Automatic apple picking robot

Abstract

The utility model relates to the technical field of agricultural machinery, in particular to an automatic apple picking robot. An automatic apple picking robot comprises a walking mechanism, a picking arm and a collecting and buffering mechanism, a bayonet is fixedly formed in the upper end face of the walking mechanism, a turnover basket can be installed in the bayonet in a clamped mode, and the picking arm is further horizontally and rotationally arranged at the position of the upper end face of the walking mechanism. The output end of the picking arm is rotationally provided with a picker in the vertical direction, and the picking arm is rotationally provided with a collecting and buffering mechanism in the vertical direction. According to the apple picking machine, the impact and damage to apples in the picking process can be reduced in a first-pushing and second-pulling picking mode, the energy consumption of mechanical equipment is reduced in a labor-saving mode, yellow leaves and bad fruits can fall off after being intervened, and then the apples are rapidly collected through contraction of the collecting and buffering mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, in particular to an automatic apple picking robot. Background Art

[0002] With the rapid development of agricultural science and technology, agricultural automation has gradually become an important means to improve production efficiency and reduce labor costs. Especially in fruit tree planting, automation technology is developing rapidly, and it can automatically identify, quickly pick and collect apples.

[0003] Existing automatic picking robots often use suction cups, clamps and shearing picking mechanisms to pick apples, but the clamping claw picking mechanism has high requirements on the clamping force and cannot damage the apple skin; although the shearing picking mechanism can pick apples quickly, it has high requirements on the recognition of the fruit stems; and the suction cup picking mechanism has low requirements on the visual system and causes less damage to the apple surface, but the suction cup picking mechanism often picks apples by positioning and adsorbing the apples and directly away from the fruit trees, which causes excessive pulling force on the apples, resulting in skin rupture, flesh damage, and increased mechanical energy consumption.

[0004] At the same time, the picking position and collection point of the existing automatic apple picking robot are relatively fixed, and apples often come in different sizes and shapes. When the distance between the two is close, the picking of large fruits is greatly affected; when the distance between the two is far, the falling speed of the apple increases, and the direct drop of the apple will cause certain damage to its surface.

[0005] Therefore, it is necessary to provide an automatic apple picking robot to solve the problems in the above-mentioned background technology. Utility Model Content

[0006] In response to the above-mentioned problems, the present application provides an automatic apple picking robot, which adopts a picking method of pushing first and then pulling, thereby reducing the impact and damage to the apples during the picking process, and reducing the energy consumption of mechanical equipment in a labor-saving manner, and allowing yellow leaves and rotten fruits to fall off after intervention, and then the apples are quickly collected by the contraction of the collection buffer mechanism.

[0007] To achieve the purpose of this application, this application provides the following technical solutions:

[0008] The present application provides an automatic apple picking robot, comprising: a walking mechanism, a picking arm and a collecting buffer mechanism, wherein a bayonet is fixedly provided on the upper end surface of the walking mechanism, and a turnover basket can be mounted in the bayonet, and a picking arm is also horizontally rotatably provided at the upper end surface of the walking mechanism, a picking device is rotatably provided at the output end of the picking arm in the vertical direction, and a collecting buffer mechanism is rotatably provided on the picking arm in the vertical direction;

[0009] Wherein, the picker includes: a mounting frame, a first guide cylinder and a suction cup, the mounting frame is rotatably arranged at the output end of the picking arm, the first guide cylinder is fixedly mounted on the mounting frame, and the output end of the first guide cylinder is fixedly connected to the suction cup.

[0010] In a possible implementation, a CCD camera is fixedly mounted on the upper end of the mounting frame.

[0011] In a possible implementation, the picking arm further includes: a first connecting arm and a second connecting arm, wherein the first connecting arm is horizontally rotatably arranged at the upper end surface of the walking mechanism, and the second connecting arm is vertically rotatably arranged on the first connecting arm.

[0012] In a possible implementation, the collection buffer mechanism includes: a telescopic rod and a buffer net, wherein the telescopic rod includes a fixed end and a telescopic end, the fixed end of the telescopic rod is rotatably set on the first connecting arm, the telescopic end of the telescopic rod is fixed with a circular frame, and the buffer net is set at the lower end of the circular frame.

[0013] In a possible implementation, the diameter of the circular frame is 9 cm-12 cm.

[0014] In a possible implementation, a second guide cylinder is hingedly provided at the telescopic end of the telescopic rod, and the second guide cylinder is rotatably connected to the second connecting arm.

[0015] In a possible implementation, an air supply device is further provided on the walking mechanism, and the air supply device is respectively connected to the first guide cylinder, the suction cup and the second guide cylinder.

[0016] The beneficial effects of the utility model are:

[0017] 1. When picking apples through the picking arm, the utility model first uses a suction cup to position and adsorb the apples, and then adopts a picking method of first pushing and then pulling with a first guide cylinder, so that the connection between the apples and the branches is gradually separated, which helps to reduce the impact and damage to the apples during the picking process; compared with directly pulling down the apples, the method of pushing first and then pulling is more labor-saving and helps to reduce the energy consumption of mechanical equipment; at the same time, pushing first and then pulling the apples can also shake the branches, so that yellow leaves and bad fruits can be prevented from falling, thereby reducing the recognition difficulty of the CCD camera.

[0018] 2. The circular frame of the utility model can raise and lower the telescopic rod through the extension and retraction of the second guide cylinder, so that the circular frame is away from the picker during the picking process to prevent the circular frame from interfering with the apple picking. After the apples are picked, the circular frame is close to the picker, the suction cup is cut off, and the apples enter the turnover basket through the buffer net, which slows down the falling speed of the apples and ensures the integrity of the apples. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application.

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the picking arm in the utility model;

[0022] Figure 3 It is a structural schematic diagram of the picker in the utility model;

[0023] Figure numerals: 1. walking mechanism; 2. turnover basket; 3. picking arm; 4. collecting buffer mechanism; 31. picker; 311. mounting frame; 312. first guide cylinder; 313. suction cup; 32. CCD camera; 33. first connecting arm; 34. second connecting arm; 41. telescopic rod; 42. circular frame; 43. buffer net; 44. second guide cylinder. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of this application, unless otherwise specified, "plurality" means two or more.

[0026] Figure 1-3 An automatic apple picking robot provided in an embodiment of the present application comprises: a walking mechanism 1, a picking arm 3 and a collecting buffer mechanism 4, wherein a bayonet is fixedly provided on the upper end surface of the walking mechanism 1, and a turnover basket 2 can be mounted in the bayonet, and a picking arm 3 is also horizontally rotatably provided at the upper end surface of the walking mechanism 1, and a picking device 31 is rotatably provided at the output end of the picking arm 3 in the vertical direction, and the collecting buffer mechanism 4 is rotatably provided on the picking arm 3 in the vertical direction;

[0027] Among them, the picker 31 includes: a mounting frame 311, a first guide cylinder 312 and a suction cup 313. The mounting frame 311 is rotatably arranged at the output end of the picking arm 3. The first guide cylinder 312 is fixedly installed on the mounting frame 311, and the output end of the first guide cylinder 312 is fixedly connected to the suction cup 313.

[0028] It should be noted that the walking mechanism 1, the picking arm 3 and the collecting buffer mechanism 4 are all connected to the control system, and the control system can control the walking mechanism 1, the picking arm 3 and the collecting buffer mechanism 4 independently or in combination.

[0029] Based on the above scheme, the walking mechanism 1 moves to the front of the fruit tree to be picked, the control system controls the rotation of the picking arm 3, and the apples are picked using the picking arm 3. After the apples are picked, the apples enter the turnover basket 2 through the collection buffer mechanism 4.

[0030] In one possible implementation, a CCD camera 32 is fixedly mounted on the upper end of the mounting frame 311. The CCD camera can identify the maturity of the fruit by analyzing the color, texture and other features of the fruit image. Secondly, the CCD camera can cooperate with image processing algorithms and machine vision technology to extract and match features of the image, thereby determining the position of the fruit.

[0031] In one possible implementation, the picking arm 3 also includes: a first connecting arm 33 and a second connecting arm 34, wherein the first connecting arm 33 is horizontally rotatably arranged at the upper end surface position of the walking mechanism 1, and the second connecting arm 34 is vertically rotatably arranged on the first connecting arm 33.

[0032] In one possible implementation, the collection buffer mechanism 4 includes: a telescopic rod 41 and a buffer net 43, wherein the telescopic rod 41 includes a fixed end and a telescopic end, the fixed end of the telescopic rod 41 is rotatably set on the first connecting arm 33, the telescopic end of the telescopic rod 41 is fixed with a circular frame 42, and the lower end of the circular frame 42 is provided with a buffer net 43.

[0033] In one possible implementation, the diameter of the circular frame 42 is 9cm-12cm. The diameter of the apple varies depending on the variety. Generally speaking, the diameter is between 6cm and 10cm. For example, Red Fuji, Red Marshal, etc. have relatively large diameters; while some smaller varieties, such as Red Star, Gala, etc., have relatively small diameters. For example, the diameter of the circular frame 42 can be set to 11cm to accommodate apples of various sizes.

[0034] In a possible implementation, a second guide cylinder 44 is hingedly provided at the telescopic end of the telescopic rod 41 , and the second guide cylinder 44 is rotatably connected to the second connecting arm 34 .

[0035] In a possible implementation, the walking mechanism 1 is further provided with an air supply device, and the air supply device is respectively connected to the first guide cylinder 312, the suction cup 313 and the second guide cylinder 44.

[0036] Based on the above scheme, during the picking process, the control system controls the second guide cylinder 44 to extend, and the circular frame 42 is away from the picker 31, so as to prevent the picker 31 from being affected by the size and shape of the apples during the picking process. After the positions of the circular frame 42 and the picker 31 are fixed, the picking work of the picker 31 is affected; then the control system controls the rotation of the picking arm 3 so that the suction cup 313 absorbs the apples to be picked, and the first guide cylinder 312 first extends and then contracts, so that the apples are picked in a push-pull manner, which helps to reduce the pressure. The impact and damage to apples during light picking are reduced by a more labor-saving method, which reduces the energy consumption of mechanical equipment. At the same time, the method of pushing first and then pulling can shake the branches, so that yellow leaves and bad fruits can be prevented from falling, thereby reducing the recognition difficulty of the CCD camera; after the apples are picked, the circular frame 42 is close to the picker 31, the air supply device stops supplying air, the suction cup 313 is cut off, and finally the apples enter the turnover basket 2 through the buffer net 43, which slows down the falling speed of the apples and reduces the damage to the apples.

[0037] During specific implementation, the walking mechanism 1 moves to the front of the fruit tree to be picked, and the CCD camera 32 quickly collects the maturity and position information of the apples and feeds back to the control system. The control system controls the second guide cylinder 44 to extend, and the circular frame 42 moves away from the picker 31. Then the control system controls the rotation of the picking arm 3, so that the suction cup 313 absorbs the apples to be picked, and the first guide cylinder 312 extends and then quickly contracts to pick the apples. After the apples are picked, the circular frame 42 approaches the picker 31, the air supply device stops supplying air, and the suction cup 313 stops supplying air. Finally, the apples enter the turnover basket 2 through the buffer net 43.

[0038] The above embodiments are only used to illustrate the technical solution of the present application, but not to limit it. The present application is not limited to the exact structure described above and illustrated in the accompanying drawings, and it cannot be determined that the specific implementation of the present application is limited to these descriptions. For ordinary technicians in the technical field to which the present application belongs, various changes and modifications made without departing from the concept of the present application should be deemed to belong to the protection scope of the present application.

Claims

1. An automatic apple picking robot, characterized in that: include: A walking mechanism (1), a picking arm (3) and a collecting buffer mechanism (4), wherein the upper end surface of the walking mechanism (1) is fixedly provided with a bayonet, in which a turnover basket (2) can be mounted and connected, and a picking arm (3) is also provided horizontally and rotatably at the upper end surface of the walking mechanism (1), a picking device (31) is provided at the output end of the picking arm (3) in a vertically rotatable manner, and the picking arm (3) is provided with a collecting buffer mechanism (4) in a vertically rotatable manner; The picker (31) comprises: a mounting frame (311), a first guide cylinder (312) and a suction cup (313); the mounting frame (311) is rotatably arranged at the output end of the picking arm (3); the first guide cylinder (312) is fixedly mounted on the mounting frame (311); and the output end of the first guide cylinder (312) is fixedly connected to the suction cup (313).

2. The automatic apple picking robot according to claim 1, characterized in that: A CCD camera (32) is fixedly arranged on the upper end of the mounting frame (311).

3. The automatic apple picking robot according to claim 1, characterized in that: The picking arm (3) further comprises: a first connecting arm (33) and a second connecting arm (34); the first connecting arm (33) is horizontally rotatably arranged at an upper end surface position of the walking mechanism (1); and the second connecting arm (34) is vertically rotatably arranged on the first connecting arm (33).

4. The automatic apple picking robot according to claim 3, characterized in that: The collecting buffer mechanism (4) comprises: a telescopic rod (41) and a buffer net (43), wherein the telescopic rod (41) comprises a fixed end and a telescopic end, the fixed end of the telescopic rod (41) is rotatably arranged on the first connecting arm (33), the telescopic end of the telescopic rod (41) is fixed with a circular frame (42), and the lower end of the circular frame (42) is provided with a buffer net (43).

5. The automatic apple picking robot according to claim 4, characterized in that: The diameter of the circular frame (42) is 9 cm to 12 cm.

6. The automatic apple picking robot according to claim 4, characterized in that: A second guide cylinder (44) is hingedly provided at the telescopic end of the telescopic rod (41), and the second guide cylinder (44) is rotatably connected to the second connecting arm (34).

7. The automatic apple picking robot according to claim 6, characterized in that: The walking mechanism (1) is also provided with an air supply device, which is respectively connected to the first guide cylinder (312), the suction cup (313) and the second guide cylinder (44).

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