A fruit low-damage picking robot based on a track type self-adaptive multi-machine cooperation
By adopting a tracked adaptive multi-machine collaborative design and using flexible rubber gripping blocks and lifting plate structures, the problem of damage during fruit picking robot gripping has been solved, achieving low-damage picking.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SICHUAN AGRI UNIV
- Filing Date
- 2025-08-01
- Publication Date
- 2026-06-26
AI Technical Summary
Existing fruit-picking robots are prone to damaging the surface of fruit during the gripping process. In particular, because the anti-slip pads are flat and have a small contact area with the curved fruit, the clamping force needs to be increased, resulting in excessively high local pressure.
It adopts a tracked adaptive multi-machine collaborative design, using flexible rubber clamping blocks and folding protective sleeves. The clamping blocks deform to wrap around the surface of the fruit, combined with flexible fabric and lifting plate structure, to reduce the falling height and impact force of the fruit.
It effectively avoids internal damage to the fruit, reduces local pressure, minimizes the impact force on the fruit during collection, and improves the low-damage effect of harvesting.
Smart Images
Figure CN224402263U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of fruit harvesting robot technology, and in particular to a low-damage fruit harvesting robot based on tracked adaptive multi-machine collaboration. Background Technology
[0002] To improve industry efficiency, the fruit growing sector is increasingly using machinery to replace manual fruit picking, especially for tree-bearing fruits such as apples and citrus. This is because these fruits hang high on the branches, making manual picking inefficient and potentially dangerous, thus creating a strong demand for fruit picking machinery.
[0003] A search revealed a Chinese patent publication number CN222603094U, which discloses a multifunctional fruit-picking robot. The robot includes a trolley, hydraulic cylinder, lifting frame, swing frame, housing, gripping mechanism, angle adjustment mechanism, and storage box. This patent utilizes a gripping plate, guide rod, and pressure sensor. During the gripping process, the gripping plate and anti-slip pad are pressed against the fruit, causing the fruit to obstruct the gripping plate, which then moves the guide rod backward. This movement gradually presses against the pressure sensor, transmitting the pressure from the fruit to the sensor. When the pressure on the sensor reaches a set value, it indicates that the fruit has been gripped, thus controlling the gripping force and preventing damage to the fruit.
[0004] However, the surface of fruit is usually curved. Since the anti-slip mat is flat, the contact area between the anti-slip mat and the surface of the fruit is small. In order to clamp the fruit, a larger clamping force is required. This increased force acts on a very small area, which will generate extremely high local pressure and easily lead to damage to the fruit pulp inside. Utility Model Content
[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a low-damage fruit-harvesting robot based on tracked adaptive multi-machine collaboration.
[0006] To achieve the above objectives, the present invention adopts the following technical solution:
[0007] A low-damage fruit-harvesting robot based on tracked adaptive multi-machine collaboration includes a tracked vehicle. Multiple robotic arms are mounted on the top outer wall of the tracked vehicle. A clamping assembly is located at one end of each robotic arm. The clamping assembly includes a fixed frame and a motor. The fixed frame is fixedly connected to one end of the robotic arm, and the motor is mounted on one side of the outer wall of the fixed frame. Two movable plates are slidably fitted onto the inner wall of the fixed frame. Clamping plates are connected to opposite outer walls of the two movable plates via guide rods, which slidably engage with the movable plates. A folding protective sleeve, connected at one end to a movable plate, is fixed to the inner wall of the fixed frame and fitted onto the outside of a bidirectional threaded rod. Flexible rubber clamping blocks are fixed to opposite outer walls of the two clamping plates, with the sidewalls of the flexible rubber clamping blocks having a wavy curved surface.
[0008] As a further embodiment of this utility model: a sliding rod is fixed to the inner wall of the fixed frame, the moving plate slides with the outer wall of the sliding rod, the output shaft of the motor is connected to a bidirectional threaded rod, and the two moving plates are respectively threaded with the outer walls of the two ends of the bidirectional threaded rod.
[0009] As a further improvement of this invention: a pressure sensor is installed on the side wall of the movable plate, located between the clamping plate and the movable plate.
[0010] As a further embodiment of this utility model: an inclined guide plate is fixedly connected to one side of the top outer wall of the tracked vehicle, a side plate is fixed to one end of the outer wall of the guide plate, and flexible fabric is fixed to both sides of the outer wall of the guide plate by positioning rods. The guide plate is located below multiple clamping components.
[0011] As a further improvement of this utility model: a bearing frame is fixedly connected to one side of the tracked vehicle, and a lifting plate is vertically slidably fitted on the inner wall of the bearing frame.
[0012] As a further embodiment of this utility model: a telescopic rod is fixedly installed on one side of the outer wall of the bearing frame, and the telescopic end of the telescopic rod is fixedly connected to the lifting plate. Multiple collection frames are placed on the top of the lifting plate, one of which is located below one end of the guide plate, and a movable component located below one end of the guide plate is provided on the top outer wall of the lifting plate.
[0013] As a further embodiment of this utility model: the moving component includes a support plate and a telescopic rod, the support plate is slidably fitted to the outer wall of the lifting plate, and a weight sensor is provided on the top outer wall of the support plate that contacts the bottom of the collection frame.
[0014] As a further embodiment of this utility model: a sliding groove is provided on the top outer wall of the lifting plate, a connecting plate is fixed to the bottom outer wall of the bearing plate and slides in cooperation with the inner wall of the sliding groove, and a telescopic rod two is installed and fixed on the bottom outer wall of the lifting plate, with the telescopic end of the telescopic rod two being fixedly connected to the connecting plate.
[0015] Compared with existing technologies, this utility model provides a low-damage fruit harvesting robot based on tracked adaptive multi-machine collaboration, which has the following beneficial effects:
[0016] 1. This utility model, by setting a folding protective sleeve and a flexible rubber clamping block, allows the surface of the flexible rubber clamping block to deform and wrap around the outside of the fruit when clamping the fruit, ensuring the contact area with the fruit surface and avoiding excessive local pressure that could damage the fruit pulp inside. The folding protective sleeve protects the outside of the bidirectional threaded rod, preventing debris from adhering to the outside of the bidirectional threaded rod and affecting the movement of the moving plate along the bidirectional threaded rod.
[0017] 2. This utility model, by setting up a flexible fabric, a support frame, a lifting plate and a telescopic rod, can support the fruit after harvesting by using the flexible fabric, and change the height of the collection frame to reduce the falling height of the fruit after it rolls from the guide plate into the collection frame, thereby reducing the impact force.
[0018] 3. This utility model, by providing a movable component, drives the collection box to move back and forth during collection, changing the receiving position of the fruit after it enters the collection box, and avoiding local accumulation of fruit in the collection box.
[0019] The parts of this device not covered herein are the same as or can be implemented using existing technologies. This utility model has a simple structure and is easy to operate. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the overall structure of a tracked adaptive multi-machine collaborative low-damage fruit picking robot proposed in this utility model.
[0021] Figure 2 This is a schematic diagram of the structure of a gripping component for a low-damage fruit-picking robot based on tracked adaptive multi-machine collaboration proposed in this utility model.
[0022] Figure 3 This is a partial structural diagram of a tracked adaptive multi-machine collaborative low-damage fruit harvesting robot proposed in this utility model.
[0023] Figure 4 This is a schematic diagram of the connection structure between the moving plate and the lifting plate of a tracked adaptive multi-machine collaborative low-damage fruit picking robot proposed in this utility model.
[0024] In the diagram: 1. Tracked vehicle; 2. Robotic arm; 3. Clamping assembly; 4. Guide plate; 5. Side plate; 6. Flexible fabric; 7. Fixing frame; 8. Motor; 9. Moving plate; 10. Sliding rod; 11. Folding protective sleeve; 12. Clamping plate; 13. Flexible rubber clamping block; 14. Pressure sensor; 15. Guide rod; 16. Bearing frame; 17. Lifting plate; 18. Telescopic rod one; 19. Bearing plate; 20. Telescopic rod two. 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 of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.
[0026] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", 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.
[0027] Example 1
[0028] A tracked adaptive multi-machine collaborative low-damage fruit-harvesting robot, such as Figures 1 to 3 As shown, the device includes a tracked vehicle 1. Tracked vehicle 1 is a mature existing technology, and its basic structure and working principle are well-known to those skilled in the art, so it will not be described in detail here. Multiple robotic arms 2 are mounted on the top outer wall of the tracked vehicle 1. A clamping assembly 3 is provided at one end of each robotic arm 2. The clamping assembly 3 includes a fixed frame 7 and a motor 8. The fixed frame 7 is fixedly connected to one end of the robotic arm 2, and the motor 8 is mounted on one side of the outer wall of the fixed frame 7. Two movable plates 9 are slidably fitted on the inner wall of the fixed frame 7. A sliding rod 10 is fixed to the inner wall of the fixed frame 7, and the movable plates 9 are slidably fitted with the outer wall of the sliding rod 10. The output shaft of the motor 8... The device is connected to a bidirectional threaded rod. Two movable plates 9 are threadedly engaged with the outer walls of both ends of the bidirectional threaded rod. Each of the two movable plates 9 has a clamping plate 12 connected to its opposite outer wall via a guide rod 15. The guide rod 15 is slidably engaged with the movable plate 9. A pressure sensor 14 is installed on the side wall of the movable plate 9 between the clamping plate 12 and the movable plate 9. A folding protective sleeve 11 with one end connected to the movable plate 9 is fixed to the inner wall of the fixing frame 7. The folding protective sleeve 11 is fitted onto the outside of the bidirectional threaded rod. Each of the two clamping plates 12 has a flexible rubber clamping block 13 fixed to its opposite outer wall. The side wall of the flexible rubber clamping block 13 is set as a wavy curved surface.
[0029] An inclined guide plate 4 is fixedly connected to one side of the top outer wall of the tracked vehicle 1. A side plate 5 is fixed to one end of the outer wall of the guide plate 4. Flexible fabric 6 is fixed to both sides of the outer wall of the guide plate 4 by positioning rods. The guide plate 4 is located below multiple clamping components 3. A bearing frame 16 is fixedly connected to one side of the tracked vehicle 1. A lifting plate 17 is vertically slidably fitted on the inner wall of the bearing frame 16. A telescopic rod 18 is fixedly installed on one side of the outer wall of the bearing frame 16. The telescopic end of the telescopic rod 18 is fixedly connected to the lifting plate 17. Multiple collection frames are placed on the top of the lifting plate 17. One of the collection frames is located below one end of the guide plate 4. A moving component located below one end of the guide plate 4 is provided on the top outer wall of the lifting plate 17.
[0030] During harvesting, the tracked vehicle 1 moves to the side of the fruit, and the robotic arm 2 moves the clamping assembly 3, bringing the fruit between two flexible rubber clamping blocks 13. The motor 8 drives the bidirectional threaded rod to move, causing two moving plates 9 to move relative to each other along the bidirectional threaded rod. A folding protective sleeve 11 wraps around the outside of the bidirectional threaded rod to prevent debris from adhering to the outside of the rod and affecting the movement of the moving plates 9 along the bidirectional threaded rod. The two flexible rubber clamping blocks 13 approach each other to clamp the fruit. Because the flexible rubber clamping blocks 13 are made of flexible rubber, they can deform to wrap around the outside of the fruit, ensuring sufficient contact area with the fruit. After deformation to a certain extent, a reaction force is applied to the clamping plate 12. The flexible rubber clamping block 13 can determine the clamping force on the fruit by detecting the reaction force, ensuring the clamping force on the fruit. Then, the robotic arm 2 picks up the fruit, the motor 8 rotates in the opposite direction, the moving plates 9 move away from each other, the clamping force of the two flexible rubber clamping blocks 13 on the fruit disappears, the fruit falls under gravity, the flexible cloth 6 supports the fruit, and then the fruit falls into the guide plate 4 and rolls along the guide plate 4 into the collection box. During picking, the telescopic rod 18 drives the lifting plate 17 to move, changing the height of the collection box, reducing the falling height of the fruit after rolling from the guide plate 4 into the collection box, and reducing the collision force.
[0031] By incorporating a folding protective sleeve 11 and a flexible rubber clamping block 13, the surface of the flexible rubber clamping block 13 can deform and wrap around the outside of the fruit when clamping it, ensuring the contact area with the fruit surface and preventing excessive local pressure that could damage the fruit flesh inside. The folding protective sleeve 11 also protects the outside of the bidirectional threaded rod, preventing debris from adhering to the outside of the bidirectional threaded rod and affecting the movement of the moving plate 9 along the bidirectional threaded rod.
[0032] By incorporating a flexible fabric 6, a support frame 16, a lifting plate 17, and a telescopic rod 18, the fruit can be supported by the flexible fabric 6 after harvesting, and the height of the collection frame can be adjusted to reduce the falling height of the fruit after it rolls off the guide plate 4 into the collection frame, thereby reducing the impact force.
[0033] Example 2
[0034] A tracked adaptive multi-machine collaborative low-damage fruit-harvesting robot is proposed in this embodiment, which is based on Embodiment 1 and makes the following improvements, such as... Figures 3 to 4 As shown, the moving component includes a support plate 19 and a telescopic rod 20. The support plate 19 is slidably fitted to the outer wall of the lifting plate 17. A weight sensor is provided on the top outer wall of the support plate 19, which contacts the bottom of the collection frame. A sliding groove is provided on the top outer wall of the lifting plate 17. A connecting plate is fixed to the bottom outer wall of the support plate 19 and slidably fitted to the inner wall of the sliding groove. The telescopic rod 20 is installed and fixed on the bottom outer wall of the lifting plate 17. The telescopic end of the telescopic rod 20 is fixedly connected to the connecting plate.
[0035] During the fruit picking process, the telescopic rod 20 repeatedly extends and retracts, causing the bearing plate 19 to move back and forth along the sliding groove, changing the receiving position of the fruit after it enters the collection box, and preventing the fruit from accumulating locally in the collection box. The weight sensor detects the weight of the fruit in the collection box. As the weight of the fruit in the collection box increases, the telescopic rod 18 pushes the lifting plate 17 to move down continuously.
[0036] By incorporating a movable component, the collection box moves back and forth during collection, changing the receiving position of the fruit after it enters the collection box and preventing the fruit from piling up in certain areas.
[0037] Working Principle: During harvesting, the tracked vehicle 1 moves to the side of the fruit, and the robotic arm 2 drives the clamping assembly 3 to move, bringing the fruit between two flexible rubber clamping blocks 13. The motor 8 drives the bidirectional threaded rod to move, causing two moving plates 9 to move relative to each other along the bidirectional threaded rod. A folding protective sleeve 11 wraps around the outside of the bidirectional threaded rod to prevent debris from adhering to the outside of the rod and affecting the movement of the moving plates 9 along the bidirectional threaded rod. The two flexible rubber clamping blocks 13 approach each other to clamp the fruit. Because the flexible rubber clamping blocks 13 are made of flexible rubber, they can deform, wrapping around the outside of the fruit to ensure sufficient contact area. After deforming to a certain extent, the flexible rubber clamping blocks 13 will exert a reaction force on the clamping plates 12. The flexible rubber clamping blocks 13 can determine the clamping force on the fruit by detecting the reaction force, ensuring... The mechanical arm 2 removes the fruit by applying clamping force to it. The motor 8 rotates in the opposite direction, and the moving plates 9 move away from each other. The two flexible rubber clamping blocks 13 lose their grip on the fruit, and the fruit falls under gravity. The flexible fabric 6 supports the fruit, and the fruit falls into the guide plate 4 and rolls along the guide plate 4 into the collection box. During harvesting, the telescopic rod 18 moves the lifting plate 17, changing the height of the collection box and reducing the falling height of the fruit after rolling from the guide plate 4 into the collection box, thus reducing the impact force. The telescopic rod 20 repeatedly extends and retracts, causing the bearing plate 19 to move back and forth along the sliding groove, changing the receiving position of the fruit after entering the collection box and preventing the fruit from accumulating locally in the collection box. The weight sensor detects the weight of the fruit in the collection box. As the weight of the fruit in the collection box increases, the telescopic rod 18 pushes the lifting plate 17 to move down continuously.
[0038] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.
Claims
1. A low-damage fruit-harvesting robot based on tracked adaptive multi-machine collaboration, comprising a tracked vehicle (1), characterized in that, The tracked vehicle (1) has multiple robotic arms (2) installed on its top outer wall. One end of each robotic arm (2) is equipped with a clamping assembly (3). The clamping assembly (3) includes a fixed frame (7) and a motor (8). The fixed frame (7) is fixedly connected to one end of the robotic arm (2). The motor (8) is installed on one side of the outer wall of the fixed frame (7). The inner wall of the fixed frame (7) has two sliding plates (9) that slide relative to each other. The outer walls of the two sliding plates (9) are connected to clamping plates (12) by guide rods (15). The guide rods (15) slide relative to the sliding plates (9). The inner wall of the fixed frame (7) has a folding protective sleeve (11) that is connected to the sliding plate (9) at one end. The folding protective sleeve (11) is fitted on the outside of the bidirectional threaded rod. The outer walls of the two clamping plates (12) are fixed with flexible rubber clamping blocks (13). The side walls of the flexible rubber clamping blocks (13) are set as wavy curved surfaces.
2. The low-damage fruit-harvesting robot based on tracked adaptive multi-machine collaboration according to claim 1, characterized in that, The inner wall of the fixed frame (7) is fixed with a sliding rod (10), and the moving plate (9) slides with the outer wall of the sliding rod (10). The output shaft of the motor (8) is connected with a bidirectional threaded rod, and the two moving plates (9) are respectively threaded with the outer walls of the two ends of the bidirectional threaded rod.
3. The low-damage fruit-harvesting robot based on tracked adaptive multi-machine collaboration according to claim 1, characterized in that, A pressure sensor (14) is installed on the side wall of the movable plate (9) between the clamping plate (12) and the movable plate (9).
4. The low-damage fruit-harvesting robot based on tracked adaptive multi-machine collaboration according to claim 1, characterized in that, The tracked vehicle (1) has an inclined guide plate (4) fixedly connected to one side of the top outer wall. A side plate (5) is fixed to one end of the outer wall of the guide plate (4). Flexible fabric (6) is fixed to both sides of the outer wall of the guide plate (4) by positioning rods. The guide plate (4) is located below multiple clamping components (3).
5. The low-damage fruit harvesting robot based on tracked adaptive multi-machine collaboration according to claim 1, characterized in that, The tracked vehicle (1) has a load-bearing frame (16) fixedly connected to one side, and a lifting plate (17) is vertically slidably fitted on the inner wall of the load-bearing frame (16).
6. The low-damage fruit-harvesting robot based on tracked adaptive multi-machine collaboration according to claim 5, characterized in that, A telescopic rod (18) is fixedly installed on one side of the outer wall of the support frame (16). The telescopic end of the telescopic rod (18) is fixedly connected to the lifting plate (17). Multiple collection frames are placed on the top of the lifting plate (17). One of the collection frames is located below one end of the guide plate (4). A movable component located below one end of the guide plate (4) is provided on the top outer wall of the lifting plate (17).
7. A low-damage fruit-harvesting robot based on tracked adaptive multi-machine collaboration as described in claim 6, characterized in that, The moving component includes a support plate (19) and a telescopic rod (20). The support plate (19) is slidably fitted to the outer wall of the lifting plate (17). A weight sensor is provided on the top outer wall of the support plate (19) that contacts the bottom of the collection frame.
8. A low-damage fruit-harvesting robot based on tracked adaptive multi-machine collaboration according to claim 7, characterized in that, The top outer wall of the lifting plate (17) is provided with a sliding groove, and the bottom outer wall of the bearing plate (19) is fixed with a connecting plate that slides with the inner wall of the sliding groove. The bottom outer wall of the lifting plate (17) is fixed with a telescopic rod two (20), and the telescopic end of the telescopic rod two (20) is fixedly connected to the connecting plate.