A picking robot
The harvesting robot, with its multi-level adjustable retractable arm and dual gripping mechanism, solves the real-time performance and stability issues of traditional harvesting robots in complex environments, achieving efficient and damage-free fruit harvesting and reducing system maintenance costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- COLLEGE OF MOBILE TELECOMM CHONGQING UNIV OF POSTS & TELECOMM
- Filing Date
- 2025-07-03
- Publication Date
- 2026-06-26
AI Technical Summary
Traditional harvesting robots suffer from poor real-time performance and insufficient stability in field scenarios with drastic fluctuations in humidity and temperature. The multi-sensor data fusion and multi-axis collaborative control suffer from communication delays and computing power limitations, resulting in a harvesting success rate of less than 75%, a fruit damage rate of more than 15%, and an increase in system maintenance costs of more than 30%.
The retractable arm features a multi-stage adjustable design, combined with a dual clamping mechanism. Through worm gear transmission and hydraulic cylinder drive, it achieves multi-stage adjustment and precise clamping. It utilizes laser sensors for precise positioning and, combined with the adaptive algorithm of the intelligent central control panel, dynamically adjusts harvesting parameters to improve harvesting accuracy and stability.
It significantly improves the harvesting success rate to 88%, reduces the fruit damage rate to below 10%, reduces system maintenance costs by 35%, and enables damage-free fruit harvesting and efficient equipment adaptation to complex environments.
Smart Images
Figure CN224402260U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of harvesting robot technology, and in particular to a harvesting robot. Background Technology
[0002] Fruit-harvesting robots are intelligent devices that automate fruit harvesting using advanced sensor technology. Their technology combines AI algorithms with robot control, enabling precise identification and sorting of fruit size during harvesting. They also offer environmental benefits, significantly improving harvesting efficiency and reducing human intervention.
[0003] Traditional controllers are prone to poor real-time performance and insufficient stability in field scenarios with drastic fluctuations in humidity and temperature. Especially in multi-sensor data fusion and multi-axis collaborative control, communication delays and computing power limitations often lead to a decrease in harvesting success rate (typically below 75%). Although existing technologies attempt to improve harvesting accuracy through visual algorithm optimization or mechanical structure improvements, they are limited by the inherent defects in the harvesting structure and control system architecture, making it difficult to achieve adaptive adjustment of harvesting parameters and flexible clamping harvesting. This results in a fruit damage rate generally exceeding 15% and an increase in system maintenance costs of more than 30%. Utility Model Content
[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a harvesting robot. This robot allows for multi-level adjustment of multiple retractable arms, enabling the external grippers of the clamping platform to precisely hold the fruit, thus improving the adaptability and accuracy of the device. The dual-gripping mechanism achieves multiple fixation, significantly enhancing the stability and accuracy of fruit harvesting and ensuring that the fruit is harvested without damage.
[0005] To achieve the above objectives, the present invention provides the following technical solution:
[0006] A harvesting robot includes a housing, a drive wheel mounted on the bottom of the housing, a laser sensor mounted on the right end of the housing, a central control unit fixedly connected to the top of the housing, a connecting shell fixedly connected to the top of the central control unit, a support tube fixedly connected to the top of the connecting shell, drive motors fixedly connected to both the front and rear ends of the inner wall of the connecting shell, a connecting head connected to the drive end of the drive motors via an adjustment assembly, a retractable arm 1 rotatably connected to the outer wall of the connecting head, a retractable arm 2 rotatably connected to the right end of the retractable arm 1, a retractable arm 3 rotatably connected to the top of the retractable arm 2, a clamping platform fixedly connected to the inner wall of the retractable arm 3, an electric hydraulic cylinder 3 fixedly connected to the inner wall of the clamping platform, and an external clamping claw connected to the drive end of the electric hydraulic cylinder 3 via a clamping assembly.
[0007] Furthermore, the adjustment assembly includes a worm gear fixedly connected to the drive end of the drive motor, and worm wheels are meshed with the outer wall of the worm gear.
[0008] Furthermore, a transmission tube is fixedly connected to the top of the worm gear at the top end, and a transmission rod is fixedly connected to the top of the worm gear at the bottom end. The outer wall of the transmission rod is sleeved on the inner wall of the transmission tube, the top of the transmission tube is fixedly connected to the bottom of the connector, and the outer wall of the connector is rotatably connected to the top of the support tube.
[0009] Furthermore, a bevel gear one is fixedly connected to the top of the transmission rod, and a bevel gear two is fixedly connected to the left end of the retractable arm through the outer wall of the connector. The bevel gear two and the bevel gear one are meshed together.
[0010] Furthermore, an electric hydraulic cylinder is rotatably connected to the outer wall of the first telescopic arm, and a connecting block is rotatably connected to the drive end of the electric hydraulic cylinder. The inner wall of the connecting block is fixedly connected to the outer wall of the second telescopic arm.
[0011] Furthermore, an electric hydraulic cylinder two is rotatably connected to the inner wall of the right end of the connecting block, and the driving end of the electric hydraulic cylinder two is rotatably connected to the bottom end of the retractable arm three.
[0012] Furthermore, the clamping assembly includes a movable plate fixedly connected to the three drive ends of the electric hydraulic cylinder. Both ends of the movable plate are rotatably connected to traction plates. One end of the traction plate is rotatably connected to the opposite end of the outer clamping claw. The opposite ends of the outer clamping claw are respectively rotatably connected to the front and rear ends of the clamping table.
[0013] Furthermore, toothed plates are fixedly connected to both the front and rear ends of the movable plate, and transmission gears are meshed with each other at opposite ends of the toothed plates. Inner clamping claws are fixedly connected to the outer walls of the transmission gears, and the outer walls of the transmission gears are rotatably connected to the front and rear sides of the right end of the clamping table.
[0014] This utility model has the following beneficial effects:
[0015] 1. In this utility model, after the start drive wheel moves to the working point, the drive motor is started, and the worm gear drives the worm wheel to rotate, thereby adjusting the bevel gear and realizing the elevation angle adjustment of the retractable arm. The upper worm wheel drives the transmission tube to make the connector move in a circular motion, thus determining the direction of the retractable arm. The electric hydraulic cylinder adjusts multiple retractable arms to achieve multi-level adjustment, so that the outer clamping claw of the clamping table can accurately clamp the fruit, improving the adaptability and accuracy of the device.
[0016] 2. In this utility model, the operation of the electric hydraulic cylinder retracts, driving the moving plate to move. The traction plate causes the outer clamping claws to open and close, clamping the outer side of the fruit. At the same time, the moving plate pushes the toothed transmission gear, causing the inner clamping claws to open to both sides and press against the outer side of the fruit. The double clamping mechanism completes multiple fixation, improves the stability of fruit picking, and ensures that the fruit is picked without damage. Attached Figure Description
[0017] Figure 1 This is a perspective view of a harvesting robot proposed in this utility model;
[0018] Figure 2 This is a half-sectional view of the connecting shell of a harvesting robot proposed in this utility model;
[0019] Figure 3 This is a half-sectional view of the support tube of a harvesting robot proposed in this utility model;
[0020] Figure 4 This is a half-sectional view of the transmission pipe of a harvesting robot proposed in this utility model.
[0021] Figure 5 This is a half-sectional view of the connecting block of a harvesting robot proposed in this utility model;
[0022] Figure 6 This is a half-sectional view of the gripping platform of a harvesting robot proposed in this utility model.
[0023] Legend:
[0024] 1. Device housing; 2. Drive wheel; 3. Central control panel; 4. Connecting housing; 5. Retractable arm one; 6. Retractable arm two; 7. Retractable arm three; 8. Clamping platform; 9. Laser sensor; 10. Support tube; 11. Drive motor; 12. Worm gear; 13. Worm wheel; 14. Connector; 15. Electro-hydraulic cylinder one; 16. Connecting block; 17. Electro-hydraulic cylinder two; 18. Transmission tube; 19. Transmission rod; 20. Inner clamping claw; 21. Bevel gear one; 22. Bevel gear two; 23. Electro-hydraulic cylinder three; 24. Moving plate; 25. Traction plate; 26. Outer clamping claw; 27. Toothed plate; 28. Transmission gear. Detailed Implementation
[0025] 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.
[0026] Reference Figures 1-3This utility model provides an embodiment of a harvesting robot, comprising a device housing 1, a drive wheel 2 mounted at the bottom of the device housing 1, a laser sensor 9 mounted at the right end of the device housing 1, a central control unit 3 fixedly connected to the top of the device housing 1, a connecting shell 4 fixedly connected to the top of the central control unit 3, a support tube 10 fixedly connected to the top of the connecting shell 4, drive motors 11 fixedly connected to both the front and rear ends of the inner wall of the connecting shell 4, a connecting head 14 connected to the drive end of the drive motor 11 via an adjustment assembly, a retractable arm 5 rotatably connected to the outer wall of the connecting head 14, a retractable arm 6 rotatably connected to the right end of the retractable arm 5, and a retractable arm 7 rotatably connected to the top end of the retractable arm 6. The adjustment assembly includes components located at the drive... The worm gear 12 is fixedly connected to the drive end of the motor 11. Worm wheels 13 are meshed with the outer walls of the worm gear 12. A transmission tube 18 is fixedly connected to the top of the top worm wheel 13, and a transmission rod 19 is fixedly connected to the top of the bottom worm wheel 13. The outer wall of the transmission rod 19 is sleeved on the inner wall of the transmission tube 18. The top of the transmission tube 18 is fixedly connected to the bottom of the connector 14. The outer wall of the connector 14 is rotatably connected to the top of the support tube 10. A bevel gear 21 is fixedly connected to the top of the transmission rod 19. A bevel gear 22 is fixedly connected to the left end of the retractable arm 5, penetrating the outer wall of the connector 14. The bevel gear 22 and bevel gear 21 are meshed. An electric hydraulic cylinder 15 is rotatably connected to the outer wall of the retractable arm 5. (See reference) Figure 3 The drive end of the electric hydraulic cylinder 15 is rotatably connected to the connecting block 16. The inner wall of the connecting block 16 is fixedly connected to the outer wall of the retractable arm 6. The inner wall of the right end of the connecting block 16 is rotatably connected to the electric hydraulic cylinder 17. The drive end of the electric hydraulic cylinder 17 is rotatably connected to the bottom end of the retractable arm 7.
[0027] Specifically, when the operator issues a command through the integrated intelligent central control panel 3, the drive wheel 2 can be started to move the main body, the laser sensor 9 can be activated to perform high-speed scanning and precise identification and positioning of the fruit to be harvested, the drive motor 11 can be controlled to perform precise rotation or locking, and the electric hydraulic cylinders 15, 17, and 23 can be driven to extend and retract respectively. Multiple sets of laser sensors 9 can be set, and the direction of transmitting and receiving signals can be adjusted. The core objective of this design is to address the pain points of traditional controllers in field scenarios with drastic changes in temperature and humidity, such as poor real-time performance and insufficient stability. In particular, in terms of multi-sensor data fusion such as laser positioning and visual assistance (using existing visual technology to identify whether the fruit is ripe, which will not be elaborated in this application) and multi-party collaborative control of drive wheel 2, multi-degree-of-freedom robotic arm, etc., traditional solutions usually suffer from communication delays and insufficient computing power, resulting in delayed response and malfunctions. As a result, the harvesting success rate is generally lower than 75%, the fruit damage rate is higher than 15%, and the maintenance cost increases by more than 30%.
[0028] In contrast, this system relies on the high-performance optimization algorithm of the central control console 3: after the drive wheel 2 precisely moves the device to the target position locked by the laser sensor 9, the drive motor 11 starts and drives the worm gear 13 through the worm 12. When the lower worm gear 13 rotates, it drives the transmission rod 19 to rotate, and then through the meshing of bevel gear 21 and bevel gear 22, it drives the retractable arm 5 to achieve the pitch joint for vertical angle adjustment; while when the upper worm gear 13 rotates, it drives the internal transmission tube 18 and the top connector 14 to achieve the yaw joint for precise horizontal direction adjustment of the retractable arm 5. This dual worm gear design significantly improves the orientation accuracy and response speed. Subsequently, the system performs as needed. Multi-level coordinated control: Activating the electric hydraulic cylinder 15 to retract drives the retraction arm 2 6 to rotate relative to the retraction arm 1 5; activating the electric hydraulic cylinder 2 17 to retract drives the retraction arm 3 7 to rotate relative to the retraction arm 2 6. This multi-level hydraulic joint linkage, combined with the real-time perception feedback and adaptive algorithm of the central control console 3, can dynamically adjust key harvesting parameters such as approach speed and clamping force. This successfully overcomes the scalability limitations of traditional architectures that are difficult to achieve adaptive parameter adjustment, significantly enhancing the system's adaptability to complex environments. Ultimately, the external clamping claw 26 of the clamping platform 8 can efficiently, accurately, and gently clamp the target fruit, comprehensively improving the harvesting success rate, reducing the risk of fruit damage, and lowering system maintenance costs.
[0029] Reference Figure 5 and Figure 6 A clamping platform 8 is fixedly connected to the inner wall of the retractable arm 7. An electric hydraulic cylinder 23 is fixedly connected to the inner wall of the clamping platform 8. An external clamping claw 26 is connected to the drive end of the electric hydraulic cylinder 23 through a clamping assembly. The clamping assembly includes a movable plate 24 fixedly connected to the drive end of the electric hydraulic cylinder 23. A traction plate 25 is rotatably connected to both the front and rear ends of the movable plate 24. One end of the traction plate 25 is rotatably connected to the opposite end of the external clamping claw 26. The opposite ends of the external clamping claw 26 are rotatably connected to the front and rear ends of the clamping platform 8, respectively. A toothed plate 27 is fixedly connected to both the front and rear ends of the movable plate 24. A transmission gear 28 is meshed with the opposite end of the toothed plate 27. An internal clamping claw 20 is fixedly connected to the outer wall of the transmission gear 28. The outer walls of the transmission gear 28 are rotatably connected to the front and rear sides of the right end of the clamping platform 8, respectively.
[0030] Specifically: After the gripping platform 8 is positioned on the target fruit, the intelligent central control panel 3 retracts the electric hydraulic cylinder 23, driving the moving plate 24 to move backward and triggering a dual gripping mechanism: On the one hand, the moving plate 24 pulls the outer gripping claw 26 to flexibly close via the traction plate 25, adaptively wrapping the fruit's outline; on the other hand, it pushes the toothed plate 27 to mesh with the transmission gear 28, simultaneously opening the inner gripping claw 20 to rigidly press against the fruit's core, forming a collaborative structure of "outer claw buffer wrapping + inner claw rigid support". This innovative design overcomes three major defects of traditional harvesting robots: First, the drop rate of single-claw gripping under wind vibration is high, but the double-claw interlocking reduces the drop rate to <5%; second, rigid claws damage the fruit pulp, but the outer claw 26's silicone layer buffer combined with the inner claw 20's adaptive force application controls the damage rate to <10%; finally, the fixed claw distance is difficult to accommodate fruit size variations, but through the stroke amplification effect of the toothed plate 27 and gear 28, the compatibility range is expanded to ±50mm. The central control unit 3 adjusts the output of the hydraulic cylinder 23 in real time based on the pressure sensor, and combined with the laser sensor 9 to predict the fruit size and drive the inner claw 20 to unfold the angle, so that the qualified rate of picking irregular fruits such as apples / citrus can be increased to >88%, and the maintenance cost is reduced by 35% compared with the traditional solution, realizing a technological leap in the stability and adaptability of the fruit harvesting robot.
[0031] Working principle: When a command is issued to the central control panel 3, the drive wheel 2, laser sensor 9, drive motor 11, electric hydraulic cylinder 15, electric hydraulic cylinder 17, and electric hydraulic cylinder 23 can be activated respectively. This allows the drive wheel 2 to move, enabling the laser sensor 9 to initially locate the fruit to be picked. The drive motor 11 is then controlled to rotate or lock, causing the electric hydraulic cylinders 15, 17, and 23 to retract. Once the drive wheel 2 has moved to the work location, the laser sensor 9 detects it and activates the drive motor 11, which drives the worm gear 12 to transmit power to the worm wheel 13. When the lower worm wheel 13 rotates... The transmission rod 19 rotates, causing the transmission rod 19 to rotate the bevel gear 21 and the bevel gear 22, thereby driving the retracting arm 5 to adjust its elevation angle. When the upper worm gear 13 rotates, it can drive the transmission tube 18 to rotate, thereby driving the connector 14 to perform circular motion, thus finely adjusting the direction of the retracting arm 5. When the electric hydraulic cylinder 15 is activated to retract, the retracting arm 26 can rotate at the retracting arm 5. When the electric hydraulic cylinder 27 is activated, the retracting arm 37 can rotate at the retracting arm 26, thus performing multi-stage adjustment, so that the external clamping claw 26 at the clamping table 8 can accurately clamp the fruit, improving the adaptability of the device.
[0032] During clamping, the electric hydraulic cylinder 23 can be operated to retract, causing the electric hydraulic cylinder 23 to drive the moving plate 24 to move. The moving plate 24, through the traction plate 25, drives the outer clamping claw 26 to open and close, allowing the outer clamping claw 26 to clamp the outer side of the fruit. When the moving plate 24 moves, the toothed plate 27 can drive the transmission gear 28, causing the inner clamping claw 20 to open to both sides, thereby pressing against the outer side of the fruit, thus completing multiple fixation and improving the stability of fruit picking.
[0033] This application utilizes a PLC integrating an SM1221 analog input module (16-bit resolution) and multiple digital I / O modules to achieve sensor signal acquisition and actuator drive. It employs a converged 4G / 5G dual-mode communication and industrial Ethernet networking, using the MQTT protocol to achieve cross-domain command transmission and equipment status synchronization, supporting real-time interaction across multiple terminals via Web / APP. An integrated RTU data acquisition module, combined with configuration software, constructs a 3D virtual monitoring interface.
[0034] 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. A harvesting robot, comprising a device housing (1), characterized in that: The device housing (1) has a drive wheel (2) installed at the bottom end, a laser sensor (9) installed at the right end of the device housing (1), a central control panel (3) fixedly connected to the top end of the device housing (1), a connecting shell (4) fixedly connected to the top end of the central control panel (3), a support tube (10) fixedly connected to the top end of the connecting shell (4), a drive motor (11) fixedly connected to both the front and rear ends of the inner wall of the connecting shell (4), a connecting head (14) connected to the drive end of the drive motor (11) through an adjustment component, a retractable arm (5) rotatably connected to the outer wall of the connecting head (14), a retractable arm (6) rotatably connected to the right end of the retractable arm (5), a retractable arm (7) rotatably connected to the top end of the retractable arm (6), a clamping platform (8) fixedly connected to the inner wall of the retractable arm (7), an electric hydraulic cylinder (23) fixedly connected to the inner wall of the clamping platform (8), and an external clamping claw (26) connected to the drive end of the electric hydraulic cylinder (23) through a clamping component.
2. A harvesting robot according to claim 1, characterized in that: The adjustment assembly includes a worm (12) fixedly connected to the drive end of the drive motor (11), and a worm wheel (13) is meshed with the outer wall of the worm (12).
3. A harvesting robot according to claim 2, characterized in that: The top end of the worm gear (13) is fixedly connected to the transmission tube (18), and the bottom end of the worm gear (13) is fixedly connected to the transmission rod (19). The outer wall of the transmission rod (19) is sleeved on the inner wall of the transmission tube (18). The top end of the transmission tube (18) is fixedly connected to the bottom end of the connector (14), and the outer wall of the connector (14) is rotatably connected to the top end of the support tube (10).
4. A harvesting robot according to claim 3, characterized in that: The top end of the transmission rod (19) is fixedly connected to a bevel gear one (21), and the left end of the retractable arm one (5) passes through the outer wall of the connector (14) and is fixedly connected to a bevel gear two (22). The bevel gear two (22) and the bevel gear one (21) are meshed.
5. A harvesting robot according to claim 1, characterized in that: The outer wall of the retractable arm (5) is rotatably connected to an electric hydraulic cylinder (15), and the drive end of the electric hydraulic cylinder (15) is rotatably connected to a connecting block (16). The inner wall of the connecting block (16) is fixedly connected to the outer wall of the retractable arm (6).
6. A harvesting robot according to claim 5, characterized in that: The inner wall of the right end of the connecting block (16) is rotatably connected to an electric hydraulic cylinder two (17), and the driving end of the electric hydraulic cylinder two (17) is rotatably connected to the bottom end of the retractable arm three (7).
7. A harvesting robot according to claim 1, characterized in that: The clamping assembly includes a movable plate (24) fixedly connected to the drive end of the electric hydraulic cylinder (23). Both ends of the movable plate (24) are rotatably connected to traction plates (25). One end of the traction plate (25) is rotatably connected to the opposite end of the outer clamping claw (26). The opposite end of the outer clamping claw (26) is rotatably connected to the front and rear ends of the clamping table (8).
8. A harvesting robot according to claim 7, characterized in that: The moving plate (24) is fixedly connected to toothed plates (27) at both ends. The toothed plates (27) are meshed with transmission gears (28) at opposite ends. The outer walls of the transmission gears (28) are fixedly connected to inner clamping claws (20). The outer walls of the transmission gears (28) are rotatably connected to the front and rear sides of the right end of the clamping table (8).