CN115349355A - Picking shears, fruit picking robot and fruit picking method - Google Patents
Picking shears, fruit picking robot and fruit picking method Download PDFInfo
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- CN115349355A CN115349355A CN202211082265.1A CN202211082265A CN115349355A CN 115349355 A CN115349355 A CN 115349355A CN 202211082265 A CN202211082265 A CN 202211082265A CN 115349355 A CN115349355 A CN 115349355A
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- picking
- fruit
- shears
- robot
- fruit picking
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 22
- 241000272525 Anas platyrhynchos Species 0.000 claims description 6
- 238000005065 mining Methods 0.000 claims 2
- 238000010008 shearing Methods 0.000 abstract description 11
- 238000005520 cutting process Methods 0.000 description 6
- 241000220225 Malus Species 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 235000021016 apples Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000004816 latex Substances 0.000 description 1
- 229920000126 latex Polymers 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a picking scissors, a fruit picking robot and a method, wherein the picking scissors comprise: the edge part is arranged between the adjacent reinforcing ribs. The picking shears designed based on the invention can adapt to the positioning error of larger fruit stalks and the shearing operation with certain flexibility based on the arrangement of the blade parts between the reinforcing ribs of the picking shears, and meanwhile, the reinforcing ribs increase the overall rigidity of the picking shears and enable the shearing operation to be more stable, so that the picking shears can adapt to the operation requirements of quickly, stably and efficiently picking and shearing the fruit stalks, and the picking efficiency is improved.
Description
Technical Field
The invention relates to the technical field of agricultural picking, in particular to a picking shear, a fruit picking robot and a fruit picking method.
Background
The technical routes of apple picking robots at home and abroad mainly include two types: 1) Six-axis robots were used to simulate human behavior for picking. 2) The apple is sucked into the tube for picking by using a barrel type structure. The picking mode of the single mechanical arm is adopted, the picking process is rough, the apples are easy to damage, in addition, the efficiency is lower, and the good picking efficiency for replacing manpower cannot be achieved.
Disclosure of Invention
The invention mainly aims to provide a picking scissors, a fruit picking robot and a method, which realize high-speed picking operation.
According to a first aspect of the present invention there is provided a picking shears comprising: the edge part is arranged between the adjacent reinforcing ribs.
Optionally, the picking scissors are shaped like a duck's leg.
Optionally, the blade part is connected adjacently the strengthening rib, just the edge orientation of blade part the palm is sunken.
Optionally, the head of the reinforcing rib, the side edge of the palm surface and the reinforcing rib positioned at the outermost side are all provided with a buffer.
According to a second aspect of the invention, there is provided a fruit picking robot comprising a picking shears as described in the first aspect.
Optionally, the method further includes: the picking bracket is arranged on the picking bracket and supports a plurality of picking arms moving in a three-dimensional space; wherein the front end of each picking arm is provided with the picking shears.
Optionally, the plurality of picking arms are arranged in an array.
Optionally, the method further includes: the camera is arranged on the picking bracket.
Optionally, the camera is a 3D depth camera.
Optionally, the method further includes: and the control system receives the signals collected by the camera, distinguishes the fruits to be picked and the positions of the fruits, and controls the picking arms to move.
Optionally, the method further includes: the picking device comprises a movable chassis and a fixing frame, wherein the fixing frame is arranged on the movable chassis, and the picking bracket is detachably arranged on the fixing frame.
According to a third aspect of the invention, there is provided a fruit picking method comprising: picking fruit to be picked using either the picking shears of the first aspect or the fruit picking robot of the second aspect.
Compared with the prior art, the picking shears provided by the invention have the advantages that the blade parts between the reinforcing ribs of the picking shears can adapt to the positioning error of larger fruit stalks and the shearing operation with certain flexibility, the reinforcing ribs increase the overall rigidity of the picking shears, and the shearing operation is more stable, so that the picking shears provided by the invention can adapt to the operation requirements of quickly, stably and efficiently picking and shearing the fruit stalks. The fruit picking robot and the method provided by the invention can adapt to the operation requirements of picking, shearing and cutting fruit stalks quickly, stably and efficiently; furthermore, high-speed picking operation can be realized, namely the high-speed picking operation is finished through a multi-arm union formed by combining a plurality of picking arms, the efficiency is improved, and the labor problem can be effectively solved.
Drawings
Fig. 1 is a schematic structural view of a picking shears in the first embodiment of the present invention;
fig. 2 is a first schematic structural diagram of a fruit picking robot according to a second embodiment of the present invention;
fig. 3 is a second schematic structural view of a fruit picking robot according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram three of a fruit picking robot according to a second embodiment of the present invention;
fig. 5 is a schematic view of the fruit picking process in the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the present product is conventionally placed in use, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
The following describes the present invention in detail.
Example one
As shown in fig. 1, a picking shears 1 provided by a first embodiment of the present invention includes: a palm surface 101, a plurality of reinforcing ribs 102 extending from the palm surface, and a blade part 103 between adjacent reinforcing ribs 102; the blade part 103 between the reinforcing ribs 102 of the picking shears 1 can adapt to the positioning error of larger fruit stalks and the shearing operation with certain flexibility, and the reinforcing ribs 102 increase the overall rigidity of the picking shears 1 and enable the shearing operation to be more stable.
In the embodiment of the invention, the overall shape of the picking shears is preferably a duck palm shape. The duck-palm-shaped picking shears are beneficial to obtaining a larger fruit butt joint range, and the strength of the picking shears can be improved. It is understood that the shape of the picking shears includes, but is not limited to, a duck's palm.
It should be noted that the shape of the duck's palm in the present invention is not completely close to the shape of the duck's palm, but is substantially similar, for example, the number of the reinforcing ribs shown in fig. 1 is 5.
Wherein, the quantity of strengthening rib can be set for according to actual need.
Further, the head of the reinforcing rib 102 (i.e. the end far away from the palm surface 101) is provided with a buffer member, for example, in the form of an encapsulation (rubber or latex, etc.), or a mosaic structure, etc. is used to wrap the head of the reinforcing rib 102, so as to avoid the tip of the head of the reinforcing rib 102 from damaging the fruit during fruit picking.
Furthermore, the buffer members may be disposed at the side edges of the palm surface 101 and the outermost reinforcing ribs 102, that is, the buffer members are disposed at the edge-changing portions of the picking shears except the edge portions, so as to reduce the damage of the sharp ends of the edges of the picking shears 1 to the fruits and improve the integrity of the picked fruits.
In one embodiment, the shape of the palm surface 101 is a shape enclosed by a trapezoid and an arc. It is understood that the shape of the palm surface 101 includes, but is not limited to, the above shapes, and the shapes herein are merely preferred embodiments of the shape of the palm surface 101 of the present embodiment.
The ribs 102 may be arranged in a diverging manner, for example, extending from multiple points of the arc.
The blade portion 103 connects the adjacent reinforcing ribs 102, and is recessed toward the palm surface 101. In the embodiment of the invention, through the special design of the edge part 103, the fruit stalks to be picked can be cut more accurately, and the edge part is prevented from scratching other fruits or other parts of fruit trees.
The blade 103 is generally thin so as to reduce the weight of the shears and also to help obtain a relatively sharp cutting edge to facilitate cutting of fruit stalks.
On the other hand, the blade 103 may have a gradually-changing thickness, i.e., a gradually-changing thickness (similar to a blade) away from the palm surface 101.
In the embodiment of the invention, a plurality of arc-shaped blade parts 103 are distributed at the front end of the palm surface 101, so that the cutting device can adapt to the positioning error of larger fruit stalks and has certain flexible cutting operation; the reinforcing ribs 102 increase the overall rigidity of the picking shears and enable the shearing operation to be more stable. The structure of the invention can adapt to the operation requirement of picking, shearing and cutting fruit stalks quickly, stably and efficiently.
Referring to fig. 5, the picking shears according to the embodiment of the invention can be used for picking fruits conveniently.
Example two
In a second embodiment of the present invention, a fruit picking robot is provided, which includes the picking shears as described in the first embodiment. The specific structure of the picking shears can refer to the first embodiment, and the corresponding technical effects are not described in detail.
EXAMPLE III
Referring to fig. 2 to fig. 4, a third embodiment of the present invention provides a fruit picking robot, which can be implemented on the basis of the first embodiment or the second embodiment, and specifically, the fruit picking robot of the present embodiment further includes the following structure:
the picking device comprises a movable chassis 2 and a fixing frame 3 arranged on the movable chassis 2, wherein a picking bracket 4 is movably arranged on the fixing frame 3, a plurality of picking arms 7 are arranged on the picking bracket 4, each picking arm 7 can move in a three-dimensional space, and the front ends of the picking arms 7 are picking scissors 1.
The movable chassis 2 can be a movable trolley, for example, so as to be conveniently moved to the front of fruits and vegetables to be picked.
The fixed frame 3 is mainly used for mounting the picking bracket 4. The fixed frame 3 may be movable, for example in fig. 2, by means of a moving device 21, which may be moved on the movable chassis 2.
Wherein the moving device 21 is arranged on the movable chassis 2.
In one example, the movable chassis 2 and the fixed frame 3 may be connected by a sliding rail (not shown), so that the fixed frame 3 and the movable chassis 2 can move relatively under the driving of the moving device 21.
The moving device 21 can be driven by, but not limited to, electric, pneumatic, hydraulic, etc., and servo-controlled.
Relative movement between the fixed frame 3 and the picking carriages 4 is also possible, for example, by means of a lifting device 5, so that the picking carriages 4 can be moved up and down on the fixed frame 3.
In one example, the picking carriage 4 may be provided with a first sliding chute, the fixing frame 3 has a first sliding block 31, the first sliding block 31 is arranged in the first sliding chute, and the picking carriage 4 can slide up and down on the fixing frame 3 when the lifting device 5 is driven.
The lifting device 5 can adopt, but is not limited to, electric, pneumatic, hydraulic and other driving modes, and a servo control mode.
As an example, the plurality of picking arms 7 are arranged in an array. And because every picking arm 7 all can be controlled alone, therefore every picking arm 7 can independently work to picking arm 7 that the array form was arranged can effectively improve picking efficiency.
Picking arms 7 have a moving mechanism 6 so that each picking arm 6 can move in three dimensions for better picking capacity.
Specifically, as shown in fig. 3, the movable mechanism 6 includes: a Y-direction fixing frame 61, a Y-direction linear track 62, an X-direction fixing frame 63, an X-direction linear track 64 and a Z-direction push rod. The X/Y/Z directions are vertical two by two.
The Y-fixing frame 61 may be fixed to the picking carriage 4, specifically, on a side away from the fixing frame 3.
For example, the Y-mount 61 may be fixed to the picking carriage 4 by welding, bolting, plugging, etc.
The Y-direction linear rail 62 may include a first rail member disposed on the Y-direction fixing frame 61 and a first sliding member disposed on the X-direction fixing frame 63, and the first sliding member is sleeved on the first rail member, so that the X-direction fixing frame 63 moves along the Y-direction.
The driving method of the Y-direction linear rail 62 can be, but not limited to, electric, pneumatic, hydraulic, and servo control.
The X-direction fixing frame 63 is connected with the push rod 65 through an X-direction linear rail 64.
The X-direction linear track 64 may include a second track member disposed on the X-direction fixing frame 63 and a second sliding member disposed on a connecting plate at the end of the push rod 65, and the second sliding member is sleeved on the second track member, so as to realize the movement of the push rod 65 along the X direction.
The driving method of the X-direction linear rail 64 can be, but not limited to, electric, pneumatic, hydraulic, etc., and servo control.
The push rod 65 can be extended or retracted, and the driving method can adopt and is not limited to electric, pneumatic, hydraulic and other driving methods, and a servo control method.
Further, the tail end of the push rod 5 can be provided with a rotating mechanism, so that the push rod can rotate around the Rz direction.
Therefore, in the embodiment of the invention, the picking arm 7 can realize multi-direction and multi-degree-of-freedom design by means of the arrangement of the movable mechanism 6, the position of the picking shears can be adjusted according to the position of the fruit, and flexible picking is facilitated.
In addition, due to the array arrangement, a large picking area (such as the whole side surface of a fruit tree) can be operated, effective picking area division can be formed, and a picking arm is used for picking fruits in each division area, so that multiple picking arms can work simultaneously to carry out picking operation; in addition, each picking arm is only responsible for picking tasks in a relatively small partitioned area, and the XYZ movement distance is short, so that the movement time is short, and the picking tasks in the area can be completed quickly. By combining the two advantages, the invention can realize high-speed picking operation, namely, the multi-arm union body formed by combining a plurality of mechanical arms is used for finishing the high-speed picking operation.
Further, as shown in fig. 2 and 4, a camera 8 is arranged on the picking bracket 4.
As an example, the picking bracket 4 is provided with a 3D depth camera in front, and can capture a 3D visual image of a fruit tree, the captured 3D visual image of the fruit tree is transmitted to the control system, the control system identifies the fruit to be picked in the fruit tree and locates the position of the fruit, and then three-dimensional coordinates (or relative coordinates) of the target picking position are given, the coordinates are transmitted to the mechanical arm through the control system to drive and control the mechanical arm, so that the picking shears are sent to the target picking position, and fruit stalks at the target picking position are sheared through the picking shears, thereby completing the whole picking operation.
In the embodiment of the invention, the control system receives the 3D visual image signals of the fruit trees collected by the camera for AI analysis on the one hand, and can control the movement of the picking arm according to the analysis result, including controlling the movement of the movable chassis 2, the picking bracket 4 and the movable mechanism 6 on the other hand.
Example four
The fourth embodiment of the invention provides a fruit picking method, which can be realized on the basis of any one of the first embodiment to the third embodiment, and correspondingly has the beneficial effects of the first embodiment.
The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and various changes and modifications can be made to the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and the present invention is covered thereby. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (12)
1. A pair of mining shears, comprising: the edge part is arranged between the adjacent reinforcing ribs.
2. The pair of claim 1, wherein the pair of pickers is in the shape of a duck's leg.
3. The pair of mining shears of claim 1, wherein the blade portion connects adjacent ones of the ribs and an edge of the blade portion is recessed toward the palm surface.
4. The pair of claim 1, wherein the head of the reinforcing rib, the side of the palm surface and the outermost reinforcing rib are provided with a buffer.
5. A fruit picking robot comprising the picking shears of any one of claims 1-4.
6. The fruit picking robot of claim 5, further comprising: the picking bracket is arranged on the picking bracket and supports a plurality of picking arms moving in a three-dimensional space; wherein the front end of each picking arm is provided with the picking shears.
7. The fruit picking robot of claim 6, wherein the plurality of picking arms are arranged in an array.
8. The fruit picking robot of claim 6, further comprising: the camera is arranged on the picking bracket.
9. The fruit picking robot of claim 8, wherein the camera is a 3D depth camera.
10. A fruit picking robot as claimed in claim 8 or claim 9, further comprising: and the control system receives the signals collected by the camera, distinguishes the fruits to be picked and the positions of the fruits, and controls the picking arms to move.
11. The fruit picking robot of claim 6, further comprising: the movable chassis and the fixed frame are arranged on the movable chassis, and the picking bracket is detachably arranged on the fixed frame.
12. A fruit picking method, comprising: picking fruit in need of picking with the picking shears of any one of claims 1-4 or the fruit picking robot of any one of claims 5-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211082265.1A CN115349355A (en) | 2022-09-06 | 2022-09-06 | Picking shears, fruit picking robot and fruit picking method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211082265.1A CN115349355A (en) | 2022-09-06 | 2022-09-06 | Picking shears, fruit picking robot and fruit picking method |
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| CN115349355A true CN115349355A (en) | 2022-11-18 |
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| CN202211082265.1A Pending CN115349355A (en) | 2022-09-06 | 2022-09-06 | Picking shears, fruit picking robot and fruit picking method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200446320Y1 (en) * | 2009-06-02 | 2009-10-16 | 김규석 | A multipurpose fruit harvester |
| US20090293442A1 (en) * | 2008-05-05 | 2009-12-03 | Chu-Yin Chang | Flexible robotic manipulation mechanism |
| CN207354904U (en) * | 2017-10-26 | 2018-05-15 | 常州机电职业技术学院 | A kind of simple loquat device for picking |
| CN211745428U (en) * | 2020-02-24 | 2020-10-27 | 周珉先 | Fruit picking blade of fruit picker |
| CN212507257U (en) * | 2020-03-09 | 2021-02-09 | 张会利 | Putty knife for building construction |
-
2022
- 2022-09-06 CN CN202211082265.1A patent/CN115349355A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090293442A1 (en) * | 2008-05-05 | 2009-12-03 | Chu-Yin Chang | Flexible robotic manipulation mechanism |
| KR200446320Y1 (en) * | 2009-06-02 | 2009-10-16 | 김규석 | A multipurpose fruit harvester |
| CN207354904U (en) * | 2017-10-26 | 2018-05-15 | 常州机电职业技术学院 | A kind of simple loquat device for picking |
| CN211745428U (en) * | 2020-02-24 | 2020-10-27 | 周珉先 | Fruit picking blade of fruit picker |
| CN212507257U (en) * | 2020-03-09 | 2021-02-09 | 张会利 | Putty knife for building construction |
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