CN105830644B - Robot capable of screening fruits - Google Patents
Robot capable of screening fruits Download PDFInfo
- Publication number
- CN105830644B CN105830644B CN201610202971.3A CN201610202971A CN105830644B CN 105830644 B CN105830644 B CN 105830644B CN 201610202971 A CN201610202971 A CN 201610202971A CN 105830644 B CN105830644 B CN 105830644B
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- mechanical arm
- wheel type
- upright post
- robot body
- hollow upright
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B13/00—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices
- B07B13/04—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices according to size
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Sorting Of Articles (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a robot capable of screening fruits, which comprises a wheel type robot body, wherein a hollow upright post is arranged in the middle of the wheel type robot body, a first mechanical arm is arranged on the right side of the hollow upright post on the wheel type robot body, and a first mechanical arm is arranged at the head end of the first mechanical arm; a second mechanical arm is arranged on the left side of the hollow upright column on the wheel type robot body, and a second mechanical arm is arranged at the head end of the second mechanical arm; the wheel type robot body is internally provided with a first control system, a second control system and a third control system; the wheel type robot is characterized in that a first storage device is arranged between the first mechanical arm and the hollow upright post on the wheel type robot body, and a second storage device is arranged between the second mechanical arm and the hollow upright post on the wheel type robot body. The robot of the invention can realize automatic screening of fruits after picking fruits, reduce the cost in the fruit picking and sorting process, improve the market competitiveness of the fruits and increase the income of fruit growers.
Description
Technical Field
The invention relates to the field of fruit picking robots, in particular to a robot capable of screening fruits.
Background
After fruits on the fruit trees are ripe, the fruits need to be picked as soon as possible, the picked fruits are different in size, generally, the fruits are sorted manually, a large amount of temporary labor force is needed, but the temporary labor force is more and more difficult to find and the price is higher and higher along with the influences of factors such as population aging and labor population migration, and the price of the fruits is further improved, and the market competitiveness is reduced.
Disclosure of Invention
The invention aims to provide a robot capable of screening fruits. It does not need to hire temporary labor force, reduces the cost of the fruit picking and sorting process, improves the market competitiveness of the fruits and increases the income of fruit growers.
The technical scheme of the invention is as follows: a robot capable of screening fruits comprises a wheel type robot body, wherein a hollow upright post is arranged in the middle of the wheel type robot body, a first mechanical arm is arranged on the right side of the hollow upright post on the wheel type robot body, and a first mechanical arm is arranged at the head end of the first mechanical arm; a second mechanical arm is arranged on the left side of the hollow upright column on the wheel type robot body, and a second mechanical arm is arranged at the head end of the second mechanical arm; the wheel type robot body is internally provided with a first control system, a second control system and a third control system; a first storage device is arranged on the wheel type robot body between the first mechanical arm and the hollow upright post, and a second storage device is arranged on the wheel type robot body between the second mechanical arm and the hollow upright post; the hollow upright post is provided with a circular mold, the upper part of the circular mold is provided with an inductor on the hollow upright post, the lower part of the circular mold is provided with a conveying groove, and the circular mold is connected with a first storage device through the conveying groove; the circular mould is sleeved with a measuring ring; and an infrared sensor is arranged on the first manipulator.
In the robot capable of screening fruits, the fingers of the first manipulator and the second manipulator are provided with rubber sleeves.
In the robot capable of screening fruits, the upper part and the lower part of the front side and the rear side of the first storage are respectively connected with the second connecting plate through the first connecting plate and the second connecting plate through the lock catch; the front side and the rear side of the second storage are respectively connected with the fourth connecting plate through a third connecting plate and a fourth connecting plate through a lock catch.
In the robot capable of screening fruits, the top of the first storage and the top of the second storage are both open.
In the robot capable of screening fruits, the circular mold is fixed on the hollow upright post through a bolt.
In the robot capable of screening fruits, the inner wall of the conveying groove is provided with a foam plate.
Compared with the prior art, the robot can realize automatic screening of fruits after picking fruits, and the circular molds are arranged on the hollow upright posts, so that the measuring rings on the circular molds can screen fruits with different sizes, temporary labor force does not need to be hired, and the cost in the fruit picking and sorting process is reduced; the fingers of the first mechanical arm and the second mechanical arm are provided with rubber sleeves, so that damage to the surface of the fruit caused by the mechanical arms in the fruit picking or transferring process can be reduced; the front side surface and the rear side surface of the first storage and the second storage are connected in a plate type, and when the quantity of fruits in the storages reaches a certain quantity, the fruits can be conveniently unloaded; the round mould is fixed on the hollow upright post through the bolt, when the round mould is damaged in the using process, the bolt is removed, and the round mould can be conveniently replaced; the inner wall of the conveying groove is provided with a foam board which can prevent the damage of the surface of the fruit in the fruit conveying process. In conclusion, the robot can automatically screen the fruits after picking the fruits, does not need to hire temporary labor force to primarily screen the sizes of the fruits in the using process, reduces the cost in the fruit picking and sorting process, improves the market competitiveness of the fruits and increases the income of fruit growers.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the installation of the hollow column and the circular mold of the present invention;
FIG. 3 is a schematic view of the installation of the metrology ring of the present invention;
FIG. 4 is a schematic view of a partially enlarged structure of the present invention A;
fig. 5 is a partially enlarged structural diagram of the present invention B.
The labels in the figures are: the robot comprises a wheel-type robot body 1, a wheel-type robot body 2, a second control system 3, a third control system 4, a first control system 5, a first mechanical arm 6, a first mechanical arm 7, a second mechanical arm 8, a second mechanical arm 9, a hollow upright column 10, a sensor 11, a circular mold 12, a foam plate 13, a conveying groove 14, a first storage device 15, a first connecting plate 16, a second connecting plate 17, a second storage device 18, a third connecting plate 19, a fourth connecting plate 19, a lock 20, a bolt 21, a measuring ring 22, a rubber sleeve 23 and an infrared sensor 24.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Examples are given. A robot capable of screening fruits is shown in figures 1-5 and comprises a wheel type robot body 1, wherein a hollow upright post 9 is arranged in the middle of the wheel type robot body 1, a first mechanical arm 5 is arranged on the wheel type robot body 1 on the right side of the hollow upright post 9, and a first mechanical arm 6 is arranged at the head end of the first mechanical arm 5; a second mechanical arm 7 is arranged on the left side of the hollow upright post 9 on the wheel type robot body 1, and a second mechanical arm 8 is arranged at the head end of the second mechanical arm 7; the wheel type robot body 1 is internally provided with a first control system 4, a second control system 2 and a third control system 3; a first storage 14 is arranged on the wheel type robot body 1 between the first mechanical arm 5 and the hollow upright post 9, and a second storage 17 is arranged on the wheel type robot body 1 between the second mechanical arm 7 and the hollow upright post 9; a circular mold 11 is arranged on the hollow upright post 9, an inductor 10 is arranged on the hollow upright post 9 at the upper part of the circular mold 11, a conveying groove 13 is arranged at the lower part of the circular mold 11, and the circular mold 11 is connected with a first storage 14 through the conveying groove 13; the circular mould 11 is sleeved with a measuring ring 22; the first manipulator 6 is provided with an infrared sensor 24.
The fingers of the first manipulator 6 and the second manipulator 8 are both provided with rubber sleeves 23.
The front side and the rear side of the first storage 14 are respectively connected with the first connecting plate 15 and the second connecting plate 16 through a lock catch 20; the front side and the rear side of the second storage 17 are respectively connected with the third connecting plate 18 and the fourth connecting plate 19 through a lock catch 20.
The top of the first reservoir 14 and the top of the second reservoir 17 are both open.
The round mould 11 is fixed on the hollow upright post 9 through a bolt 21.
The inner wall of the conveying groove 13 is provided with a foam plate 12.
The working principle of the invention is as follows: when fruits are ripe, the wheel type robot body 1 moves to the side of a fruit tree, the first control system 4 controls the first mechanical arm 5 and the first mechanical hand 6 arranged on the first mechanical arm, the sensor 10 arranged on the first mechanical hand 6 finds the fruits on the fruit tree and picks the fruits down to be placed on the measuring ring 22, the fruits smaller than the diameter of the measuring ring 22 fall into the conveying groove 13 and enter the first storage device 14 along with the conveying groove 13, the fruits larger than the diameter of the measuring ring 22 are left on the circular mold 11, the control system 3 sends out sensing signals through the infrared sensor 24, the third control system 2 controls the second mechanical arm 7 and the second mechanical arm 7 to be provided with the second mechanical arm 8 at the head end to pick up the fruits left on the measuring ring 22 and place the fruits into the second storage device 17 for storage, and therefore screening of the sizes of the fruits is achieved.
The measuring ring 22 of the invention is arranged on the circular mould 11, and measuring rings 22 with different diameters can be selected to meet the requirements of screening different kinds of fruits.
When the first container 14 and the second container 17 are full of fruits, the second connecting plate 16 and the fourth connecting plate 19 are pulled open by opening the lock 20, and the fruits are discharged.
When the circular mold 11 is damaged, the bolt 21 is unscrewed and a new circular mold 11 is replaced.
Claims (4)
1. A robot capable of screening fruit sizes is characterized in that: the robot comprises a wheel type robot body (1), wherein a hollow upright post (9) is arranged in the middle of the wheel type robot body (1), a first mechanical arm (5) is arranged on the right side of the hollow upright post (9) on the wheel type robot body (1), and a first mechanical arm (6) is arranged at the head end of the first mechanical arm (5); a second mechanical arm (7) is arranged on the left side of the hollow upright post (9) on the wheel type robot body (1), and a second mechanical arm (8) is arranged at the head end of the second mechanical arm (7); a first control system (4), a second control system (2) and a third control system (3) are further arranged in the wheel type robot body (1); a first storage device (14) is arranged on the wheel type robot body (1) between the first mechanical arm (5) and the hollow upright post (9), and a second storage device (17) is arranged on the wheel type robot body (1) between the second mechanical arm (7) and the hollow upright post (9); a round mould (11) is arranged on the hollow upright post (9), an inductor (10) is arranged on the hollow upright post (9) at the upper part of the round mould (11), a conveying groove (13) is arranged at the lower part of the round mould (11), and the round mould (11) is connected with a first storage device (14) through the conveying groove (13); the circular mould (11) is sleeved with a measuring ring (22); an infrared sensor (24) is arranged on the first manipulator (6); the fingers of the first manipulator (6) and the second manipulator (8) are provided with rubber sleeves (23); the upper part and the lower part of the front side and the rear side of the first storage (14) are respectively connected by a first connecting plate (15) and a second connecting plate (16) through a lock catch (20); the front side and the rear side of the second storage (17) are respectively connected by a third connecting plate (18) and a fourth connecting plate (19) through a lock catch (20).
2. A robot capable of sizing fruit according to claim 1, wherein: the tops of the first storage (14) and the second storage (17) are both open.
3. A robot as claimed in any one of claims 1 to 2, wherein: the round mould (11) is fixed on the hollow upright post (9) through a bolt (21).
4. A robot capable of sizing fruit according to claim 3, wherein: and a foam plate (12) is arranged on the inner wall of the conveying groove (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610202971.3A CN105830644B (en) | 2016-03-31 | 2016-03-31 | Robot capable of screening fruits |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610202971.3A CN105830644B (en) | 2016-03-31 | 2016-03-31 | Robot capable of screening fruits |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105830644A CN105830644A (en) | 2016-08-10 |
| CN105830644B true CN105830644B (en) | 2020-02-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610202971.3A Active CN105830644B (en) | 2016-03-31 | 2016-03-31 | Robot capable of screening fruits |
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| CN (1) | CN105830644B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109845491B (en) * | 2019-03-25 | 2021-08-31 | 山东交通学院 | Picking and grading method for picking circular grading and collecting robot by utilizing double-arm apples |
| CN110122069B (en) * | 2019-06-06 | 2021-08-20 | 西安科技大学 | Spherical fruit picking device with selecting function |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006094833A (en) * | 2004-09-30 | 2006-04-13 | Iseki & Co Ltd | Apparatus for treating agricultural product |
| CN203650549U (en) * | 2013-09-10 | 2014-06-18 | 西北农林科技大学 | Automatic fruit picking robot for hillsides |
| CN104012247A (en) * | 2014-06-24 | 2014-09-03 | 李蒙恩 | Apple picking device |
| CN204948791U (en) * | 2015-07-10 | 2016-01-13 | 潍坊友容实业有限公司 | Saline and alkaline land is with automatic device of picking of spherical fruit |
| CN205496066U (en) * | 2016-03-31 | 2016-08-24 | 武汉科技大学 | Be used for sieving robot of fruit size |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015095661A1 (en) * | 2013-12-20 | 2015-06-25 | Harvest Croo, Llc | Automated selective harvesting of crops |
-
2016
- 2016-03-31 CN CN201610202971.3A patent/CN105830644B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006094833A (en) * | 2004-09-30 | 2006-04-13 | Iseki & Co Ltd | Apparatus for treating agricultural product |
| CN203650549U (en) * | 2013-09-10 | 2014-06-18 | 西北农林科技大学 | Automatic fruit picking robot for hillsides |
| CN104012247A (en) * | 2014-06-24 | 2014-09-03 | 李蒙恩 | Apple picking device |
| CN204948791U (en) * | 2015-07-10 | 2016-01-13 | 潍坊友容实业有限公司 | Saline and alkaline land is with automatic device of picking of spherical fruit |
| CN205496066U (en) * | 2016-03-31 | 2016-08-24 | 武汉科技大学 | Be used for sieving robot of fruit size |
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| Publication number | Publication date |
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| CN105830644A (en) | 2016-08-10 |
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Effective date of registration: 20210118 Address after: 448000 yijialing, Hanyi highway, Jingmen City, Hubei Province Patentee after: JINGMEN WUSAN MACHINERY EQUIPMENT MANUFACTURING Co.,Ltd. Address before: 430081 No. 947 Heping Avenue, Qingshan District, Hubei, Wuhan Patentee before: WUHAN University OF SCIENCE AND TECHNOLOGY |
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