Citrus harvesting, cleaning and packaging integrated robot
By designing an integrated robot for citrus harvesting, cleaning, and packaging, the problem of relying on manual labor for citrus harvesting, cleaning, and packaging has been solved, achieving efficient citrus collection, cleaning, and packaging, and reducing labor costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-02
- Publication Date
- 2026-04-07
AI Technical Summary
The harvesting, cleaning, and packaging of citrus fruits mainly rely on manual labor, leading to labor shortages and high labor costs, making it difficult to efficiently complete the seasonal citrus harvest.
Design an integrated robot for citrus harvesting, cleaning, and packaging, comprising a harvesting end effector, a depth camera, a robotic arm, a storage box, a packaging device, a cleaning device, and a moving mechanism, to achieve automated harvesting, cleaning, and packaging of citrus fruits.
It improves the efficiency of citrus harvesting, reduces reliance on manual labor, lowers labor costs, and enables efficient collection, cleaning, and packaging of citrus fruits.
Smart Images
Figure CN224084173U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics, and in particular to an integrated robot for harvesting, cleaning and packaging citrus fruits. Background Technology
[0002] Citrus fruits have been cultivated and grown in my country for over 4,000 years. As one of the world's major citrus producers, my country boasts a diverse range of citrus varieties and abundant resources. The harvesting of citrus fruits must be carried out within a specific timeframe; otherwise, the fruit may rot and spoil, affecting subsequent sales. Therefore, it exhibits a distinct seasonality, and harvesting needs to be concentrated within a short period.
[0003] The harvesting, cleaning, and packaging of citrus fruits are still mainly done manually, requiring a large workforce. Currently, agricultural labor is increasingly shifting to other sectors of society, resulting in fewer people engaged in agricultural production. This dwindling labor resources lead to problems such as employment difficulties and high labor costs in agricultural production. Utility Model Content
[0004] The purpose of this invention is to provide an integrated robot for harvesting, cleaning, and packaging citrus fruits, aiming to improve the efficiency of harvesting citrus fruits in orchards.
[0005] To achieve the above objectives, this utility model provides an integrated robot for citrus harvesting, cleaning, and packaging, including a harvesting end effector, a depth camera, a robotic arm, a storage box, a packaging device, a packaging support, a pushing hydraulic cylinder, a cleaning device, a cleaning top cover, and a moving mechanism;
[0006] The harvesting end effector is fixedly connected to the robotic arm; the depth camera is fixedly connected to the end effector and located above the end effector; the robotic arm is fixedly connected to the storage box and located above the storage box; the packaging device is located above the storage box; the stepping hydraulic cylinder is fixedly connected to the packaging support and located above the packaging support; the cleaning device is located above the packaging device; the cleaning top cover is fixedly connected to the cleaning device and located above the cleaning device.
[0007] The harvesting end effector includes a harvesting bracket, two servo motors, two long grippers, four short grippers, four short shafts, four pressure sensors, and two blades. The two servo motors are respectively disposed on the upper and lower sides of the harvesting bracket. The two long grippers are fixedly connected to the servo motors. The four short grippers are fixedly connected to the two long grippers respectively. The four short shafts are fixedly connected to the four short grippers. The four short shafts are also fixedly connected to the two long grippers. The four pressure sensors are fixedly connected to the four short grippers. The two blades are fixedly connected to the servo motors.
[0008] The packaging device further includes a cardboard box, wrapping paper, three inlet wheels, six ratchet wheels, six inlet wheel supports, six springs, ten guide rails, ten sliders, a stepper motor, a motor base, a coupling, a long shaft, two paper feeding wheels, bearings, bearing seats, two packaging hydraulic cylinders, two embossing blades, a tilting servo, and a tray. The cardboard box is located on the right side of the packaging support. The wrapping paper is placed inside the cardboard box. The ten guide rails are fixedly connected to the packaging support, with six guide rails located on the upper side and four guide rails located on the lower side. The ten sliders are respectively connected to the ten guide rails. The motor base is fixedly connected to the packaging support and located on the lower side of the packaging support. The bearing seat is fixedly connected to the packaging support and located on the lower side of the packaging support. The bearing is fixedly connected to the bearing seat. The stepper motor is fixedly connected to the coupling. A long shaft is fixedly connected to the coupling; the long shaft is also fixedly connected to the bearing; two paper-feeding rollers are fixedly connected to the long shaft; six inlet wheel brackets are fixedly connected to six sliders and are disposed on the upper side of the sliders; six springs are fixedly connected to six inlet wheel brackets and are located on the sides of the six inlet wheel brackets; six ratchet wheels are fixedly connected to six inlet wheel brackets respectively and are disposed inside the six inlet wheel brackets; the two ends of three inlet wheels are fixedly connected to six ratchet wheels respectively and are located in the middle of the ratchet wheels; two embossing blades are fixedly connected to four sliders and are disposed in the middle of the four sliders; two packaging hydraulic cylinders are fixedly connected to two embossing blades respectively and are disposed in the middle of the four sliders; the flipping servo is fixedly connected to the packaging bracket and is disposed on the bottom side of the packaging bracket; the tray is fixedly connected to the flipping servo.
[0009] The cleaning device further includes a stepper motor, five cleaning motors, eleven bearings, a long-bristled brush, six short-bristled brushes, five rollers, a guide pad, a servo motor, and a rotating tray. The five cleaning motors are fixedly connected to the cleaning support and located at the bottom of the support. The ten bearings are respectively connected to the five rollers and located on both sides of the rollers. The five rollers are fixedly connected to the five cleaning motors and positioned at the bottom of the support. The stepper motor is fixedly connected to the support and positioned on the top of the support. The long-bristled brush is fixedly connected to the stepper motor. The bearing is fixedly connected to the long-bristled brush and located on one side of the brush. The six short-bristled brushes are fixedly connected to the support and located on one side. The guide pad is fixedly connected to the support. The servo motor is fixedly connected to the support. The rotating tray is fixedly connected to the servo motor.
[0010] The moving mechanism includes four wheels, two fixed supports, two drive motors, two bottom lifting hydraulic cylinders, and a fixed base plate. The two fixed supports are fixedly connected to the storage box and are located on the bottom side of the storage box. The two wheels are fixedly connected to the two fixed supports. The two bottom lifting hydraulic cylinders are fixedly connected to the storage box and are located on the bottom side of the storage box. The fixed base plate is fixedly connected to the two bottom lifting hydraulic cylinders. The two drive motors are fixedly connected to the fixed base plate and are located at both ends of the fixed base plate. The two wheels are fixedly connected to the two drive motors.
[0011] This utility model discloses an integrated robot for harvesting, cleaning, and packaging citrus fruits. The mobile mechanism drives the entire robot to the side of the citrus tree. A harvesting end effector, a depth camera, and a robotic arm constitute the harvesting device. The depth camera captures three-dimensional information of the citrus fruit. The robotic arm adjusts the position of the harvesting end effector. A servo motor drives the long gripper and the blade to grasp and cut the citrus fruit. The robotic arm adjusts its position to place the citrus fruit into the cleaning top cover. The citrus fruit is transported by five rollers. A long-bristled brush, driven by a cleaning motor, works in conjunction with six short-bristled brushes to clean the citrus fruit on the rollers. The washing process involves the rollers transporting the citrus fruits onto the guide pad; the rotating servo drive the rotating tray to individually transport the washed citrus fruits to the packaging device; the stepper motor drives two paper-feeding rollers to push the wrapping paper into the middle of the packaging support, where the washed citrus fruits fall onto the wrapping paper; the pushing hydraulic cylinder pushes the citrus fruits, causing them to open the three inlet wheels and fall into the tray; two packaging hydraulic cylinders drive the embossing blade to seal the packaging; and the flipping servo drive the tray to put the packaged citrus fruits into the storage box, thus realizing the harvesting, washing, and packaging of citrus fruits. Attached Figure Description
[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.
[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model.
[0014] Figure 2 This is a schematic diagram of the harvesting end effector and depth camera of this utility model.
[0015] Figure 3 This is a schematic diagram of the front structure of the packaging device of this utility model.
[0016] Figure 4 This is a schematic diagram of the bottom structure of the packaging device of this utility model.
[0017] Figure 5 This is a schematic diagram of the cleaning device structure of this utility model.
[0018] Figure 6 This is a schematic diagram of the bottom moving mechanism of this utility model.
[0019] 1-Depth camera, 2-Harvesting bracket, 3-Servo motor, 4-Long gripper, 6-Blade, 9-Short gripper, 12-Pressure sensor, 13-Short shaft, 15-Inlet wheel, 16-Ratchet, 17-Inlet wheel bracket, 18-Spring, 19-Guide rail, 20-Slider, 21-Carton, 22-Wrapping paper, 23-Stepper motor, 25-Embossing blade, 26-Tilting servo motor, 27-Pattern, 28-Packaging hydraulic cylinder, 29-Bearing seat, 30-Pushing hydraulic cylinder, 32-Cleaning bracket, 34-Packaging bracket 35-Storage box, 40-Bearing, 41-Long shaft, 42-Paper feed roller, 43-Coupling, 44-Motor base, 45-Picking end effector, 50-Guide pad, 51-Roller, 52-Short brush, 53-Bearing, 54-Cleaning motor, 55-Long brush, 56-Rotating tray, 57-Rotating servo motor, 62-Moving mechanism, 63-Cleaning top cover, 64-Fixed base plate, 65-Bottom lifting hydraulic cylinder, 66-Drive motor, 67-Fixed bracket, 68-Wheel, 69-Mechanical arm. Detailed Implementation
[0020] Please see Figures 1-6 ,in, Figure 1 This is a schematic diagram of the overall structure of this utility model. Figure 2 This is a schematic diagram of the harvesting end effector and depth camera of this utility model. Figure 3 This is a schematic diagram of the front structure of the packaging device of this utility model. Figure 4 This is a schematic diagram of the bottom structure of the packaging device of this utility model. Figure 5 This is a schematic diagram of the cleaning device of this utility model. Figure 6 This is a schematic diagram of the bottom moving mechanism of this utility model.
[0021] The purpose of this utility model is to provide an integrated robot for harvesting, cleaning, and packaging citrus fruits: including a depth camera 1, a picking bracket 2, a servo motor 3, a long gripper 4, a blade 5, a short gripper 6, a pressure sensor 12, a short shaft 13, an inlet wheel 15, a ratchet 16, an inlet wheel bracket 17, a spring 18, a guide rail 19, a slider 20, a cardboard box 21, packaging paper 22, a stepper motor 23, an embossing blade 24, a flipping servo motor 26, a tray 27, a packaging hydraulic cylinder 28, a bearing seat 29, and a pushing hydraulic cylinder 30. The system comprises: a cleaning support 32, a packaging support 33, a storage box 35, a bearing 40, a long shaft 41, a paper-feeding roller 42, a coupling 43, a motor base 44, a harvesting end effector 45, a guide pad 50, a roller 51, a short brush 52, a bearing 53, a cleaning motor 54, a long brush 55, a rotating tray 56, a rotating servo motor 57, a moving mechanism 62, a cleaning top cover 63, a fixed base plate 64, a bottom lifting hydraulic cylinder 65, a drive motor 66, a fixed support 67, wheels 68, and a robotic arm 69. This system enables the harvesting, cleaning, and packaging of citrus fruits.
[0022] In this specific embodiment, the moving mechanism 62 drives the entire unit to the side of the citrus tree; the harvesting end effector 45, the depth camera 1, and the robotic arm 64 constitute a harvesting device. The depth camera 1 captures the three-dimensional information of the citrus, and the robotic arm 64 is used to adjust the position of the harvesting end effector 45. The servo motor 3 drives the long gripper 4 and the blade 6 to grip and cut the citrus. The robotic arm 64 adjusts its position to place the citrus into the washing top cover 63. The citrus is transported by five rollers 51. The long brush 55, driven by the stepper motor, works in conjunction with six short brushes 52 to clean the citrus on the rollers 51. The citrus fruits are transported onto the guide pad 50; the rotating servo motor 57 drives the rotating tray 56 to individually transport the washed citrus fruits to the packaging device; the stepper motor 23 drives the two paper-feeding rollers 42 to push the wrapping paper 22 into the middle of the packaging bracket 34, and the washed citrus fruits fall onto the wrapping paper 22; the pushing hydraulic cylinder 30 pushes the citrus fruits, which will open the three inlet rollers 15 and fall into the tray 27; the two packaging hydraulic cylinders 28 drive the embossing blade 25 to seal the packaging; the flipping servo motor 26 drives the tray 27 to put the packaged citrus fruits into the storage box 35; thus realizing the harvesting, washing and packaging of citrus fruits.
[0023] The depth camera 1 is mounted on the picking support 2 to acquire three-dimensional information of the citrus fruit. Two servo motors 3 are respectively mounted on the upper and lower sides of the picking support 2. Two long grippers 4 are fixedly connected to the servo motors 3. Four short grippers 9 are fixedly connected to the two long grippers 4. Four short shafts 13 are fixedly connected to the four short grippers 9. The four short shafts 13 are also fixedly connected to the two long grippers 4, thus increasing the strength of the end effector during picking. Four pressure sensors 12 are fixedly connected to the four short grippers 9. Two blades 6 are fixedly connected to the servo motors 3. The angle of the servo motors 3 can be controlled by the pressure sensors 12 to prevent damage to the citrus fruit.
[0024] Secondly, the cardboard box 21 is disposed on the right side of the packaging support 34; the packaging paper 22 is disposed in the cardboard box 21; ten guide rails 19 are fixedly connected to the packaging support 34, of which six guide rails 19 are located on the upper side of the packaging support 34, and four guide rails 19 are located on the lower side of the packaging support 34; ten sliders 20 are respectively connected to the ten guide rails 19; the motor base 44 is fixedly connected to the packaging support 34 and is located on the lower side of the packaging support 34; the bearing seat 29 is fixedly connected to the packaging support 34 and is located on the lower side of the packaging support 34; The bearing 40 is fixedly connected to the bearing housing 29; the stepper motor 23 is fixedly connected to the coupling 43; the long shaft 41 is fixedly connected to the coupling 43; the long shaft 41 is also fixedly connected to the bearing 53; two paper feed rollers 42 are fixedly connected to the long shaft 41; the paper feed rollers 42 distributed in this way can feed the packaging paper 22 into the upper side of the inlet roller 15; six inlet roller brackets 17 are fixedly connected to six sliders 20 and are disposed on the upper side of the sliders 20; six springs 18 are fixedly connected to six inlet roller brackets 17 and are located at the six inlets The wheel bracket 17 has six ratchet wheels 16 fixedly connected to the six entry wheel brackets 17 and disposed inside the six entry wheel brackets 17; the three entry wheels 15 are fixedly connected at both ends to the six ratchet wheels 16 and are located in the middle of the ratchet wheels 16; the citrus is pushed through the entry wheel 15 and the packaging bracket 34 onto the tray 27 by the pushing hydraulic cylinder 30; when a larger citrus needs to be packaged, the entry wheel 15 will squeeze the spring 18, thus achieving the wrapping of the citrus by the wrapping paper 22; the ratchet wheels 16 can prevent the wrapping paper 22 from passing through. The packaging support 34 holds the cardboard; two embossing blades 25 are fixedly connected to the four sliders 20 and positioned between the four sliders 20; two packaging hydraulic cylinders 28 are fixedly connected to the two embossing blades 25 respectively and positioned between the four sliders 20; the embossing blades 25, in this configuration, can seal the packaging paper 22 wrapping the citrus; the flipping servo 26 is fixedly connected to the packaging support 34 and positioned on the bottom side of the packaging support 34; the tray 27 is fixedly connected to the flipping servo 26; the tray can deliver the packaged citrus into the storage box 35.
[0025] Additionally, five cleaning motors 54 are fixedly connected to the cleaning bracket 32 and located on the bottom side of the cleaning bracket 32; ten bearings 40 are respectively connected to five rollers 51 and located on both sides of the five rollers 51; the five rollers 51 are fixedly connected to the five cleaning motors 54 and are disposed on the bottom side of the cleaning bracket 32; the stepper motor 23 is fixedly connected to the cleaning bracket 32 and disposed on the upper side of the cleaning bracket 32; the long-bristled brush 55 is fixedly connected to the stepper motor 23; the bearings 53 and the long-bristled brush 54 are fixedly connected to the stepper motor 23. 5. A fixed connection is made to the long-bristled brush 55 and located on one side of the long-bristled brush 55; six short-bristled brushes 52 are fixedly connected to the cleaning bracket 32 and located on one side of the cleaning bracket 32; a guide pad 50 is fixedly connected to the cleaning bracket 32; a rotating servo motor 57 is fixedly connected to the cleaning bracket 32; a rotating tray 56 is fixedly connected to the rotating servo motor 57; the roller 51 transports the citrus fruits onto the guide pad 50; the rotating servo motor 57 drives the rotating tray 56 to individually transport the cleaned citrus fruits to the packaging device.
[0026] Meanwhile, the two fixed brackets 67 are fixedly connected to the storage box 35 and are located on the bottom side of the storage box 35; the two wheels 68 are fixedly connected to the two fixed brackets 67; the two bottom lifting hydraulic cylinders 65 are fixedly connected to the storage box 35 and are located on the bottom side of the storage box 35; the fixed base plate 64 is fixedly connected to the two bottom lifting hydraulic cylinders 65; the two drive motors 66 are fixedly connected to the fixed base plate 64 and are located at both ends of the fixed base plate 64; the two wheels 68 are fixedly connected to the two drive motors 66; during the harvesting operation, the two bottom lifting hydraulic cylinders 65 retract, tilting forward as a whole to ensure that the citrus fruits are collected into the storage box 35; after the operation is completed, the two bottom lifting hydraulic cylinders 65 extend to transfer the packaged citrus fruits.
[0027] This utility model discloses an integrated robot for harvesting, cleaning, and packaging citrus fruits. In use, the moving mechanism 62 drives the entire robot to the side of the citrus tree. The harvesting end effector 45, the depth camera 1, and the robotic arm 69 constitute the harvesting device. The depth camera 1 captures the three-dimensional information of the citrus fruit. The robotic arm 69 adjusts the position of the harvesting end effector 45. The servo motor 3 drives the long gripper 4 and the blade 6 to grip and cut the citrus fruit. The robotic arm 69 adjusts its position to place the citrus fruit into the cleaning top cover 63. The citrus fruit is transported by five rollers 51. The long brush 55, driven by the cleaning motor 54, works in conjunction with six short brushes 52 to clean the citrus fruit located on the rollers 51. The process involves washing the citrus fruits, with rollers 51 transporting them to guide pads 50; a rotating servo motor 57 driving a rotating tray 56 to individually transport the washed citrus fruits to the packaging device; a stepper motor 23 driving two paper-feeding rollers 42 to push the wrapping paper 22 into the middle of the packaging support 34, where the washed citrus fruits fall onto the wrapping paper 22; a pushing hydraulic cylinder 30 pushing the citrus fruits causes them to open the three inlet rollers 15 and fall into the tray 27; two packaging hydraulic cylinders 28 driving embossing blades 25 to seal the packaging; and a flipping servo motor 26 driving the tray 27 to place the packaged citrus fruits into the storage box 35, thus realizing the harvesting, washing, and packaging of citrus fruits.
[0028] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.
Claims
1. A citrus harvesting, cleaning, and packaging integrated robot, characterized in that, It includes a harvesting end effector, a depth camera, a robotic arm, a storage box, a packaging device, a packaging bracket, a push hydraulic cylinder, a cleaning device, a cleaning top cover, and a moving mechanism; The harvesting end effector is fixedly connected to the robotic arm; the depth camera is fixedly connected to the end effector and located above the end effector; the robotic arm is fixedly connected to the storage box and located above the storage box; the packaging device is located above the storage box; the stepping hydraulic cylinder is fixedly connected to the packaging support and located above the packaging support; the cleaning device is located above the packaging device; the cleaning top cover is fixedly connected to the cleaning device and located above the cleaning device.
2. The integrated robot for harvesting, cleaning, and packaging citrus fruits as described in claim 1, characterized in that, The harvesting end effector includes a harvesting bracket, two servo motors, two long grippers, four short grippers, four short shafts, four pressure sensors, and two blades; Two servo motors are respectively disposed on the upper and lower sides of the harvesting bracket; two long grippers are fixedly connected to the servo motors; four short grippers are fixedly connected to the two long grippers respectively; four short shafts are fixedly connected to the four short grippers; the four short shafts are also fixedly connected to the two long grippers; four pressure sensors are fixedly connected to the four short grippers; and two blades are fixedly connected to the servo motors.
3. The citrus harvesting, cleaning, and packaging integrated robot as described in claim 2, characterized in that, The packaging device also includes a carton, wrapping paper, three inlet wheels, six ratchet wheels, six inlet wheel supports, six springs, ten guide rails, ten sliders, a stepper motor, a motor base, a coupling, a long shaft, two paper feeding wheels, bearings, bearing housings, two packaging hydraulic cylinders, two embossing blades, a tilting servo motor, and a tray; The cardboard box is positioned on the right side of the packaging support; the packaging paper is placed inside the cardboard box; ten guide rails are fixedly connected to the packaging support, with six guide rails located on the upper side of the packaging support and four guide rails located on the lower side of the packaging support; ten sliders are respectively connected to the ten guide rails; the motor base is fixedly connected to the packaging support and is located on the lower side of the packaging support; the bearing seat is fixedly connected to the packaging support and is located on the lower side of the packaging support; the bearing is fixedly connected to the bearing seat; the stepper motor is fixedly connected to the coupling; the long shaft is fixedly connected to the coupling; the long shaft is also fixedly connected to the bearing; two paper feeding rollers are fixedly connected to the long shaft; six inlet rollers... The bracket is fixedly connected to the six sliders and is disposed on the upper side of the sliders; the six springs are fixedly connected to the six inlet wheel brackets and are located on the sides of the six inlet wheel brackets; the six ratchet wheels are fixedly connected to the six inlet wheel brackets respectively and are disposed inside the six inlet wheel brackets; the two ends of the three inlet wheels are fixedly connected to the six ratchet wheels respectively and are located in the middle of the ratchet wheels; the two embossing blades are fixedly connected to the four sliders and are disposed in the middle of the four sliders; the two packaging hydraulic cylinders are fixedly connected to the two embossing blades respectively and are disposed in the middle of the four sliders; the flipping servo is fixedly connected to the packaging bracket and is disposed on the bottom side of the packaging bracket; the tray is fixedly connected to the flipping servo.
4. The integrated robot for harvesting, cleaning, and packaging citrus fruits as described in claim 3, characterized in that, The cleaning device also includes a stepper motor, five cleaning motors, eleven bearings, long brushes, six short brushes, five rollers, guide pads, a rotating servo motor, and a rotating tray; Five cleaning motors are fixedly connected to the cleaning bracket and located on the bottom side of the cleaning bracket; ten bearings are respectively connected to five rollers and located on both sides of the five rollers; the five rollers are fixedly connected to the five cleaning motors and located on the bottom side of the cleaning bracket; the stepper motor is fixedly connected to the cleaning bracket and located on the upper side of the cleaning bracket; the long brush is fixedly connected to the stepper motor; the bearing is fixedly connected to the long brush and located on one side of the long brush; six short brushes are fixedly connected to the cleaning bracket and located on one side of the cleaning bracket; the guide pad is fixedly connected to the cleaning bracket; the rotating servo is fixedly connected to the cleaning bracket; and the rotating tray is fixedly connected to the rotating servo.
5. The citrus harvesting, cleaning, and packaging integrated robot as described in claim 4, characterized in that, The moving mechanism includes four wheels, two fixed supports, two drive motors, two bottom lifting hydraulic cylinders, and a fixed base plate. The two fixed supports are fixedly connected to the storage box and are located on the bottom side of the storage box. The two wheels are fixedly connected to the two fixed supports. The two bottom lifting hydraulic cylinders are fixedly connected to the storage box and are located on the bottom side of the storage box. The fixed base plate is fixedly connected to the two bottom lifting hydraulic cylinders. The two drive motors are fixedly connected to the fixed base plate and are located at both ends of the fixed base plate. The two wheels are fixedly connected to the two drive motors.