Flexible picking robot capable of adapting to sizes of fruits

Abstract

The utility model relates to the technical field of fruit picking, in particular to a flexible picking robot capable of adapting to the sizes of fruits. The utility model provides the flexible picking robot capable of adapting to the sizes of the fruits, which is capable of accelerating ripening of immature fruits, saving manpower and improving the fruit maintenance efficiency. A flexible picking robot capable of adapting to the sizes of fruits comprises a frame, double-shaft motors, tires, a mechanical arm and the like, the double-shaft motors are connected to the lower sides of the left portion and the right portion of the frame, the tires are connected to output shafts of the double-shaft motors, and the mechanical arm is installed on the upper side of the right front portion of the frame. When an immature fruit is observed, the spraying pipe is aligned with the fruit, then the water pump is started, a ripening agent in the water tank is introduced into the spraying pipe, the ripening agent is sprayed onto the fruit through the spraying pipe, and the effects of ripening the immature fruit, saving manpower and improving the fruit maintenance efficiency are achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to fruit picking technical field especially a flexible picking robot of adaptable fruit size. BACKGROUND

[0002] In modern agriculture, with the increase of labor cost and the improvement of the quality requirement of agricultural products, automated picking equipment gradually becomes a research hotspot. The fruit automated picking equipment is an automated mechanical equipment used in the agricultural field, aiming at realizing the automatic identification, positioning and picking of fruits through mechanical arm, visual identification system, sensor and other advanced technologies.

[0003] However, the existing fruit flexible picking robot is mainly for picking fruits and cannot ripen unripe fruits, which needs subsequent manual ripening, consumes time and effort and is inconvenient.

[0004] Therefore, the flexible picking robot of adaptable fruit size capable of ripening unripe fruits, saving manpower and improving fruit maintenance efficiency is developed. UTILITY MODEL CONTENTS

[0005] In order to overcome the shortcomings of the existing fruit flexible picking robot, which is mainly for picking fruits, cannot ripen unripe fruits, needs subsequent manual ripening, consumes time and effort and is inconvenient, the utility model provides a flexible picking robot of adaptable fruit size capable of ripening unripe fruits, saving manpower and improving fruit maintenance efficiency.

[0006] The technical scheme of the utility model is as follows: a flexible picking robot of adaptable fruit size, comprising a vehicle frame, a double-shaft motor, a tire, a mechanical arm, a camera, a driving motor, a worm, a worm wheel, a flexible clamp jaw, a ripening assembly and a classification assembly, the left and right sides of the vehicle frame are connected with double-shaft motors, the output shafts of the double-shaft motors are connected with tires, the upper side of the right front part of the vehicle frame is installed with a mechanical arm, the front side of the mechanical arm is installed with a camera, the camera is electrically connected with the mechanical arm, the lower part of the mechanical arm is connected with a driving motor, the output shaft of the driving motor is connected with a worm, the worm is rotatably connected with the mechanical arm, a plurality of worm wheels are rotatably connected with the mechanical arm, the worm wheels are engaged with the worm, the worm wheels are connected with flexible clamp jaws, the vehicle frame is provided with a ripening assembly capable of ripening fruits, and the vehicle frame is further provided with a classification assembly capable of classifying and storing fruits of different sizes.

[0007] As a preferred technical scheme of the utility model, the ripening assembly comprises a water tank, a water pump and a spray pipe, the upper side of the right rear part of the vehicle frame is connected with a water tank, the upper side of the right part of the water tank is connected with a water pump, the water inlet end of the water pump is communicated with the water tank, the water outlet end of the water pump is connected with a spray pipe, and the spray pipe is connected with the mechanical arm.

[0008] As a preferred technical scheme of the utility model, the left upper side of the water tank is provided with a liquid injection pipe.

[0009] As a preferred technical scheme of the utility model, the front side of the spray pipe is provided with a nozzle.

[0010] As a preferred technical scheme of the utility model, the classification assembly comprises a mounting frame, a collection box, a guide frame, a connecting block and a cross bar, the left upper side of the frame is connected with the mounting frame, a plurality of collection boxes are placed at the lower part of the mounting frame, the left and right sides of the mounting frame are both connected with the guide frame, the guide frame is connected with the front and rear two connecting blocks through damping sliding mode, the cross bar is rotatably connected between the two connecting blocks adjacent in the transverse direction, and the cross bar penetrates through the mounting frame.

[0011] As a preferred technical scheme of the utility model, the collection box is provided with a handle.

[0012] Beneficial effects: 1, the utility model discloses when observing the unripe fruit, by making the spray pipe aim at the fruit, and then starting the water pump, the ripening agent in the water tank is passed into the spray pipe, so that the spray pipe sprays it on the fruit, which can ripen the unripe fruit, save manpower and improve the fruit maintenance efficiency.

[0013] 2, the utility model discloses that the fruit is moved to the cross bar between the flexible clamping jaw through the mechanical arm, and then the flexible clamping jaw is away from each other, so that the fruit moves between the cross bar, when the fruit moves to the gap of corresponding size between the cross bar, falls into the collection box below, which can classify and store the fruit, and improve the fruit production efficiency. DRAWINGS

[0014] Figure 1 It is the three-dimensional structure schematic view of the utility model.

[0015] Figure 2 It is the three-dimensional structure schematic view of the frame and double-shaft motor and other components of the utility model.

[0016] Figure 3 It is the three-dimensional structure schematic view of the worm and flexible clamping jaw and other components of the utility model.

[0017] Figure 4 It is the three-dimensional structure schematic view of the water tank and water pump and other components of the utility model.

[0018] Figure 5 It is the three-dimensional structure schematic view of the connecting block and cross bar and other components of the utility model.

[0019] The components in the diagram are labeled as follows: 1-frame, 2-dual-axis motor, 3-tire, 4-robotic arm, 5-camera, 6-drive motor, 7-worm gear, 71-worm wheel, 8-flexible gripper, 9-water tank, 10-water pump, 11-nozzle, 12-mounting bracket, 13-collection box, 14-guide frame, 15-connecting block, 16-crossbar. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but this does not limit the scope of protection and application of the present invention.

[0021] A flexible harvesting robot that can adapt to fruit size, such as Figures 1-5 As shown, the system includes a frame 1, dual-axis motors 2, tires 3, a robotic arm 4, a camera 5, a drive motor 6, a worm gear 7, a worm wheel 71, a flexible gripper 8, a ripening component, and a sorting component. The dual-axis motors 2 are connected to the lower left and right sides of the frame 1, and the tires 3 are connected to the output shafts of the dual-axis motors 2. The robotic arm 4 is mounted on the upper right front side of the frame 1, and the camera 5 is mounted on the front side of the robotic arm 4. The camera 5 is electrically connected to the robotic arm 4. The lower part of the robotic arm 4 is connected to the drive motor 6. The output shaft of the drive motor 6 is connected to the worm gear 7, which is rotatably connected to the robotic arm 4. Three worm wheels 71 are rotatably connected to the robotic arm 4, and each worm wheel 71 meshes with the worm gear 7. Each worm wheel 71 is connected to a flexible gripper 8. The vehicle frame 1 is equipped with a ripening component, which includes a water tank 9, a water pump 10, and a spray pipe 11. The water tank is connected to the upper right rear part of the vehicle frame 1. 9. A liquid injection pipe is provided on the upper left side of the water tank 9 for easy liquid injection. The water pump 10 is connected to the upper right side of the water tank 9. The water inlet of the water pump 10 is connected to the water tank 9. The water outlet of the water pump 10 is connected to the spray pipe 11. The spray pipe 11 has a nozzle on its front side for accurate liquid spraying. The spray pipe 11 is connected to the robotic arm 4. The frame 1 is also provided with a sorting component, which includes a mounting frame 12, a collection box 13, a guide frame 14, a connecting block 15, and a crossbar 1. 6. The mounting frame 12 is connected to the upper left side of the frame 1. Three collection boxes 13 are placed at the lower part of the mounting frame 12. Each collection box 13 is equipped with a handle for easy gripping. The guide frame 14 is connected to both the left and right sides of the mounting frame 12. Each guide frame 14 is connected to two connecting blocks 15 in a damped sliding manner. A crossbar 16 is rotatably connected between two horizontally adjacent connecting blocks 15. The crossbar 16 passes through the mounting frame 12.

[0022] When the utility model is used, firstly, the double-shaft motor 2 is started, the tire 3 is driven to rotate, the vehicle frame 1 is moved to the fruit picking position, the camera 5 is used to observe the fruit condition, when the ripe fruit is observed, the mechanical arm 4 is started, the flexible clamping jaw 8 is moved to the ripe fruit, the driving motor 6 is started, the worm 7 is driven to rotate, the worm wheel 71 is rotated, the flexible clamping jaw 8 is moved to each other to clamp the fruit, the fruit is picked down through the action of the mechanical arm 4, when the unripe fruit is observed, the spray pipe 11 can be aimed at the fruit, the water pump 10 is started, the ripening agent in the water tank 9 is introduced into the spray pipe 11, the spray pipe 11 sprays it on the fruit, thereby the unripe fruit can be ripened, manpower is saved, and the fruit maintenance efficiency is improved, when the fruit is picked, the connecting block 15 can be moved according to the fruit classification requirement, the spacing between the cross rods 16 is adjusted, when the fruit is picked down, the fruit is moved to the spacing between the cross rods 16 through the mechanical arm 4, the flexible clamping jaw 8 is moved to each other, the fruit is moved between the cross rods 16, when the fruit is moved to the corresponding size gap between the cross rods 16, the fruit falls into the collecting box 13 below, thereby the fruit can be classified and stored, and the fruit production efficiency is improved.

[0023] The above only is the preferred implementation of the utility model, it should be pointed out, for ordinary technical personnel in the prior art, on the premise of not departing from the principle of the utility model, still can make a number of improvements and refinements, these improvements and refinements also should be regarded as the protection scope of the utility model.

Claims

1. A flexible picking robot adaptable to fruit size, characterized by: The utility model relates to a kind of fruit ripening and classification device, including frame (1), double-shaft motor (2), tire (3), mechanical arm (4), camera (5), drive motor (6), worm (7), worm wheel (71), flexible gripper (8), ripening assembly and classification assembly, frame (1) left and right two parts lower side are connected with double-shaft motor (2), double-shaft motor (2) output shaft is connected with tire (3), frame (1) right front upper side is installed with mechanical arm (4), mechanical arm (4) front side is installed with camera (5), camera (5) and mechanical arm (4) are electrically connected, mechanical arm (4) lower part is connected with drive motor (6), drive motor (6) output shaft is connected with worm (7), worm (7) and mechanical arm (4) rotatablely connected, mechanical arm (4) is rotatablely connected with multiple worm wheel (71), worm wheel (71) is meshed with worm (7), worm wheel (71) is connected with flexible gripper (8) on, frame (1) is equipped with the ripening assembly that can ripen fruit, frame (1) is also equipped with the classification assembly that can be classified and stored to different size fruit.

2. A flexible picking robot adaptable to fruit size as claimed in claim 1, characterized in that: Ripening assembly includes water tank (9), water pump (10) and spray pipe (11), frame (1) right rear upper side is connected with water tank (9), water tank (9) right upper side is connected with water pump (10), water pump (10) water inlet end is communicated with water tank (9), water pump (10) water outlet end is connected with spray pipe (11), spray pipe (11) is connected with mechanical arm (4).

3. A flexible picking robot adaptable to fruit size as claimed in claim 2, characterized in that: Water tank (9) left upper side is equipped with liquid injection pipe.

4. A flexible picking robot adaptable to fruit size as claimed in claim 2, characterized in that: Spray pipe (11) front side is equipped with spray nozzle.

5. A flexible picking robot adaptable to fruit size as claimed in claim 2, characterized in that: Classification assembly includes mounting bracket (12), collection box (13), guide frame (14), connecting block (15) and cross bar (16), frame (1) left upper side is connected with mounting bracket (12), mounting bracket (12) lower part is placed with multiple collection boxes (13), mounting bracket (12) left and right sides are connected with guide frame (14), guide frame (14) is slidably connected with two connecting blocks (15) before and after on, transversely adjacent two connecting blocks (15) are rotatablely connected with cross bar (16) between, cross bar (16) all pass through mounting bracket (12).

6. A flexible picking robot adaptable to fruit size as claimed in claim 5, characterized in that: Collection box (13) is equipped with handle on.

Images