embodiment, the rubber wheel 12 is preferably used. Although the steering ability of the rubber wheel 12 is not as good as that of other wheel sets, it can overcome the bad soil conditions in the field by moving straight forward, and it has the advantage of being easy to clean.

[0031] In some embodiments, the clamping mechanism 3 includes a lifting bracket 31 arranged at the front of the chassis assembly 1, and lifting components 32 are arranged on the inner sides of both sides of the lifting bracket 31. A longitudinal moving component 33 is configured on the travel of the lifting component 32, a transverse moving component 34 is arranged on the travel of the longitudinal moving component 33, a front end rotating mechanism 35 is arranged on the travel of the transverse moving component 34, and the clamping unit 36 ​​is arranged on the free end of the front end rotating mechanism 35.

[0032] In particular, the front end of the present embodiment adopts the rotation of a pitch axis and a yaw axis to adapt to various drooping conditions of the fruit, wherein a bevel gear transmission is adopted with a tooth ratio of 2:1 between the upper and lower gears, so the speed ratio is 1:2, which is convenient for precise control of the rotation angle, and a stepper motor controls the up and down rotation.

[0033] In some embodiments, the gripping unit 36 ​​is a pneumatic scissor. In this embodiment, in order to prevent the scissors from being insufficient in strength and not being able to cut the fruit stem, pneumatic scissors are used. At the same time, the length of the scissors is 45 mm to prevent the object from being cut.

[0034] In some embodiments, the lifting assembly 32 includes an upper beam 321 and a lower beam 322 disposed on both sides of the lifting bracket 31, and pulleys 323 are disposed on the upper beam 321 and the lower beam 322. The opposite pulleys 323 are connected by belts 324. A second driving member 325 is disposed on the axle of any one of the pulleys 323, and a lifting seat 326 following the belts 324 is disposed between the opposite belts 324. The longitudinal moving assembly 33 includes a longitudinal lead screw linear module 331 disposed on each group of the lifting seats 326, and a slider is disposed on the free end of each group of longitudinal lead screw linear module 331, and a longitudinal moving seat 332 is fixedly connected between the opposite sliders. The transverse moving assembly 34 includes a transverse lead screw linear module 341 disposed on the longitudinal moving seat 332, and a slider is disposed on the free end of the transverse lead screw linear module 341, and the slider is connected to the front end rotating mechanism 35.

[0035] Through the above technical solution, the extension and left and right movement of the robot arm are both driven by a lead screw. Although this transmission method is slow, it ensures accuracy and can better move the scissors to the specified position to accurately cut the kiwi branches. At the same time, the transmission method for the up and down strokes is a synchronous belt drive. In order to ensure the stability of the overall robot arm and the stability of the vehicle, a symmetrical frame is selected. This structure not only provides stability, but also ensures sufficient power. The synchronous belt can avoid rigid collisions, prevent the motor from stalling, and damage the motor.

[0036] In some embodiments, the conveying mechanism 2 includes a funnel 22, a conveying pipe 23 connected to the funnel 22, and a collecting grid 24 arranged in the material box 21. The collecting grid 24 is slidably connected to the bottom surface of the material box 21 by setting a guide rail 25. A conveying screw linear module 26 for driving the collecting grid 24 to slide is also set at the bottom center of the material box 21. A pipeline screw linear module 27 is set at the waist position of the material box 21, and the free end of the pipeline screw linear module 27 is connected to the conveying pipe 23.

[0037] Through the above technical solution, for the transportation and storage of kiwifruit after picking, the left and right control of the end of the conveying pipe 23 and the front and rear control of the box body are adopted. The power source is the linear displacement driven by the lead screw controlled by the stepping motor, so as to automatically pack the kiwifruit. The designed collection grid 24 can be stacked (without squeezing or colliding the kiwifruit), and each fruit is placed in order by the grid (the partition can change the interval according to the actual situation). At the same time, there is a soft cloth or a soft pad in the conveying pipe 23 to prevent the kiwifruit from being damaged, and the connecting part adopts a buckle so as not to fall off, which is firm and durable.

[0038] The working principle of this utility model:

[0039] First, the picking device reaches the picking point, and the intelligent system controls the clamping mechanism 3 to lift the height. After reaching the desired height, the camera on the front pneumatic scissors collects image information. The system brings in the algorithm analysis and feeds back the data to the control of the up and down, left and right, and front and back freedom of the clamping mechanism 3. After reaching the designated position, according to the actual sagging of the kiwi fruit, the camera collects image information again, and the overall rotation angle (yaw axis) and up and down rotation angle (pitch axis) of the scissors part are fed back to the algorithm to cut the fruit stem, and the fruit falls into the collection grid 24 along the conveying pipe 23. The utility model is equipped with a clamping mechanism 3 with 6 degrees of freedom, a conveying mechanism 2 that can convey and independently stack the fruit, and a visual detection camera equipped with the front pneumatic scissors. The device can automatically reach the picking point and judge the maturity of the fruit. After visual sampling, the clamping mechanism 3 is adjusted to the relative position of the sagging fruit, and the fruit is cut by the pneumatic scissors. The fallen fruit is automatically stacked by the conveying mechanism 2, which significantly improves efficiency and reduces costs.

[0040] The above description is an explanation of the utility model, not a limitation of the utility model. The scope of the utility model is defined by the claims. Any form of modification can be made within the protection scope of the utility model.

Claims

1. A kiwi fruit automatic picking device, characterized in that: The invention comprises a chassis assembly (1), wherein a material clamping mechanism (3) and a material box (21) are respectively arranged on the chassis assembly (1), a conveying mechanism (2) is further arranged between the material clamping mechanism (3) and the material box (21), a gripping unit (36) is arranged at the end of the degree of freedom of the material clamping mechanism (3), and the gripping unit (36) is equipped with at least one set of detection components (37) for judging whether the picking object is ripe; The clamping mechanism (3) comprises a lifting bracket (31) arranged at the front of the chassis assembly (1), and lifting components (32) are arranged on the inner sides of both sides of the lifting bracket (31), and a longitudinal moving component (33) is arranged on the travel of the lifting component (32), and a transverse moving component (34) is arranged on the travel of the longitudinal moving component (33), and a front end rotating mechanism (35) is arranged on the travel of the transverse moving component (34), and the clamping unit (36) is arranged on the free end of the front end rotating mechanism (35).

2. The automatic kiwifruit picking device according to claim 1, characterized in that: The detection element (37) is a pressure sensor, a gas sensor or a visual detection camera.

3. The automatic kiwifruit picking device according to claim 1, characterized in that: The chassis assembly (1) comprises a chassis bracket (11), four groups of rubber wheels (12) are arranged on the chassis bracket (11), a first driving member (13) is arranged on the wheel axle of each group of rubber wheels (12), and a spring shock absorbing unit (14) is also arranged between the front and rear opposite rubber wheels (12).

4. The automatic kiwifruit picking device according to claim 1, characterized in that: The gripping unit (36) is a pneumatic scissors.

5. The automatic kiwifruit picking device according to claim 1, characterized in that: The lifting assembly (32) comprises an upper beam (321) and a lower beam (322) arranged on both sides of the lifting bracket (31); pulleys (323) are arranged on the upper beam (321) and the lower beam (322); the pulleys (323) relative to each other are connected by belts (324); a second driving member (325) is arranged on the axle of any one of the pulleys (323); and a lifting seat (326) that follows the belts (324) is arranged between the relative belts (324).

6. The automatic kiwifruit picking device according to claim 5, characterized in that: The longitudinal moving assembly (33) comprises a longitudinal lead screw linear module (331) arranged on each group of the lifting seats (326), a slider is arranged on the free end of each group of the longitudinal lead screw linear module (331), and a longitudinal moving seat (332) is fixedly connected between the opposing sliders.

7. The automatic kiwifruit picking device according to claim 6, characterized in that: The transverse moving assembly (34) comprises a transverse lead screw linear module (341) arranged on a longitudinal moving seat (332), a slider being arranged on a free end of the transverse lead screw linear module (341), and the slider being connected to the front end rotating mechanism (35).

8. The automatic kiwifruit picking device according to claim 1, characterized in that: The conveying mechanism (2) comprises a funnel (22), a conveying pipe (23) connected to the funnel (22), and a collecting grid (24) arranged in the material box (21); the collecting grid (24) is slidably connected to the bottom surface of the material box (21) by means of a guide rail (25); a conveying screw linear module (26) for driving the collecting grid (24) to slide is also arranged at the bottom center of the material box (21); a pipeline screw linear module (27) is arranged at the waist position of the material box (21); and the free end of the pipeline screw linear module (27) is connected to the conveying pipe (23).

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