Picking and packaging integrated robot

Abstract

The picking and packaging integrated robot relates to the field of automatic picking and comprises a collecting vehicle, the collecting vehicle comprises a vehicle frame, power wheels are arranged at the bottom of the vehicle frame, sliding plates are symmetrically arranged on one side of the vehicle frame, and a limiting assembly is installed on the side, close to the sliding plates, of the top of the vehicle frame. A box opening assembly is installed on the side, opposite to the limiting assembly, of the top of the vehicle frame, a range finder is installed on the top of the vehicle frame, a primary discharging assembly close to the limiting assembly is installed on the top of the vehicle frame, a fixing table is installed on the top of the vehicle frame, and a rotating table is installed on the top of the fixing table. The picking claw is mounted at the top of the rotating table; according to the picking and packaging integrated robot, through mutual cooperation of the collecting vehicle and the box closing assembly, the collecting box is opened, the bottom of the collecting box is closed, automatic collection of agricultural products is achieved through the picking claw, the time cost is reduced, and the collecting and packaging work efficiency is improved.

Description

Technical Field

[0001] This utility model relates to automated harvesting technology, specifically to an integrated harvesting and packaging robot. Background Technology

[0002] Harvesting and packaging agricultural products is a crucial step in getting them from the field to the market. Here are some points to note regarding harvesting and packaging agricultural products:

[0003] I. Precautions for picking

[0004] Harvesting time:

[0005] The timing of harvesting agricultural products is crucial; they should be harvested when they are at the appropriate level of maturity. Harvesting too early may result in underripe produce with poor taste and nutritional value; harvesting too late may lead to overripe produce that is not suitable for storage and transportation.

[0006] The harvesting standards vary for different agricultural products. For example, the harvesting time for fruits is usually determined based on indicators such as their soluble solids content, color, and firmness; while for vegetables, the harvesting time may need to be determined based on their size, shape, color, and other characteristics.

[0007] Harvesting method:

[0008] When harvesting, use the correct tools and methods to avoid damaging the produce and plants. For example, for fruits, use scissors or your hands to gently twist off the fruit, avoiding damage to the stem and the fruit itself; for vegetables, use a knife to cut them, taking care to preserve the integrity of the leaves and stems.

[0009] When harvesting, handle the produce gently to avoid squeezing or colliding with each other, which could cause damage.

[0010] Hierarchical processing:

[0011] Harvested agricultural products should be graded according to their quality, size, and shape. Grading can improve the marketability and added value of agricultural products, and facilitate subsequent packaging and sales.

[0012] During grading, tools such as sieves and scales can be used for screening and weighing to ensure that agricultural products of each grade meet certain standards and requirements.

[0013] II. Packaging Precautions

[0014] Packaging material selection:

[0015] When packaging agricultural products, appropriate packaging materials should be selected. The packaging materials should have functions such as moisture protection, insect protection, and compression protection to extend the shelf life of agricultural products and maintain their quality.

[0016] Common packaging materials include cardboard boxes, plastic bags, and foam boxes. For different agricultural products, appropriate packaging materials should be selected based on their characteristics and needs. For example, perishable fruits can be packaged in breathable cardboard boxes or foam boxes; vegetables requiring preservation can be packaged in plastic bags with added preservatives.

[0017] Packaging method:

[0018] The packaging method for agricultural products should be determined based on their characteristics and needs. For fragile agricultural products, such as fruits and glass products, shockproof and compression-resistant packaging methods should be used, such as filling and protecting them with foam or bubble wrap.

[0019] For agricultural products that require preservation, such as vegetables and meat, airtight packaging should be used to reduce oxygen exposure and moisture loss. Additionally, appropriate preservatives or ice packs can be added inside the packaging to maintain the quality and taste of the produce.

[0020] Labels and logos:

[0021] After agricultural products are packaged, labels and markings should be affixed to the packaging, indicating the name, origin, grade, production date, and shelf life of the agricultural product. This information helps consumers understand the quality and origin of the agricultural product, thereby enhancing its credibility and market competitiveness.

[0022] Labels and markings should be clear, legible, and durable. At the same time, attention should be paid to complying with relevant laws, regulations, and food safety standards.

[0023] Hygiene and quality requirements:

[0024] Hygiene and quality requirements should be observed during the packaging of agricultural products. Packaging materials and tools should be cleaned and disinfected before packaging to avoid contaminating the agricultural products. At the same time, the agricultural products should be inspected for quality, and substandard products and impurities should be removed.

[0025] Packaged agricultural products should be stored in a dry, well-ventilated, and cool place, avoiding direct sunlight and high temperature and humidity. At the same time, the quality and shelf life of agricultural products should be checked regularly, and expired or spoiled products should be disposed of promptly.

[0026] In conclusion, the harvesting and packaging of agricultural products is a meticulous and crucial process that requires careful attention to factors such as harvesting timing, harvesting methods, grading, and the selection of packaging materials, packaging methods, labeling and marking, hygiene, and quality requirements. Only by doing these things well can we ensure that the quality and taste of agricultural products are maintained and improved, thereby enhancing their market competitiveness and added value.

[0027] Existing integrated harvesting and packaging robots mostly rely on manual harvesting and packaging, which cannot complete large-scale harvesting in a short period of time and has low work efficiency. Utility Model Content

[0028] The purpose of this invention is to provide an integrated harvesting and packaging robot to address the shortcomings of existing technologies, which rely heavily on manual harvesting and packaging, making it impossible to complete large-scale harvesting in a short period of time and resulting in low work efficiency.

[0029] To achieve the above objectives, this utility model provides the following technical solution: an integrated harvesting and packaging robot, comprising:

[0030] A collection vehicle includes a frame, with drive wheels at the bottom of the frame, symmetrically arranged sliding plates on one side of the frame, a limit assembly installed on the top of the frame near the sliding plates, an opening assembly installed on the top of the frame opposite the limit assembly, a rangefinder installed on the top of the frame, a primary discharge assembly installed on the top of the frame near the limit assembly, a fixed platform installed on the top of the frame, and a rotating platform installed on the top of the fixed platform.

[0031] Harvesting claw, which is mounted on the top of the rotating platform;

[0032] A box-closing assembly is mounted on the top of the vehicle frame on the side opposite to the discharge assembly.

[0033] Furthermore, the limiting component includes:

[0034] A fixed post, which is rotatably mounted on the top of the frame;

[0035] Limiting plate one, which is fixedly sleeved on the outside of the fixed post;

[0036] Rotational power component one is fixedly installed on the top of the fixed column.

[0037] Furthermore, the unpacking component includes:

[0038] Fixed stakes are fixedly installed on the top of the vehicle frame;

[0039] The slide rail is fixedly installed on one side of the fixed pile;

[0040] A fixing bracket, which is fitted onto the outside of the slide rail;

[0041] Suction cup one, which is fixedly installed on the side of the mounting frame near the skateboard;

[0042] Suction cup two is fixedly installed on the side of the fixing frame opposite to the slide plate;

[0043] The second rotating power component is fixedly installed on one side of the fixed pile;

[0044] The transmission component is fixedly installed on one side of the fixed pile.

[0045] Furthermore, the discharge assembly includes:

[0046] A fixed frame, which is fixedly installed on the top of the vehicle frame;

[0047] The base plate is fixedly installed on one side of the fixed frame;

[0048] Limiting plate two is fixedly installed on one side of the fixed frame and is located above the base plate;

[0049] Several springs are fixedly installed on one side of the fixed frame;

[0050] Several cardboard boxes are slidably connected to the top of the base plate in a linear array and abut against a spring.

[0051] Furthermore, the picking claw includes:

[0052] A fixed plate is fixedly installed on the top of the rotary table;

[0053] Rotating component one is fixedly installed on one side of the fixed plate;

[0054] Robotic arm one, which is rotatably connected to the inner wall of the fixed plate;

[0055] Rotating component two is fixedly installed on one side of robotic arm one;

[0056] Robotic arm two is rotatably connected to the inner wall of robotic arm one;

[0057] Rotating component three is fixedly installed on one side of robotic arm two;

[0058] Support frame one is rotatably connected to the inner wall of robotic arm two.

[0059] Furthermore, the harvesting claw also includes:

[0060] The power component runs through the support frame;

[0061] Two symmetrically arranged grippers are rotatably connected to the output end of the power component;

[0062] Two symmetrically arranged grippers are rotatably connected to the output end of the power component and mesh with gripper one.

[0063] Two symmetrically arranged limiting rings are fixedly installed on one side of the support frame;

[0064] Rotational power component three is fixedly installed on one side of support frame one;

[0065] The driving component is slidably connected to the inner wall of the limiting ring;

[0066] A chainsaw, which is fixedly connected to the inner wall of the drive unit.

[0067] Furthermore, the closing assembly includes:

[0068] Rotating power component four is fixedly installed on the top of the frame;

[0069] The support arm is fixedly installed on the top of the rotating power component four;

[0070] Rotational power component five is fixedly installed on one side of the support arm;

[0071] Support frame two is fixedly installed on the top of rotating power component five.

[0072] Furthermore, the closing assembly also includes:

[0073] The helical rod is rotatably connected to the top of the second support frame;

[0074] Rotating power component six is ​​fixedly installed on one side of the screw rod;

[0075] Two symmetrically arranged sliders are fitted onto the outside of the screw rod;

[0076] Two symmetrically arranged translational force components are fixedly installed on the top of the slider.

[0077] Compared with existing technologies, the present invention provides an integrated harvesting and packaging robot that uses a collection vehicle and a box-closing component to open the collection box and close the bottom, and uses a harvesting claw to automatically collect agricultural products, reducing time costs and improving the efficiency of harvesting and packaging. Attached Figure Description

[0078] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0079] Figure 1 A perspective view of the overall structure provided for an embodiment of this utility model;

[0080] Figure 2 A perspective view of the collection vehicle structure provided in an embodiment of this utility model;

[0081] Figure 3 A perspective view of the limiting component structure provided in the embodiment of this utility model;

[0082] Figure 4 A perspective view of the unpacking component structure provided in an embodiment of this utility model;

[0083] Figure 5 A perspective view of the material discharge assembly structure provided in an embodiment of this utility model;

[0084] Figure 6 A first perspective view of the picking claw structure provided in an embodiment of this utility model;

[0085] Figure 7 A second perspective view of the picking claw structure provided in an embodiment of this utility model;

[0086] Figure 8 Provided for the embodiments of this utility model Figure 7 Enlarged 3D view of structure A in the middle;

[0087] Figure 9 A perspective view of the box assembly structure provided in an embodiment of this utility model.

[0088] Explanation of reference numerals in the attached figures:

[0089] 1. Collection vehicle; 11. Frame; 12. Drive wheel; 13. Slide plate; 14. Limiting assembly; 141. Rotating power component one; 142. Fixing column; 143. Limiting plate one; 15. Unpacking assembly; 151. Fixing post; 152. Rotating power component two; 153. Fixing frame; 154. Suction cup one; 155. Suction cup two; 156. Transmission component; 157. Slide rail; 16. Rangefinder; 17. Discharge assembly; 171. Base plate; 172. Limiting plate two; 173. Fixing frame; 174. Spring; 175. Cardboard box; 18. Fixing platform; 19. Rotation 1. Platform; 2. Picking claw; 21. Fixing plate; 22. Rotating component one; 23. Robotic arm one; 24. Rotating component two; 25. Robotic arm two; 26. Rotating component three; 27. Support frame one; 28. Grip one; 29. ​​Grip two; 210. Power component; 211. Limiting ring; 212. Rotating power component three; 213. Chainsaw; 214. Drive component; 3. Box closing assembly; 31. Support arm; 32. Rotating power component four; 33. Rotating power component five; 34. Support frame two; 35. Rotating power component six; 36. Screw rod; 37. Slider; 38. Translational force component. Detailed Implementation

[0090] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0091] Example 1:

[0092] Please see Figure 1 - Figure 5A harvesting and packaging robot, comprising:

[0093] The collection vehicle 1 includes a frame 11, a drive wheel 12 at the bottom of the frame 11, a symmetrically arranged slide plate 13 on one side of the frame 11, a limit component 14 installed on the top of the frame 11 near the slide plate 13, an opening component 15 installed on the top of the frame 11 opposite to the limit component 14, a rangefinder 16 installed on the top of the frame 11, a primary discharge component 17 installed on the top of the frame 11 near the limit component 14, a fixed platform 18 installed on the top of the frame 11, and a rotating platform 19 installed on the top of the fixed platform 18.

[0094] Harvesting claw 2 is installed on the top of the rotating platform 19;

[0095] The box assembly 3 is installed on the top of the frame 11 on the side opposite to the discharge assembly 17.

[0096] In a specific implementation, the rotary table 19 is electrically connected to an external power source and is controlled by an internal PLC programming program, and the rangefinder 16 is electrically connected to an external power source and is controlled by an internal PLC programming program.

[0097] Limiting component 14 includes:

[0098] The fixed column 142 is rotatably mounted on the top of the frame 11;

[0099] Limiting plate 143 is fixedly sleeved on the outside of fixing post 142;

[0100] Rotational power component 141 is fixedly installed on the top of fixed column 142.

[0101] The specific implementation method is as follows: the rotating power component 141 includes, but is not limited to, an asynchronous motor, which is electrically connected to an external power source and controlled by an internal PLC programming program. The output end of the rotating power component 141 has a coupling, which is fixedly connected to the fixed column 142 through the coupling, and is used to further drive the limit plate 143 to rotate.

[0102] Unboxing component 15 includes:

[0103] The fixing post 151 is fixedly installed on the top of the frame 11;

[0104] The slide rail 157 is fixedly installed on one side of the fixing pile 151;

[0105] The fixing bracket 153 is sleeved on the outside of the slide rail 157;

[0106] Suction cup 154 ​​is fixedly installed on the side of the mounting bracket 153 near the slide plate 13;

[0107] Suction cup 2 155 is fixedly installed on the side of the fixing frame 153 opposite to the slide plate 13;

[0108] Rotating power component 2 152 is fixedly installed on one side of fixed pile 151;

[0109] The transmission component 156 is fixedly installed on one side of the fixed pile 151.

[0110] The specific implementation method is as follows: the rotating power component 152 includes, but is not limited to, an asynchronous motor, which is electrically connected to an external power source and is controlled by an internal PLC programming program. The output end of the rotating power component 152 has a coupling, which is fixedly connected to the inner wall of the transmission component 156 through the coupling, and is used to drive the transmission component 156 to rotate.

[0111] The discharge assembly 17 includes:

[0112] The fixing frame 173 is fixedly installed on the top of the frame 11;

[0113] The base plate 171 is fixedly installed on one side of the fixed frame 173;

[0114] Limiting plate 2 172 is fixedly installed on one side of the fixing frame 173 and is located above the base plate 171;

[0115] Several springs 174 are fixedly installed on one side of the fixed frame 173;

[0116] Several cardboard boxes 175 are slidably connected to the top of the base plate 171 in a linear array and abut against the spring 174.

[0117] Specifically, the spring 174 is made of stainless steel, which has strong corrosion resistance, long service life and high safety.

[0118] Example 2:

[0119] Please see Figure 6 - Figure 8 This embodiment provides an implementation method based on Embodiment 1, wherein the picking claw 2 includes:

[0120] The fixing plate 21 is fixedly installed on the top of the rotating table 19;

[0121] Rotating component 22 is fixedly installed on one side of the fixed plate 21;

[0122] Robotic arm 23 is rotatably connected to the inner wall of fixed plate 21;

[0123] Rotating component 24 is fixedly installed on one side of robotic arm 23;

[0124] Robotic arm 25 is rotatably connected to the inner wall of robotic arm 23;

[0125] Rotating component 3 26 is fixedly installed on one side of robotic arm 2 25;

[0126] Support frame 27 is rotatably connected to the inner wall of robotic arm 25;

[0127] Power component 210, which passes through support frame 27;

[0128] Two symmetrically arranged grippers 28 are rotatably connected to the output end of the power unit 210;

[0129] Two symmetrically arranged grippers 29 are rotatably connected to the output end of the power unit 210 and mesh with gripper 28.

[0130] Two symmetrically arranged limiting rings 211 are fixedly installed on one side of the support frame 27;

[0131] Rotational power component 3 212 is fixedly installed on one side of support frame 1 27;

[0132] The driving component 214 is slidably connected to the inner wall of the limiting ring 211;

[0133] Chainsaw 213 is fixedly connected to the inner wall of drive component 214.

[0134] The specific implementation method is as follows: the rotating power component 212 includes, but is not limited to, a three-phase asynchronous motor, which is electrically connected to an external power supply and is controlled by an external PLC programming program.

[0135] Example 3:

[0136] Please see Figure 9 This embodiment provides an implementation method based on Embodiment 1. The box assembly 3 includes:

[0137] Rotating power component 4 32 is fixedly mounted on the top of the frame 11;

[0138] Support arm 31 is fixedly mounted on the top of rotating power component 32;

[0139] Rotational power component 533 is fixedly installed on one side of support arm 31;

[0140] Support frame 2 34 is fixedly installed on the top of rotating power component 5 33;

[0141] The screw rod 36 is rotatably connected to the top of the support frame 34;

[0142] Rotating power component 6 35 is fixedly installed on one side of the screw rod 36;

[0143] Two symmetrically arranged sliders 37 are fitted onto the outside of the screw rod 36;

[0144] Two symmetrically arranged translational force members 38 are fixedly installed on the top of the slider 37.

[0145] In a specific implementation, the rotating power components 32, 33, and 35 are all, but are not limited to, DC motors, which are electrically connected to an external power source and controlled by an internal PLC programming program. The translational power component 38 is, but is not limited to, an electric telescopic rod, which is electrically connected to an external power source and controlled by an internal PLC programming program.

[0146] Working principle: During use, the various rotating parts inside the picking claw 2 and the rotating table 19 are coordinated to position the fruit to be picked. The power component 210 is activated, which drives the first gripper 28 and the second gripper 29 to move and clamp the fruit. The third rotating power component 212 is activated, which drives the drive component 214 to reciprocate along its length, further driving the chainsaw 213 to reciprocate and cut the fruit stem. While harvesting the fruit, the second rotating power component 152 is activated, which drives the transmission component 156 to move. The transmission component 156 drives the fixing frame 153 to move along the slide rail 157, and the suction cups 154 and 155 are used to hold the cardboard box 1. Pull out 75, activate the four rotating power components 32, which rotates the device to the bottom of the cardboard box 175, and activate the five rotating power components 33 and the six rotating power components 35, which drive the slider 37 to move. Activate the translational power component 38 to close and fix the bottom of the cardboard box 175. Drive the four rotating power components 32 again to move the box closing assembly 3 out, so that the cardboard box 175 falls naturally on the top of the collection vehicle 1. The fruit is put into the cardboard box 175 by the picking claw 2. When the cardboard box 175 is full, activate the first rotating power component 141, which drives the fixed column 142 to rotate, and further drives the first limiting plate 143 to rotate, so that the cardboard box 175 slides out along the slide plate 13.

[0147] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A harvesting and packaging integrated robot, characterized in that, include: A collection vehicle (1) includes a frame (11), a drive wheel (12) at the bottom of the frame (11), a symmetrically arranged slide plate (13) on one side of the frame (11), a limiting component (14) installed on the top of the frame (11) near the slide plate (13), an opening component (15) installed on the top of the frame (11) relative to the limiting component (14), a rangefinder (16) installed on the top of the frame (11), a primary discharge component (17) near the limiting component (14) installed on the top of the frame (11), a fixed platform (18) installed on the top of the frame (11), and a rotating platform (19) installed on the top of the fixed platform (18). Harvesting claw (2), said harvesting claw (2) is mounted on the top of the rotating platform (19); The box assembly (3) is mounted on the top of the frame (11) on one side opposite the discharge assembly (17).

2. The integrated harvesting and packaging robot according to claim 1, characterized in that, The limiting component (14) includes: A fixed post (142) is rotatably mounted on the top of the frame (11); Limiting plate 1 (143) is fixedly sleeved on the outside of the fixing post (142); Rotational power component 1 (141) is fixedly installed on the top of the fixed column (142).

3. The integrated harvesting and packaging robot according to claim 1, characterized in that, The unpacking component (15) includes: A fixed stake (151) is fixedly installed on the top of the frame (11); The slide rail (157) is fixedly installed on one side of the fixed pile (151); A fixing bracket (153) is fitted onto the outside of the slide rail (157); Suction cup 1 (154) is fixedly installed on the side of the mounting bracket (153) near the slide plate (13); Suction cup 2 (155) is fixedly installed on the side of the fixing frame (153) opposite to the slide plate (13); Rotational power component two (152) is fixedly installed on one side of the fixed pile (151); The transmission component (156) is fixedly installed on one side of the fixed pile (151).

4. The integrated harvesting and packaging robot according to claim 1, characterized in that, The discharge assembly (17) includes: A fixed frame (173) is fixedly installed on the top of the frame (11); The base plate (171) is fixedly installed on one side of the fixed frame (173); Limiting plate 2 (172) is fixedly installed on one side of the fixed frame (173) and is located above the base plate (171); Several springs (174) are fixedly installed on one side of the fixed frame (173); Several cardboard boxes (175) are slidably connected to the top of the base plate (171) in a linear array and abut against the spring (174).

5. The integrated harvesting and packaging robot according to claim 1, characterized in that, The picking claw (2) includes: A fixed plate (21) is fixedly installed on the top of the rotary table (19); Rotating component 1 (22) is fixedly installed on one side of the fixed plate (21); Robotic arm 1 (23) is rotatably connected to the inner wall of the fixed plate (21); Rotating component two (24) is fixedly installed on one side of robotic arm one (23); Robotic arm two (25) is rotatably connected to the inner wall of robotic arm one (23); Rotating component three (26) is fixedly mounted on one side of robotic arm two (25); Support frame one (27) is rotatably connected to the inner wall of robotic arm two (25).

6. The integrated harvesting and packaging robot according to claim 5, characterized in that, The picking claw (2) also includes: The power component (210) passes through the support frame (27); Two symmetrically arranged grippers (28) are rotatably connected to the output end of the power unit (210); Two symmetrically arranged grippers (29) are rotatably connected to the output end of the power unit (210) and mesh with gripper (28); Two symmetrically arranged limiting rings (211) are fixedly installed on one side of the support frame (27); Rotational power component three (212) is fixedly installed on one side of support frame one (27); The driving component (214) is slidably connected to the inner wall of the limiting ring (211); Chainsaw (213), which is fixedly connected to the inner wall of the drive unit (214).

7. The integrated harvesting and packaging robot according to claim 1, characterized in that, The closing assembly (3) includes: Rotational power component four (32) is fixedly mounted on the top of the frame (11); Support arm (31), which is fixedly mounted on the top of the rotating power component four (32); Rotational power component five (33) is fixedly installed on one side of the support arm (31); Support frame two (34) is fixedly installed on the top of rotating power component five (33).

8. The integrated harvesting and packaging robot according to claim 7, characterized in that, The closing assembly (3) also includes: The helical rod (36) is rotatably connected to the top of the support frame two (34); Rotational power component six (35) is fixedly installed on one side of the screw rod (36); Two symmetrically arranged sliders (37) are fitted onto the outside of the helical rod (36); Two symmetrically arranged translational force members (38) are fixedly installed on the top of the slider (37).

Images