Fruit picking robot

Abstract

This utility model relates to a fruit picking robot. The fruit sorting device includes an infeed channel and a sorting device. The sorting device includes a conveyor channel with a drive device connected to its bottom. A conveyor belt is provided on the inner bottom of the conveyor channel. An inlet is provided on one side wall of the conveyor channel. A horizontally extending drop plate is provided on the bottom edge of the inlet. A partition is vertically provided on the top surface of the drop plate, dividing the inlet into a left inlet and a right inlet. First to fourth sorting channels are arranged sequentially around the conveyor channel. The inlets of the first and third sorting channels are arranged opposite each other, as are the inlets of the second and fourth sorting channels. A first basket is provided on the outlet side of each of the first to fourth sorting channels. The fruit sorting device of this utility model has a simple and compact structure and can efficiently sort and place fruits.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, specifically to a fruit picking robot. Background Technology

[0002] With the "14th Five-Year Plan" proposing to promote the modernization of agriculture and rural areas, the country has begun to focus on the mechanization and modernization of agriculture, leading to the rise of numerous standardized farmlands and unmanned farms. In order to adapt to this development trend and address the issue of rural population loss, in-depth research is being conducted on the specific scenario of orchard picking, gradually replacing repetitive and heavy orchard picking labor with intelligent machinery, which aligns with the development direction of the national agricultural strategy.

[0003] Existing fruit-picking robots include fruit sorting devices, which are complex in structure and bulky, resulting in low sorting efficiency. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a fruit picking robot for efficiently sorting and placing fruits.

[0005] To solve the above-mentioned technical problems, this utility model provides a fruit picking robot, including a fruit sorting device. The fruit sorting device includes a feeding channel and a dispensing device. The dispensing device includes a conveying channel. The bottom of the conveying channel is connected to a drive device for driving the conveying channel to rotate horizontally. A conveying device is provided on the inner bottom of the conveying channel. A feeding port is opened on one side wall of the conveying channel. A horizontally extending dropping plate is provided on the bottom edge of the feeding port. A partition is vertically provided on the top surface of the dropping plate, which divides the feeding port into a left feeding port and a right feeding port. The outlet of the feeding channel is located above the dropping plate. A first [missing information - likely a number] are arranged sequentially around the conveying channel. The first and fourth sorting channels are connected, with their entrances facing each other. The entrances of the second and fourth sorting channels are also connected, and each of the first to fourth sorting channels has a first basket at its exit. The driving device drives the conveying channel to rotate, switching the conveying channel between a first position and a second position. In the first position, the second and fourth sorting channels are interconnected via the conveying channel, and the left feed inlet faces the exit of the feed channel. In the second position, the first and third sorting channels are interconnected via the conveying channel, and the right feed inlet faces the exit of the feed channel.

[0006] In a further preferred embodiment, the driving device includes a base plate, the conveying channel is rotatably disposed above the base plate, a first electric actuator is movably connected to the base plate, and the output end of the first electric actuator is movably connected to the bottom of the conveying channel.

[0007] In a further preferred embodiment, the fruit sorting device further includes a first binocular camera and a controller. The controller uses the first binocular camera to determine the size and ripeness of the fruit entering the feeding channel. The drive device, the first binocular camera, and the belt conveyor are electrically connected to the controller. The controller controls the drive device and the belt conveyor to achieve automated fruit sorting.

[0008] In a further preferred embodiment, the first to fourth sorting channels each include a first flexible pipe. The inlet end of the first flexible pipe is connected to a housing. The end of the housing away from the first flexible pipe is open. A discharge port is provided at the bottom of the housing. A flap for closing the discharge port is provided inside the housing. One side of the flap away from the opening end of the housing is movably connected to the housing. A drive unit for driving the flap to rotate is connected to the flap. A downwardly inclined baffle is provided on one side of the flap near the opening end of the housing. A second flexible pipe is connected to the discharge port. A second basket is provided at the outlet side of the second flexible pipe. When the first basket is full of fruit, the drive unit drives the flap to rotate to open the discharge port. The fruit to be sorted subsequently will enter the second flexible pipe from the discharge port and then roll freely into the second basket. At this time, the first basket can be manually replaced without stopping the machine.

[0009] In a further preferred embodiment, the fruit sorting device is disposed within a frame. Above the outlet ends of the first and second flexible pipes, respectively, are frame assemblies. Each frame assembly includes a fixed plate mounted on the frame. A first swing plate extending downwards at an incline is movably connected to one side of the fixed plate. A crossbar extending towards one side of the first swing plate is provided at the bottom end of the first swing plate. A second swing plate extending downwards at an incline is movably connected to the end of the crossbar away from the swing plate. The outlet ends of the first and second flexible pipes are respectively fixed to the first and second swing plates of the corresponding frame assemblies. The frame is equipped with a traction motor located above the second swing plate. The output end of the traction motor has a first pulley. The frame also has a second pulley located above the crossbar. The first pulley is a double-row pulley with two discs of different diameters, separated by a partition with a threading hole. The traction rope passes through the threading hole, through the partition, and winds around the two discs in the same direction. One end of the traction rope is wound around the larger diameter disc and fixed to the bottom of the second swing plate. The other end of the traction rope is wound around the smaller diameter disc, then around the first and second pulleys, and finally fixed to the crossbar. The controller can control the outlet height of the first and second flexible pipes by controlling the forward and reverse rotation of the traction motor. Positioning the outlets of the first and second flexible pipes at appropriate heights prevents fruit from falling into the basket from a height and causing damage.

[0010] In a further preferred embodiment, the drive unit includes a drive rod disposed on the flip plate, and an arc-shaped hole is provided on the side wall of the housing to allow the drive rod to pass through. A second electric actuator is movably connected to the end of the drive rod away from the flip plate, and the tail end of the second electric actuator is movably connected to the frame.

[0011] A fruit-picking robot includes the aforementioned fruit sorting device, and also includes a gripping mechanism disposed above the fruit sorting device. A walking chassis is disposed below the fruit sorting device, and the walking chassis is a tracked walking chassis.

[0012] In a further preferred embodiment, the fruit-picking robot also includes a second binocular camera, which is used to provide visual navigation to the walking chassis. The first binocular camera is also used to determine the position, size, and ripeness of the fruit on the tree, providing picking guidance to the grasping mechanism.

[0013] In a further preferred embodiment, the gripping mechanism includes a horizontally arranged first linear module, the slider of the first linear module being capable of reciprocating linear motion left and right; a vertically arranged second linear module on the slider, the slider of the second linear module being capable of reciprocating linear motion up and down; a horizontally arranged third linear module on the slider, the slider of the third linear module being capable of reciprocating linear motion back and forth; a drive motor on the slider, and a flexible gripper at the output end of the drive motor.

[0014] The beneficial effects of this utility model are as follows: During operation, the driving device drives the conveying channel to rotate, switching the conveying channel between a first position and a second position. In the first position, the second and fourth sorting channels are interconnected via the conveying channel. The left inlet faces the outlet of the inlet channel. Fruits enter the inlet channel one by one, then roll off the outlet onto the discharge plate, and then enter the conveying channel from the left inlet. The controller, based on the size and ripeness of the fruit, selectively conveys the fruit to the second or fourth sorting channel by changing the conveying direction of the conveying device. Finally, the fruit rolls freely into the corresponding first basket. In the second position state, the first sorting channel and the third sorting channel are interconnected by a conveying channel. The right inlet faces the outlet of the inlet channel. Fruits enter the inlet channel one by one, then roll off the outlet of the inlet channel onto the drop plate, and then enter the conveying channel from the right inlet. The controller can selectively convey fruits to the first sorting channel or the third sorting channel by changing the conveying direction of the conveyor according to the size and ripeness of the fruits. The fruits finally roll freely into the corresponding first basket. The fruit sorting device of this utility model has a simple and compact structure and can efficiently sort and place fruits. Attached Figure Description

[0015] To clearly illustrate the innovative principle of this utility model and its advantages over existing fruit sorting devices, possible embodiments are described below with the aid of accompanying drawings through non-limiting examples applying the stated principle. In the drawings: Figure 1 This is a schematic diagram of the fruit sorting device of this utility model; Figure 2 for Figure 1 A three-dimensional view of a fruit sorting device; Figure 3 for Figure 1 A three-dimensional view of a fruit sorting device; Figure 4 for Figure 3 A magnified view of a section at point A; Figure 5 A 3D view of the fruit-picking robot; Figure 6 This is a perspective view of the gripping mechanism; Figure 7 This is a schematic diagram of the conveying channel in its first position state; Figure 8 This is a schematic diagram of the conveying channel in its first position state; Figure 9 This is a schematic diagram of the conveying channel in its second position state; Figure 10 This is a schematic diagram of the conveying channel in its second position state. Detailed Implementation

[0016] 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.

[0017] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0018] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0019] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances. Example 1

[0020] like Figure 1-4 A fruit sorting device includes a feeding channel 1 and a sorting device 2. The sorting device 2 includes a conveying channel 3. The bottom of the conveying channel 3 is connected to a driving device 4 for driving the conveying channel 3 to rotate horizontally. A conveying device 5 is provided on the inner bottom of the conveying channel 3. A feeding port 6 is opened on one side wall of the conveying channel 3. A horizontally extending dropping plate 7 is provided on the bottom edge of the feeding port 6. A partition 8 is vertically provided on the top surface of the dropping plate 7, and the partition 8 divides the feeding port 6 into a left feeding port 6. 01 and right feed inlet 602, the outlet of the feed channel 1 is located above the drop plate 7, the conveying channel 3 is arranged around the first sorting channel 10, the second sorting channel 11, the third sorting channel 12 and the fourth sorting channel 13 in sequence, wherein the inlets of the first sorting channel 10 and the third sorting channel 12 are arranged opposite each other, the inlets of the second sorting channel 11 and the fourth sorting channel 13 are arranged opposite each other, and the outlets of the first to fourth sorting channels 10, 11, 12 and 13 are respectively provided with first baskets 14; The driving device 4 drives the conveying channel 3 to rotate, causing the conveying channel 3 to switch between a first position state and a second position state. In the first position state, the second sorting channel 11 and the fourth sorting channel 13 are interconnected through the conveying channel 3, and the left feed port 601 faces the outlet of the feed channel 1. In the second position state, the first sorting channel 10 and the third sorting channel 12 are interconnected through the conveying channel 3, and the right feed port 602 faces the outlet of the feed channel 1.

[0021] Preferably, the driving device 4 includes a base plate 46, the conveying channel 3 is rotatably disposed above the base plate 46, a first electric push rod 47 is movably connected to the base plate 46, the output end of the first electric push rod 47 is movably connected to the bottom of the conveying channel 3, and the driving device 4 may also be a motor.

[0022] Preferably, the fruit sorting device further includes a first binocular camera 45 and a controller. The first binocular camera 45 is used to determine the size and maturity of the fruit entering the feeding channel 1. The drive device 4, the first binocular camera 45 and the belt conveyor 5 are electrically connected to the controller. The controller enables automated fruit sorting.

[0023] Preferably, the first to fourth sorting channels each include a first flexible pipe 15, the inlet end of the first flexible pipe 15 is connected to a housing 17, the end of the housing 17 away from the first flexible pipe 15 is open, the bottom of the housing 17 is provided with a discharge port 18, a flap 19 for closing the discharge port 18 is provided inside the housing 17, the side of the flap 19 away from the opening end of the housing 17 is movably connected to the housing 17, and a drive unit 20 for driving the flap 19 to rotate is connected to the flap 19. The flap 19 is provided with a downwardly inclined baffle 21 on one side near the opening end of the housing 17. The discharge port 18 is connected to a second flexible pipe 22, and a second basket 23 is provided on the outlet side of the second flexible pipe 22. When the first basket 14 is full of fruit, the drive unit 20 drives the flap 19 to rotate to open the discharge port 18. The fruit to be sorted will enter the second flexible pipe 22 from the discharge port 18 and then roll freely into the second basket 23. At this time, the first basket 14 can be replaced manually without stopping the machine.

[0024] The fruit sorting device is housed within the frame 24. Above the outlet ends of the first flexible pipe 15 and the second flexible pipe 22, frame assemblies are respectively provided. Each frame assembly includes a fixed plate 26 mounted on the frame 24. A first swing plate 27 extending downwards is movably connected to one side of the fixed plate 26. A crossbar 28 extending to one side of the first swing plate 27 is provided at the bottom end of the first swing plate 27. A second swing plate 29 extending downwards is movably connected to the end of the crossbar 28 away from the swing plate 27. The outlet ends of the first flexible pipe 15 and the second flexible pipe 22 are respectively fixed to the first swing plate 27 and the second swing plate 29 of the corresponding frame assemblies. A traction motor 30 is mounted on the frame 24 above the second swing plate 29. A first pulley is provided at the output end of the traction motor 30. 31. The frame 24 is provided with a second pulley 32 located above the crossbar 28. The first pulley 31 is a double-row pulley with two discs of different diameters. The two discs are separated by a partition with a threading hole. The traction rope 33 passes through the threading hole, through the partition, and winds around the two discs in the same direction. One end of the traction rope 33 is wound around the larger diameter disc and then fixed to the bottom of the second swing plate 29. The other end of the traction rope 33 is wound around the smaller diameter disc, then through the first pulley 31 and the second pulley 32, and then fixed to the crossbar 28. The controller can control the outlet height of the first flexible pipe 15 and the second flexible pipe 22 by controlling the forward and reverse rotation of the traction motor 30. The outlets of the first flexible pipe 15 and the second flexible pipe 22 are located at appropriate heights to prevent fruit from falling into the basket from a height and causing damage.

[0025] When the traction motor 8 rotates, the two discs of the first pulley 9 rotate at the same angular velocity. The traction ropes 11 wound around the two discs in the same direction will be wound up or released together. Due to the different diameters of the two discs, the linear velocity of the larger diameter disc is greater than that of the smaller diameter disc, resulting in the winding and unwinding speed of the traction rope 11 wound around the larger diameter disc being faster than that wound around the smaller diameter disc. This is ultimately reflected in the fact that the lifting distance of the second swing plate 7 is longer than that of the first swing plate 5 per unit time. Under the action of gravity, through the deformation of the movable connecting mechanism between the first and second swing plates, the flexible pipe fixed thereon can be folded and unfolded along a fixed trajectory under the drive of the traction motor, thereby realizing the height adjustment of the flexible pipe outlet and preventing fruit from falling into the basket from a height and causing damage.

[0026] Preferably, the drive unit 20 includes a drive rod disposed on the flip plate 19, and an arc-shaped hole 48 is provided on the side wall of the housing 17 to allow the drive rod to pass through. The end of the drive rod away from the flip plate 19 is movably connected to a second electric push rod 49, and the tail end of the second electric push rod 49 is movably connected to the frame 24. Example 2

[0027] like Figure 5-6 A fruit picking robot includes the fruit sorting device described in Embodiment 1, and also includes a gripping mechanism 34 disposed above the fruit sorting device. A walking chassis 35 is disposed below the fruit sorting device, and the walking chassis 35 is a tracked walking chassis.

[0028] Preferably, the fruit picking robot also includes a second binocular camera 44, which is used to provide visual navigation to the walking chassis 35. The first binocular camera 45 is also used to determine the position, size and ripeness of the fruit on the tree, and to provide picking guidance to the grasping mechanism 34.

[0029] Preferably, the gripping mechanism 34 includes a horizontally arranged first linear module 36, the slider 37 of the first linear module 36 can perform left-right reciprocating linear motion, a second linear module 38 is vertically arranged on the slider 37, the slider 39 of the second linear module 38 can perform up-down reciprocating linear motion, a horizontally arranged third linear module 40 is provided on the slider 39, the slider 41 of the third linear module 40 can perform back-and-forth reciprocating linear motion, a drive motor 42 is provided on the slider 41, and a flexible gripper 43 is provided at the output end of the drive motor 42.

[0030] During operation, the drive device 4 drives the conveying channel 3 to rotate, causing the conveying channel 3 to switch between a first position state and a second position state; for example... Figure 7-8 In the first position state, the second sorting channel 11 and the fourth sorting channel 13 are interconnected through the conveying channel 3. The left inlet 601 faces the outlet of the inlet channel 1. Fruits enter the inlet channel 1 one by one, then roll off the outlet of the inlet channel 1 onto the drop plate 7, and then enter the conveying channel 3 from the left inlet 601. The controller obtains the size and ripeness of the fruit through the first binocular camera (corresponding technology references Chinese patent documents CN111487247A, CN114429310A, etc.). Then, by changing the conveying direction of the conveyor belt 5, the fruit can be selectively conveyed to the second sorting channel 11 or the fourth sorting channel 13. The fruit finally rolls freely into the corresponding first basket 14. Figure 9-10In the second position state, the first sorting channel 10 and the third sorting channel 12 are interconnected through the conveying channel 3. The right inlet 602 faces the outlet of the inlet channel 1. Fruits enter the inlet channel 1 one by one, and then roll from the outlet of the inlet channel 1 onto the drop plate 7. They then roll from the outlet of the inlet channel 1 onto the drop plate 7, and then enter the conveying channel 3 from the right inlet 602. The controller can selectively convey fruits to the first sorting channel 10 or the third sorting channel 12 by changing the conveying direction of the conveyor belt 5 according to the size and ripeness of the fruits. Finally, the fruits roll freely into the corresponding first basket 14. The fruit sorting device of this embodiment has a simple and compact structure and can efficiently sort and place fruits.

[0031] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A fruit picking robot, comprising a fruit sorting device, the fruit sorting device comprising a feeding channel (1) and a sorting device (2), the sorting device (2) comprising a conveying channel (3), the bottom of the conveying channel (3) being connected to a driving device (4) for driving the conveying channel (3) to rotate in the horizontal direction, the bottom inner side of the conveying channel (3) being provided with a conveying device (5), a feeding port (6) being provided on one side wall of the conveying channel (3), a horizontally extending dropping plate (7) being provided on the bottom edge of the feeding port (6), a partition (8) being vertically provided on the top surface of the dropping plate (7), the partition (8) dividing the feeding port (6) into a left feeding port (601) and a right feeding port (602), the outlet of the feeding channel (1) being located above the dropping plate (7), and a first, second, third and fourth sorting channels (10, 11, 12, 13) being arranged sequentially around the conveying channel (3), wherein, The entrances of the first sorting channel (10) and the third sorting channel (12) are arranged opposite each other, the entrances of the second sorting channel (11) and the fourth sorting channel (13) are arranged opposite each other, and the exit side of the first to fourth sorting channels is provided with a first basket (14). The driving device (4) drives the conveying channel (3) to rotate, so that the conveying channel (3) switches between a first position state and a second position state; in the first position state, the second sorting channel (11) and the fourth sorting channel (13) are connected to each other through the conveying channel (3), and the left feed port (601) faces the outlet of the feed channel (1); in the second position state, the first sorting channel (10) and the third sorting channel (12) are connected to each other through the conveying channel (3), and the right feed port (602) faces the outlet of the feed channel (1).

2. The fruit picking robot according to claim 1, characterized in that: The driving device (4) includes a base plate (46), the conveying channel (3) is rotatably disposed above the base plate (46), and a first electric push rod (47) is movably connected to the base plate (46). The output end of the first electric push rod (47) is movably connected to the bottom of the conveying channel (3).

3. The fruit picking robot according to claim 1, characterized in that: It also includes a first binocular camera (45) and a controller. The controller uses the first binocular camera (45) to determine the size and maturity of the fruit entering the feeding channel (1). The drive device (4), the first binocular camera (45) and the belt conveyor (5) are electrically connected to the controller.

4. The fruit picking robot according to claim 1, characterized in that: The first to fourth sorting channels each include a first flexible pipe (15), the inlet end of the first flexible pipe (15) is connected to a housing (17), the end of the housing (17) away from the first flexible pipe (15) is open, the bottom of the housing (17) is provided with a discharge port (18), the housing (17) is provided with a flap (19) for closing the discharge port (18), the side of the flap (19) away from the opening end of the housing (17) is movably connected to the housing (17), the flap (19) is connected with a drive unit (20) for driving the flap (19) to rotate, the side of the flap (19) near the opening end of the housing (17) is provided with a baffle (21) set at an incline downward, the discharge port (18) is connected to a second flexible pipe (22), and the outlet side of the second flexible pipe (22) is provided with a second basket (23).

5. The fruit-picking robot according to claim 4, characterized in that: The fruit sorting device is set inside the frame (24). Above the outlet ends of the first flexible pipe (15) and the second flexible pipe (22), a frame assembly is respectively provided. The frame assembly includes a fixed plate (26) on the frame (24). A first swing plate (27) extending downwards is movably connected to one side of the fixed plate (26). A crossbar (28) extending to one side of the first swing plate (27) is provided at the bottom end of the first swing plate (27). A second swing plate (29) extending downwards is movably connected to the end of the crossbar (28) away from the swing plate (27). The outlet ends of the first flexible pipe (15) and the second flexible pipe (22) are respectively fixed to the first swing plate (27) and the second swing plate (29) of the corresponding frame assembly. The frame (24) is provided with a traction motor (30) located above the second swing plate (29). The output end of the traction motor (30) is provided with a first pulley (31). The frame (24) is provided with a second pulley (32) located above the crossbar (28). The first pulley (31) is a double-row pulley. The two wheel discs of the double-row pulley have different diameters and are separated by a partition. The partition has a thread hole. The traction rope (33) passes through the thread hole and through the partition, and is wound around the two wheel discs in the same direction. One end of the traction rope (33) is wound around the large-diameter wheel disc and then fixed to the bottom end of the second swing plate (29). The other end of the traction rope (33) is wound around the small-diameter wheel disc, and then wound around the first pulley (31) and the second pulley (32) before being fixed to the crossbar (28).

6. The fruit picking robot according to claim 5, characterized in that: The drive unit (20) includes a drive rod on the flap (19), and an arc-shaped hole (48) is provided on the side wall of the housing (17) to allow the drive rod to pass through. The end of the drive rod away from the flap (19) is movably connected to a second electric push rod (49), and the tail end of the second electric push rod (49) is movably connected to the frame (24).

7. The fruit picking robot according to one of the claims 1-6, characterized in that: The fruit picking robot also includes a gripping mechanism (34) located above the fruit sorting device, and a walking chassis (35) is located below the fruit sorting device.

8. The fruit picking robot according to claim 7, characterized in that: It also includes a second binocular camera (44) for providing visual navigation to the walking chassis (35).

9. The fruit picking robot according to claim 7, characterized in that: The gripping mechanism (34) includes a first linear module (36) arranged horizontally. The slider (37) of the first linear module (36) can move back and forth in a straight line. A second linear module (38) is arranged vertically on the slider (37). The slider (39) of the second linear module (38) can move back and forth in a straight line. A third linear module (40) is arranged horizontally on the slider (39). The slider (41) of the third linear module (40) can move back and forth in a straight line. A drive motor (42) is provided on the slider (41). The output end of the drive motor (42) is provided with a flexible gripper (43).

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