Agricultural fruit and vegetable picking robot

Abstract

The utility model discloses an agricultural fruit and vegetable picking robot, and relates to the technical field of fruit and vegetable picking devices. The agricultural fruit and vegetable picking robot comprises a movable base, the movable base is connected with a mounting base provided with a picking module through hydraulic rods symmetrically arranged at the top, the picking module comprises a distance adjusting unit and a fruit bearing unit, and the distance adjusting unit comprises fixing blocks symmetrically arranged at the two ends of the movable base; each fixing block is rotationally connected with a worm with the other end connected with a driving motor, a worm wheel moving on the top of the mounting base is connected between the two sets of worms, and the middle of the worm wheel is in key connection with an adjusting shaft. The horizontal distance and the front-back distance of the picking module are rapidly adjusted through the distance adjusting unit, and the defect that the picking robot needs to drive a chassis to find the picking position again when the length of a mechanical arm is not enough is overcome in order to further expand the picking range of the picking robot in a designated area. And the picking efficiency is well improved.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit and vegetable picking devices, in particular to an agricultural fruit and vegetable picking robot. Background Art

[0002] Fruits and vegetables are short for fruits and vegetables. They refer to edible fruits and vegetables, which are a category of food compared to meat. During the operation of traditional fruit and vegetable picking devices, impurities or water droplets on the fruit trees are easily contaminated on the camera, which will affect the shooting effect and the picking operation of the fruit trees. The staff needs to clean the surface regularly, which requires a certain amount of labor and has disadvantages.

[0003] For example, a spherical fruit and vegetable picking device of an agricultural robot disclosed in Chinese patent publication number CN212589002U cleans impurities or water droplets on the protective cover through a rubber strip, thereby ensuring the clarity of the camera shooting and reducing the maintenance of the camera cleaning by the staff. The excess water droplets after cleaning can flow down through the groove and are not easy to accumulate in the groove, which can facilitate the discharge of water droplets and impurities. While ensuring the cleaning of the camera, it can also avoid the accumulation of impurities, better ensure the cleanliness of the camera and the clarity of its shooting, and is more practical.

[0004] Firstly, if the mechanical arm of the above-mentioned picking device is in a close distance to the group of fruits and vegetables to be picked, in order to improve the picking efficiency, the driving wheel of the chassis is often in a standby state, and is extended by the mechanical arm. If the length of the mechanical arm is not enough, the distance of the installed module needs to be adjusted. At this time, it is difficult for the device to fine-tune the picking distance, and when picking fruits hanging on fruit trees, there is no matching load-bearing device compatible with the mechanical arm. Therefore, the mechanical arm of the device used for picking can only hold the fruits and vegetables and rotate them into the placement frame, and then let go and return to another picking position. This process greatly affects the picking efficiency. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides an agricultural fruit and vegetable picking robot, which solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above purpose, the utility model is implemented through the following technical solutions: an agricultural fruit and vegetable picking robot, comprising a mobile base, the mobile base is connected to a mounting base with a picking module installed through a hydraulic rod symmetrically arranged on the top, the picking module comprises a distance adjustment unit installed on the mounting base and a fruit receiving unit installed on the distance adjustment unit, the distance adjustment unit comprises fixed blocks symmetrically arranged at both ends of the mobile base, each of the fixed blocks is rotatably connected to a worm whose other end is connected to a driving motor, a worm wheel movable on the top of the mounting base is connected between two groups of the worm wheels, an adjusting shaft is keyed to the middle of the worm wheel, and an upper gear is keyed to the upper end of the adjusting shaft; when the two groups of driving motors make the worm wheels connected to each other turn in the same direction, the worm wheels are pushed to one side for horizontal movement due to the meshing of the worm wheels at both ends, and the key-connected adjusting shaft follows and moves horizontally; and when the two groups of worm wheels turn in opposite directions, the worm wheels rotate due to the meshing of the worm wheels at both ends, and the key-connected adjusting shaft drives the upper gear to rotate.

[0007] A further improvement of the technical solution of the utility model is that: the upper gear is located in a rack frame, and a toothed plate for linkage is provided on the inner wall of the rack frame, the rack frame is slidably arranged in the engaging seat, an extended slider is welded to the bottom of the engaging seat, and the extended slider slides in a slide groove in the slide seat located at the top of the fixed block.

[0008] From the above, it can be seen that when the worm gears rotate in the same direction, the rack frame is pushed by the upper gear and moves in the engaging seat to complete the horizontal movement. At this time, the fruit carrying unit installed thereon moves horizontally. When the worm gears rotate in the opposite direction, the upper gear rotates. Since the upper gear is engaged with the tooth plate, the tooth plate is pushed forward and backward. At this time, the front and rear ends of the fruit carrying unit installed thereon move. Therefore, when the picking robot arrives at the predetermined picking area and its chassis driving wheel is to be started, the distance adjustment unit is used to realize the rapid adjustment of the horizontal and front and rear distances of the picking module. In order to further expand the picking range of the picking robot within the specified area, the defect that the picking robot needs to drive the chassis to find the picking position again when the length of the mechanical arm is not enough is improved, thereby greatly improving the picking efficiency.

[0009] A further improvement of the technical solution of the utility model is that the upper gear is meshedly connected with the toothed plate at the inner wall of the rack frame, and the fruit receiving unit is rotatably installed at the top of the rack frame.

[0010] A further improvement of the technical solution of the utility model is that the fruit receiving unit includes a rotating seat rotatably mounted on the top of the rack frame, an arc seat is symmetrically welded on the top of the rotating seat, and the arc seat is connected to the control box via a connecting shaft arranged therein.

[0011] A further improvement of the technical solution of the utility model lies in that: a camera probe for detection and observation is arranged on the control box, and a connecting recess is arranged at the top of the control box, and two groups of damping shafts are rotatably arranged on the upper end of the connecting recess, and a picking mechanical arm is sleeved on the upper limit of one of the damping shafts, and the front end of the picking mechanical arm is a scissor-type pressure plate for cutting or clamping; wherein the camera probe completes the target detection and picking environment observation of remote picking, the damping shaft completes the picking angle adjustment of the picking mechanical arm, and the clamping force of the scissor-type pressure plate determines whether to cut out the fruit branches and leaves or clamp the fruit; the reason for the above-mentioned scissor-type pressure plate is that the fruit can be quickly picked by directly cutting out the side branches at the top of the fruit, and when the side branches are cut off, the fruit falls due to gravity factors. If soft-skinned fruits such as persimmons and strawberries are picked, the fruit will be damaged to a large extent, affecting the subsequent sale and consumption. Therefore, two picking methods are provided on the basis of the above.

[0012] A further improvement of the technical solution of the utility model is that: another upper limit sleeve on the damping shaft is connected with a connecting rod whose other end is connected to the storage box, a mutually connected traction rod is arranged between the storage box and the upper mechanical arm, and a feeding channel for receiving fruits and vegetables is arranged on the storage box.

[0013] Beneficial Effects

[0014] The utility model provides an agricultural fruit and vegetable picking robot. Compared with the prior art, it has the following advantages:

[0015] Beneficial effects:

[0016] 1. The agricultural fruit and vegetable picking robot can quickly adjust the horizontal and front-to-back distance of the picking module through the distance adjustment unit, so as to further expand the picking range of the picking robot within the specified area. It improves the defect that the picking robot needs to drive the chassis to re-find the picking position when the length of the mechanical arm is not enough, thereby greatly improving the picking efficiency.

[0017] 2. The agricultural fruit and vegetable picking robot completes the feeding and storage of fruits after picking through the fruit receiving unit, avoiding the large rotation of the robotic arm to find the placement components, improving the picking efficiency and avoiding the damage of fruits during the picking process, which may affect the subsequent sale and consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 It is a front view of the utility model;

[0020] Figure 3 This is a schematic diagram of the picking module of the utility model;

[0021] Figure 4It is a structural sectional view of the distance adjustment unit of the utility model.

[0022] In the figure: 1. Mobile base;

[0023] 101a, hydraulic rod; 101b, mounting seat;

[0024] 201, fixed block;

[0025] 201a, worm; 201b, driving motor; 201c, worm wheel;

[0026] 202, adjusting shaft;

[0027] 203a, upper gear; 203b, rack frame; 203c, gear plate;

[0028] 204a, a fitting seat; 204b, an extending slider; 204c, a sliding seat;

[0029] 301a, rotating seat; 301b, arc seat; 301c, connecting shaft; 301d, control box;

[0030] 301d-1, camera probe; 301d-2, connecting concave block; 301d-3, damping shaft; 301d-4, picking mechanical arm; 301d-5, scissor pressure plate; 301d-6, connecting rod; 301d-7, storage box; 301d-8, feeding channel; 301d-9, traction rod. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0032] Reference Figure 1-Figure 4 , this utility model provides 3 technical solutions:

[0033] Embodiment 1:

[0034] An agricultural fruit and vegetable picking robot comprises a mobile base 1, wherein the mobile base 1 is connected to a mounting base 101b on which a picking module is installed through a hydraulic rod 101a symmetrically arranged on the top, and the picking module comprises a distance adjustment unit installed on the mounting base 101b and a fruit receiving unit installed on the distance adjustment unit;

[0035] The distance adjustment unit includes fixed blocks 201 symmetrically arranged at both ends of the mobile base 1, each fixed block 201 is rotatably connected to a worm 201a whose other end is connected to a driving motor 201b, a worm wheel 201c movable on the top of the mounting base 101b is connected between the two groups of worm wheels 201a, an adjustment shaft 202 is keyed to the middle of the worm wheel 201c, and an upper gear 203a is keyed to the upper end of the adjustment shaft 202.

[0036] In this embodiment, when the two sets of driving motors 201b make the respectively connected worm gears 201a turn in the same direction, the worm wheel 201c is pushed to one side and moves horizontally because the two ends are meshing with the worm gear 201a, and the key-connected adjustment shaft 202 follows and moves horizontally; and when the two sets of worm gears 201a turn in opposite directions, the worm wheel 201c rotates because the two ends of the worm wheel 201c are meshing with the worm gear 201a, and the key-connected adjustment shaft 202 drives the upper gear 203a to rotate.

[0037] The upper gear 203a is located in a rack frame 203b, and a tooth plate 203c for linkage is provided on the inner wall of the rack frame 203b. The rack frame 203b is slidably set in the engaging seat 204a. An extension slider 204b is welded to the bottom of the engaging seat 204a. The extension slider 204b slides in the slide groove in the slide seat 204c located at the top of the fixed block 201.

[0038] As can be seen from the above, when the worm 201a rotates in the same direction, the rack frame 203b is pushed by the upper gear 203a and moves in the fitting seat 204a to complete the horizontal movement. At this time, the fruit bearing unit installed thereon moves horizontally. When the worm 201a rotates in the opposite direction, the upper gear 203a rotates. Since the upper gear 203a is engaged with the tooth plate 203c, the tooth plate 203c is pushed forward and backward. At this time, the front and rear ends of the fruit bearing unit installed thereon move.

[0039] Therefore, when the picking robot arrives at the predetermined picking area and its chassis driving wheels are ready to be started, the utility model realizes rapid adjustment of the horizontal and front-to-back distance of the picking module through the distance adjustment unit, so as to further expand the picking range of the picking robot within the designated area, improves the defect that the picking robot needs to drive the chassis to re-find the picking position when the length of the mechanical arm is not enough, and greatly improves the picking efficiency.

[0040] The upper gear 203a is meshedly connected with the tooth plate 203c at the inner wall of the rack frame 203b, and the fruit receiving unit is rotatably installed at the top of the rack frame 203b.

[0041] Embodiment 2:

[0042] On the basis of the first embodiment: the fruit receiving unit includes a rotating seat 301a rotatably mounted on the top of the rack frame 203b, an arc seat 301b is symmetrically welded on the top of the rotating seat 301a, and the arc seat 301b is connected to the control box 301d via a connecting shaft 301c arranged therein.

[0043] The control box 301d is provided with a camera probe 301d-1 for detection and observation, and a connecting recessed block 301d-2 is provided at the top of the control box 301d. Two groups of damping shafts 301d-3 are rotatably provided on the upper end of the connecting recessed block 301d-2. A picking robot arm 301d-4 is sleeved on the upper limit position of one of the damping shafts 301d-3. The front end of the picking robot arm 301d-4 is a scissor-type pressure plate 301d-5 for cutting or clamping.

[0044] In this embodiment, the camera probe 301d-1 completes the target detection and picking environment observation of remote picking, the damping shaft 301d-3 completes the picking angle adjustment of the picking mechanical arm 301d-4, and the clamping force of the scissor-type pressure plate 301d-5 determines whether to cut the fruit branches and leaves or clamp the fruit;

[0045] The reason for setting the above-mentioned middle scissor-type pressure plate 301d-5 is that the fruit can be quickly picked by directly cutting out the side branches on the top of the fruit. When the side branches are cut off, the fruit falls due to gravity. If soft-skinned fruits such as persimmons and strawberries are picked, the fruit will be damaged to a large extent, affecting the subsequent sale and consumption. Therefore, this embodiment provides two picking methods based on the above.

[0046] Embodiment three:

[0047] On the basis of the first and second embodiments: the upper limit sleeve of another damping shaft 301d-3 is connected with a connecting rod 301d-6 whose other end is connected to the storage box 301d-7, a mutually connected traction rod 301d-9 is arranged between the storage box 301d-7 and the upper mechanical arm 301d-4, and a feeding channel 301d-8 for receiving fruits and vegetables is arranged on the storage box 301d-7.

[0048] In this embodiment, after the robot arm 301d-4 and the scissor-type pressure plate 301d-5 complete the picking of fruits and vegetables, the fruits and vegetables are directly placed on the inclined feeding channel 301d-8, and the fruits and vegetables slowly slide into the storage box 301d-7 for loading, avoiding the robot arm 301d-4 from rotating significantly to find the placement component, thereby improving the picking efficiency.

[0049] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used.

[0050] When in use, after the chassis driving part of the mobile base 1 arrives at the predetermined picking point, after the picking area of ​​the mechanical arm is completed, the distance is adjusted according to the distribution of fruits, and the two sets of driving motors 201b are started. When the worm 201a turns in the same direction, the rack frame 203b is pushed by the upper gear 203a and moves in the fitting seat 204a to complete the horizontal movement. At this time, the fruit carrying unit installed thereon moves horizontally. When the worm 201a turns in the opposite direction, the upper gear 203a rotates. Because the upper gear 203a and the tooth plate 203c is engaged, so the tooth plate 203c is pushed forward and backward, and the front and rear ends of the fruit carrying unit installed thereon move. At this time, the damping shaft 301d-3 completes the picking angle adjustment of the picking robot arm 301d-4, and presets the clamping force of its scissor pressure plate 301d-5 according to the picked fruit variety. After the robot arm 301d-4 and the scissor pressure plate 301d-5 complete the picking of fruits and vegetables, the fruits and vegetables are directly placed on the inclined feeding channel 301d-8, and the fruits and vegetables slowly slide into the storage box 301d-7 for loading.

[0051] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An agricultural fruit and vegetable picking robot, comprising a mobile base (1), characterized in that: The mobile base (1) is connected to a mounting base (101b) on which a picking module is installed via a hydraulic rod (101a) symmetrically arranged on the top, and the picking module comprises a distance adjustment unit installed on the mounting base (101b) and a fruit receiving unit installed on the distance adjustment unit; The distance adjustment unit comprises fixed blocks (201) symmetrically arranged at both ends of a movable base (1); each of the fixed blocks (201) is rotatably connected to a worm (201a) whose other end is connected to a driving motor (201b); a worm wheel (201c) movable on the top of a mounting seat (101b) is connected between two groups of the worm wheels (201a); an adjustment shaft (202) is keyed to the middle of the worm wheel (201c); and an upper gear (203a) is provided at the upper end of the adjustment shaft (202) via a key connection.

2. The agricultural fruit and vegetable picking robot according to claim 1, characterized in that: The upper gear (203a) is located in a rack frame (203b), and a tooth plate (203c) for linkage is arranged on the inner wall of the rack frame (203b), the rack frame (203b) is slidably arranged in the engaging seat (204a), an extension slider (204b) is welded at the bottom of the engaging seat (204a), and the extension slider (204b) slides in a slide groove in the slide seat (204c) located at the top of the fixed block (201).

3. The agricultural fruit and vegetable picking robot according to claim 1, characterized in that: The upper gear (203a) is meshedly connected with a toothed plate (203c) on the inner wall of the rack frame (203b), and the fruit receiving unit is rotatably mounted on the top of the rack frame (203b).

4. The agricultural fruit and vegetable picking robot according to claim 3, characterized in that: The fruit receiving unit comprises a rotating seat (301a) rotatably mounted on the top of a rack frame (203b), an arc seat (301b) is symmetrically welded to the top of the rotating seat (301a), and the arc seat (301b) is connected to a control box (301d) via a connecting shaft (301c) arranged therein.

5. The agricultural fruit and vegetable picking robot according to claim 4, characterized in that: The control box (301d) is provided with a camera probe (301d-1) for detection and observation, and a connecting recessed block (301d-2) is provided at the top of the control box (301d), two groups of damping shafts (301d-3) are rotatably provided at the upper end of the connecting recessed block (301d-2), one of the damping shafts (301d-3) is sleeved with a picking mechanical arm (301d-4) at the upper limit position, and the front end of the picking mechanical arm (301d-4) is a scissor-type pressure plate (301d-5) for cutting or clamping.

6. The agricultural fruit and vegetable picking robot according to claim 5, characterized in that: The upper limit sleeve of the other damping shaft (301d-3) is connected with a connecting rod (301d-6) whose other end is connected to a storage box (301d-7); a mutually connected traction rod (301d-9) is provided between the storage box (301d-7) and the upper picking mechanical arm (301d-4); and a feeding channel (301d-8) for receiving fruits and vegetables is provided on the storage box (301d-7).

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