A picking robot for watermelons

Abstract

The utility model discloses a kind of to take formula watermelon picking robot capture device, including being set in the electric push rod of mobile platform front end and moving on mobile platform, the electric push rod output end is equipped with rotatable lifting frame, lifting frame four corners are equipped with swing arm, lifting frame is equipped with swing arm tension device of driving swing arm swing, left and right opposite swing arm bottom is equipped with cylinder. When holding watermelon, swing arm swings, drives cylinder to move, and a pair of opposite rotation rolling body is realized to hold watermelon, can cope with different size watermelon, and picking mode process is coherent, while improving efficiency greatly reduces control difficulty and precision requirement, effectively prevent watermelon damage;And lifting frame can rotate in electric push rod output end, realize the adjustment of capture executor angle, to cope with the different of different watermelon placement angle.

Description

Technical Field

[0001] This utility model relates to the field of watermelon harvesting, specifically a watermelon-catching robot capture device. Background Technology

[0002] To achieve the goal of automated crop harvesting, harvesting robot technology has been actively developed. Many scholars have conducted extensive explorations and research on tasks such as crop recognition, end effector design, obstacle localization, and motion planning in the automated harvesting process, mainly involving mushrooms, apples, strawberries, and tomatoes.

[0003] Many studies have focused on the autonomous harvesting of mushrooms, strawberries, asparagus, kiwifruit, and many other crops, but so far, few scholars have studied the autonomous harvesting of watermelons. In particular, regarding the design of end effectors, most research has focused on developing end effectors for small and lightweight crops, with relatively little research on watermelons.

[0004] A patent application with application number 202410379420.9, entitled "A Multifunctional Adaptive Watermelon Harvesting Robot," includes a vehicle body, a recognition and positioning module, and a telescopic push-pull module. The vehicle body is used for positional movement; the recognition and positioning module is located at the end of the vehicle body for locating the watermelon; the telescopic push-pull module is also located at the end of the vehicle body and includes an upper shovel assembly and a lower shovel assembly. The lower shovel assembly can extend to the ground to scoop up the watermelon, and the upper shovel assembly can move to cut the watermelon vines that have been scooped into it. This invention uses the recognition and positioning module for coarse positioning, combined with the lower shovel assembly to scoop up the watermelon close to the ground. This eliminates the need for a lengthy precise positioning process, allowing for quick watermelon grabbing. The upper shovel assembly then moves downwards to close and cut the vines with the lower shovel assembly, eliminating the need to search for the vines, quickly removing the watermelon from the vine, ensuring the watermelon's safety, maintaining its integrity during harvesting, reducing operation time, and effectively improving watermelon harvesting efficiency.

[0005] Meanwhile, there is a utility model patent with application number 202420619980.2, entitled "Semi-automatic Watermelon Harvester," which includes: a mounting bracket; traveling wheels installed at the bottom of the mounting bracket; and a harvesting mechanism installed on the inner wall of the mounting bracket. This utility model, through the arrangement of the harvesting mechanism, infrared camera, collection bin, and solar panel, connects the front end of the main frame structure to the harvesting mechanism, and installs six wheels at the lower end for mechanical movement and steering. The harvesting detection part is connected to the harvesting structure, and the infrared camera above detects the watermelon's position and sends a signal to the motor, causing it to move the harvesting structure left and right to the watermelon's location. The motor then rotates the harvesting structure to complete the harvesting and transportation of the watermelon. Subsequently, the harvesting mechanism, driven by the motor, rotates to tilt the watermelon into the rear bucket. The bucket rotates, causing the watermelon to roll onto the conveyor belt, which then transports the watermelon to other collection devices.

[0006] However, the above solution has the drawback that the watermelon may be damaged when the capture mechanism grabs it.

[0007] To address the aforementioned issues, an invention patent with application number 202210659232.2, entitled "An End-Effect Device for Adaptive Watermelon Harvesting," has been developed. This invention includes a clamping mechanism for holding the watermelon and a shearing mechanism for performing the harvesting and cutting action. In the clamping mechanism, a fixed base connects the end-effector to the robotic arm. A lead screw stepper motor is fixedly mounted on the fixed base via a motor mount. A lead screw nut is connected to a lifting platform and mounted on the lead screw of the lead screw stepper motor. A bearing seat is connected to the other end of the lead screw and mounted on a base. A guide rod connects the fixed base and the base. A base connecting block is mounted on the base. Three underactuated robotic fingers are evenly mounted on the lifting platform and the base connecting block. The cavity formed by the three underactuated robotic fingers serves as a watermelon model for placing the watermelon.

[0008] However, the above solution has the following problems: 1. When the capturing actuator picks up the watermelon, it requires high grasping force and positional accuracy; otherwise, the watermelon is easily damaged. 2. The angle of the capturing actuator in the above solution cannot be adjusted, and it cannot be precisely adjusted according to the placement angle of the watermelon. Utility Model Content

[0009] The purpose of this invention is to solve the above-mentioned problems and provide a watermelon picking robot capture device. When picking up a watermelon, it is achieved by a pair of opposing rotating rolling bodies, which can handle watermelons of different sizes. The picking process is continuous, which improves efficiency and greatly reduces the control difficulty and precision requirements, effectively preventing watermelon damage. In addition, the angle of the capture actuator can be adjusted to accommodate different watermelon placement angles.

[0010] The technical solution adopted by this utility model to solve its technical problem is:

[0011] A watermelon-picking robot capture device includes an electric push rod located at the front end of a mobile platform and moving on the platform. The output end of the electric push rod is provided with a rotatable lifting frame. Each of the four corners of the lifting frame is provided with a swing arm. The lifting frame is provided with a swing arm tensioning device that drives the swing arms to swing. The bottom of the left and right opposite swing arms is provided with rollers.

[0012] Furthermore, the mobile platform is provided with a support beam at its front end, and the upper end of the electric push rod is provided with a mobile frame that is slidably connected to the support beam.

[0013] Furthermore, the output end of the electric push rod is provided with a support frame, and the upper end of the lifting frame is fixed with a rotating shaft that is rotatably connected to the support frame.

[0014] Furthermore, the support frame is equipped with a first motor, the output shaft of the first motor is equipped with a first gear, and the rotating shaft is equipped with a second gear that meshes with the first gear.

[0015] Furthermore, the swing arm tensioning device is symmetrically arranged front and back with respect to the center of the lifting frame.

[0016] Furthermore, the swing arm tensioning device includes a drive shaft mounted on the lifting frame and rotating on the lifting frame, spools mounted at both ends of the drive shaft, a guide wheel mounted on the upper end of the swing arm, and a pull line. One end of the pull line is wound around the spool, and the spool passes over the guide wheel on the other end of the same side and connects to the lower end of the corresponding swing arm.

[0017] Furthermore, the drive shaft is supported on the lifting frame by bearings, and the lifting frame is equipped with a second motor that drives the drive shaft to rotate.

[0018] Furthermore, the outer cylindrical surface of the roller is provided with a groove.

[0019] Furthermore, a third motor is provided at the bottom of the swing arm to drive the corresponding roller to rotate.

[0020] The beneficial effects of this utility model are:

[0021] 1. This utility model includes an electric push rod disposed at the front end of a mobile platform and moving on the platform. The output end of the electric push rod is equipped with a rotatable lifting frame. Each of the four corners of the lifting frame has a swing arm, and the lifting frame is equipped with a swing arm tensioning device to drive the swing arms to swing. Rollers are located at the bottom of the left and right opposing swing arms. When picking up a watermelon, the swing arms swing, driving the rollers to move. The watermelon is picked up through a pair of opposing rotating rolling bodies, which can handle watermelons of different sizes. The picking process is continuous, improving efficiency while greatly reducing control difficulty and precision requirements, effectively preventing watermelon damage. Furthermore, the lifting frame can rotate at the output end of the electric push rod, allowing adjustment of the angle of the capture actuator to accommodate different watermelon placement angles. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the working structure of this utility model;

[0024] Figure 2 This is a schematic diagram of the structure of this utility model;

[0025] Figure 3 This is a right view of the present invention;

[0026] Figure 4 This is the front view of the present utility model.

[0027] In the diagram: 1. Mobile platform; 2. Electric push rod; 3. Lifting frame; 4. Swing arm; 5. Roller; 6. Support beam; 7. Mobile frame; 8. Support frame; 9. Rotating shaft; 10. First motor; 11. First gear; 12. Second gear; 13. Drive shaft; 14. Thread wheel; 15. Guide wheel; 16. Pull line; 17. Second motor; 18. Third motor. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0029] For ease of description, the coordinate system is defined as follows: Figure 1 As shown.

[0030] like Figure 1 and Figure 2 As shown, a watermelon-picking robot capture device includes an electric push rod 2 located at the front end of a mobile platform 1 and moving on the mobile platform 1. The output end of the electric push rod 2 is provided with a rotatable lifting frame 3. Each of the four corners of the lifting frame 3 is provided with a swing arm 4. The lifting frame 3 is provided with a swing arm tensioning device that drives the swing arms 4 to swing. The swing arms 4 on the same side swing towards or away from each other, that is, the two swing arms 4 on the left side can only swing towards or away from each other, and the two swing arms 4 on the right side can only swing towards or away from each other. The two swing arms 4 on opposite sides swing synchronously in the same direction. The bottom of the swing arms 4 on opposite sides is provided with rollers 5, that is, there are two rollers 5, which are arranged one in front of the other.

[0031] When picking up a watermelon, the swing arm 4 swings, driving the roller 5 to move. The watermelon is picked up through a pair of opposing rotating rolling bodies. This can handle watermelons of different sizes, and the picking process is continuous. While improving efficiency, it greatly reduces the difficulty of control and the precision requirements, and effectively prevents watermelon damage. In addition, the lifting frame 3 can rotate at the output end of the electric push rod 2 to adjust the angle of the capture actuator to accommodate different watermelon placement angles.

[0032] The rotation center of roller 5 can rotate around a single point, which is the lower end of the swing arm 4. When the swing arm 4 swings, it drives roller 5 to move, thereby changing the rolling opening to accommodate watermelons of different sizes. A preload is applied between the two rollers, and the watermelon is rolled up from the ground or lifted by squeezing through friction between the rollers and the watermelon.

[0033] The harvesting process is mainly accomplished by special counter-rotating rollers. These rollers are mounted on the shaft of a rolling element motor, which drives them to rotate counter-rotate. When a large watermelon is encountered, the two rollers extend outwards with the swing arms, and a tensioning device on the swing arms provides the pulling force to lift the watermelon above the rollers. Once the watermelon is lifted above the rollers, the tensioning device on the rear roller relaxes, causing the rear roller 5 to shift backward and downward. Simultaneously, the tensioning device on the front roller retracts, causing the front roller to shift backward and upward. At this point, the front roller 5 is positioned above and in front of the rear roller 5, providing thrust to push the watermelon above the rollers. This harvesting method is continuous, significantly reducing control difficulty and precision requirements while improving efficiency.

[0034] like Figure 1 As shown, the mobile platform 1 has a supporting crossbeam 6 at its front end, and the electric push rod 2 has a mobile frame 7 that is slidably connected to the supporting crossbeam 6 at its upper end. The mobile frame 7 and the supporting crossbeam 6 are connected by a guide rail slider. The mobile frame 7 and the supporting crossbeam 6 can be driven by a motor belt or by a lead screw nut. This is something that those skilled in the art can easily think of, and will not be elaborated on here.

[0035] The mobile platform 1 adopts a rear-drive configuration with a hub motor, and because the front of the mobile platform 1 needs to have space for the harvesting device, the steering device is installed on the rear wheel.

[0036] An electric linear actuator, also known as an electric cylinder or linear drive, is an actuator that converts the rotary motion of a motor into the linear reciprocating motion of a linear actuator. It mainly consists of a motor, a reduction gear, a worm gear or gear, a lead screw and nut, a guide sleeve, and a stroke control device.

[0037] like Figure 2 and Figure 4 As shown, the output end of the electric push rod 2 is provided with a support frame 8, and the upper end of the lifting frame 3 is fixed with a rotating shaft 9 that is rotatably connected to the support frame 8.

[0038] The support frame 8 is equipped with a first motor 10, and the output shaft of the first motor 10 is equipped with a first gear 11. The rotating shaft 9 is equipped with a second gear 12 that meshes with the first gear 11. The first motor 10 drives the rotating shaft 9 to rotate through the first gear 11 and the second gear 12, thereby realizing the rotation of the lifting frame 3 to accommodate different watermelon placement angles. In this embodiment, the rotating shaft 9 is driven by a motor gear, but a motor belt or other drive method can also be used, which is readily apparent to those skilled in the art and will not be elaborated upon here.

[0039] like Figure 2 and Figure 3 As shown, the swing arm tensioning device is symmetrically arranged with respect to the center of the lifting frame 3. The front swing arm tensioning device realizes the swing of the front swing arm 4, and the rear swing arm tensioning device realizes the swing of the rear swing arm 4.

[0040] The swing arm tensioning device includes a drive shaft 13 mounted on and rotating on the lifting frame 3, reels 14 at both ends of the drive shaft 13, guide wheels 15 on the upper rotating shaft of the swing arm 4, and a pull line 16. One end of the pull line 16 is wound around the reel 14, and the reel 14 passes over the guide wheel 15 on the same side and connects to the lower end of the corresponding swing arm 4. Specifically, the pull line 16 extending from the reels 14 at both ends of the front drive shaft 13 passes over the guide wheel 15 at the rear end on the same side and connects to the lower end of the front swing arm 4; similarly, the pull line 16 extending from the reels 14 at both ends of the rear drive shaft 13 passes over the guide wheel 15 at the front end on the same side and connects to the lower end of the rear swing arm 4. When the front drive shaft 13 rotates, the two front swing arms 4 swing back and forth under the weight of the pull line and the roller 5. When the rear drive shaft 13 rotates, the two rear swing arms 4 swing back and forth under the weight of the pull line and the roller 5.

[0041] like Figure 2As shown, the drive shaft 13 is supported on the lifting frame 3 by bearings. The lifting frame 3 is equipped with a second motor 17 that drives the drive shaft 13 to rotate. In this embodiment, the drive shaft 13 is driven to rotate by a motor gear. Alternatively, a motor belt or other drive method can be used, which is easy for those skilled in the art to think of and will not be elaborated on here.

[0042] like Figure 2 As shown, the outer cylindrical surface of the roller 5 is provided with a groove, which fits the shape of the watermelon as closely as possible, making it reliable to hold and preventing damage to the watermelon.

[0043] like Figure 2 As shown, the bottom of the swing arm 4 is equipped with a third motor 18 that drives the corresponding roller 5 to rotate. The motor shaft is connected to the roller through an electromagnetic clutch. When the clutch is engaged, it can provide power to the roller during the picking action. When the clutch is disengaged, the roller can rotate without restraint, which can avoid friction between the roller and the watermelon skin during the watermelon pushing action.

[0044] In the description of this utility model, it should be noted that the terms "left", "right", "up", "down", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0045] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

Claims

1. A kind of to take watermelon picking robot capture device, including the electric push rod (2) being arranged in the front end of mobile platform (1) and moving on mobile platform (1), it is characterized in that, The output end of the electric push rod (2) is provided with a rotatable lifting frame (3). The lifting frame (3) is provided with swing arms (4) at each of the four corners. The lifting frame (3) is provided with a swing arm tensioning device to drive the swing arms (4) to swing. The bottom of the swing arms (4) facing each other on the left and right is provided with rollers (5).

2. A grasping type watermelon picking robot capturing device according to claim 1, characterized in that, The mobile platform (1) has a supporting crossbeam (6) at its front end, and the electric push rod (2) has a mobile frame (7) that is slidably connected to the supporting crossbeam (6) at its upper end.

3. The grasping type watermelon picking robot capturing device according to claim 1, characterized in that, The output end of the electric push rod (2) is provided with a support frame (8), and the upper end of the lifting frame (3) is fixed with a rotating shaft (9) that is rotatably connected to the support frame (8).

4. The grasping type watermelon picking robot capturing device according to claim 3, characterized by, The support frame (8) is provided with a first motor (10), the output shaft of the first motor (10) is provided with a first gear (11), and the rotating shaft (9) is provided with a second gear (12) that meshes with the first gear (11).

5. The grasping type watermelon picking robot capturing device according to claim 1, wherein, The swing arm tensioning device is symmetrically arranged with respect to the center of the lifting frame (3).

6. A grasping type watermelon picking robot capturing device according to claim 5, characterized by, The swing arm tensioning device includes a drive shaft (13) mounted on the lifting frame (3) and rotating on the lifting frame (3), spools (14) mounted at both ends of the drive shaft (13), a guide wheel (15) mounted on the upper shaft of the swing arm (4), and a pull line (16). One end of the pull line (16) is wound around the spool (14), and the spool (14) passes around the guide wheel (15) on the other side and is connected to the lower end of the corresponding swing arm (4).

7. A grasping type watermelon picking robot capturing device according to claim 6, characterized in that, The drive shaft (13) is supported on the lifting frame (3) by bearings, and the lifting frame (3) is equipped with a second motor (17) that drives the drive shaft (13) to rotate.

8. The grasping type watermelon picking robot capturing device according to claim 1, wherein, The outer cylindrical surface of the roller (5) is provided with a groove.

9. The grasping type watermelon picking robot capturing device according to claim 1, wherein, The bottom of the swing arm (4) is equipped with a third motor (18) that drives the corresponding roller (5) to rotate.

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