CN114946407A - Picking device of apple picking robot and picking method thereof - Google Patents
Picking device of apple picking robot and picking method thereof Download PDFInfo
- Publication number
- CN114946407A CN114946407A CN202210395678.9A CN202210395678A CN114946407A CN 114946407 A CN114946407 A CN 114946407A CN 202210395678 A CN202210395678 A CN 202210395678A CN 114946407 A CN114946407 A CN 114946407A
- Authority
- CN
- China
- Prior art keywords
- picking
- apple
- guide rail
- direction guide
- arm
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 241000220225 Malus Species 0.000 claims abstract description 66
- 210000000078 claw Anatomy 0.000 claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 235000021016 apples Nutrition 0.000 claims description 25
- 230000000712 assembly Effects 0.000 claims description 19
- 238000000429 assembly Methods 0.000 claims description 19
- 230000000087 stabilizing effect Effects 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 11
- 230000005484 gravity Effects 0.000 claims description 3
- 239000002420 orchard Substances 0.000 abstract description 4
- 241001480175 Angophora hispida Species 0.000 abstract 1
- 235000013399 edible fruits Nutrition 0.000 description 5
- 210000002435 tendon Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
Images
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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a picking device of an apple picking robot and a picking method thereof, belonging to the field of agricultural engineering. The problem of picking equipment among the prior art be not convenient for transport in the apple orchard, pick the success rate low is solved. It is including picking the executor and moving frame, picks the executor and installs on moving frame, picks the executor and includes picking arm claw, actuating mechanism and stable seat, picks the middle part and the afterbody of arm claw and installs respectively in actuating mechanism and stable seat, and actuating mechanism and stable seat all install on moving frame: picking arm claw includes swinging boom, single-action spring reset pneumatic cylinder and picks the subassembly, and install respectively in actuating mechanism and stable seat swinging boom middle part and afterbody, picks the unit mount on the output of single-action spring reset pneumatic cylinder, and the stiff end and the swinging boom of single-action spring reset pneumatic cylinder are connected. It is mainly used for picking dwarf apple varieties.
Description
Technical Field
The invention belongs to the field of agricultural engineering, and particularly relates to a picking device of an apple picking robot and a picking method thereof.
Background
In the face of the huge productivity of apples, the traditional artificial apple picking mode cannot meet the current requirements, and the specific expression is as follows: the apple picking period is short, and picking workers are required to have certain proficiency; the manual picking efficiency is low and the labor intensity is high; the change of Chinese population structure, the continuous reduction of human resources, the continuous increase of human cost and the like.
In order to solve the problems, the application number is CN202110790607.4 discloses an end actuating mechanism of an apple picking robot, the mechanism is arranged on the picking robot, a connecting rod and a sliding block are driven by a motor to move on a guide rail, so that the sliding block drives a finger shell to move, the opening and closing of a clamping mechanism are realized to clamp an apple, and a cutting mechanism is driven to close at the same time to cut off fruit stems, but the invention has larger occupied space, is easy to grab thick branches during picking and causes picking failure; the application number is CN202110126500.X, which discloses an apple picking robot with high degree of freedom, the picking robot solves the problem that the picking robot is inconvenient to adjust by increasing the moving freedom of a manipulator, but the invention does not solve the problem of adaptability of a picking terminal; the application number CN202010039178.2 discloses an efficient picking robot for apples, which comprises a rotating assembly, a lifting assembly, a movable assembly, a grabbing assembly and a cutting assembly, wherein the cutting assembly can cut off fruit stalks of grabbed apples; application number is CN201910152791.2 discloses an apple picking manipulator, this picking manipulator is furnished with two joint fingers, install in the palm dish after the finger is fixed by coil spring, every finger comprises two knuckles, a drive connecting rod and a driven connecting rod, tendon rope on the drive connecting rod runs through the palm dish after the vertical fixation is in the lift disc, the lift disc other end passes through tendon rope and connects driving motor, through motor drive, tendon rope transmission, drive the finger and gather together, realize that 3 fingers of drive simultaneously by a motor accomplish the envelope of apple and snatch, but this invention has the problem of bulky, to the fruit tree that the fruit is denser, cause the damage of fruit or branch on every side easily.
Disclosure of Invention
In view of this, the present invention aims to provide a picking device of an apple picking robot and a picking method thereof, so as to solve the problems that the picking device in the prior art is inconvenient to transport in an apple orchard and the picking success rate is low.
In order to achieve the purpose, the invention adopts the following technical scheme:
a picking device of an apple picking robot comprises a picking actuator and a movable frame, wherein the picking actuator is arranged on the movable frame and comprises a picking arm claw, a driving mechanism and a stabilizing seat, the middle part and the tail part of the picking arm claw are respectively arranged in the driving mechanism and the stabilizing seat, and the driving mechanism and the stabilizing seat are both arranged on the movable frame;
picking arm claw includes swinging boom, single-action spring reset pneumatic cylinder and picks the subassembly, install respectively in actuating mechanism and stable seat swinging boom middle part and afterbody, it installs on the output of single-action spring reset pneumatic cylinder to pick the subassembly, the stiff end and the swinging boom connection of single-action spring reset pneumatic cylinder.
Furthermore, the picking assembly comprises a chute barrel, a sliding plate, a fixing plate, three picking fingers and connecting rods, the bottom end of the chute barrel is mounted at the head of the rotating arm, the sliding plate is mounted at the output end of the single-action spring reset pneumatic cylinder, the sliding plate is slidably mounted in the chute barrel, the fixing plate is fixedly mounted at the opening end of the chute barrel, the three connecting rods are uniformly hinged to the fixing plate, the other ends of the three connecting rods are hinged to the middle portions of the three picking fingers respectively, and the tail portions of the three picking fingers are hinged to the sliding plate.
Furthermore, actuating mechanism includes casing, worm wheel, driving motor, motor cabinet, first axle bush and second axle bush, the worm is installed on driving motor's output shaft, driving motor passes through the motor cabinet and installs on the casing, the worm wheel passes through the second axle bush and rotates and install in the casing, the worm rotates through first axle bush and installs in the casing, the worm is connected with the worm wheel meshing, casing externally mounted has the apron, the casing is installed on moving frame, swinging boom middle part and worm wheel coaxial coupling.
Furthermore, the stabilizing seat comprises a mounting seat and a fixed bearing which are connected with each other, the tail part of the rotating arm is connected with the inner ring of the fixed bearing, and the mounting seat is mounted on the movable frame.
Furthermore, the movable frame comprises an X-direction guide rail assembly, two Y-direction guide rail assemblies and two Z-direction guide rail assemblies, wherein two ends of the X-direction guide rail assembly are respectively slidably mounted on the two Y-direction guide rail assemblies, the two Y-direction guide rail assemblies are respectively slidably mounted on the two Z-direction guide rail assemblies, and the mounting seat and the shell are both mounted on the X-direction guide rail assemblies.
Furthermore, a plurality of adjusting holes are formed in the middle of the picking finger, three second mounting arms are uniformly distributed at the outer end of the fixing plate, and two ends of the connecting rod are hinged to one adjusting hole of the corresponding picking finger and the second mounting arm respectively.
Furthermore, the head of the picking finger is arc-shaped, the head of the picking finger is provided with a second rubber pad, and the fixed plate is provided with a first rubber pad.
Furthermore, the outer end of the sliding plate is uniformly provided with three first mounting arms, the sliding chute barrel is uniformly provided with three sliding chutes, and the three first mounting arms are respectively mounted in the three sliding chutes in a sliding manner.
Furthermore, the worm wheel is provided with a fixing hole and a central hole, and the rotating arm penetrates through the central hole and is fixedly connected with the worm wheel through the matching of the fixing hole and the fastening piece.
A picking method of a picking device of an apple picking robot comprises the following steps:
step 1: the picking actuator in the open state is moved to the position right in front of the apple to be picked through the Y-direction guide rail assembly and the Z-direction guide rail assembly of the movable frame;
step 2: moving the picking actuator to the apples to be picked through the X-direction guide rail assembly of the moving frame until the apples to be picked enter the action range of the picking arm claws;
and step 3: ventilating an air inlet of the single-acting spring reset pneumatic cylinder, and extending an output end of the pneumatic cylinder to realize linkage of the sliding plate, the picking fingers and the connecting rod and realize grabbing of the apples together with the fixed plate;
and 4, step 4: starting a driving motor to drive the picking arm claws to rotate, and simultaneously moving the picking arm claws to the X direction through the X-direction guide rail assembly to pick the picked apples under the combined action of the rotating acting force and the X-direction acting force;
and 5: moving the picking arm claw to the upper part of the collecting box by the movable frame;
step 6: closing the single-acting spring reset pneumatic cylinder, returning the picking arm claws to the open state, and allowing the apples to fall into the collection box under the action of gravity.
Compared with the prior art, the invention has the beneficial effects that:
1. the apple picking device adopts the superimposed acting force of rotation and backward traction to pick apples, and can effectively improve the picking success rate compared with the method of only using backward traction in the prior art.
2. The picking arm claw has small volume and simple and convenient structure, and is not easy to damage the surrounding apples and branches in the picking process.
3. The gripping space of the picking arm claw can be quickly adjusted through the adjusting hole on the picking finger, so that the picking arm claw can be used for apples of different sizes and varieties, and the adaptability is strong.
4. The invention has compact structure, can be integrally arranged on a trolley and can realize quick movement in an apple orchard.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is an isometric view of the present invention;
fig. 2 is an isometric view of a picking actuator of the present invention;
fig. 3 is an isometric view of a picking arm jaw of the present invention;
FIG. 4 is a front view of the chute barrel of the present invention;
FIG. 5 is an isometric view of the slide plate of the present invention;
FIG. 6 is an isometric view of a retaining plate of the present invention;
FIG. 7 is a front view of a picking finger of the present invention;
FIG. 8 is a cover-removed view of the drive mechanism of the present invention;
FIG. 9 is a view of the drive mechanism mounting cover of the present invention;
FIG. 10 is a perspective view of the worm gear shaft of the present invention;
FIG. 11 is an isometric view of the stabilizer base of the present invention;
FIG. 12 is an isometric view of a mobile device of the present invention;
fig. 13 is a schematic view of the open state of the picking arm jaws of the present invention;
fig. 14 is a schematic view of the gripping state of the picking arm jaws of the present invention.
1: picking actuator, 2: moving frame, 1-1: picking arm claw, 1-1-1: rotating arm, 1-1-2: single-acting spring-return pneumatic cylinder, 1-1-3: a chute drum, 1-1-4: slide plate, 1-1-5: fixing plate, 1-1-6: picking fingers, 1-1-7: connecting rod, 1-1-8: first rubber mat, 1-1-9: second rubber pad, 1-1-10: chute, 1-1-11: first mounting arm, 1-1-12: second mounting arm, 1-1-13: adjusting holes, 1-2: drive mechanism, 1-2-1: housing, 1-2-2: motor cabinet, 1-2-3: drive motor, 1-2-4: worm, 1-2-5: worm gear, 1-2-6: first bearing shell, 1-2-7: cover plate, 1-2-8: fixing hole, 1-2-9: center hole, 1-2-10: second bearing shell, 1-3: stable seat, 1-3-1: mounting base, 1-3-2: fixed bearing, 2-1: x-guide rail assembly, 2-2: y-guide rail assembly, 2-3: z-guide rail assembly.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.
With reference to fig. 1-14 to illustrate the embodiment, a picking device of an apple picking robot comprises a picking actuator 1 and a moving frame 2, wherein the picking actuator 1 is arranged on the moving frame 2, the picking actuator 1 comprises picking arm claws 1-1, driving mechanisms 1-2 and stabilizing seats 1-3, the middle parts and the tail parts of the picking arm claws 1-1 are respectively arranged in the driving mechanisms 1-2 and the stabilizing seats 1-3, the driving mechanisms 1-2 and the stabilizing seats 1-3 are both arranged on the moving frame 2, the picking arm claws 1-1 comprise rotating arms 1-1-1, single-action spring return pneumatic cylinders 1-1-2 and picking assemblies, the middle parts and the tail parts of the rotating arms 1-1-1 are respectively arranged in the driving mechanisms 1-2 and the stabilizing seats 1-3, the picking assembly is arranged at the output end of the single-acting spring reset pneumatic cylinder 1-1-2, and the fixed end of the single-acting spring reset pneumatic cylinder 1-1-2 is connected with the rotating arm 1-1-1.
The picking actuator 1 is moved towards the apples to be picked through the movable frame 2, the picking components are clamped and taken by the single-acting spring reset pneumatic cylinder 1-1-2, then the driving mechanism 1-2 is started to drive the rotating arm 1-1 to rotate, so that the picking components can clamp the apples to rotate, and simultaneously, the movable frame 2 can also apply traction force in the X direction to the picking components, so that the picking device picks the apples by the superposition action force of rotation and backward traction, the picking success rate can be effectively improved, the device has a compact structure, can be integrally installed on a trolley, can realize quick movement in an apple orchard, is suitable for picking common apple varieties, is particularly suitable for dwarfing apple varieties, has a two-dimensional planar tree shape in a cultivation mode and is installed on a picking robot, can carry out imitative staff picking according to the apple position coordinate that provides, pick the success rate height.
Further, the picking assembly comprises a sliding groove cylinder 1-1-3, a sliding plate 1-1-4, a fixed plate 1-1-5, three picking fingers 1-1-6 and connecting rods 1-1-7, the bottom end of the sliding groove cylinder 1-1-3 is installed at the head of a rotating arm 1-1-1, the sliding plate 1-1-4 is installed at the output end of a single-action spring reset pneumatic cylinder 1-1-2, the sliding plate 1-1-4 is installed in the sliding groove cylinder 1-1-3 in a sliding mode, the fixed plate 1-1-5 is fixedly installed at the opening end of the sliding groove cylinder 1-1-3, the fixed plate 1-1-5 is uniformly hinged with the three connecting rods 1-1-7, the other ends of the three connecting rods 1-1-7 are respectively hinged to the middle parts of the three picking fingers 1-1-6, the tail parts of the three picking fingers 1-1-6 are all hinged on the sliding plate 1-1-4, the outer end of the sliding plate 1-1-4 is uniformly provided with three first mounting arms 1-1-11, the sliding chute barrel 1-1-3 is uniformly provided with three sliding chutes 1-1-10, the three first mounting arms 1-1-11 are respectively arranged in the three sliding chutes 1-1-10 in a sliding way, when the output end position of the single-acting spring reset pneumatic cylinder 1-1-2 extends out, the sliding plate 1-1-4 is positioned at the bottom of the sliding chute barrel 1-1-3, at the moment, the three picking fingers 1-1-6 are in an open state, when an apple is grabbed, the output end extends out when the single-acting spring reset pneumatic cylinder 1-1-2 admits air and ventilates air, the sliding plate 1-1-4 is driven to move to the opening end of the sliding groove barrel 1-1-3, the sliding plate 1-1-4 drives the picking fingers 1-1-6 and the connecting rod 1-1-7 to move towards the apple through the first mounting arm 1-1-11, a grabbing space is formed by the sliding plate 1-1-4 and the fixing plate 1-1-5, grabbing of the apple is achieved, after grabbing is completed, the single-action spring resetting pneumatic cylinder 1-1-2 is closed, the output end resets under the action of an internal spring, and the three picking fingers 1-1-6 are enabled to return to the open state.
Further, the driving mechanism 1-2 comprises a shell 1-2-1, a worm 1-2-4, a worm wheel 1-2-5, a driving motor 1-2-3 and a motor base 1-2-2, the worm 1-2-4 is arranged on an output shaft of the driving motor 1-2-3, the driving motor 1-2-3 is arranged on the shell 1-2-1 through the motor base 1-2-2, the worm wheel 1-2-5 is rotatably arranged in the shell 1-2-1 through a second bearing bush 1-2-10, the worm 1-2-4 is rotatably arranged in the shell 1-2-1 through a first bearing bush 1-2-6, the worm 1-2-4 is meshed with the worm wheel 1-2-5, a cover plate 1-2-7 is arranged outside a shell 1-2-1, the shell 1-2-1 is arranged on a moving frame 2, the middle part of a rotating arm 1-1-1 is coaxially connected with a worm wheel 1-2-5, a stabilizing seat 1-3 comprises a mounting seat 1-3-1 and a fixed bearing 1-3-2 which are mutually connected, the tail part of the rotating arm 1-1-1 is connected with an inner ring of the fixed bearing 1-3-2, the mounting seat 1-3-1 is arranged on the moving frame 2, the worm wheel 1-2-5 is provided with a fixed hole 1-2-8 and a central hole 1-2-9, the rotating arm 1-1-1-1 passes through the central hole 1-2-9 and is fixedly connected with the worm wheel 1-2-5 through the matching of the fixed hole 1-2-8 and a fastener, after the picking fingers 1-1-6 grab the apples, the driving motor 1-2-3 is started to drive the worm 1-2-4 to rotate, the worm wheel 1-2-5 is meshed with the worm 1-2-4 to rotate, the rotating arm 1-1-1 is fixedly connected with the worm wheel 1-2-5 through the fixing hole 1-2-8 and the fastener, so that the rotating arm 1-1-1 can be driven to rotate when the worm wheel 1-2-5 rotates, and a stable operation effect is further realized under the supporting action of the fixing bearing 1-3-2 on the stabilizing seat 1-3.
Further, the moving frame 2 comprises an X-direction guide rail assembly 2-1, two Y-direction guide rail assemblies 2-2 and two Z-direction guide rail assemblies 2-3, two ends of the X-direction guide rail assembly 2-1 are respectively installed on the two Y-direction guide rail assemblies 2-2 in a sliding mode, the two Y-direction guide rail assemblies 2-2 are respectively installed on the two Z-direction guide rail assemblies 2-3 in a sliding mode, the installation base 1-3-1 and the shell 1-2-1 are both installed on the X-direction guide rail assembly 2-1, and the picking actuator can move in an XYZ space through the X-direction guide rail assembly 2-1, the Y-direction guide rail assemblies 2-2 and the Z-direction guide rail assemblies 2-3.
Furthermore, the middle part of the picking finger 1-1-6 is provided with a plurality of adjusting holes 1-1-13, the outer end of the fixing plate 1-1-5 is uniformly provided with three second mounting arms 1-1-12, two ends of the connecting rod 1-1-7 are respectively hinged with one adjusting hole 1-1-13 corresponding to the picking finger 1-1-6 and the second mounting arm 1-1-12, and the picking arm claw 1-1 can be used for adjusting the grabbing range of the picking arm claw 1-1 by being provided with a plurality of adjusting holes so as to adapt to apples of different sizes and varieties.
Furthermore, the head of the picking finger 1-1-6 is arc-shaped, the head of the picking finger 1-1-6 is provided with a second rubber pad 1-1-9, and the head of the fixing plate 1-1-5 is provided with a first rubber pad 1-1-8, so that the damage to the surface of the apple can be avoided in the picking process.
A picking method of a picking device of an apple picking robot comprises the following steps:
step 1: the picking actuator 1 in the open state is moved to the front of the apple to be picked through the Y-direction guide rail assembly 2-2 and the Z-direction guide rail assembly 2-3 of the moving frame 2;
step 2: the picking actuator 1 is moved towards the apples to be picked through the X-direction guide rail assembly 2-1 of the moving frame 2 until the apples to be picked enter the action range of the picking arm claws 1-1;
and 3, step 3: ventilating an air inlet of a single-acting spring reset pneumatic cylinder 1-1-2, and extending out an output end of the pneumatic cylinder to realize linkage of a sliding plate 1-1-4, picking fingers 1-1-6 and connecting rods 1-1-7 and realize grabbing of apples together with a fixed plate 1-1-5;
and 4, step 4: starting a driving motor 1-2-3 to drive a picking arm claw 1-1 to rotate, and simultaneously moving the picking arm claw 1-1 to the X direction through an X-direction guide rail component 2-1 to enable the grabbed apples to be picked under the combined action of a rotating acting force and an X-direction acting force;
and 5: the picking arm claw 1-1 is moved to the upper part of the collecting box by the moving frame 2;
step 6: closing the single-acting spring reset pneumatic cylinder 1-1-2, returning the picking arm claw 1-1 to the open state, and allowing the apples to fall into the collection box under the action of gravity.
The embodiments of the invention disclosed above are intended merely to aid in the explanation of the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention.
Claims (10)
1. The utility model provides a picking device of robot is picked to apple which characterized in that: the picking manipulator comprises a picking actuator (1) and a moving frame (2), wherein the picking actuator (1) is arranged on the moving frame (2), the picking actuator (1) comprises a picking arm claw (1-1), a driving mechanism (1-2) and a stabilizing seat (1-3), and the driving mechanism (1-2) and the stabilizing seat (1-3) are arranged on the moving frame (2);
the picking arm claw (1-1) comprises a rotating arm (1-1-1), a single-action spring reset pneumatic cylinder (1-1-2) and picking components, the middle part and the tail part of the rotating arm (1-1-1) are respectively installed in a driving mechanism (1-2) and a stabilizing seat (1-3), the picking components are installed at the output end of the single-action spring reset pneumatic cylinder (1-1-2), and the fixed end of the single-action spring reset pneumatic cylinder (1-1-2) is connected with the rotating arm (1-1-1).
2. The picking device of an apple picking robot as claimed in claim 1, wherein: the picking assembly comprises a sliding groove cylinder (1-1-3), a sliding plate (1-1-4), a fixing plate (1-1-5), three picking fingers (1-1-6) and connecting rods (1-1-7), the bottom end of the sliding groove cylinder (1-1-3) is installed at the head of a rotating arm (1-1-1), the sliding plate (1-1-4) is installed at the output end of a single-action spring resetting pneumatic cylinder (1-1-2), the sliding plate (1-1-4) is installed in the sliding groove cylinder (1-1-3) in a sliding mode, the fixing plate (1-1-5) is fixedly installed at the opening end of the sliding groove cylinder (1-1-3), and the fixing plate (1-1-5) is hinged with the three connecting rods (1-1-7) in a uniformly distributed mode, the other ends of the three connecting rods (1-1-7) are respectively hinged at the middle parts of the three picking fingers (1-1-6), and the tail parts of the three picking fingers (1-1-6) are all hinged on the sliding plate (1-1-4).
3. The picking device of an apple picking robot according to claim 1, characterized in that: the driving mechanism (1-2) comprises a shell (1-2-1), a worm (1-2-4), a worm wheel (1-2-5), a driving motor (1-2-3), a motor base (1-2-2), a first bearing bush (1-2-6) and a second bearing bush (1-2-10), wherein the worm (1-2-4) is installed on an output shaft of the driving motor (1-2-3), the driving motor (1-2-3) is installed on the shell (1-2-1) through the motor base (1-2-2), the worm wheel (1-2-5) is installed in the shell (1-2-1) through the second bearing bush (1-2-10) in a rotating manner, the worm (1-2-4) is rotatably installed in the shell (1-2-1) through a first bearing bush (1-2-6), the worm (1-2-4) is meshed with the worm wheel (1-2-5), a cover plate (1-2-7) is installed outside the shell (1-2-1), the shell (1-2-1) is installed on the movable frame (2), and the middle of the rotating arm (1-1-1) is coaxially connected with the worm wheel (1-2-5).
4. The picking device of an apple picking robot according to claim 3, characterized in that: the stabilizing seat (1-3) comprises a mounting seat (1-3-1) and a fixed bearing (1-3-2) which are connected with each other, the tail part of the rotating arm (1-1-1) is connected with the inner ring of the fixed bearing (1-3-2), and the mounting seat (1-3-1) is mounted on the movable frame (2).
5. A picking apparatus of an apple picking robot as claimed in claim 4, characterised in that: the movable frame (2) comprises an X-direction guide rail assembly (2-1), two Y-direction guide rail assemblies (2-2) and two Z-direction guide rail assemblies (2-3), two ends of the X-direction guide rail assembly (2-1) are respectively slidably mounted on the two Y-direction guide rail assemblies (2-2), the two Y-direction guide rail assemblies (2-2) are respectively slidably mounted on the two Z-direction guide rail assemblies (2-3), and the mounting base (1-3-1) and the shell (1-2-1) are both mounted on the X-direction guide rail assembly (2-1).
6. The picking device of an apple picking robot according to claim 2, characterized in that: the middle part of the picking finger (1-1-6) is provided with a plurality of adjusting holes (1-1-13), the outer end of the fixing plate (1-1-5) is uniformly provided with three second mounting arms (1-1-12), and two ends of the connecting rod (1-1-7) are respectively hinged with one adjusting hole (1-1-13) and one second mounting arm (1-1-12) of the corresponding picking finger (1-1-6).
7. The picking device of an apple picking robot according to claim 6, characterized in that: the head of the picking finger (1-1-6) is arc-shaped, the head of the picking finger (1-1-6) is provided with a second rubber pad (1-1-9), and the fixing plate (1-1-5) is provided with a first rubber pad (1-1-8).
8. The picking device of an apple picking robot according to claim 2, characterized in that: the outer end of the sliding plate (1-1-4) is uniformly provided with three first mounting arms (1-1-11), the sliding chute barrel (1-1-3) is uniformly provided with three sliding chutes (1-1-10), and the three first mounting arms (1-1-11) are respectively slidably mounted in the three sliding chutes (1-1-10).
9. The picking device of an apple picking robot according to claim 3, characterized in that: the worm wheel (1-2-5) is provided with a fixing hole (1-2-8) and a central hole (1-2-9), and the rotating arm (1-1-1) penetrates through the central hole (1-2-9) and is fixedly connected with the worm wheel (1-2-5) through the matching of the fixing hole (1-2-8) and a fastener.
10. A picking method of a picking device of an apple picking robot as claimed in claim 1, characterized in that: it comprises the following steps:
step 1: the picking actuator (1) in an open state is moved to the front of the apple to be picked through a Y-direction guide rail assembly (2-2) and a Z-direction guide rail assembly (2-3) of the movable frame (2);
step 2: the picking actuator (1) is moved towards the apples to be picked through the X-direction guide rail assembly (2-1) of the moving frame (2) until the apples to be picked enter the action range of the picking arm claws (1-1);
and step 3: ventilating an air inlet of a single-acting spring reset pneumatic cylinder (1-1-2), and extending an output end of the pneumatic cylinder to realize linkage of a sliding plate (1-1-4), picking fingers (1-1-6) and a connecting rod (1-1-7) and realize grabbing of apples together with a fixed plate (1-1-5);
and 4, step 4: starting a driving motor (1-2-3) to drive a picking arm claw (1-1) to rotate, and simultaneously moving the picking arm claw (1-1) to the X direction through an X-direction guide rail component (2-1) to pick the picked apple under the combined action of a rotating acting force and an X-direction acting force;
and 5: the picking arm claw (1-1) is moved to the upper part of the collecting box by the moving frame (2);
step 6: closing the single-acting spring reset pneumatic cylinder (1-1-2), the picking arm claws (1-1) return to the open state, and the apples fall into the collection box under the action of gravity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210395678.9A CN114946407A (en) | 2022-04-15 | 2022-04-15 | Picking device of apple picking robot and picking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210395678.9A CN114946407A (en) | 2022-04-15 | 2022-04-15 | Picking device of apple picking robot and picking method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114946407A true CN114946407A (en) | 2022-08-30 |
Family
ID=82977162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210395678.9A Pending CN114946407A (en) | 2022-04-15 | 2022-04-15 | Picking device of apple picking robot and picking method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114946407A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007094517A1 (en) * | 2006-02-16 | 2007-08-23 | National University Corporation Chiba University | Robot hand |
| KR20080078212A (en) * | 2007-02-22 | 2008-08-27 | 조순호 | Fruit thinning device for use in fruit trees |
| CN205623262U (en) * | 2016-03-23 | 2016-10-12 | 曾德仕 | Device is picked fast to multi -functional fruit |
| CN206866077U (en) * | 2017-02-25 | 2018-01-12 | 杜昱彤 | A kind of automatic picking machine of grape |
| CN108811757A (en) * | 2018-08-24 | 2018-11-16 | 张振阳 | Rechargeable high-altitude fruit picking device is plucked in rotation |
| CN208175422U (en) * | 2018-05-08 | 2018-12-04 | 湖州佳创自动化科技有限公司 | A kind of spheral fruit picking robot |
| CN109041782A (en) * | 2018-08-24 | 2018-12-21 | 张振阳 | Semi-automatic high-altitude fruit picking device |
| CN208590273U (en) * | 2018-04-24 | 2019-03-12 | 河南工业大学 | A kind of fruits picking mechanical hand device |
| CN111805569A (en) * | 2020-08-12 | 2020-10-23 | 南京工业职业技术学院 | Clamping jaw capable of adjusting different clamping ranges |
| CN113383642A (en) * | 2021-07-12 | 2021-09-14 | 扬州大学 | Intelligent melon and vegetable picking robot and picking method thereof |
| CN214430246U (en) * | 2020-10-28 | 2021-10-22 | 唐山学院 | Intelligent fruit picking operation vehicle |
| CN113632642A (en) * | 2021-08-16 | 2021-11-12 | 重庆交通职业学院 | Fruit picking mechanical arm |
| CN215074028U (en) * | 2021-04-02 | 2021-12-10 | 新疆大学 | Tomato picking robot |
-
2022
- 2022-04-15 CN CN202210395678.9A patent/CN114946407A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007094517A1 (en) * | 2006-02-16 | 2007-08-23 | National University Corporation Chiba University | Robot hand |
| KR20080078212A (en) * | 2007-02-22 | 2008-08-27 | 조순호 | Fruit thinning device for use in fruit trees |
| CN205623262U (en) * | 2016-03-23 | 2016-10-12 | 曾德仕 | Device is picked fast to multi -functional fruit |
| CN206866077U (en) * | 2017-02-25 | 2018-01-12 | 杜昱彤 | A kind of automatic picking machine of grape |
| CN208590273U (en) * | 2018-04-24 | 2019-03-12 | 河南工业大学 | A kind of fruits picking mechanical hand device |
| CN208175422U (en) * | 2018-05-08 | 2018-12-04 | 湖州佳创自动化科技有限公司 | A kind of spheral fruit picking robot |
| CN109041782A (en) * | 2018-08-24 | 2018-12-21 | 张振阳 | Semi-automatic high-altitude fruit picking device |
| CN108811757A (en) * | 2018-08-24 | 2018-11-16 | 张振阳 | Rechargeable high-altitude fruit picking device is plucked in rotation |
| CN111805569A (en) * | 2020-08-12 | 2020-10-23 | 南京工业职业技术学院 | Clamping jaw capable of adjusting different clamping ranges |
| CN214430246U (en) * | 2020-10-28 | 2021-10-22 | 唐山学院 | Intelligent fruit picking operation vehicle |
| CN215074028U (en) * | 2021-04-02 | 2021-12-10 | 新疆大学 | Tomato picking robot |
| CN113383642A (en) * | 2021-07-12 | 2021-09-14 | 扬州大学 | Intelligent melon and vegetable picking robot and picking method thereof |
| CN113632642A (en) * | 2021-08-16 | 2021-11-12 | 重庆交通职业学院 | Fruit picking mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106105566B (en) | Intelligent citrus picking robot and citrus picking method | |
| CN109105001A (en) | A kind of bergamot pear terminal executor of picking robot and picking method | |
| CN113843810B (en) | Machine vision-based spheroidal fruit picking robot and fruit picking method thereof | |
| CN103404307B (en) | Fully-automatic kiwi fruit picking end effector | |
| CN111602518A (en) | Full-automatic ridge culture type strawberry picking robot and using method | |
| CN215683458U (en) | Apple picking manipulator and apple picking mechanical equipment | |
| CN112262658A (en) | Hierarchical end actuating mechanism is picked to kiwi fruit | |
| CN109514531A (en) | A kind of manipulator | |
| CN109937694B (en) | Fruit picking harvester | |
| CN113858170B (en) | Intelligent manipulator for picking grapes | |
| CN209572476U (en) | A kind of automatic picking end executive device | |
| CN114303643A (en) | Automatic grabbing system based on machine vision recognition | |
| CN106561126A (en) | Automatic transplanter seedling taking control system and control method thereof | |
| GB2595981A (en) | Device and method for picking and collecting Brasenia Schreberi based on machine vision | |
| CN114946407A (en) | Picking device of apple picking robot and picking method thereof | |
| CN110583240A (en) | Three-point clamping type vibration picking device | |
| CN109566099A (en) | A kind of picking robot | |
| CN210247568U (en) | Electric telescopic picking frame for dragon fruits | |
| CN208708181U (en) | Pre-positioning self-clamping picking mechanism and picking and collecting device | |
| CN108738702B (en) | Peeling type apple picker | |
| CN212278922U (en) | Full-automatic ridge culture type strawberry picking robot | |
| CN216650763U (en) | Edible fungus bag scratching treatment equipment | |
| CN114946539A (en) | Self-adaptive nondestructive agaricus bisporus picking mechanical arm and picking method thereof | |
| CN114815693A (en) | Fruit picking robot based on bionic design and picking control method thereof | |
| CN204907198U (en) | Mechanical people end effector is plucked to cherry |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220830 |
|
| RJ01 | Rejection of invention patent application after publication |