CN109041808A - Picking robot system suitable for greenhouse picking - Google Patents
Picking robot system suitable for greenhouse picking Download PDFInfo
- Publication number
- CN109041808A CN109041808A CN201810860320.2A CN201810860320A CN109041808A CN 109041808 A CN109041808 A CN 109041808A CN 201810860320 A CN201810860320 A CN 201810860320A CN 109041808 A CN109041808 A CN 109041808A
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- China
- Prior art keywords
- picking
- fruit
- greenhouse
- track
- cut
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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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- 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
- A01D46/22—Baskets or bags attachable to the picker
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/14—Greenhouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of picking robot systems suitable for greenhouse picking, including picking track, movably the picking mechanical arm being set on picking track and the pick device for being set to picking mechanical on hand and for adsorbing fruit, picking mechanical arm are to be mounted on picking track in suspension type.The present invention is suitable for the picking robot system of greenhouse picking, and substitution is accomplished manually the picking to fruit, reduces labor intensity, improve picking working efficiency；And picked using suspension type robot, picking mechanical arm, which is suspended on above fruit, realizes picking, is not required to occupy greenhouse ground space, facilitates the arrangement of picking robot system, take full advantage of greenhouse headspace.
Description
Technical field
The invention belongs to robotic technology fields, specifically, the present invention relates to a kind of robots suitable for greenhouse picking
Picker system.
Background technique
Greenhouse gardening technology is a kind of relatively common technology, mainly applies to the plantation of fruit.Because greenhouse gardening has
There is preferable thermal insulation property, it can be made full use of to develop advantageous one side to fruit growing, overcome its unfavorable factor, grasps and adjust
Prosecutor method can make the unification of environmental condition Yu crop growth rule, high yield, good crop product be obtained, so greenhouse
Plantation is favored by people.
Existing for the picking for the fruit planted in greenhouse is picked by manually operating in person, is needed artificial
Long-time operation, large labor intensity, working efficiency are low.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention provides a kind of fit
In the picking robot system of greenhouse picking, it is therefore an objective to reduce labor intensity.
To achieve the goals above, the technical scheme adopted by the invention is as follows: suitable for greenhouse picking picking robot system,
Including picking track, movably it is set to the picking mechanical arm picked on track and is set to picking mechanical on hand and for inhaling
The pick device of attached water fruit, picking mechanical arm are mounted on picking track in suspension type.
The picking track is equipped with the first driving moved for controlling the picking mechanical arm along first direction
Device.
The first driving device includes the first lead screw being rotatably arranged on the picking track, is set to picking
First motor on track and the first nut seat for being sheathed on the first lead screw and being connect with the picking mechanical arm, the first nut
Seat constitutes worm drive with the first lead screw.
The described picking robot system for being suitable for greenhouse picking further include picking rack and be set in picking rack and
The second mobile driving device is carried out in a second direction for controlling the picking track, and first direction and second direction are water
Square to and first direction and second direction it is perpendicular.
Second driving device includes the second lead screw being rotatably arranged in the picking rack, is set to picking
The second motor in rack and the second nut seat for being sheathed on the second lead screw and being connect with the picking track, the second nut seat
Worm drive are constituted with the second lead screw.
The pick device includes the picking pedestal connecting with the picking mechanical arm, is set to the rotation picked on pedestal
Driver connect with rotating driver and rotatable rotating seat and is set on rotating seat and the pickup work for adsorbing fruit
Tool, pick tool is sucker.
The rotating driver is rotary cylinder or motor.
The described picking robot system for being suitable for greenhouse picking further includes cutting fruit device for shear the carpopodium of fruit,
It cuts fruit device and the rotating seat can synchronous rotary.
The fruit device of cutting includes cutting fruit mounting base, being rotatably arranged on two cut in fruit mounting base and cut fruit knife and set
It is placed in and cuts in fruit mounting base and make to cut the rotary force that fruit knife rotates for generating and cut fruit driver.
The fruit driver of cutting is steering engine.
The present invention is suitable for the picking robot system of greenhouse picking, and substitution is accomplished manually the picking to fruit, reduces labor
Fatigue resistance improves picking working efficiency；And picked using suspension type robot, picking mechanical arm is suspended on fruit
Fang Shixian picking is not required to occupy greenhouse ground space, facilitates the arrangement of picking robot system, takes full advantage of empty at the top of greenhouse
Between.
Detailed description of the invention
This specification includes the following drawings, and shown content is respectively:
Fig. 1 is the main view for the picking robot system that the present invention is suitable for greenhouse picking；
Fig. 2 is the top view for the picking robot system that the present invention is suitable for greenhouse picking；
Fig. 3 is the structural schematic diagram of pick device；
Fig. 4 is the structural schematic diagram for cutting fruit device；
Fig. 5 is the structural schematic diagram of regulating device；
Fig. 6 is the use state diagram for the picking robot system that the present invention is suitable for greenhouse picking；
In the figure, it is marked as 1, picking mechanical arm；2, track is picked；3, first motor；4, the second motor；5, pick device；
501, pedestal is picked；502, rotating driver；503, rotating seat；504, pick tool；6, fruit device is cut；601, fruit installation is cut
Seat；602, fruit driver is cut；603, fruit knife is cut；7, collection device；701, collection frame；702, third motor；703, hanger；8, big
Canopy；9, regulating device；901, sliding seat；902, adjusting rod；903, the 4th nut seat；904, guide holder；905, guide rod；906,
Connecting rod；907, the 4th motor；10, rack is picked.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and facilitate its implementation.
It should be noted that " first ", " second " and " third " does not represent knot in embodiment disclosed below
Structure and/or absolute differentiation relationship functionally, do not represent the successive sequence that executes yet, and merely for convenience of description.
As shown in Figures 1 to 6, the present invention provides a kind of picking robot systems suitable for greenhouse picking, including picking
Track 2 is movably set to the picking mechanical arm 1 picked on track 2 and is set on picking mechanical arm 1 and is used to adsorb water
The pick device 5 of fruit, picking mechanical arm 1 are mounted on picking track 2 in suspension type, and picking mechanical arm 1 picks up dress for adjusting
Set 5 position and posture, picking mechanical arm 1 can carry pick device 5 and carry out up and down, waves and rotate etc. to act, with
The position and posture for making pick device 5 are adapted with fruit to be picked.
Specifically, picking track 2 is located above the fruit tree in greenhouse 8, picking mechanical arm 1 and picking track 2 are sliding
Connection, picking mechanical arm 1 can be moved on picking track 2 along the length direction of picking track 2, the fruit tree in greenhouse 8
Arrange multirow, all fruit trees of each row are to be sequentially arranged along first direction, and the length direction for picking track 2 is equal with first direction
Row, first direction is horizontal direction.In fruit-picking, picking mechanical arm 1 is moved to the top of fruit tree, then on fruit tree
Fruit is picked.After the completion of to fruit picking on a fruit tree, picking mechanical arm 1 is moved to the upper of next fruit tree
Side, then picks the fruit on the fruit tree, fruit is strawberry.
As depicted in figs. 1 and 2, preferably, picking mechanical arm 1 is six-DOF robot and is suspension type robot
(also referred to as suspension type robot), as well known in the skilled person, details are not described herein for structure.Pick device
5 are mounted on the end effector of picking mechanical arm 1, and in fruit-picking, pick device 5 is synchronous with picking mechanical arm 1 along first
Direction is moved.Using six-DOF robot, job area is wide, and flexibility is good, and work efficiency is high for picking.Picking mechanical arm
1 in suspension type be mounted on picking track 2 on, picking mechanical arm 1 be suspended on picking track 2 on and picking mechanical arm 1 and picking
Track 2 is to be slidably connected, and picking track 2 plays guiding role to picking mechanical arm 1.It is picked using suspension type robot,
Picking mechanical arm 1, which is suspended on above fruit, realizes picking, is not required to occupy greenhouse ground space, facilitates the cloth of picking robot system
It sets, takes full advantage of greenhouse headspace.
As depicted in figs. 1 and 2, preferably, picking track 2 is equipped with for controlling picking mechanical arm 1 along first party
To mobile first driving device is carried out, first driving device is for controlling picking mechanical arm 1 on picking track 2 along first party
To doing linear reciprocating motion.First driving device includes the first lead screw being rotatably arranged on picking track 2, is set to and adopts
The first nut seat for plucking the first motor 3 on track 2 and being sheathed on the first lead screw and being connect with picking mechanical arm 1, the first spiral shell
Base and the first lead screw constitute worm drive, and the axis of the first lead screw is parallel with first direction, after first motor 3 operates,
The rotation of first lead screw, and then picking mechanical arm 1 is driven to move in a straight line along first direction, picking mechanical arm 1 drives pick device 5
Synchronizing moving.Leadscrew-nut mechanism is used, it, can be with so that the position of picking mechanical arm 1 and pick device 5 is adjusted to step-less adjustment
It rests on picking mechanical arm 1 and pick device 5 at any picking position, can satisfy the picking of the fruit at each position,
Adaptability is good, helps to improve picking efficiency.
As depicted in figs. 1 and 2, it further includes picking rack and setting that the present invention, which is suitable for the picking robot system of greenhouse picking,
In the second driving device for carrying out movement in picking rack and for control picking track 2 in a second direction, first direction and the
Two directions are that horizontal direction and first direction and second direction are perpendicular.Picking rack is vertically arranged inside greenhouse, is adopted
Off-hook frame provides support and guiding role to picking track 2, and picking machine frame is arranged two, and two picking racks are in and first party
To on parallel same straight line, picking rack is portal frame.Fruit tree in greenhouse arranges multirow in a second direction, picks track
2 when being moved in a second direction, can carry picking mechanical arm 1 and pick device 5 thereon moves synchronously, and control picking
Track 2 can at least be moved between two row fruit trees, so that picking mechanical arm 1 and pick device 5 can be realized multirow fruit
The picking of fruit on tree, further increases job area.In fruit-picking, in the complete all fruit trees for being in pairs at same a line
On fruit picking after, picking track 2 be moved in a second direction next line fruit tree top, picking mechanical arm 1 with adopt
It plucks track 2 to move synchronously, then the fruit on the fruit tree all to the row is successively picked.
As depicted in figs. 1 and 2, picking track 2 and picking rack are to be slidably connected, and picking track 2 can exist in a second direction
It is moved in picking rack, the second driving device is done in picking rack reciprocal in a second direction for control picking track 2
Linear motion.Second driving device includes the second lead screw being rotatably arranged in picking rack, is set in picking rack
The second motor 4 and the second nut seat for being sheathed on the second lead screw and being connect with picking track 2, the second nut seat and second
Thick stick constitutes worm drive.The axis of second lead screw is parallel with second direction, after the operating of the second motor 4, the rotation of the second lead screw,
And then drive picking track 2 move in a straight line in a second direction, picking track 2 drive picking mechanical arm 1 and thereon pickup dress
Set 5 synchronizing movings.Leadscrew-nut mechanism is used, so that picking track 2 and picking mechanical arm 1 and pick device 5 thereon are the
Position on two directions is adjusted to step-less adjustment, and picking mechanical arm 1 and pick device 5 can be made to rest on any picking position
Place, can satisfy the picking of the fruit at each position, adaptability is good, and job area is wide, helps to improve picking efficiency.
Preferably, picking track 2 is settable parallel multiple, all picking tracks 2 is in a second direction successively
One end of arrangement, picking track 2 is mounted in a picking rack, and the other end of picking track 2 is mounted on another picking machine
On frame, a picking mechanical arm 1 and a first driving device are respectively set on each picking track 2, each picking track 2 divides
It is not connect with second driving device, the picking mechanical arm 1 and pick device 5 on each picking track 2 are respectively used to realize
The picking of fruit at least two row fruit trees.When being picked, the picking mechanical arm 1 on all picking tracks 2 can carry out simultaneously
Work, it is ensured that the picking of fruit can be completed in time, it is high-efficient.
As depicted in figs. 1 and 2, in the present embodiment, parallel two are arranged in picking track 2.
As shown in Figure 1 to Figure 3, pick device 5 includes the picking pedestal 501 connecting with picking mechanical arm 1, is set to picking
Rotating driver 502 on pedestal 501 connect with rotating driver 502 and rotatable rotating seat 503 and is set to rotating seat
Pick tool 504 on 503 and for adsorbing fruit.Pick the fixed company of end effector of pedestal 501 and picking mechanical arm 1
It connects, pick pedestal 501 and is located at the lower section of picking mechanical arm 1.Rotating driver 502 is rotated for controlling rotating seat 503,
Rotating driver 502 is to be fixedly installed on picking pedestal 501, and the output end of rotating seat 503 and rotating driver 502 is fixed to be connected
It connects and rotating seat 503 is located at the side for picking pedestal 501, rotating seat 503 is rotatable relative to picking pedestal 501.This structure
Pick device 5 flexibility it is high, pose adjustment is convenient, adaptable, helps to realize the pickup of the fruit of each position.
Preferably, as shown in Figure 1 to Figure 3, pick tool 504 is preferably sucker, pick tool 504 and rotating seat
503 are fixedly connected, and pick tool 504 is simultaneously connect with vacuum generator (not shown), provide negative pressure by vacuum generator, real
The pickup of existing fruit.Using sucker as pick tool 504, sucker is more stable, it is not easy to fruit leakage occurs and inhale or get rid of
The case where, high reliablity, stability is good, and not will cause the damage of fruit, moreover it is possible to the absorption suitable for fruit of different sizes.
Rotating driver 502 has diversified forms, and rotating driver 502 can be rotary cylinder or motor.Rotation is driven
When dynamic device 502 is rotary cylinder, rotating seat 503 is fixedly connected with the piston rod of rotating driver 502；Rotating driver 502 is
When motor, rotating seat 503 is fixedly connected with the motor cabinet of motor.
As shown in Figures 1 to 4, the picking robot system that the present invention is suitable for greenhouse picking further includes for shearing fruit
Carpopodium cuts fruit device 6, cuts fruit device 6 and rotating seat 503 can synchronous rotary.When picking, starting vacuum generator is adsorption piece
Negative pressure is provided, pick tool 504 adsorbs fruit to be picked, and the carpopodium of fruit is then cut by cutting fruit device 6, so that fruit
It is separated with fruit tree.It cuts fruit device 6 and cuts fruit including cutting fruit mounting base 601, being rotatably arranged on two cut in fruit mounting base 601
Knife 603 and being set to cut in fruit mounting base 601 and for generates make to cut rotary force that fruit knife 603 rotates cut fruit driver 602.
Cut the top that fruit knife 603 is located at pick tool 504.It cuts fruit driver 602 and is fixedly mounted on and cut in fruit mounting base 601, cut fruit drive
Dynamic device 602 makes to cut the rotary force that fruit knife 603 is rotated for generating, and cuts fruit knife 603 with certain length, two are cut fruit knife
603 one end is mounted on by shaft cuts in fruit mounting base 601, and two shafts for cutting fruit knife 603 are parallel and cut fruit knife 603
Rotation centerline (namely axis of shaft) is parallel with the rotation centerline of rotating seat 503.Cut fruit driver 602 and wherein one
A shaft for cutting fruit knife 603 is fixedly connected, and is respectively provided with a gear in two shafts for cutting fruit knife 603, two are cut fruit knife 603
The gear being arranged in shaft is meshed, and forms gear drive, drives what is be connected to cut fruit knife when cutting fruit driver 602
603 when being rotated, this, which is cut fruit knife 603 and drives another to cut fruit knife 603 and synchronize by gear drive, is rotated.Cut fruit
Knife 603 has blade, and two blades for cutting fruit knife 603 are to be oppositely arranged, and two blades for cutting fruit knife 603 are located at carpopodium
Side, two blades for cutting fruit knife 603 match, for cutting the carpopodium of fruit, so that fruit is separated with fruit tree.Cutting fruit
Under the action of driver 602, cuts fruit knife 603 and synchronize for two and carry out rotation and two direction of rotation for cutting fruit knife 603 on the contrary, realizing
Opening and closing.When picking the fruit on fruit tree, it so that pick tool 504 is adsorbed fruit, cut fruit knife 603 for two and distinguish position
In the side of the carpopodium of fruit, the operating of fruit driver 602 is then cut, fruit knife 603 is cut for two and is closed, cut fruit knife for two
After 603 blade contact, the carpopodium of fruit can be cut, fruit is separated with fruit tree, then continues to adsorb by pick tool 504
The fruit of picking is transported in collection device 7 by the fruit of picking, picking mechanical arm 1, completes the primary picking of fruit.Cut fruit drive
Dynamic device 602 inverts, and makes two to cut 603 Negative selection of fruit knife, two are cut the opening of fruit knife 603, to wait the picking of next fruit.
Cutting fruit driver 602 is preferably steering engine, and precision is high, and accuracy is good.
As shown in Figures 1 to 5, the picking robot system that the present invention is suitable for greenhouse picking further includes being set to pick device
Regulating device 9 on 5 and for adjusting the position for cutting fruit device 6, regulating device 9 cut fruit device 6 along third direction for controlling
Linear reciprocating motion is done, third direction is parallel with the rotation centerline of rotating seat 503.It adsorbs in pick tool 504 wait pick
Fruit after, if the position for cutting fruit knife 603 for cutting fruit device 6 fails to be aligned with fruit carpopodium, cutting fruit knife 603 cannot be clipped to
Carpopodium needs to adjust the position for cutting fruit knife 603 at this time, so that two are cut the side that fruit knife 603 is located at carpopodium, therefore needs to be arranged
Regulating device 9, regulating device 9 is for adjusting the vertical range cut between fruit knife 603 and pick tool 504, so as to cut fruit knife 603
Position can satisfy the requirement of shearing carpopodium, and avoid cutting fruit knife 603 and clip to fruit.Preferably, adjusting dress
Setting 9 includes the guide holder 904 connecting with rotating seat 503, the sliding seat 901 being movably set on guide holder 904 and sliding
Seat 901, the 4th nut seat 903 that is set on sliding seat 901, be with the 4th nut seat 903 adjusting rod 902 being threadedly coupled,
It the connecting rod 906 that is set on sliding seat 901 and is connect with adjusting rod 902 and for controlling that adjusting rod 902 rotated
Four motors 907, the 4th motor 907 are set on guide holder 904, are cut fruit mounting base 601 and are connect with connecting rod 906.
As shown in Figures 3 to 5, the structure that fruit mounting base 601 is inner hollow is cut, the one end for cutting fruit mounting base 601 has
The opening for allowing guide holder 904 to be inserted into, cuts fruit mounting base 601 and is sheathed on guide holder 904, and guide holder 904 and rotating seat 503 are fixed
It connects and guide holder 904 is stretched out along third direction towards the outside of rotating seat 503, connecting rod 906 is fixed with fruit mounting base 601 is cut
Connection, cut fruit mounting base 601 by connecting rod 906 be fixedly connected with sliding seat 901 it is into a single integrated structure, cut fruit mounting base 601 and
Sliding seat 901 can synchronize and do linear reciprocating motion along third direction, and it is synchronous with fruit mounting base 601 is cut along third party to cut fruit knife 603
To being moved, and then the adjusting for the distance between realizing pick tool 504, namely realize the tune for cutting the position of fruit knife 603
Section.Guide holder 904 is the structure of inner hollow, and guide holder 904 is equipped with the guide rod for playing the guiding role to sliding seat 901
905, parallel two are arranged in guide rod 905, and the length direction of guide rod 905 is parallel with third direction, guide rod 905
One end is fixedly connected with guide holder 904, sliding seat 901 have allow guide rod 905 to pass through pilot hole, the setting of guide rod 905,
Ensure that sliding seat 901 is stable.Adjusting rod 902, guide rod 905 and sliding seat 901 are set to the inner chamber body of guide holder 904
In, for connecting rod 906 towards the internal stretch for cutting fruit mounting base 601, the length direction of connecting rod 906 is parallel with third direction,
One end of connecting rod 906 is fixedly connected with sliding seat 901, and the other end of connecting rod 906 is fixedly connected with fruit mounting base 601 is cut,
Sliding seat 901, connecting rod 906 synchronous can be moved with fruit mounting base 601 is cut along third direction.Adjusting rod 902 and the 4th spiral shell
Base 903 is to be threadedly coupled, and the 4th nut seat 903 is fixedly connected with sliding seat 901, and the 4th nut seat 903 has internal thread hole,
Adjusting rod 902 has external screw thread, constitutes worm drive between adjusting rod 902 and the 4th nut seat 903.The operating of 4th motor 907
Afterwards, the 4th motor 907 driving adjusting rod 902 rotates about the axis thereof, and adjusting rod 902 drives the 4th nut seat 903 to move in a straight line,
4th nut seat 903 drives sliding seat 901, connecting rod 906 and cuts fruit mounting base 601 and moves synchronously, and then realizes and cut fruit knife 603
Position adjusting.Adjusting rod 902 is located at the middle position of two guide rods 905, the axis and third direction of adjusting rod 902
Parallel, connecting rod 906 and adjusting rod 902 are coaxial arrangement.Leadscrew-nut mechanism is used, so that cutting the position tune of fruit knife 603
Section is step-less adjustment, can make to cut the stop of fruit knife 603 at an arbitrary position, suitable for the picking of fruit of different sizes, versatility is good.
Guide holder 904 is fixedly connected with rotating seat 503, and sliding seat 901 is only capable of doing straight line fortune along third direction relative to guide holder 904
It is dynamic, therefore cut fruit mounting base 601 and be only capable of moving in a straight line along third direction also relative to guide holder 904, rotating seat 503 rotates
When, 6 synchronous rotary of fruit device is cut by the drive of guide holder 904, while cutting fruit device 6 can also be along third direction relative to rotating seat
503 are moved.
The picking robot system that the present invention is suitable for greenhouse picking further includes visual unit (not shown), visual unit
It is mounted on and cuts on fruit mounting base 601 or picking pedestal 501, visual unit is for monitoring the case where picking region, visual unit
Fruit image is shot, determines fruit spatial coordinate location, then picking mechanical arm 1 send pick device 5 to fruit, completes to lean on
Nearly fruit process, finally adsorbs fruit by pick device 5, is sheared by cutting fruit device 6 to carpopodium.
As shown in figs. 1,2 and 6, it further includes adopting for collecting that the present invention, which is suitable for the picking robot system of greenhouse picking,
The fruit adsorbed by pick device 5 is transported in collection device 7 by the collection device 7 for the fruit plucked, picking mechanical arm 1.Picking
One collection device 7 is set on track 2, and collection device 7 includes the hanger 703 being movably set on picking track 2, setting
In the collection on hanger 703 and for accommodating the collection frame 701 of fruit and being moved for controlling hanger 703 along first direction
Driving mechanism, hanger 703 are to be slidably connected with picking track 2, and hanger 703 can picked along the length direction of picking track 2
It is moved on track 2, to follow picking mechanical arm 1, so that collection frame 701 is in the job area of picking mechanical arm 1.It receives
Collection driving mechanism does linear reciprocating motion along first direction on picking track 2 for controlling hanger 703, collects driving mechanism packet
It includes the third lead screw being rotatably arranged on picking track 2, the third motor 702 being set on picking track 2 and is sheathed on
The third nut seat connecting on third lead screw and with hanger 703, third nut seat and third lead screw constitute worm drive, third silk
The axis of thick stick is parallel with first direction, after third motor 702 operates, the rotation of third lead screw, and then drive hanger 703 along the
One direction moves in a straight line, and hanger 703 drives 701 synchronizing moving of collection frame.Leadscrew-nut mechanism is used, so that collection frame 701
Position be adjusted to step-less adjustment, collection frame 701 can be made to rest at any picking position, the position with picking mechanical arm 1
It is adapted, helps to improve picking efficiency.
As shown in figs. 1,2 and 6, hanger 703 is vertically arranged and the lower section of hanger 703 towards picking track 2 extends,
The upper end of hanger 703 is slidably connected with picking track 2, the lower end of hanger 703 be provided with padlock for suspending collection frame 701 in midair or
Hook, by padlock or hook suspention collection frame 701, so that collection frame 701 is moved synchronously with hanger 703.Collection frame 701 is top
The structure of portion's opening, bottom closing and inner hollow, after pick device 5 takes fruit from fruit tree, picking mechanical arm 1 will be picked up
Device 5 is taken to be transported in collection frame 701, then pick device 5 discharges fruit, and fruit is separated with pick tool 504, falls to receipts
Collect in frame 701, completes the collection process of fruit.When the fruit in collection frame 701 reaches setting quantity, driving mechanism is being collected
Under the action of, hanger 703 drives collection frame 701 to be moved to initial position, in initial position, by will manually fill fruit
Collection frame 701 is removed from hanger 703, is then hung over empty collection frame 701 on hanger 703, then hanger 703 continues to drive
Collection frame 701 is moved at picking mechanical arm 1, continues to collect.Initial position is positioned at one end of picking track 2, initially
It is located proximate at rack, after completing all picking work, hanger 703 and picking mechanical arm 1 are moved to initial position.
The present invention is exemplarily described in conjunction with attached drawing above.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out；Or not
It is improved, above-mentioned conception and technical scheme of the invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
1. being suitable for the picking robot system of greenhouse picking, it is characterised in that: including picking track, be movably set to picking
Pick device of the picking mechanical arm with picking mechanical is set on hand and for adsorbing fruit on track, picking mechanical arm is in outstanding
It is hanging to be mounted on picking track.
2. the picking robot system according to claim 1 suitable for greenhouse picking, it is characterised in that: the picking track
It is equipped with the first driving device moved for controlling the picking mechanical arm along first direction.
3. the picking robot system according to claim 2 suitable for greenhouse picking, it is characterised in that: first driving
Device includes the first lead screw being rotatably arranged on the picking track, the first motor being set on picking track and set
The first nut seat connecting on the first lead screw and with the picking mechanical arm, the first nut seat and the first lead screw constitute spiral
Transmission.
4. the picking robot system according to any one of claims 1 to 3 suitable for greenhouse picking, it is characterised in that: also wrap
It includes picking rack and is set in picking rack and carries out the second mobile drive in a second direction for controlling the picking track
Dynamic device, first direction and second direction are that horizontal direction and first direction and second direction are perpendicular.
5. the picking robot system according to claim 4 suitable for greenhouse picking, it is characterised in that: second driving
Device includes the second lead screw being rotatably arranged in the picking rack, the second motor and set that are set in picking rack
The second nut seat connecting on the second lead screw and with the picking track, the second nut seat and the second lead screw constitute spiral and pass
It is dynamic.
6. the picking robot system according to any one of claims 1 to 5 suitable for greenhouse picking, it is characterised in that: described
Pick device includes the picking pedestal connecting with the picking mechanical arm, the rotating driver being set on picking pedestal and rotation
Turn driver connection and rotatable rotating seat and is set on rotating seat and the pick tool for adsorbing fruit, pick tool
For sucker.
7. the picking robot system according to claim 6 suitable for greenhouse picking, it is characterised in that: the rotation driving
Device is rotary cylinder or motor.
8. the picking robot system according to claim 6 or 7 suitable for greenhouse picking, it is characterised in that: further include using
Fruit device is cut in the carpopodium for shearing fruit, fruit device is cut and the rotating seat can synchronous rotary.
9. the picking robot system according to claim 8 suitable for greenhouse picking, it is characterised in that: described to cut fruit device
Including cutting fruit mounting base, being rotatably arranged on two cut in fruit mounting base and cut fruit knife and be set to and cut in fruit mounting base and use
Make to cut the rotary force of fruit knife rotation in generating and cut fruit driver.
10. the picking robot system according to claim 9 suitable for greenhouse picking, it is characterised in that: described to cut fruit drive
Dynamic device is steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810860320.2A CN109041808A (en) | 2018-08-01 | 2018-08-01 | Picking robot system suitable for greenhouse picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810860320.2A CN109041808A (en) | 2018-08-01 | 2018-08-01 | Picking robot system suitable for greenhouse picking |
Publications (1)
| Publication Number | Publication Date |
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| CN109041808A true CN109041808A (en) | 2018-12-21 |
Family
ID=64832352
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810860320.2A Withdrawn CN109041808A (en) | 2018-08-01 | 2018-08-01 | Picking robot system suitable for greenhouse picking |
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| CN (1) | CN109041808A (en) |
Cited By (1)
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|---|---|---|---|---|
| US11202409B1 (en) | 2021-02-05 | 2021-12-21 | Tortuga Agricultural Technologies, Inc. | Robotic harvesting system with a gantry system |
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Application publication date: 20181221 |