CN115136791B - Fruit picking manipulator for fruit picking machine - Google Patents
Fruit picking manipulator for fruit picking machine Download PDFInfo
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- CN115136791B CN115136791B CN202210815994.7A CN202210815994A CN115136791B CN 115136791 B CN115136791 B CN 115136791B CN 202210815994 A CN202210815994 A CN 202210815994A CN 115136791 B CN115136791 B CN 115136791B
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- fruit picking
- peripheral wall
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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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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N12/00—Machines for cleaning, blanching, drying or roasting fruits or vegetables, e.g. coffee, cocoa, nuts
- A23N12/005—Machines for cleaning, blanching, drying or roasting fruits or vegetables, e.g. coffee, cocoa, nuts for dry-cleaning
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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
- 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
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- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
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- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention relates to a fruit picking manipulator for a fruit picking machine, which comprises a mechanical arm and an end effector, wherein the lower part of the mechanical arm is rotatably connected with an inlet of a recovery box through a rotary support, the upper end of the mechanical arm is connected with the end effector, the mechanical arm comprises an outer pipe, a bendable metal pipe and an inner pipe, the outer pipe is a bendable tubular body, guide pipes are commonly arranged on the inner peripheral wall of the outer pipe, a plurality of thread-shaped grooves are arrayed on the inner peripheral wall of the guide pipe, the bendable metal pipe is arranged in the outer pipe in a penetrating manner, a plurality of rows of penetrating holes are arranged on the bendable metal pipe, telescopic rods are arranged in the penetrating holes in a penetrating manner, the outer ends of the telescopic rods are propped against the inner wall of the guide pipes, the inner ends of the telescopic rods are connected with the inner pipe arranged in the bendable metal pipe in a penetrating manner, the inner pipe is an elastic pipe body, and the upper part of the outer pipe is connected with a motor for driving the bendable metal pipe to rotate along a central shaft. The invention can improve picking efficiency without damaging fruits.
Description
Technical Field
The invention relates to the technical field of fruit picking, in particular to a fruit picking manipulator for a fruit picking machine.
Background
The height of the fruit tree is generally 3.5-5 meters, under the condition that the traditional manual picking is adopted, on one hand, the personnel of fruit farmers are unsafe, and accidents are easy to occur; on the other hand, the fruits are easy to damage.
In the prior art, mechanical picking equipment exists, but each time the mechanical picking equipment picks a fruit, the mechanical arm is required to be contracted, the fruit is placed into a recovery box, and the picking efficiency is low.
The patent document with the application number of CN201610588623.4 discloses an intelligent citrus picking robot and a citrus picking method, wherein the robot comprises a travelling mechanism, a mechanical arm, a workbench, a recovery device, a control system and a power supply system, the mechanical arm, the control system and the power supply system are arranged on the workbench, the front end of the mechanical arm is provided with an end effector and a vision system, the vision system is in data connection with the control system, the control system controls the movement of the mechanical arm through a mechanical arm driving unit, the control system controls the movement of the travelling mechanism through a travelling driving unit, and the power supply system provides working power for the control system and the travelling mechanism; the mechanical arm comprises a first pipe, a second pipe, a third pipe, a fourth pipe, a fifth pipe and a vertical pipe which are sequentially and movably connected.
The above-mentioned equipment has reduced the unnecessary action of a part of arm, but the fruit need drop to the collection box through the collection bag after plucking, but because the collection bag is the elasticity bag body, in order to cooperate the action of end effector, the collection bag must be made longer, this just lead to the collection bag lower part to have the return bend, the fruit can not slide to the collection box, but can fall in the return bend department of collection bag, and in the condition that not make the arm upwards rise between two adjacent plucking fruit processes, the second fruit can strike preceding fruit in the return bend department of collection bag, there is the problem of damage fruit, consequently, just need the arm upwards to rise once per pluck fruit can not make the fruit get into the collection box after the collection bag takes the straight tube-shape, although compared with other equipment has reduced the action of shrink arm and put back the fruit in the collection box, nevertheless can't avoid the arm to need unnecessary action to make the fruit get back to the problem in the collection box, plucking inefficiency.
Disclosure of Invention
The invention provides a fruit picking manipulator for a fruit picking machine, which aims to solve the problems that the existing fruit picking machine is high in redundant actions and low in picking efficiency and can damage fruits.
In order to achieve the above object, the technical scheme of the present invention is as follows:
the fruit picking manipulator for the fruit picking machine comprises a mechanical arm and an end effector, wherein the lower part of the mechanical arm is rotatably connected with an inlet of a recovery box of the fruit picking machine through a rotary support, and the upper end of the mechanical arm is connected with the end effector;
the mechanical arm comprises an outer pipe, a bendable metal conduit and an inner pipe, wherein the outer pipe is a bendable pipe body formed by connecting a plurality of rigid pipes in series through corrugated metal hoses, the lower end of the outer pipe extends into a recovery box, the upper end of the outer pipe is coaxially communicated with a vertical pipe, the free end of the vertical pipe is connected with an end effector, a fixedly connected elastic guide pipe is arranged in the outer pipe in a penetrating manner, and a plurality of spiral grooves formed by multi-thread threads are formed in the inner peripheral wall of the guide pipe;
the flexible metal guide pipe is arranged in the guide pipe and the vertical pipe in a penetrating way, an inner pipe is arranged in the flexible metal guide pipe in a penetrating way, a plurality of rows of penetrating holes are formed in the flexible metal guide pipe, a telescopic rod is arranged in the penetrating holes in the flexible metal guide pipe in the outer pipe in a penetrating way, the outer end of the telescopic rod is propped against the inner wall of the guide pipe through a ball, the inner end of the telescopic rod is fixedly connected to the outer peripheral wall of the inner pipe, the inner pipe is an elastic pipe body, the upper end of the inner pipe and the upper end of the flexible metal guide pipe are fixedly connected with a bearing pipe in the vertical pipe, the bearing pipe is an elastic tubular body, and the upper part of the bearing pipe is in a funnel shape and extends into the end effector;
the bendable metal conduit between the bearing pipe and the guide pipe is rotationally connected with the vertical pipe, and a motor for driving the bendable metal conduit to rotate along the central shaft is connected outside the vertical pipe.
Further, the end effector includes connecting pipe, cutting knife and steering wheel, connecting pipe lower extreme intercommunication standpipe, two relative curved cutting knives of connecting pipe upper end in-connection, the upper end of two opposite sides of cutting knife is equipped with the cutting edge, and the front end and the rear end of two cutting knives of connecting pipe fixed connection are run through respectively to the output shaft of two steering wheels, make two cutting knives use the junction with the steering wheel to rotate relatively as center of rotation, steering wheel connection is on the perisporium upper portion of connecting pipe.
Further, the guide pipe is provided with four grooves, each row of through holes on the bendable metal guide pipe is provided with four grooves, and the lead of each groove is 5-10 times of the distance between two adjacent rows of through holes.
Further, the bendable metal conduit is a bendable pipe body formed by hinging a plurality of connecting pieces in sequence, a row of through holes are formed in the connecting pieces, two first lugs which are opposite left and right are arranged at the upper ends of the connecting pieces, two second lugs which are opposite front and back are arranged on the lower end faces of the connecting pieces, and the plurality of connecting pieces are hinged through the first lugs and the second lugs which are adjacent up and down to form the bendable metal conduit.
Further, fixedly connected with holding ring on the standpipe inner peripheral wall, be provided with annular constant head tank on the inner peripheral wall of holding ring, be located the periphery suit fixedly connected with worm wheel of arbitrary connecting piece in the standpipe, tooth on the worm wheel outer peripheral wall stretches into in the constant head tank, the output shaft of motor has the worm, the inner of worm runs through standpipe, holding ring and meshes with the worm wheel.
Further, a plurality of ribs are arranged on the inner peripheral wall of the inner tube in an annular array manner, the ribs are arranged along the length direction of the inner tube, and the ribs are in a strip shape protruding towards the central axis of the inner tube.
Further, the upper end left part of collection box is provided with the entry, and the upper end right part of collection box is provided with the export, it has the apron to articulate on the export, the apron center is equipped with the fan, and the air outlet of fan runs through the apron towards the collection box inside.
Further, the rigid pipe includes first pipe, second pipe, third pipe, fourth pipe and fifth pipe, and every ripple metal collapsible tube outside all is equipped with joint mechanism, and is a plurality of joint mechanism's structure size is unanimous, joint mechanism between first pipe and the second pipe includes first support, second support and electric putter, first support lower extreme fixed connection is on the ring flange of ripple metal collapsible tube lower extreme between first pipe and second pipe, and second support right-hand member fixed connection is on the ring flange of ripple metal collapsible tube upper end between first pipe and second pipe, and first support upper end is articulated with the second support left end, electric putter one end articulates the periphery wall upper portion of first pipe, the other end articulates second pipe periphery wall left side downside.
Further, the tooth-shaped section of the multi-thread is arc-shaped, and two adjacent threads are in smooth transition.
Through the technical scheme, the invention has the beneficial effects that:
the invention adopts the worm and gear mechanism to drive, the moving speed of the conveying sections is low, but each conveying section can hold fruits, so that the conveying efficiency is not influenced, the picked fruits are conveyed into the recovery box by the conveying sections, the fruits are prevented from directly rolling into the recovery box along the inner pipe, the fruits are prevented from being impacted during conveying, and the damage of the fruits is prevented.
The fruit picking machine has the advantages that fruits directly enter the inner tube to be conveyed during picking, other actions except picking are not needed by the mechanical arm, the picking efficiency can be improved, and the working speed is increased.
The invention is different from the prior art that fruits can be piled up on the sagging bending section of the conveying pipe, no matter the inner pipe is in a state of high end and low end or is in a wave shape, the fruits can be smoothly conveyed into the recovery box, and the conveying of the fruits is not influenced by the sagging shape of the conveying pipe.
The fan is arranged at the outlet of the recovery box, the fan blows air into the recovery box, the air is blown from the inner pipe to the end effector and then blown out by the end effector, on one hand, the fruit conveyed in the inner pipe can be cleaned, branches and leaves cut off by the end effector together can be blown off, on the other hand, the leaves on the branches can be blown off, the leaves can be rocked, the situation that the fruits are missed because the leaves cover the surfaces can be avoided, the leaves are blown off during picking, the picking view is exposed, the end effector is enabled to cut more accurately, the picking speed is further guaranteed not to be reduced because the branches and the leaves of fruit trees are luxuriant, and the picking accuracy and the picking speed are improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a cross-sectional view taken along A-A of FIG. 1;
FIG. 3 is a schematic view (in section) of the connection of the outer tube to the guide tube of the present invention;
FIG. 4 is a schematic view of the structure of the connector of the present invention;
FIG. 5 is a schematic structural view of a bendable metal conduit of the present invention;
FIG. 6 is a front cross-sectional view of the connection of the first tube of the present invention with the bendable metal conduit and inner tube;
FIG. 7 is a schematic view of the connection of a standpipe to an end effector of the present invention;
FIG. 8 is a front cross-sectional view of a fifth tube, standpipe of the present invention connected with an end effector;
FIG. 9 is a B-B cross-sectional view of FIG. 8
Fig. 10 is a state of use of the present invention.
The reference numerals in the drawings are: 1. a walking mechanism; 2. a work table; 3. a recovery box; 4. an end effector; 5. a bendable metal conduit; 6. an inner tube; 7. a first tube; 8. a second tube; 9. a third tube; 10. a fourth pipe; 11. a fifth pipe; 12. a standpipe; 13. a joint mechanism; 14. a guide tube; 15. a groove; 16. a through hole; 17. a telescopic rod; 18. a ball; 19. a socket pipe; 20. a motor; 21. a connecting pipe; 22. a cutting knife; 23. steering engine; 24. a first camera; 25. a second camera; 26. a connecting piece; 29. a first lug; 30. a second lug; 31. a positioning ring; 32. a worm wheel; 33. a worm; 34. a thrust bearing; 35. protruding ridges; 36. a cover plate; 37. a blower; 38. a first bracket; 39. a second bracket; 40. corrugated metal hose; 41. an electric push rod; 42. a spring; 43. and (5) rotatably supporting.
Detailed Description
The invention is further described with reference to the drawings and detailed description which follow:
it should be noted that, in the following description, terms such as "front", "rear", "left", "right", "upper", "lower", "bottom" and "top" refer to directions in the drawings, and terms such as "inner" and "outer" refer to directions toward or away from a geometric center of a specific component, respectively.
As shown in fig. 1 to 10, a fruit picking robot for a fruit picking machine is connected to a fruit picking machine for picking citrus, the fruit picking machine is an intelligent citrus picking robot disclosed in patent document CN201610588623.4, and comprises a travelling mechanism 1, a mechanical arm, a workbench 2, a recovery box 3, a control system and a power supply system, the fruit picking robot comprises a mechanical arm and an end effector 4, the lower part of the mechanical arm is rotatably connected with the inlet of the recovery box 3 of the fruit picking machine through a rotary support 43, and the upper end of the mechanical arm is connected with the end effector 4;
the mechanical arm comprises an outer pipe, a bendable metal conduit 5 and an inner pipe 6, wherein the outer pipe is a bendable pipe body formed by connecting a plurality of rigid pipes in series through corrugated metal hoses 40, the lower end of the outer pipe extends into a recovery box 3, the upper end of the outer pipe is coaxially communicated with a vertical pipe 12, the free end of the vertical pipe 12 is connected with an end effector 4, a fixedly connected elastic guide pipe 14 is penetrated in the outer pipe, the inner peripheral wall of the outer pipe comprises a plurality of rigid pipes and the inner peripheral wall of the corrugated metal hoses 40, the guide pipe 14 is of a tubular structure made of rubber, the outer peripheral wall of the guide pipe 14 is fixedly connected with the inner peripheral wall of the outer pipe, and a plurality of spiral grooves 15 formed by multi-thread threads are formed in the inner peripheral wall of the guide pipe 14;
the flexible metal conduit 5 is arranged in the guide pipe 14 and the vertical pipe 12 in a penetrating way, the upper end of the flexible metal conduit 5 is positioned in the vertical pipe 12, the lower end of the flexible metal conduit 5 is aligned with the lower end of the outer pipe, the flexible metal conduit 5 is internally provided with the inner pipe 6 in a penetrating way, a plurality of rows of through holes 16 are arranged on the flexible metal conduit 5 at intervals along the length direction of the flexible metal conduit 5, each row of through holes 16 is formed by a plurality of through holes 16 along the annular array of the periphery of the flexible metal conduit 5, the through holes 16 on the flexible metal conduit 5 in the outer pipe are internally provided with telescopic rods 17 in penetrating way, namely, the through holes 16 in the flexible metal conduit 5 in the plurality of rigid pipes and the corrugated metal hose 40 are internally provided with telescopic rods 17, the telescopic rods 17 are embedded on the outer end surface of the telescopic rods 17, the outer ends of the telescopic rods 17 are propped against the inner wall of the guide pipe 14 through the balls 18, the inner ends of the telescopic rods 17 are fixedly connected on the outer peripheral wall of the inner pipe 6, the inner pipe 6 are large upper ends and lower ends of the inner pipe 6 are fixedly connected with the inner pipe 6 in a small pipe 6, the inner pipe 19 is fixedly connected with the inner pipe 6 at the upper end of the inner pipe 6, the inner pipe is provided with the lower end of the inner pipe 4, the inner pipe is fixedly connected with the inner pipe 4 is provided with the inner pipe 4, the inner pipe is provided with the upper end 19, the inner pipe is fixedly connected with the inner pipe 6, and the inner pipe 4 is provided with the inner pipe 19, and has a pipe 19 is connected with the inner pipe 19;
the bendable metal conduit 5 between the lower end of the joint pipe 19 and the upper end of the guide pipe 14 is rotatably connected with the vertical pipe 12, a motor 20 for driving the bendable metal conduit 5 to rotate along the central axis is connected outside the vertical pipe 12, and the bendable metal conduit 5 drives the inner pipe 6 and the joint pipe 19 to rotate around the central axis.
The end effector 4 comprises a connecting pipe 21, cutting blades 22 and steering gears 23, the lower end of the connecting pipe 21 is communicated with a vertical pipe 12, two opposite arc-shaped cutting blades 22 are connected in the upper end of the connecting pipe 21, blades are arranged at the upper ends of opposite sides of the two cutting blades 22, output shafts of the two steering gears 23 penetrate through the front ends and the rear ends of the connecting pipe 21 and are fixedly connected with the cutting blades 22 respectively, the two cutting blades 22 rotate relatively with the joint of the steering gears 23 as a rotation center, the steering gears 23 are connected to the upper parts of the peripheral walls of the connecting pipe 21, when the blades of the two cutting blades 22 are contacted, a semicircular spherical shell with downward openings is formed, the steering gears 23 are connected to the upper parts of the peripheral walls of the connecting pipe 21, when the two steering gears 23 act, the two cutting blades 22 reversely rotate to the opposite openings of the two cutting blades 22 to be large, the fruits are wrapped, then the two cutting blades 22 relatively rotate until the blades of the two cutting blades 22 are contacted, the fruit stalks are cut off, the fruits drop into the bearing pipe 19, and finally the two cutting blades recover to the initial state.
The shell of steering engine 23 that is located the periphery wall front side of connecting pipe 21 is connected with first camera 24, the camera lens of first camera 24 is parallel with the central axis of connecting pipe 21, is located be connected with second camera 25 on the shell of steering engine 23 of connecting pipe 21 rear side, the camera lens of second camera 25 is towards two relative openings of cutting knife 22 department, the control system of fruit picking machine is all connected to first camera 24 and second camera 25.
The grooves 15 on the guide tube 14 are four, and each row of through holes 16 on the bendable metal guide tube 5 is four, and the lead of each groove 15 (i.e. the lead of multi-thread) is 5-10 times of the distance between two adjacent rows of through holes 16.
The bendable metal conduit 5 is a bendable pipe body formed by sequentially hinging a plurality of connecting pieces 26, the connecting pieces 26 are annular bodies formed by connecting metal plates end to end, each connecting piece 26 is provided with a row of through holes 16, the upper end of each connecting piece 26 is provided with two first lugs 29 which are opposite left and right, the first lugs 29 are all close to the outer edge of the upper end face of the connecting piece 26, the two first lugs 29 are provided with first hinge holes, the first hinge holes on the two first lugs 29 are coaxial, the lower end face of each connecting piece 26 is provided with two second lugs 30 which are opposite front and back, the second lugs 30 are all close to the inner edge of the lower end face of each connecting piece 26, the two second lugs 30 are all provided with second hinge holes, the second hinge holes on the two second lugs 30 are coaxial, the central axes of the two first hinge holes and the central axes of the two second hinge holes are all intersected with the central axes of the connecting pieces 26, and the plurality of connecting pieces 26 are hinged to form the bendable metal conduit through the upper and lower adjacent first lugs 29 and second lugs 30.
Fixedly connected with holding ring 31 on the interior perisporium of standpipe 12, holding ring 31 is the ring body, and the interior perisporium of holding ring 31's outer ring face fixed connection standpipe 12 is provided with annular constant head tank on the interior perisporium of holding ring 31, the constant head tank opening is towards holding ring 31 central axis, is located the periphery suit fixedly connected with worm wheel 32 of arbitrary connecting piece 26 of flexible metal pipe 5 in standpipe 12, there is the interval between worm wheel 32 and the flexible metal pipe 5 upper end, tooth on the outer perisporium of worm wheel 32 stretches into the constant head tank, motor 20's output shaft has worm 33, the inner of worm 33 runs through standpipe 12, holding ring 31 and meshes with worm wheel 32.
The annular array has many raised edges 35 on the inner peripheral wall of inner tube 6, raised edges 35 set up along the length direction of inner tube 6, raised edges 35 are bellied strip to inner tube 6 central axis, and raised edges 35 surface coating has the talcum powder, and raised edges 35 can reduce the area of contact of fruit and inner tube 6 inner wall, reduces the friction, does benefit to the fruit to be promoted in inner tube 6, still forms the passageway of ventilation between a plurality of raised edges 35.
The recycling bin 3 is a rectangular bin body, an inlet is formed in the left portion of the upper end of the recycling bin 3, an outlet is formed in the right portion of the upper end of the recycling bin 3, a cover plate 36 is hinged to the outlet, a fan is arranged in the center of the cover plate 36, and an air outlet of the fan 37 penetrates through the cover plate 36 and faces the inside of the recycling bin 3.
The rigid pipe comprises a first pipe 7, a second pipe 8, a third pipe 9, a fourth pipe 10 and a fifth pipe 11, the first pipe 7, the second pipe 8, the third pipe 9, the fourth pipe 10 and the fifth pipe 11 are all rigid round pipe bodies, the middle part of the peripheral wall of the first pipe 7 is connected with an inner ring of a rotary support 43, the upper end of the first pipe 7, the two ends of the second pipe 8, the two ends of the third pipe 9, the two ends of the fourth pipe 10 and the lower end of the fifth pipe 11 are all connected with flange plates, the two ends of a corrugated metal hose 40 are all connected with the adjacent two rigid pipes through the flange plates, the two ends of the corrugated metal hose 40 are all fixedly connected with each other through the flange plates, the outer side of each corrugated metal hose 40 is provided with a joint mechanism 13, the joint mechanisms 13 are all identical in structure size, the joint mechanism 13 between the first pipe 7 and the second pipe 8 comprises a first bracket 38, a second bracket 39 and an electric push rod 41, the first brackets 38 and the second brackets 39 are rod bodies made of metal, the two first brackets 38 and the two second brackets 39 are respectively positioned on the front side and the rear side of the corrugated metal hose 40, the lower end of the first bracket 38 is fixedly connected to the upper surface of a flange plate at the lower end of the corrugated metal hose 40 between the first pipe 7 and the second pipe 8, the right end of the second bracket 39 is fixedly connected to the flange plate at the upper end of the corrugated metal hose 40 between the first pipe 7 and the second pipe 8, the upper end of the first bracket 38 is hinged to the left end of the second bracket 39, the length of the corrugated metal hose 40 is equal to the sum of the lengths of the first bracket 38 and the second bracket 39, one end of the electric push rod 41 is hinged to the upper part of the peripheral wall of the first pipe 7, and the other end of the electric push rod 41 is hinged to the left lower side of the peripheral wall of the second pipe 8.
The telescopic rod 17 outside the bendable metal catheter 5 is sleeved with a spring 42, one end of the spring 42 is connected to the outer peripheral wall of the outer end of the telescopic rod 17, and the other end of the spring 42 is connected to the outer peripheral wall of the connecting piece 26.
The tooth section of multi-thread is arc, and two adjacent screw teeth smooth transition is: the two adjacent grooves 15 smoothly transition.
The rotary support 43 is a SE9 crane rotary support, and the corrugated metal hose 40 is a stainless steel rubber composite hose.
When citrus is picked, the control system compares the images shot by the first camera 24 to search for fruits, controls the travelling mechanism to move close to a fruit tree, the electric push rod 41 of the mechanical arm stretches to enable the end effector 4 to be close to the fruits and enable the fruits to be located in the opposite openings of the two cutting knives, and when the fruits are located in the opposite openings of the two cutting knives and the fruit stalks are located on the running tracks of the cutting knives, the control system controls the steering engine 23 to rotate to enable the two cutting knives 22 to move relatively once to cut off the fruit stalks, so that the fruits fall into the bearing tube and enter the inner tube downwards through the bearing tube.
The bendable metal conduit 5 of the present invention is composed of a plurality of connectors 26, and each two adjacent connectors 26 are offset so that the bendable metal conduit 5 is in a bendable state, but cannot rotate relative to the circumferential direction, therefore, when the motor 20 of the present invention drives the upper part of the bendable metal conduit 5 to rotate, the bendable metal conduit 5 integrally rotates in the outer tube, and the inner wall of the guiding tube 14 guides the telescopic rod 17, so that the pipe diameter of the inner tube 6 corresponding to the telescopic rod 17 is pushed by the telescopic rod 17 to be contracted towards the central axis or is pulled outwards by the telescopic rod 17 to be rebound, the inner diameter of the inner tube 6 is smaller than the outer diameter of citrus when the inner tube 6 is contracted, and the inner diameter of the inner tube 6 is larger than the outer diameter of citrus when the inner tube 6 rebounds, so that smooth conveying sections are formed.
Because the worm and gear mechanism drives, the conveying section moving speed is slow, but because the fruit can be contained in each conveying section, and the motor keeps rotating state all the time in the picking process, the conveying efficiency is not influenced, the picked fruits are sequentially conveyed into the recovery box 3 by the conveying sections, the fruits are prevented from directly rolling into the recovery box along the inner pipe 6, the fruits are prevented from being impacted during conveying, and the fruit damage is avoided.
The invention adopts a worm and gear mechanism to drive the bendable metal conduit 5 to rotate, and the lead of each groove 15 is five to ten times of the distance between two adjacent rows of through holes 16, namely: within one lead of each groove 15 there are five to ten rows of telescoping rods 17, which causes the five to ten rows of telescoping rods 17 to ride on different positions of the groove 15, such as convex to concave: the former row of telescopic rods 17 is propped against the bulge, the latter row of telescopic rods 17 is propped against a position lower than the bulge, and the latter row of telescopic rods 17 is propped against the concave part of the guide tube 14, so that when the bendable metal guide tube 5 rotates in such an arrangement mode, the transition between adjacent conveying sections is smooth, and because the inner tube 6 is extruded and deformed by the telescopic rods 17 on the bendable metal guide tube 5, fruits are accumulated on the sagging section of the conveying tube in the prior art, and the fruits can be directly and smoothly conveyed into the recovery box 3 no matter whether the inner tube 6 is in a state with one high end and one low end or is in a wave shape, namely, the fruit conveying of the invention is not influenced by the sagging shape of the conveying pipeline (collecting bag or inner tube).
The fan 37 is arranged at the outlet of the recovery box 3, most of the air is blown into the recovery box 3 by the fan 37, and then is blown out by the end effector 4 from the inner pipe 6, so that on one hand, fruits conveyed in the inner pipe 6 can be cleaned, branches and leaves cut off by the end effector 4 together can be blown off, on the other hand, the leaves on the branches can be blown off, the leaves can be rocked, the situation that fruits are omitted due to leaf shielding is avoided, and on the other hand, the leaves can be blown off during picking, the picking vision is exposed, and the end effector 4 can cut more accurately.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above examples, and various modifications can be made to the technical solution of the present invention without departing from the spirit of the present invention, i.e., the scope of the disclosure.
Claims (8)
1. The fruit picking manipulator for the fruit picking machine comprises a mechanical arm and an end effector (4), and is characterized in that the lower part of the mechanical arm is rotationally connected with the inlet of a recovery box (3) of the fruit picking machine through a rotary support (43), and the upper end of the mechanical arm is connected with the end effector (4);
the mechanical arm comprises an outer pipe, a bendable metal conduit (5) and an inner pipe (6), wherein the outer pipe is a bendable pipe body formed by connecting a plurality of rigid pipes in series through corrugated metal hoses (40), the lower end of the outer pipe extends into a recovery box (3), the upper end of the outer pipe is coaxially communicated with a vertical pipe (12), the free end of the vertical pipe (12) is connected with an end effector (4), an elastic guide pipe (14) which is fixedly connected with the outer pipe is arranged in a penetrating manner, and a plurality of spiral grooves (15) formed by multi-thread threads are formed in the inner peripheral wall of the guide pipe (14);
the flexible metal conduit (5) is arranged in the guide pipe (14) and the vertical pipe (12) in a penetrating way, the inner pipe (6) is arranged in the flexible metal conduit (5) in a penetrating way, a plurality of rows of through holes (16) are formed in the flexible metal conduit (5), the telescopic rod (17) is arranged in the through holes (16) in the flexible metal conduit (5) in the outer pipe in a penetrating way, the outer end of the telescopic rod (17) is propped against the inner wall of the guide pipe (14) through the ball (18), the inner end of the telescopic rod (17) is fixedly connected to the outer peripheral wall of the inner pipe (6), the inner pipe (6) is an elastic pipe body, the upper end of the inner pipe (6) and the upper end of the flexible metal conduit (5) are fixedly connected to the bearing pipe (19) which is arranged in the vertical pipe (12), and the upper part of the bearing pipe (19) is in a funnel shape and stretches into the end effector (4);
the bendable metal conduit (5) between the bearing pipe (19) and the guide pipe (14) is rotationally connected with the vertical pipe (12), and a motor (20) for driving the bendable metal conduit (5) to rotate along a central shaft is connected outside the vertical pipe (12);
the bendable metal conduit (5) is a bendable pipe body formed by sequentially hinging a plurality of connecting pieces (26), a row of through holes (16) are formed in the connecting pieces (26), two first lugs (29) which are opposite left and right are arranged at the upper ends of the connecting pieces (26), two second lugs (30) which are opposite front and back are arranged on the lower end faces of the connecting pieces (26), and the connecting pieces (26) are hinged through the first lugs (29) and the second lugs (30) which are adjacent up and down to form the bendable metal conduit.
2. Fruit picking manipulator according to claim 1, characterized in that the end effector (4) comprises a connecting pipe (21), cutting knives (22) and steering gears (23), the lower end of the connecting pipe (21) is communicated with a vertical pipe (12), two opposite arc-shaped cutting knives (22) are connected in the upper end of the connecting pipe (21), the upper ends of the opposite sides of the two cutting knives (22) are provided with cutting edges, the output shafts of the two steering gears (23) respectively penetrate through the connecting pipe (21) and are fixedly connected with the front ends and the rear ends of the two cutting knives (22), the two cutting knives (22) are enabled to rotate relatively with the connection position with the steering gears (23) as a rotation center, and the steering gears (23) are connected to the upper part of the peripheral wall of the connecting pipe (21).
3. Fruit picking manipulator according to claim 1, characterized in that the grooves (15) on the guide tube (14) are four, four through holes (16) are arranged in each row on the bendable metal guide tube (5), and the lead of each groove (15) is 5-10 times the distance between two adjacent rows of through holes (16).
4. The fruit picking manipulator for the fruit picking machine according to claim 1, wherein a positioning ring (31) is fixedly connected to the inner peripheral wall of the vertical pipe (12), an annular positioning groove is formed in the inner peripheral wall of the positioning ring (31), a worm wheel (32) is fixedly connected to the outer periphery of any one connecting piece (26) in the vertical pipe (12) in a sleeved mode, teeth on the outer peripheral wall of the worm wheel (32) extend into the positioning groove, a worm (33) is connected to an output shaft of the motor (20), and the inner end of the worm (33) penetrates through the vertical pipe (12), the positioning ring (31) and is meshed with the worm wheel (32).
5. The fruit picking manipulator for fruit picking machine according to claim 1, wherein a plurality of ribs (35) are annularly arranged on the inner peripheral wall of the inner tube (6), the ribs (35) are arranged along the length direction of the inner tube (6), and the ribs (35) are strip-shaped protruding towards the central axis of the inner tube (6).
6. The fruit picking manipulator for fruit picking machines according to claim 1, wherein an inlet is formed in the left part of the upper end of the recovery box (3), an outlet is formed in the right part of the upper end of the recovery box (3), a cover plate (36) is hinged to the outlet, a fan is arranged in the center of the cover plate (36), and an air outlet of the fan (37) penetrates through the cover plate (36) and faces the inside of the recovery box (3).
7. The fruit picking manipulator according to claim 1, wherein the rigid tube comprises a first tube (7), a second tube (8), a third tube (9), a fourth tube (10) and a fifth tube (11), each corrugated metal hose (40) is provided with a joint mechanism (13) on the outer side, the joint mechanisms (13) are identical in structure size, the joint mechanism (13) between the first tube (7) and the second tube (8) comprises a first bracket (38), a second bracket (39) and an electric push rod (41), the lower end of the first bracket (38) is fixedly connected to the upper surface of a flange plate at the lower end of the corrugated metal hose (40) between the first tube (7) and the second tube (8), the right end of the second bracket (39) is fixedly connected to a flange plate at the upper end of the corrugated metal hose (40) between the first tube (7) and the second tube (8), the upper end of the first bracket (38) and the second bracket (39) are hinged to the other end of the electric push rod (41), and the other end of the first bracket (38) is hinged to the upper side of the outer peripheral wall (8).
8. The fruit picking manipulator of claim 1, wherein the multi-thread has an arcuate cross-section and two adjacent threads are smoothly transitioned.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210815994.7A CN115136791B (en) | 2022-07-12 | 2022-07-12 | Fruit picking manipulator for fruit picking machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210815994.7A CN115136791B (en) | 2022-07-12 | 2022-07-12 | Fruit picking manipulator for fruit picking machine |
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| CN115136791B true CN115136791B (en) | 2023-06-16 |
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| CN115136791A (en) | 2022-10-04 |
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