Intelligent apple picking robot

Abstract

The utility model discloses an apple picking robot which comprises an apple collecting box, crawler-type chassis equipment fixedly installed at the bottom of the apple collecting box, a shaft body assembly assembled in the middle of the apple collecting box and a telescopic mechanical arm assembly connected to the shaft body assembly. According to the apple picking device, the through hole is formed in the middle of the tail end mechanical gripper assembly and connected with the apple conveying pipeline assembly, after the tail end mechanical gripper assembly picks off apples, the apples are conveyed into the apple conveying pipeline assembly through the through hole in the middle, and the apples are conveyed into the apple conveying pipeline assembly through guiding of the apple conveying pipeline assembly; according to the apple picking device, apples fall into the apple collecting box to be collected, the situation that one apple needs to be placed into a collecting basket to be picked again every time when the apple is picked is avoided, the working efficiency of the device is greatly improved, and the device is simple in structure, small in size, capable of adapting to different environments due to the fact that crawler-type chassis equipment is adopted for movement and high in practicability. And the applicability of the device is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of picking equipment, in particular to an intelligent apple picking robot. Background Technique

[0002] At present, in the field of apple picking, there are auxiliary manual type, vacuum hose adsorption type, and mechanical claw picking type. Among them, the auxiliary manual apple picker is a simple tool made by the folk to pick apples, which avoids the problem of difficult picking in high places and peripheral areas; the vacuum hose adsorption type robot evacuates the air to generate a pressure difference between the inside and the outside of the channel, so as to firmly adsorb the apples to the channel opening or directly enter the place where the machine stores the apples through the channel. However, this method makes the distance of the robotic arm too short and it is not suitable to design a too long robotic arm, and it is very difficult to pick the apples inside the tree crown; the mechanical claw picking type robot can avoid the distance problem and can also adapt to the planting of apples with more shapes. However, at present, no design that can quickly recover the apples has been found for the mechanical claw robot, and it can only continuously grab and release back and forth, thus increasing the labor time. In the existing products, the structures of the robots of the latter two methods are too complex, the volume is too large, and the manufacturing price is too expensive, and they are only suitable for large-scale fruit farmers. Therefore, an intelligent apple picking robot is proposed. Content of the Utility Model

[0003] The utility model aims to solve one of the technical problems existing in the prior art or related technologies.

[0004] Therefore, the technical solution adopted by the utility model is as follows:

[0005] Intelligent apple picking robot, including an apple collection box, a crawler chassis device fixedly installed at the bottom of the apple collection box, a shaft assembly assembled in the middle of the apple collection box, a telescopic robotic arm assembly connected to the shaft assembly, an apple conveying pipeline assembly arranged inside the telescopic robotic arm assembly, and an end robotic gripper assembly connected to the top of the telescopic robotic arm assembly. The crawler chassis device includes a chassis, a forward drive motor and a steering drive motor installed on the chassis, a steering drive bevel gear connected to the output end of the steering drive motor, a first steering driven bevel gear and a second steering driven bevel gear meshing on both sides of the steering drive bevel gear, a forward drive bevel gear connected to the output end of the forward drive motor, a forward driven bevel gear meshing with the forward drive bevel gear, and a steering differential assembly meshing with the first steering driven bevel gear and the second steering driven bevel gear. The shaft assembly includes a first drive motor installed on the apple collection box, a first gear transmission group connected to the output end of the first drive motor, a first shaft rotary bearing connected to the first gear transmission group, a dust cover arranged on the top of the first shaft rotary bearing, a second drive motor clamped on one side of the dust cover, a chain transmission group connected to the output end of the second drive motor, and a telescopic device connecting piece connected to the rotating shaft of the chain transmission group. The telescopic robotic arm assembly includes a first telescopic joint, a second telescopic joint connected to the top of the first telescopic joint, a rotating motor fixed on the side of the second telescopic joint, and a gear rack transmission connected to the output end of the rotating motor. The apple conveying pipeline assembly includes a third apple hose channel, a second apple hose channel connected to the top of the third apple hose channel, and a first apple hose channel arranged at the top of the second apple hose channel. The end robotic gripper assembly includes a claw mounting body, an electromagnetic plug inserted into the claw mounting body, a claw actuator connected to the outside of the claw mounting body, a second gear transmission group arranged inside the claw mounting body, a rotating motor for driving the second gear transmission group, a motor bracket for fixing the position of the rotating motor, a terminal rotary bearing connected to the outside of the second gear transmission group, and a terminal connecting piece connected to the terminal rotary bearing.

[0006] Preferably, the steering differential assembly includes a differential assembly driving wheel, a differential assembly driven wheel meshing with the differential assembly driving wheel, a small bevel gear arranged inside the differential assembly driven wheel, and an inner gear disc and an outer gear disc meshing on both sides of the small bevel gear.

[0007] Preferably, the first drive motor, the first gear transmission group and the first shaft rotary bearing are combined into a first shaft assembly.

[0008] Preferably, the chain transmission group, the telescopic device connecting piece and the second drive motor are combined into a second shaft assembly.

[0009] By adopting the above technical solutions, the beneficial effects obtained by the present utility model are:

[0010] In the present utility model, a through hole is opened in the middle of the end mechanical gripper assembly and connected to the apple conveying pipeline assembly. After the apple is picked by the end mechanical gripper assembly, the apple is conveyed into the apple conveying pipeline assembly through the through hole in the middle. Through the guidance of the apple conveying pipeline assembly, the apple falls into the apple collection box for collection. There is no need to place each picked apple into the collection basket before picking another apple, which greatly improves the working efficiency of the device. Moreover, the device has a simple structure and a small volume. It uses a crawler chassis device for movement and can adapt to different environments, greatly enhancing the applicability of the device. Brief Description of the Drawings

[0011] Figure 1 It is an overall schematic diagram of an embodiment of the present utility model;

[0012] Figure 2 It is a schematic diagram of the shaft assembly of an embodiment of the present utility model;

[0013] Figure 3 It is a schematic diagram of the crawler chassis device of an embodiment of the present utility model;

[0014] Figure 4 It is an exploded schematic diagram of the steering differential assembly of an embodiment of the present utility model;

[0015] Figure 5 It is a schematic diagram of the telescopic robotic arm assembly of an embodiment of the present utility model;

[0016] Figure 6 It is a schematic diagram of the end mechanical gripper assembly of an embodiment of the present utility model.

[0017] Reference Signs:

[0018] 1. Crawler chassis equipment; 2. Apple collection box; 3. Shaft assembly; 4. Telescopic robotic arm assembly; 5. Apple conveying pipeline assembly; 6. End mechanical gripper assembly; 7. Forward drive motor; 8. Steering drive motor; 9. Steering active helical gear; 10. Steering driven helical gear one; 11. Steering driven helical gear two; 12. Forward driven helical gear; 13. Forward active helical gear; 14. Steering differential assembly; 15. Differential assembly driving wheel; 16. Internal gear disk; 17. Small helical gear; 18. Differential assembly driven wheel; 19. External gear disk; 20. Drive motor one; 21. Gear transmission group one; 22. Chain transmission group; 23. Telescopic device connecting piece; 24. Drive motor two; 25. Dust cover; 26. One-axis slewing bearing; 27. Apple hose channel three; 28. Telescopic joint one; 29. Apple hose channel two; 30. Rack and pinion drive; 31. Rotating motor; 32. Telescopic joint two; 33. Apple hose channel one; 34. End connecting piece; 35. Rotary motor; 36. Motor bracket; 37. Gear transmission group two; 38. Claw mounting body; 39. Claw actuator; 40. Electromagnetic bolt; 41. End slewing bearing. Detailed implementation manners

[0019] To make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below in conjunction with the specific implementation manners and with reference to the accompanying drawings. It should be noted that, without conflict, the embodiments of the present utility model and the features in the embodiments may be combined with each other.

[0020] The following describes some embodiments of the intelligent apple picking robot provided by the present utility model in conjunction with the accompanying drawings.

[0021] Embodiment:

[0022] Combined with Figure 1-6As shown in the figure, the intelligent apple picking robot provided by the utility model includes an apple collection box 2, a crawler chassis device 1 fixedly installed at the bottom of the apple collection box 2, a shaft assembly 3 assembled in the middle of the apple collection box 2, a telescopic robotic arm assembly 4 connected to the shaft assembly 3, an apple conveying pipeline assembly 5 arranged inside the telescopic robotic arm assembly 4, and an end robotic gripper assembly 6 connected to the top of the telescopic robotic arm assembly 4. The crawler chassis device 1 includes a chassis, a forward drive motor 7 and a steering drive motor 8 installed on the chassis, a steering driving bevel gear 9 connected to the output end of the steering drive motor 8, a first steering driven bevel gear 10 and a second steering driven bevel gear 11 meshing on both sides of the steering driving bevel gear 9, a forward driving bevel gear 13 connected to the output end of the forward drive motor 7, a forward driven bevel gear 12 meshing with the forward driving bevel gear 13, and a steering differential assembly 14 meshing with the first steering driven bevel gear 10 and the second steering driven bevel gear 11. The steering differential assembly 14 includes a differential assembly driving wheel 15, a differential assembly driven wheel 18 meshing with the differential assembly driving wheel 15, a small bevel gear 17 arranged inside the differential assembly driven wheel 18, an internal gear disc 16 and an external gear disc 19 meshing with both sides of the small bevel gear 17. The shaft assembly 3 includes a first driving motor 20 installed on the apple collection box 2, a first gear transmission group 21 connected to the output end of the first driving motor 20, a first shaft rotary bearing 26 connected to the first gear transmission group 21, a dust-proof cover 25 arranged on the top of the first shaft rotary bearing 26, a second driving motor 24 clamped on one side of the dust-proof cover 25, a chain transmission group 22 connected to the output end of the second driving motor 24, and a telescopic device connecting piece 23 connected to the rotating shaft of the chain transmission group 22. The first driving motor 20, the first gear transmission group 21 and the first shaft rotary bearing 26 are combined into a first shaft assembly, and the chain transmission group 22, the telescopic device connecting piece 23 and the second driving motor 24 are combined into a second shaft assembly. The telescopic robotic arm assembly 4 includes a first telescopic joint 28, a second telescopic joint 32 connected to the top of the first telescopic joint 28, a rotating motor 31 fixed on the side of the second telescopic joint 32, and a rack and pinion transmission 30 connected to the output end of the rotating motor 31. The apple conveying pipeline assembly 5 includes a third apple hose channel 27, a second apple hose channel 29 connected to the top of the third apple hose channel 27, and a first apple hose channel 33 arranged on the top of the second apple hose channel 29. The end robotic gripper assembly 6 includes a claw mounting body 38, an electromagnetic plug 40 inserted into the claw mounting body 38, a claw actuator 39 connected to the outside of the claw mounting body 38, a second gear transmission group 37 arranged inside the claw mounting body 38, a rotating motor 35 for driving the second gear transmission group 37, a motor bracket 36 for fixing the position of the rotating motor 35, a terminal rotary bearing 41 connected to the outside of the second gear transmission group 37, and a terminal connecting piece 34 connected to the terminal rotary bearing 41.

[0023] Specifically, the telescopic joint two 32 is driven by the drive motor 31 to drive the claw actuator 39 installed at its top to synchronously expand and contract, thereby changing its length to meet the picking requirements at different heights. When it is necessary to change the picking position, the position of the claw actuator 39 can be quickly changed by using the first-axis assembly and the second-axis assembly, so as to achieve picking at different positions and improve the flexibility of the device.

[0024] The working principle and usage process of the present utility model are as follows: First, the shaft body assembly 3 is used to control the direction of the telescopic robotic arm assembly 4, and the telescopic robotic arm assembly 4 controls the distance of the end robotic gripper assembly 6. After a series of movements of the robotic arm, when the end robotic gripper assembly 6 gradually approaches the target apple, when the apple enters the working range of the end robotic gripper assembly 6, the electromagnetic latch 40 of the end robotic gripper assembly 6 starts to work, causing the claw actuator 39 to close and hold the apple. Subsequently, the telescopic robotic arm assembly 4 retracts or the gear set inside the end robotic gripper assembly 6 rotates to pick the apple. The inside of the end robotic gripper assembly 6 is designed to be hollow so that the apple can automatically fall into the apple conveying pipe assembly 5 in the telescopic robotic arm assembly 4 after being picked, and directly enter the apple collection box 2 through the apple conveying pipe assembly 5 to complete the picking. After the end robotic gripper assembly 6 picks the target apple, it can immediately transfer to the next target, saving the steps of transporting the apple back and forth and greatly improving the picking efficiency.

[0025] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the claims and their equivalents.

Claims

1. The intelligent apple picking robot, characterized in that, it includes an apple collection box (2), a crawler chassis device (1) fixedly installed at the bottom of the apple collection box (2), a shaft assembly (3) assembled in the middle of the apple collection box (2), a telescopic robotic arm assembly (4) connected to the shaft assembly (3), an apple conveying pipeline assembly (5) arranged inside the telescopic robotic arm assembly (4), and an end robotic gripper assembly (6) connected to the top of the telescopic robotic arm assembly (4); The crawler chassis device (1) includes a chassis, a forward driving motor (7) and a steering driving motor (8) installed on the chassis, a steering driving bevel gear (9) connected to the output end of the steering driving motor (8), a first steering driven bevel gear (10) and a second steering driven bevel gear (11) meshing on both sides of the steering driving bevel gear (9), a forward driving bevel gear (13) connected to the output end of the forward driving motor (7), a forward driven bevel gear (12) meshing with the forward driving bevel gear (13), and a steering differential assembly (14) meshing with the first steering driven bevel gear (10) and the second steering driven bevel gear (11); The shaft assembly (3) includes a first driving motor (20) installed on the apple collection box (2), a first gear transmission group (21) connected to the output end of the first driving motor (20), a first shaft rotary bearing (26) connected to the first gear transmission group (21), a dust cover (25) arranged on the top of the first shaft rotary bearing (26), a second driving motor (24) clamped on one side of the dust cover (25), a chain transmission group (22) connected to the output end of the second driving motor (24), and a telescopic device connecting piece (23) connected to the rotating shaft of the chain transmission group (22); The telescopic robotic arm assembly (4) includes a first telescopic joint (28), a second telescopic joint (32) connected to the top of the first telescopic joint (28), a rotating motor (31) fixed on the side of the second telescopic joint (32), and a gear-rack transmission (30) connected to the output end of the rotating motor (31); The apple conveying pipeline assembly (5) includes a third apple hose channel (27), a second apple hose channel (29) connected to the top of the third apple hose channel (27), and a first apple hose channel (33) arranged at the top of the second apple hose channel (29); The end robotic gripper assembly (6) includes a claw mounting body (38), an electromagnetic plug (40) inserted into the claw mounting body (38), a claw actuator (39) connected to the outside of the claw mounting body (38), a second gear transmission group (37) arranged inside the claw mounting body (38), a rotating motor (35) for driving the second gear transmission group (37), a motor bracket (36) fixing the position of the rotating motor (35), a terminal rotary bearing (41) connected to the outside of the second gear transmission group (37), and a terminal connecting piece (34) connected to the terminal rotary bearing (41).

2. The intelligent apple picking robot according to claim 1, characterized in that, The steering differential assembly (14) includes a differential assembly driving wheel (15), a differential assembly driven wheel (18) meshing with the differential assembly driving wheel (15), a small bevel gear (17) disposed inside the differential assembly driven wheel (18), and an internal gear disc (16) and an external gear disc (19) meshing with both sides of the small bevel gear (17).

3. The intelligent apple picking robot according to claim 1, characterized in that the first driving motor (20), the first gear transmission group (21) and the first shaft rotary bearing (26) are combined into a first shaft assembly.

4. The intelligent apple picking robot according to claim 1, characterized in that the chain transmission group (22), the telescopic device connecting member (23) and the second driving motor (24) are combined into a second shaft assembly.

Images