An agricultural picking robot
Agricultural harvesting robots that integrate robotic arms and buffer components enable automatic fruit grading and reduce damage, solving the problem of manual grading required in existing technologies and improving harvesting efficiency and fruit quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHENGDE CHANGLONGGATONG MACHINERY MANUFACTURING CO LTD
- Filing Date
- 2025-07-17
- Publication Date
- 2026-06-02
AI Technical Summary
Existing agricultural harvesting robots do not integrate screening functions, which means that the harvested fruits need to be graded manually or by other equipment, reducing the automation effect and efficiency.
An agricultural harvesting robot was designed, integrating a robotic arm, a harvesting and screening component, and a buffer component. The robot harvests fruit through the end effector of the robotic arm. After the fruit enters the screening frame, it is automatically graded using a gradient screening rod and baffles. The buffer component reduces fruit damage, realizing an integrated operation from harvesting to screening.
It improved harvesting efficiency, reduced manual sorting, lowered fruit damage rate, and enhanced overall operational efficiency and fruit quality.
Smart Images
Figure CN224306405U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of agricultural harvesting robots, and in particular to an agricultural harvesting robot. Background Technology
[0002] In modern agricultural production, fruit and vegetable harvesting and grading are key links to ensure the quality and economic benefits of agricultural products. In the traditional model, fruit harvesting mainly relies on manual labor, which is not only labor-intensive and inefficient, but also has rising labor costs year by year, making it difficult to meet the needs of large-scale planting. At the same time, after manual harvesting, fruit grading and sorting are often required separately, which adds extra process and time costs. Furthermore, the uncertainty of manual operation may cause fruit damage, affecting the commercial value of agricultural products.
[0003] While existing agricultural harvesting robots have achieved a certain degree of automation in harvesting, they still have significant shortcomings. Most robots do not integrate screening functions, and the harvested fruits still need to be graded manually or by other equipment. They cannot achieve the problem of simultaneous harvesting and screening. Therefore, an agricultural harvesting robot is proposed to solve the above problems. Utility Model Content
[0004] To overcome the above shortcomings, this utility model provides an agricultural harvesting robot, which aims to solve the problem in the prior art that "the harvested fruits need to be screened separately, which reduces the automation effect and harvesting efficiency of the harvesting robot".
[0005] To achieve the above objectives, the present invention adopts the following technical solution: an agricultural harvesting robot, comprising a mobile vehicle body, a mechanical arm mounted on the top of the mobile vehicle body, and a harvesting and screening component mounted on the left side of the top of the mobile vehicle body near the mechanical arm. The harvesting and screening component includes a fixed frame and a screening frame. The fixed frame is fixedly connected to the upper surface of the mobile vehicle body near the left side of the mechanical arm. Three sets of collection frames are evenly arranged on the inner wall of the fixed frame. The screening frame is located above the fixed frame. Two sets of screening rods are fixedly connected to the inner wall of the screening frame. The two sets of screening rods are inclined to the right and symmetrically arranged with the center line of the screening frame as the axis of symmetry. The distance between the two sets of screening rods gradually increases from left to right. Two sets of baffles are evenly fixedly connected to the inner wall of the screening frame. The two sets of baffles are respectively located above the two sets of collection frames near the left side.
[0006] As a further description of the above technical solution:
[0007] The picking and screening assembly also includes sliders and chutes. There are two sets of sliders, which are fixedly connected to the left and right sides of the screening frame, respectively. There are two sets of chutes, which are opened on the left and right sides of the inner wall of the fixed frame, and are close to the upper surface. The two sets of sliders are slidably connected to the inner walls of the two sets of chutes.
[0008] As a further description of the above technical solution:
[0009] A robotic hand is provided on the left side of the robotic arm, and a robotic gripper is provided on the left side of the robotic hand.
[0010] As a further description of the above technical solution:
[0011] The bottom of the inner wall of the fixed frame is rotatably connected to multiple sets of rollers. The three sets of collection frames respectively contact the outer wall of the multiple sets of rollers. The lower surface of the middle part of the three sets of collection frames is provided with positioning grooves. The bottom of the inner wall of the fixed frame is fixedly connected to three sets of positioning blocks. The three sets of positioning grooves are respectively inserted into the outer wall of the three sets of positioning blocks.
[0012] As a further description of the above technical solution:
[0013] The top of the front surface of the three sets of positioning blocks is set as an inclined surface, and a buffer pad is placed at the bottom of the inner wall of the collection frame.
[0014] As a further description of the above technical solution:
[0015] A buffer assembly is provided at the top of the screening frame. The buffer assembly includes a feeding frame, which is fixedly connected to the top of the screening frame. A feeding plate is fixedly connected to the inner wall of the feeding frame near the top. A buffer plate is fixedly connected to the inner wall of the feeding frame near the left side. A fixed stop block is fixedly connected to the lower surface of the feeding plate.
[0016] As a further description of the above technical solution:
[0017] The feeding plate is set at an angle.
[0018] As a further description of the above technical solution:
[0019] The buffer plate is provided in two sets, with the other set of buffer plates fixedly connected to the left side of the fixed block, and both sets of buffer plates are inclined.
[0020] This utility model has the following beneficial effects:
[0021] 1. In this utility model, the interchangeable actuators at the end of the robotic arm can adapt to the harvesting needs of different crops, improving the equipment's versatility. At the same time, after the harvested fruits enter the screening frame, the screening rods and baffles with gradually varying spacing can automatically complete the grading of the fruits from small to large and guide them to the corresponding collection frame, eliminating the need for subsequent manual screening. This realizes integrated operation from harvesting to screening to collection, significantly improving overall work efficiency and effectively ensuring fruit quality.
[0022] 2. In this utility model, after the fruit enters the feeding frame, it moves along the inclined feeding plate. After moving to the inclined buffer plate, the impact force when the fruit falls is effectively reduced through the step-by-step buffering of two sets of inclined buffer plates and the top buffer pad, which further reduces the damage to the fruit, reduces the fruit damage rate, and improves the efficiency and quality of the picking robot. Attached Figure Description
[0023] Figure 1 This is a three-dimensional structural diagram of the overall device in this utility model;
[0024] Figure 2 This is a three-dimensional cross-sectional view of the material feeding frame in this utility model;
[0025] Figure 3 This is a three-dimensional cross-sectional view of the feeding frame and screening frame in this utility model;
[0026] Figure 4 This is a three-dimensional structural disassembly and cross-sectional diagram of the collection frame, screening frame, and fixing frame in this utility model.
[0027] Figure 5 In this utility model Figure 1 Enlarged schematic diagram of the three-dimensional structure of part A.
[0028] Legend:
[0029] 1. Mobile vehicle body; 2. Harvesting and screening assembly; 3. Buffer assembly; 4. Robotic arm; 21. Screening frame; 22. Fixed frame; 23. Collection frame; 24. Positioning block; 25. Roller; 26. Screening rod; 27. Baffle; 28. Slide chute; 29. Sliding block; 210. Positioning groove; 211. Buffer pad; 31. Discharge frame; 32. Buffer plate; 33. Fixed stop block; 34. Discharge plate; 41. Robotic claw; 42. Robotic arm. Detailed Implementation
[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0031] Reference Figure 1 - Figure 3This utility model provides an embodiment of an agricultural harvesting robot, comprising a mobile vehicle 1. The mobile vehicle 1 is four-wheel drive, possessing good off-road performance and steering flexibility, adapting to farmland environments with different slopes and soil types. A robotic arm 4 is mounted on the top of the mobile vehicle 1. Each joint of the robotic arm 4 is driven by a high-precision servo motor, coupled with a harmonic reducer, to ensure motion accuracy and load capacity. Depending on the harvesting needs of different crops, the end effector of the robotic arm 4 can be replaced with various types, such as a robotic claw 41 for picking fruits, and a scissor type for cutting fruit stems, etc. A harvesting and screening component 2 is mounted on the left side of the top of the mobile vehicle 1 near the robotic arm 4. The harvesting and screening component 2 includes a fixed frame 22 and a screening frame 21. The fixed frame 22 supports multiple sets of collection frames 23, and the screening frame 21 is internally configured with a structure that can be used to collect fruits. The structure is designed to sieve fruits of different sizes. A fixed frame 22 is fixedly connected to the upper surface of the moving vehicle 1, near the left side of the robotic arm 4. Three sets of collection frames 23 are evenly arranged on the inner wall of the fixed frame 22 for collecting fruits. A sieving frame 21 is located above the fixed frame 22. Two sets of sieving rods 26 are fixedly connected to the inner wall of the sieving frame 21 for guiding the fruits to move and be sieved. The two sets of sieving rods 26 are inclined to the right and symmetrical about the center line of the sieving frame 21. The distance between the two sets of sieving rods 26 gradually increases from left to right. By gradually increasing the distance from left to right, the fruits can be sieved from small to large. Two sets of baffles 27 are evenly fixedly connected to the inner wall of the sieving frame 21 to guide fruits of different sizes into the collection frames 23. The two sets of baffles 27 are respectively located above the two sets of collection frames 23 near the left side.
[0032] Reference Figure 1 , Figure 3 and Figure 5 The harvesting and screening assembly 2 also includes sliders 29 and chutes 28. Two sets of sliders 29 are fixedly connected to the left and right sides of the screening frame 21, respectively. Two sets of chutes 28 are respectively located on the left and right sides of the inner wall of the fixed frame 22, near the upper surface. The two sets of sliders 29 are slidably connected to the inner walls of the two sets of chutes 28. The arrangement of the chutes 28 and sliders 29 allows for the adjustment of the position of the screening frame 21, thereby preventing fruit from accumulating in one position and improving harvesting efficiency. A robotic arm 42 is located on the left side of the robotic arm 4. The upper part of the robotic arm 42 is equipped with a visual perception system consisting of cameras, which can recognize the color and shape of the fruit, accurately calculate the spatial position of the fruit, and eliminate blind spots through multi-view fusion algorithms to improve the accuracy of fruit detection and positioning. In addition, it can be integrated with LiDAR to acquire three-dimensional point cloud data of the surrounding environment to assist the robot in navigation and obstacle avoidance. The left side of the robotic arm 42 is equipped with a robotic claw 41. The end effector of the robotic arm 4 can be replaced with various types of end effectors, such as the robotic claw 41 for picking fruit and the scissor type for cutting fruit stems.
[0033] Reference Figure 2 , Figure 3 and Figure 4 The bottom inner wall of the fixed frame 22 is rotatably connected to multiple sets of rollers 25. The rollers 25 reduce the contact area with the collection frame 23, thus facilitating movement. The three sets of collection frames 23 respectively contact the outer wall of the multiple sets of rollers 25. The lower middle surface of the three sets of collection frames 23 is provided with positioning grooves 210. The bottom inner wall of the fixed frame 22 is fixedly connected to three sets of positioning blocks 24. The positioning grooves 210 and positioning blocks 24 cooperate to quickly install and position the collection frame 23. The three sets of positioning grooves 210 are respectively inserted into the outer wall of the three sets of positioning blocks 24. The top of the front surface of the three sets of positioning blocks 24 is set as a slope. The slope facilitates the installation of the collection frame 23. The bottom inner wall of the collection frame 23 is placed with a buffer pad 211 to buffer the impact of the fruit falling.
[0034] Reference Figure 1 , Figure 2 and Figure 3 A buffer assembly 3 is provided at the top of the screening frame 21. The buffer assembly 3 includes a feeding frame 31 for guiding the fruit to fall downwards. The feeding frame 31 is fixedly connected to the top of the screening frame 21. A feeding plate 34 for guiding the fruit to fall downwards is fixedly connected to the inner wall of the feeding frame 31 near the top. A buffer plate 32 for reducing the impact of the fruit falling downwards is fixedly connected to the inner wall of the feeding frame 31 near the left side. A fixed stop block 33 for blocking the fruit from falling outwards is fixedly connected to the lower surface of the feeding plate 34. The feeding plate 34 is inclined. Two sets of buffer plates 32 are provided. Another set of buffer plates 32 is fixedly connected to the left side of the fixed stop block 33. Both sets of buffer plates 32 are inclined. A buffer pad 211 is provided at the top of both sets of buffer plates 32. Both can buffer the impact of the fruit falling and reduce damage to the fruit.
[0035] Working principle: When in use, the mobile vehicle 1 moves the entire equipment to the target picking area. The robotic arm 4 adjusts its posture under the drive of a high-precision servo motor and a harmonic reducer, and completes fruit picking through actuators such as the replaceable end effector 41. The robotic arm 4 has multiple types of end effectors that can be replaced, such as the robotic claw 41 for picking fruit and the scissor type for cutting fruit stems.
[0036] After being picked, the fruit falls into the feeding frame 31 and onto the feeding plate 34. It then slides down the inclined feeding plate 34 and is buffered step by step by two sets of inclined buffer plates 32 and the top buffer pad 211 before entering the screening frame 21. The fruit moves along two sets of screening rods 26 that are inclined to the right and whose spacing gradually increases from left to right, achieving grading and screening from small to large. Fruits of different sizes are guided by two sets of baffles 27 to the corresponding collection frames 23 in the fixed frame 22.
[0037] When the fruit piles up in one position, the position of the screening frame 21 can be adjusted by moving the slider 29 in the chute 28 to avoid fruit accumulation. After the collection frame 23 is aligned with the positioning block 24 through the positioning groove 210, it is installed on the outer wall of the roller 25 along the inclined surface of the positioning block 24 to achieve quick positioning and installation. At the same time, the bottom roller 25 reduces the contact area and friction, making it easier to move within the fixed frame 22. The buffer pad 211 inside the collection frame 23 further reduces the impact of falling fruit. When the collection frame 23 is full, it can be easily removed and replaced to complete the continuous harvesting and screening operation.
[0038] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended 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 make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. An agricultural harvesting robot, comprising a mobile vehicle body (1), characterized in that: The top of the mobile vehicle (1) is provided with a mechanical arm (4), and a picking and screening component (2) is provided on the left side of the top of the mobile vehicle (1) near the mechanical arm (4). The harvesting and screening component (2) includes a fixed frame (22) and a screening frame (21). The fixed frame (22) is fixedly connected to the upper surface of the mobile vehicle (1) near the left side of the robotic arm (4). Three sets of collection frames (23) are evenly arranged on the inner wall of the fixed frame (22). The screening frame (21) is located on the upper part of the fixed frame (22). Two sets of screening rods (26) are fixedly connected to the inner wall of the screening frame (21). The two sets of screening rods (26) are inclined to the right and symmetrically arranged with the center line of the screening frame (21) as the axis of symmetry. The distance between the two sets of screening rods (26) gradually increases from left to right. Two sets of baffles (27) are evenly fixedly connected to the inner wall of the screening frame (21). The two sets of baffles (27) are respectively located above the two sets of collection frames (23) near the left side.
2. The agricultural harvesting robot according to claim 1, characterized in that: The picking and screening component (2) also includes sliders (29) and chutes (28). There are two sets of sliders (29), which are fixedly connected to the left and right sides of the screening frame (21). There are two sets of chutes (28), which are opened on the left and right sides of the inner wall of the fixed frame (22) and close to the upper surface. The two sets of sliders (29) are slidably connected to the inner walls of the two sets of chutes (28).
3. An agricultural harvesting robot according to claim 2, characterized in that: A robotic hand (42) is provided on the left side of the robotic arm (4), and a robotic claw (41) is provided on the left side of the robotic hand (42).
4. An agricultural harvesting robot according to claim 3, characterized in that: The bottom of the inner wall of the fixed frame (22) is rotatably connected to multiple sets of rollers (25). The three sets of collection frames (23) respectively contact the outer wall of the multiple sets of rollers (25). The lower surface of the middle part of the three sets of collection frames (23) is provided with positioning grooves (210). The bottom of the inner wall of the fixed frame (22) is fixedly connected to three sets of positioning blocks (24). The three sets of positioning grooves (210) are respectively inserted into the outer wall of the three sets of positioning blocks (24).
5. An agricultural harvesting robot according to claim 4, characterized in that: The top of the front surface of the three sets of positioning blocks (24) is set as an inclined surface, and a buffer pad (211) is placed at the bottom of the inner wall of the collection frame (23).
6. An agricultural harvesting robot according to claim 1, characterized in that: The top of the screening frame (21) is provided with a buffer assembly (3), which includes a feeding frame (31). The feeding frame (31) is fixedly connected to the top of the screening frame (21). The inner wall of the feeding frame (31) is fixedly connected to a feeding plate (34) near the top. The inner wall of the feeding frame (31) is fixedly connected to a buffer plate (32) near the left side. The lower surface of the feeding plate (34) is fixedly connected to a fixing block (33).
7. An agricultural harvesting robot according to claim 6, characterized in that: The feed plate (34) is set to be inclined.
8. An agricultural harvesting robot according to claim 7, characterized in that: The buffer plate (32) is provided in two sets. The other set of buffer plates (32) is fixedly connected to the left side of the fixed block (33). Both sets of buffer plates (32) are inclined.