Fruit double-mechanical-arm harvesting integrated operation robot

Abstract

The utility model belongs to the technical field of fruit picking equipment, and particularly relates to a fruit double-mechanical-arm harvesting integrated operation robot which comprises a harvesting integrated workbench, an operation platform is arranged on the end face of the harvesting integrated workbench, an inclined sliding way is arranged on the end face of the operation platform, and a fruit guide groove is formed in the inclined sliding way in the inclined direction. Mechanical arms are arranged at two ends of the front side of the inclined slideway on the end surface of the working platform; the telescopic fruit conveying device is arranged at the bottom of the harvesting integrated workbench, and the interior of the telescopic fruit conveying device communicates with the fruit guide groove. The chassis is arranged at the bottom of the telescopic fruit conveying device, and collecting box conveying devices are arranged on the two sides of the chassis. Through the arrangement of the control system, the mechanical arm, the end effector, the harvesting integrated industrial table, the telescopic fruit conveying device, the lifting device, the chassis, the collecting box conveying device and the like are coordinated and orderly to complete harvesting integrated operation, so that the whole operation procedure is simpler and more convenient, manual operation is replaced, the labor intensity is reduced, and the working efficiency is improved. The fruit quality is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit picking equipment, in particular to a fruit double-arm harvesting integrated operation robot. Background Technique

[0002] An organ formed by the pistil of an angiosperm through pollination and fertilization, with the participation of the ovary or other parts of the flower (such as the receptacle, sepals, etc.). A fruit generally includes two parts, the pericarp and the seeds. Among them, the pericarp can be further divided into the exocarp, mesocarp, and endocarp. The seeds play a role in spreading and reproduction.

[0003] The structure of a true fruit is relatively simple. Its outer part is the pericarp, which contains seeds. The pericarp is developed from the ovary wall and can generally be divided into three layers: the exocarp, mesocarp, and endocarp. There are often stomata, cutin wax coatings, and epidermal hairs on the exocarp. The thicknesses of the three layers of pericarp vary depending on the type of fruit. For nuts whose edible part is the seed kernel, such as walnuts, pinecones, hazelnuts, almonds, pistachios, chestnuts, and walnuts, the exocarp needs to be peeled off after harvesting. The endocarp is hard and can effectively prevent bumps caused by harvesting external forces.

[0004] The existing technology has the following defects or problems: The fruit picking operation link is complex, time-consuming, and has a large labor intensity. Most of the existing automatic picking machines are single-arm picking, with a long picking time and low picking efficiency, and cannot meet the picking requirements in the natural environment; Therefore, in order to reduce the operation time, improve the work efficiency, and achieve picking-collection integration, we propose a fruit double-arm harvesting integrated operation robot.

[0005] It should be noted that the above content belongs to the technical cognitive scope of the inventor and does not necessarily constitute the prior art. Content of the Utility Model

[0006] In view of the deficiencies of the existing technology, the utility model provides a fruit double-arm harvesting integrated operation robot, which solves the existing problems.

[0007] To achieve the above purpose, the utility model provides the following technical solution: A fruit double-arm harvesting integrated operation robot, comprising:

[0008] An operation platform is arranged on the end face of the harvesting integrated workbench. An inclined slideway is arranged on the end face of the operation platform. A fruit guide groove is arranged in the inclined direction of the inclined slideway. Mechanical arms are arranged at both ends in front of the inclined slideway on the end face of the operation platform, and an actuator is arranged at the end of the mechanical arm;

[0009] A telescopic fruit conveying device, which is arranged at the bottom of the harvesting integrated workbench and is internally connected to the fruit guide groove;

[0010] A chassis, which is arranged at the bottom of the telescopic fruit conveying device, and collecting box conveying devices are arranged on both sides thereof, and control mechanisms are arranged on both sides of the chassis;

[0011] A lifting device, which is arranged between the chassis and the working platform.

[0012] As a preferred technical solution of the present utility model, the integrated harvesting workbench further includes:

[0013] A robotic arm control cabinet, which is fixedly installed on the top end face of the working platform and is in control connection with the robotic arm;

[0014] A camera support plate, which is fixedly installed on the top end face of the working platform and is on the same side as the robotic arm control cabinet;

[0015] A depth sensing stereo camera, which is fixedly installed at the top end of the side wall of the camera support plate.

[0016] As a preferred technical solution of the present utility model, the inclined slideway is fixedly installed on the top end face of the working platform through a mounting bracket, and a sponge pad is fixedly connected to its end face.

[0017] As a preferred technical solution of the present utility model, the telescopic fruit conveying device includes:

[0018] A telescopic pipe, which adopts a nested design, and at the same time its top is connected to the working platform. A sponge is wrapped inside the telescopic pipe, and a shock-absorbing sponge is arranged at the top;

[0019] A gear, which is movably installed on the inner side wall of the telescopic pipe;

[0020] A rack, which is arranged on the outside of the telescopic pipe and meshes with the gear;

[0021] A guide rod, which is inserted into the telescopic pipe to control the moving distance of each section of the telescopic pipe.

[0022] As a preferred technical solution of the present utility model, the collecting box conveying device includes:

[0023] A fruit collecting box, which is fixedly installed below the telescopic fruit conveying device, and an opening is arranged on its end face and is communicated with the telescopic fruit conveying device;

[0024] A collecting box slideway bracket, which is fixedly installed on the front and rear sides of the fruit collecting box. A slideway is installed on the end face of the collecting box slideway bracket, and rollers are movably connected to the upper end. Side rollers are movably connected to the side of the collecting box slideway bracket.

[0025] As a preferred technical solution of the present utility model, the chassis is specifically a crawler-type walking chassis, and a lifting device is fixedly connected to the top end face, and the lifting device adopts a two-stage scissor mechanism.

[0026] As a preferred technical solution of the present utility model, the control mechanism is fixedly installed on both sides of the chassis, and an existing control console is adopted, and the overall forward movement, backward push, lifting and picking operations can be centrally controlled.

[0027] Compared with the prior art, the present utility model provides a fruit double robotic arm harvesting integrated operation robot, which has the following beneficial effects:

[0028] For the fruit double robotic arm harvesting integrated operation robot, the device is applicable to orchard picking. The movement of the chassis enables the robot to reach the picking area. The lifting device can adjust the height of the harvesting integrated workbench. The depth sensing stereo camera replaces the "human eye" to identify the position and state of the fruit. Through the robotic arm control cabinet, the robotic arm is controlled to pick instead of manual labor above the operation platform. The picked fruit is directly placed into the inclined chute, and through the fruit guiding groove opened on its inclined surface, the fruit enters the telescopic pipe of the telescopic fruit conveying device and falls into the collecting box conveying device end, and moves into the collecting box through the end face chute of the collecting box slideway bracket. The collecting box is separately controlled by the collecting box conveying device to move. When the collecting box is full, the collecting box conveying device moves it to the outside, automatically opens the bottom of the collecting box to convey the fruit into the transfer box or transfer bag. This makes the overall operation process simpler and more convenient, replaces manual operation, reduces labor intensity, ensures fruit quality, and improves operation efficiency. Description of the Drawings

[0029] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present utility model;

[0030] Figure 2 It is a schematic diagram of the structure of the harvesting integrated workbench of the present utility model;

[0031] Figure 3 It is a schematic diagram of the structure of the telescopic fruit conveying device of the present utility model;

[0032] Figure 4 It is a schematic diagram of the structure of the collecting box conveying device of the present utility model.

[0033] In the figure: 1. Integrated harvesting workbench; 101. Robot arm; 102. Sponge pad; 103. Working platform; 104. Robot arm control cabinet; 105. Depth sensing stereo camera; 106. Camera support plate; 107. Inclined slideway; 2. Telescopic fruit conveying device; 201. Telescopic pipe; 202. Gear; 203. Rack; 204. Guide rod; 3. Collection box conveying device; 301. Fruit collection box; 302. Collection box slideway bracket; 303. Roller; 304. Side roller; 4. Lifting device; 5. Control mechanism; 6. Chassis. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] Please refer to Figures 1-4 , in this implementation solution: A dual-robot-arm integrated fruit harvesting robot includes:

[0036] On the end face of the integrated harvesting workbench 1, there is a working platform 103. On the end face of the working platform 103, there is an inclined slideway 107. A fruit guiding groove is opened in the inclined direction of the inclined slideway 107. At both ends of the front side of the inclined slideway 107 on the end face of the working platform 103, there are robot arms 101. An actuator is arranged at the end of the robot arm 101 to complete the control of its operation.

[0037] A telescopic fruit conveying device 2 is arranged at the bottom of the integrated harvesting workbench 1 and is internally connected to the fruit guiding groove.

[0038] A chassis 6 is arranged at the bottom of the telescopic fruit conveying device 2, and collection box conveying devices 3 are arranged on both sides. Control mechanisms 5 are arranged on both sides of the chassis 6.

[0039] A lifting device 4 is arranged between the chassis 6 and the working platform 103.

[0040] In this embodiment, the integrated harvesting workbench 1 further includes:

[0041] A robot arm control cabinet 104 is fixedly installed on the top end face of the working platform 103 and is in control connection with the robot arm 101. While controlling the operation of the robot arm 101, it plays a role in leveling to prevent the working platform 103 from tipping over.

[0042] The camera support plate 106 is fixedly installed on the top end face of the operation platform 103 and is located on the same side as the robotic arm control cabinet 104;

[0043] The depth sensing stereo camera 105 is fixedly installed at the top end of the side wall of the camera support plate 106 to identify fruits, replacing manual operation and improving efficiency;

[0044] The inclined slideway 107 is fixedly installed on the top end face of the operation platform 103 through a mounting bracket, and a sponge pad 102 is fixedly connected to its end face. The setting of the sponge pad 102 plays a good buffering and anti-collision function, and can protect the fruits during the picking and transportation processes to avoid unnecessary losses caused by bumping;

[0045] In this embodiment, the telescopic fruit conveying device 2 includes:

[0046] The telescopic pipe 201 adopts a nested design, and at the same time its top is connected to the operation platform 103. A sponge is wrapped inside the telescopic pipe 201, and a shock-absorbing sponge is provided at the top. The setting of the sponge plays a buffering and anti-collision role to ensure the fruit quality;

[0047] The gear 202 is movably installed on the inner side wall of the telescopic pipe 201;

[0048] The rack 203 is arranged outside the telescopic pipe 201 and meshes with the gear 202;

[0049] The guide rod 204 is inserted into the telescopic pipe 201 to control the moving distance of each section of the telescopic pipe 201;

[0050] In this embodiment, the collection box conveying device 3 includes:

[0051] The fruit collection box 301 is fixedly installed below the telescopic fruit conveying device 2, and an opening is provided on its end face to communicate with the telescopic fruit conveying device 2;

[0052] The collection box slideway bracket 302 is fixedly installed on the front and rear sides of the fruit collection box 301. A slideway is installed on the end face of the collection box slideway bracket 302, and a roller 303 is movably connected to the upper end. A side roller 304 is movably connected to the side of the collection box slideway bracket 302, which can reasonably collect the fruits and improve the working efficiency;

[0053] In this embodiment, the chassis 6 is specifically a crawler-type walking chassis, and a lifting device 4 is fixedly connected to its top end face. The lifting device 4 adopts a two-stage scissor mechanism.

[0054] In this embodiment, the control mechanism 5 is fixedly installed on both sides of the chassis 6, and an existing console is adopted, which can centrally control the overall forward movement, backward push, lifting and picking operations, making the operation of the robot more convenient and fast, and effectively replacing manual picking operations.

[0055] The working principle and usage process of the present utility model: The chassis 6 moves, enabling the robot to reach the picking area. The lifting device 4 can adjust the height of the harvesting integrated workbench 1. The depth sensing stereo camera 105 replaces the "human eye" to identify the position and state of the fruits. Through the robotic arm control cabinet 104, the robotic arm 101 is controlled to pick instead of manual labor above the working platform 103. The picked fruits are directly placed into the inclined chute 107. Through the fruit guide groove opened on its inclined surface, the fruits enter the telescopic pipe 201 of the telescopic fruit conveying device 2 and fall into the collecting box conveying device 3 end. They move to the inside of the fruit collecting box 301 through the end face chute of the collecting box slide bracket 302. The fruit collecting box 301 is controlled to move independently by the collecting box conveying device 3. When the fruit collecting box 301 is full, the collecting box conveying device 3 moves it to the outside and automatically opens the bottom of the fruit collecting box 301 to convey the fruits into the transfer box or transfer bag.

[0056] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An integrated operation robot for harvesting fruits with double robotic arms, characterized in that, Comprising: An operation platform (103) is provided at the end face of the harvesting and integrating workbench (1). An inclined slideway (107) is provided at the end face of the operation platform (103). A fruit guiding groove is formed in the inclined direction of the inclined slideway (107). Mechanical arms (101) are provided at both ends of the end face of the operation platform (103) on the front side of the inclined slideway (107). An actuator is provided at the end of the mechanical arm (101); A telescopic fruit conveying device (2), which is arranged at the bottom of the harvesting and integrating workbench (1) and is internally communicated with the fruit guiding groove; A chassis (6), which is arranged at the bottom of the telescopic fruit conveying device (2), and collecting box conveying devices (3) are provided on both sides. Control mechanisms (5) are provided on both sides of the chassis (6); A lifting device (4), which is arranged between the chassis (6) and the operation platform (103).

2. The integrated operation robot for harvesting fruits with dual robotic arms according to claim 1, characterized in that, The harvesting and integrating workbench (1) further comprises: A robotic arm control cabinet (104), which is fixedly installed on the top end face of the operation platform (103) and is in control connection with the robotic arm (101); A camera support plate (106), which is fixedly installed on the top end face of the operation platform (103) and is on the same side as the robotic arm control cabinet (104); A depth sensing stereo camera (105), which is fixedly installed at the top end of the side wall of the camera support plate (106).

3. The integrated operation robot for harvesting fruits with double robotic arms according to claim 1, wherein, The inclined slideway (107) is fixedly installed on the top end face of the operation platform (103) through a mounting bracket, and a sponge pad (102) is fixedly connected to its end face.

4. A fruit double robotic arm harvesting integrated operation robot according to claim 1, characterized in that, The telescopic fruit conveying device (2) comprises: A telescopic pipe (201), which adopts a nested design and is connected to the operation platform (103) at the top. The inside of the telescopic pipe (201) is wrapped with sponge, and shock-absorbing sponge is provided at the top; A gear (202), which is movably installed on the inner side wall of the telescopic pipe (201); A rack (203), which is arranged on the outside of the telescopic pipe (201) and meshes with the gear (202); A guide rod (204), which is inserted into the telescopic pipe (201) to control the moving distance of each section of the telescopic pipe (201).

5. A fruit double robotic arm integrated harvesting operation robot according to claim 1, characterized in that, The collecting box conveying device (3) comprises: A fruit collecting box (301), which is fixedly installed below the telescopic fruit conveying device (2), and an opening is provided at the end face and is communicated with the telescopic fruit conveying device (2); A collecting box slideway bracket (302), which is fixedly installed on the front and rear sides of the fruit collecting box (301). A slideway is installed on the end face of the collecting box slideway bracket (302), and a roller (303) is movably connected to the upper end. A side roller (304) is movably connected to the side of the collecting box slideway bracket (302).

6. The integrated operation robot for harvesting fruits with double robotic arms according to claim 1, characterized in that, The chassis (6) is specifically a crawler-type walking chassis, and a lifting device (4) is fixedly connected to the top end face. The lifting device (4) adopts a two-stage scissor mechanism.

7. A fruit double robotic arm harvesting integrated operation robot according to claim 1, characterized in that, The control mechanism (5) is fixedly installed on both sides of the chassis (6), and an existing console is adopted, which can centrally control the overall forward movement, backward pushing, lifting, and picking operations.

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