CN115486269A - Self-propelled apple picking robot and picking method - Google Patents
Self-propelled apple picking robot and picking method Download PDFInfo
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- CN115486269A CN115486269A CN202211172212.9A CN202211172212A CN115486269A CN 115486269 A CN115486269 A CN 115486269A CN 202211172212 A CN202211172212 A CN 202211172212A CN 115486269 A CN115486269 A CN 115486269A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 241000220225 Malus Species 0.000 claims abstract description 124
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 109
- 235000021016 apples Nutrition 0.000 claims abstract description 74
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- 230000008569 process Effects 0.000 claims abstract description 11
- 239000000463 material Substances 0.000 claims abstract description 7
- 235000011430 Malus pumila Nutrition 0.000 claims description 53
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- 238000005192 partition Methods 0.000 claims description 6
- 244000141359 Malus pumila Species 0.000 claims description 5
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- 239000004700 high-density polyethylene Substances 0.000 description 3
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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
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
- A01D57/20—Delivering mechanisms for harvesters or mowers with conveyor belts
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B13/00—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices
- B07B13/04—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices according to size
- B07B13/05—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices according to size using material mover cooperating with retainer, deflector or discharger
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Abstract
The invention relates to a self-propelled apple picking robot and a picking method, wherein the picking robot comprises an operation platform, a tail end conveying device, a collecting conveying device, a vertical conveying device and a fruit box, wherein the operation platform is arranged on a rack; the box falling device is positioned at the tail end of the base and used for guiding the full-load fruit box to the ground. The invention can realize the integrated operation of conveying, grading and boxing after apples in the apple orchard adopting the short anvil wide-row close planting mode are picked by the picking manipulator. The requirements of grading and boxing in the picking process, reducing the fruit damage rate and improving the safety factor are met, the mechanization level is improved, manpower and material resources are saved, and the picking efficiency is improved.
Description
Technical Field
The invention relates to the technical field of intelligent orchard management machinery, in particular to a self-propelled apple picking robot and a picking method, and particularly relates to a self-propelled apple picking robot and a picking method.
Background
Shandong province is located in the downstream of yellow river, belongs to the climate type of warm zone and monsoon, has relatively concentrated rainwater and synchronous rain and heat, and has an average annual temperature of 11-14 ℃. The landform takes mountains and hills as a framework, plain basins are staggered and arranged in a ring way, and geographical environment advantages enable Shandong provinces to become one of main producing areas of fruits in northern China. At present, the fruit industry becomes a high-efficiency special industry with strong competitive advantage and good comprehensive benefit in Shandong province, and is also a support industry for adjusting agricultural structures, developing agricultural rural economy and increasing income of farmers.
Along with the transformation and upgrading of agricultural structures and the continuous improvement of the consumption level of people in recent years, the apple industry is gradually scaled and economical. While the cultivation area and the yield of the apple industry are continuously improved in our province, a plurality of problems in the development process of the apple industry are gradually highlighted, and factors such as laggard management mode, low mechanization degree and the like seriously restrict the development of fruit economy. Although the mechanized level of the orchard in our province is greatly improved and developed, the mechanized level of the orchard production is still far from the main food crops. With the development of urbanization, the problems of rural labor force transfer acceleration, orchard production labor force shortage, labor cost increase and the like gradually appear.
Especially for picking of apples, manual picking is mainly used, although some picking devices, such as patent No. 2018100199653, solve the problem of gathering and conveying after picking, but cannot classify the size of the apples, so that fruit growers need to classify the apples according to the size by manual picking before boxing, which is not favorable for further improving the operation efficiency.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the self-propelled apple picking robot and the picking method, the size grading of apples is completed in the conveying process after picking, the picking and grading efficiency of an apple orchard is greatly improved, the improvement of the industry competitiveness is facilitated, and the orchard planting income is increased.
The invention is realized by the following technical scheme, and provides a self-propelled apple picking robot, which comprises a rack, an operation platform, a tail end conveying device, a collecting conveying device, a vertical conveying device and a fruit box, wherein the operation platform, the tail end conveying device, the collecting conveying device, the vertical conveying device and the fruit box are arranged on the rack;
the collecting and conveying device is positioned on one side of the vertical conveying device in the horizontal direction, and a discharge hole of the collecting and conveying device is matched with a feed hole of the vertical conveying device; the fruit box is positioned below the discharge port of the vertical conveying device.
This scheme provides the support of standing for the picker through the operation platform when using, and the apple after picking is carried to collecting conveyor through terminal conveyor, carries the apple to vertical conveyor through collecting conveyor, carries the apple to the fruit case through vertical conveyor, has realized the mechanized vanning after picking, has improved vanning efficiency.
As the optimization, it includes along horizontal setting to collect conveyer belt and drive to collect the conveyer belt by the preceding drive arrangement that collects that rotates the transport backward, collects the left and right sides of conveyer belt and is equipped with the baffle respectively, has seted up a plurality of discharge gates on the baffle, and the back edge of every discharge gate sets firmly the guide board that extends to and collects the conveyer belt top, and the guide board is less than 90 degrees with the contained angle of fore-and-aft direction, and each guide board and the vertical interval that collects between the conveyer belt reduce from the preceding back in proper order. This optimization scheme carries out the grading to the apple through the guide board that sets up to realize the hierarchical operation when collecting the transport, further improved and picked and classification efficiency, this optimization scheme's grading plant simple structure moreover compares with the hierarchical structure of screen cloth formula, has improved hierarchical accuracy greatly moreover, has avoided the vertical conveyor of young fruit entering big fruit.
The collecting conveyer belt is characterized in that a discharge port is formed in each of the baffles on the left side and the right side of the collecting conveyer belt, the number of the vertical conveyer devices is two, the vertical conveyer devices are correspondingly arranged on the left side and the right side of the collecting conveyer belt respectively, and a material placing box for placing the rack is arranged below the rear end of the collecting conveyer belt. The optimization scheme realizes three-level classification of the apples, meets the common classification requirement and ensures the practicability.
Preferably, the tail end conveying device comprises two tail end conveying belts which are arranged in a downward inclined mode and a driving mechanism for driving the tail end conveying belts to rotate, a plurality of partition plates which are sequentially distributed along the circumferential direction are fixedly arranged on the tail end conveying belts, the distance between every two adjacent partition plates is larger than the maximum overall dimension of the apple, the two tail end conveying belts extend obliquely from the left side and the right side above the collecting conveying belts respectively, and operation platforms are arranged on the front sides of the two tail end conveying belts respectively. The optimized scheme has the advantages that the tail end conveying belt is arranged to be the left conveying belt and the right conveying belt, so that the requirement of simultaneous operation of the left operation platform and the right operation platform is met, the picking efficiency is improved, the tail end conveying belt is obliquely arranged, the continuity in the height direction is guaranteed, picked apples can be placed conveniently by a picker, and the physical labor consumption operation such as bending over is avoided; through setting up the baffle, make the apple remove along with terminal conveyer belt, avoid the apple to freely roll to the apple damage has been avoided.
As optimization, vertical conveyor sets up including installing main frame in the frame, rotating vertical conveyer belt and drive in the main frame vertical conveying drive arrangement of vertical conveyer belt pivoted, set firmly a plurality of rows of bearing device who arranges in proper order along circumference on the vertical conveyer belt, every row of bearing device includes that a plurality of toper fruit hold in the palm, and the interval between two horizontal adjacent toper fruit holds in the palm is less than the minimum overall dimension of apple, and the big footpath end and the vertical conveyer belt rigid coupling that the toper fruit held in the palm, and the toper fruit holds in the palm tilt up. According to the optimized scheme, the apples are supported by the conical fruit supports, so that the apples move downwards along with the rotation of the vertical conveying belt, and the damage caused by the free falling of the apples is avoided; the conical fruit support inclines upwards, so that the apples are prevented from sliding off the conical fruit support in the downward conveying process.
Preferably, the lower end of the main frame is fixedly connected with a collecting box positioned below the vertical conveying belt, the vertical projections of the vertical conveying belt and the conical fruit support are positioned in the vertical projection of the collecting box, and the lower end of the collecting box is provided with a collecting pipe extending into the fruit box. This optimization scheme collects the case through setting up, collects the apple of vertical transport, then falls into the fruit case through collecting the pipe, has reduced the mutual collision between the apple.
Preferably, the main frame is slidably mounted on the frame, and the frame is provided with a lifting device for driving the main frame to slide up and down and a vertical guide device adapted to the main frame. This optimization scheme passes through elevating gear drive main frame and reciprocates to make vertical transport reciprocate at whole, with the realization to the successive layer dress fruit in the fruit case, be convenient for shorten the free fall distance of apple.
As optimization, a box bearing frame for placing the fruit box is fixedly arranged on the rack, a plurality of idler wheels for supporting the fruit box are rotatably arranged on the box bearing frame, a box falling device which is obliquely arranged downwards is arranged at one end of the box bearing frame, which is far away from the rack, and a pulley which is matched with the fruit box is arranged on the box falling device; and a pushing oil cylinder for pushing the fruit box to the box falling device is also arranged on the box bearing frame. This optimization scheme promotes the hydro-cylinder through setting up, is convenient for push away the fruit case that adorns to the device that falls to the case, through setting up the device that falls to the case, provides support and direction for the gliding of fruit case, greatly reduced intensity of labour, through setting up gyro wheel and pulley, reduced the frictional force when the fruit case removes.
The scheme also provides a picking method using the self-propelled apple picking robot, which comprises the following steps:
a. determining the speed ranges of the conveying belts and the conveying speed ratios among the conveying belts through a pre-picking test according to the actual growth condition and growth environment of the apple trees, stopping equipment in a set area when workers pick, and continuously moving to the next area to pick after picking in the set area is finished;
b. after the operation platform is started, according to the distribution density of the fruit trees and apples, picking personnel control the operation platform to reach a proper picking position through the control rod, and high efficiency is guaranteed to finish single picking operation; picking apples, respectively placing the apples on tail end conveying belts at two sides, conveying the apples to a collecting conveying belt by using the tail end conveying belts, and collecting the apples by the collecting conveying belt to perform next grading and boxing operation;
c. after being collected by the collecting conveyer belt, the apples sequentially pass through two arc-shaped guide plates which are obliquely arranged at an angle of 45 degrees above the collecting conveyer belt; the apples firstly pass through the front guide plate, and apples with the diameter larger than the vertical distance between the front guide plate and the collecting conveyer belt enter the first vertical conveyer device along the front guide plate; apples with the diameter smaller than the vertical distance between the front guide plate and the collecting conveyer belt and larger than the vertical distance between the rear guide plate and the collecting conveyer belt enter a second vertical conveyer device along the rear guide plate; apples with the diameter smaller than the vertical distance between the rear guide plate and the collecting conveyer belt pass through a gap below the rear guide plate and fall into the discharge box;
conveying and boxing the apples entering the vertical conveying device from top to bottom through a vertical conveying belt to finish the grading operation of the apples with different sizes;
d. after the sensor detects that the fruit box is fully loaded, a signal is transmitted to the control system, the control system sends out a prompt and controls the pushing oil cylinder to push the fruit box to the box falling device, box falling operation is completed, after the box falling operation is completed, workers fill the empty box, a new round of circulating picking grading operation is performed, and automatic grading picking operation of an apple orchard is achieved.
The invention has the beneficial effects that: by hot melting the fruit support on the vertical conveying belt, collision damage of picked apples in the conveying process of the vertical conveying belt is reduced, and the damage rate of the apples is reduced; the grading device is arranged above the collecting conveyer belt, so that the apples passing through the collecting conveyer belt are graded according to sizes and conveyed to the vertical conveyer belt to be packed, automatic conveying, grading and packing operations after the apples are picked are realized, and the operation efficiency is improved; the hydraulic cylinder pushes the fruit box, and after the fruit box is fully loaded, the hydraulic cylinder and the box falling device are matched to complete automatic box falling operation, so that the operation requirement of stable box falling under different picking environments is met, and the picking operation stability is improved; the integrated mechanical operation of conveying, grading, boxing and dropping the picked apples is realized, the picking efficiency of picking the apples in grades is improved, and the apple orchard has good adaptability and trafficability and wide application range.
Drawings
FIG. 1 is a schematic view of the overall structure of a picking robot;
FIG. 2 is a top view of the picking robot structure;
FIG. 3 is a left side view of the picking robot configuration;
FIG. 4 is a schematic view of the lifting device;
FIG. 5 is a schematic view of the vertical conveyor;
shown in the figure:
1. the automatic fruit conveying device comprises a control console, 2, a driving position, 3, an operation platform, 4, a vertical hydraulic cylinder, 5, a tail end conveying device, 6, a vertical conveying device, 7, a lifting device, 8, a guide plate, 9, a rack, 10, a rolling brush, 11, a fruit box, 12, a box falling device, 13, a box bearing frame, 14, a transverse hydraulic cylinder, 15, a base, 16, an arched fruit support, 17, a rear driving axle, 18, a three-phase asynchronous variable frequency motor, 19, a collecting conveying device, 20, a front driving axle, 21, a stepping motor, 22, a fruit conveying roller, 23, a rolling shaft, 24, a long chain, 25, a gear, 26, a vertical plate, 27, a main frame, 28, a rack, 29, a roller chain wheel, 30, a chain, 31, a collecting roller, 32, a collecting box, 33, a conical fruit support, 34 and a vertical conveying belt.
Detailed Description
In order to clearly explain the technical features of the present solution, the present solution is explained by the following detailed description.
As shown in fig. 1, the self-propelled apple picking robot comprises a frame 9 provided with a walking device, a working platform 3 mounted on the frame, a tail end conveying device 5, a collecting conveying device 19, a vertical conveying device 6 and a fruit box 11, wherein the tail end conveying device is positioned at the rear side above the working platform, and the discharge end of the tail end conveying device extends to the position above a collecting conveying belt of the collecting conveying device. The collecting and conveying device is positioned on one side of the vertical conveying device in the horizontal direction, a discharge port of the collecting and conveying device is matched with a feed port of the vertical conveying device, and the apples enter the feed port of the vertical conveying device through the discharge port of the collecting and conveying device;
the fruit box 11 is positioned below the discharge port of the vertical conveying device, and the apples rolled out from the discharge port of the vertical conveying device fall into the fruit box. The picking system can realize the integrated operation of conveying, grading and boxing after the apples in the apple orchard with the short anvil wide-row close planting mode are picked by the picking manipulator. The requirements of grading and boxing in the picking process, reducing the fruit damage rate and improving the safety factor are met, the mechanization level is improved, the manpower and material resources are saved, and the picking efficiency is improved.
The frame of this embodiment is fixed on vehicle base 15, and vehicle rear drive axle 17 provides power, and the steering wheel is connected front drive axle 20 and is controlled the direction of advance, and each conveyor is above the frame, is adjustable operation platform in each conveyor the place ahead, and picking personnel stands and picks on the operation platform, puts the apple of picking on the terminal conveyer belt circulation operation afterwards.
The operation platform is of an adjustable structure and can move in the up, down, left and right directions. In this embodiment, the left and right sides of the frame are respectively provided with a working platform, the left and right extension and retraction of the working platform are controlled by the horizontal hydraulic cylinder 14, and the lifting of the working platform is controlled by the vertical hydraulic cylinder 4. Specifically, the support is connected to the frame in a sliding mode, one end of the transverse hydraulic cylinder is connected with the support, the other end of the transverse hydraulic cylinder is connected with the frame, the vertical hydraulic cylinder is installed on the support in the vertical direction, and the upper end of the vertical hydraulic cylinder is connected with the operation platform. The horizontal adjustment range of the working platform is 0-0.6 m, and the vertical adjustment range is 0-0.8 m. When picking personnel carry out picking operation, the operating platform is controlled to reach a proper picking position through the operating rod to carry out picking operation according to the actual growth condition of the apple trees, and the picking operation safety factor and the picking efficiency are improved.
Collect conveyor and include along horizontal setting collect conveyer belt and drive collect the conveyer belt by preceding drive arrangement that collects that rotates the transport backward, the left and right sides that collects the conveyer belt is equipped with the baffle with the frame rigid coupling respectively, prevent that the apple from dropping in horizontal transfer process, a plurality of discharge gates have been seted up on the baffle, the back edge of every discharge gate sets firmly the guide board 8 that extends to collect the conveyer belt top, each guide board forms grading plant, the guide board is the arc, along with the removal that collects the conveyer belt, the apple that will be blockked by the guide board is guided to the discharge gate, the guide board adopts density to be 1380kg/m 3 The PVC material is poured and molded, and picked apples are classified and boxed by adjusting the space between the guide plate and the collecting conveyer belt. This embodiment guide board 8 is less than 90 degrees with the contained angle of fore-and-aft direction, and the guide board of this embodiment is 45 degrees with the fore-and-aft direction contained angle, and each guide board reduces in proper order backward from the front with the vertical interval that collects between the conveyer belt, realizes the size grading to the apple. The conveying surface of the collecting conveyer belt is hot-melted with an arched fruit support 16 to prevent the apples from rolling off. The arched fruit support 16 adopts the density of 965kg/m 3 The HDPE material of (high-density polyethylene) can reduce the collision damage of the apples in the conveying process of different conveying belts, and reduce the damage rate of the apples in the conveying operation. The baffle that the left and right both sides of conveyer belt were collected to this embodiment is equipped with a discharge gate respectively, and vertical conveyor is two, corresponds the setting respectively and is collecting the left and right both sides of conveyer belt, collects the rear end below of conveyer belt and is equipped with the blowing case of placing in the frame. The collecting conveyer belt is driven by a motor and a harmonic reducer to complete precise bidirectional transmission operation, the harmonic reducer adopts a mode of driving of a wave generator, fixing of a rigid wheel and output of a flexible wheel, when the motor drives the wave generator to rotate, the rigid wheel is fixed, the flexible wheel is used as a driven wheel to output and rotate,drive the roller transmission device bearing and the roller transmission. Because the number of teeth that mesh simultaneously is many in the harmonic reducer gear drive, and the multiple tooth meshing has mutual compensation to the error, compares in ordinary reduction gear error averaging, so makes the conveyer belt transmission precision high. Make transmission precision high through installation harmonic speed reducer ware, can be at the more stable completion work under the picking operation environment of complicacy, the transport operation parameter of the accurate control conveyer belt of being convenient for realizes collecting the stable operation of carrying of conveyer belt.
The tail end conveying device comprises two tail end conveying belts which are obliquely arranged downwards and a driving mechanism for driving the tail end conveying belts to rotate, a plurality of partition plates which are sequentially distributed along the circumferential direction are fixedly arranged on the tail end conveying belts, the space between every two adjacent partition plates is larger than the maximum overall dimension of the apples, the two tail end conveying belts are obliquely extended from the left side and the right side of the upper part of the collected conveying belts respectively, and operation platforms are arranged on the front sides of the two tail end conveying belts respectively. The clapboard of the embodiment is a round table fruit support, and the density of the round table fruit support is 965kg/m 3 The HDPE material can reduce the damage rate of the apples. The tail end conveying device of the embodiment is fixed on two sides of the front end of the collecting and conveying device through a gear shaft, and a single-piston hydraulic cylinder is installed at the bottom of the tail end conveying device. The tail end conveying device can complete the rotation operation from minus 45 degrees to 45 degrees in the horizontal direction by the meshing of the gear shaft and the gear; the hydraulic cylinder at the bottom of the conveying belt can complete 0-40 degrees of lifting operation by the tail end conveying belt, and the conveying operation after picking apples of different heights of apple trees can be completed by adjusting the rotation and lifting angle of the tail end conveying belt.
The vertical conveyer belt sets up in the discharge gate department that collects the conveyer belt, and the conveyer belt is collected to one side orientation that vertical conveyer belt moves down, and is concrete, and vertical conveyor sets up including rack-mounted main frame 27, rotation vertical conveyer belt 34 and the drive in the main frame vertical conveyer belt pivoted vertical transport drive arrangement, set firmly a plurality of rows of bearing device who arranges in proper order along circumference on the vertical conveyer belt, every row of bearing device includes that a plurality of toper fruit hold in the palm 33, and the toper fruit holds in the palm and also adopts density 965kg/m 3 The conical fruit support is fixedly connected with the vertical conveying belt in a hot melting mode, and two adjacent cones are transversely arrangedThe distance between the fruit supports is smaller than the minimum overall dimension of the apples, the large-diameter end of each conical fruit support is fixedly connected with the vertical conveying belt, the conical fruit supports incline upwards, and the included angle between the axis of each conical fruit support and the vertical conveying belt is 60 degrees. The apples classified in the collecting conveyor belt fall onto the conical fruit supports through different discharge holes to be supported, and then move downwards along with the conical fruit supports to fall into the fruit boxes of different grades.
The lower end of the main frame is fixedly connected with a collecting box 32 which is positioned below the vertical conveying belt, the vertical projections of the vertical conveying belt and the conical fruit support are positioned in the vertical projection of the collecting box, the lower end of the collecting box is provided with a collecting pipe 31 which extends into the fruit box, and the apples in the collecting box fall into the fruit box through the collecting pipe. The vertical conveyer belt of this embodiment passes through the drive of three-phase asynchronous variable frequency motor 18, and the roller is all equipped with at the upper and lower both ends of vertical conveyer belt, and vertical conveyer belt winds on the roller, and three-phase asynchronous variable frequency motor 18 rotates through the roller of vertical conveyer belt chain drive upper end to drive vertical conveyer belt and remove. The main frame is slidably mounted on a rack, a lifting device 7 for driving the main frame to slide up and down and a vertical guide device matched with the main frame are arranged on the rack, the main frame is driven to lift through a stepping motor, a lifting gear 25 is arranged in the lifting device at the position of a gathering conveyor belt discharge port, vertical racks 28 are fixedly connected to two sides of the main frame, the gear 25 is meshed with the racks 28, a stepping motor 21 drives a fruit conveying roller 22 to rotate, a roller 23 of the fruit conveying roller is rotatably connected to vertical plates 26 on two sides, the vertical plates are fixedly connected with the rack, the fruit conveying roller 22 drives the gear 25 to rotate through transmission of a long chain 24 and vertically transmits along the rack direction, and the structure for driving the vertical conveyor belt to lift through the stepping motor is the prior art and can also adopt a lead screw structure and the like; when the apples conveyed into the fruit box reach the position of the collecting pipe during picking, the vertical conveying belt and the main frame integrally move upwards along the rack, and the cyclic operation of boxing operation is completed.
A box bearing frame 13 for placing the fruit box 11 is fixedly arranged on the rack, a plurality of idler wheels for supporting the fruit box are rotatably arranged on the box bearing frame, a box falling device 12 which is obliquely arranged downwards is arranged at one end of the box bearing frame, which is far away from the rack, and a pulley which is matched with the fruit box is arranged on the box falling device 12; and a pushing oil cylinder for pushing the fruit box to the box falling device is also arranged on the box bearing frame. The fruit box falling device is located at the tail end of a vehicle chassis and used for guiding a full-load fruit box to the ground, the fruit box falling device extends from the tail end of the roller transmission device in a downward inclining mode, the fruit box falling device comprises a box falling frame and pulleys arranged on two sides of the box falling frame, guiding and supporting are provided for the fruit box, the stability of the fruit box when the fruit box falls is improved, the collision damage to apples in the fruit box falling process is reduced, the fruit box containing fruits slides down along the inclined box falling frame, and unloading is not required to be carried out manually. The below of main frame is rotated and is connected with round brush 10, and round brush 10 is driven rotatoryly by the motor, through the reciprocal fruit case that promotes of promotion hydro-cylinder, when the fruit case passes through the round brush, installs at the epaxial cylinder sprocket 29 of below roller through the transmission of cylinder chain 30, drives the round brush and rotates, utilizes the pivoted round brush to carry out the flat stand to the apple in the box.
The picking robot of this embodiment still includes control system, control system and each conveyor, elevating gear electric connection realize the accurate control to conveyer belt speed and vertical conveyer belt promotion, realize automatic, the intelligent operation of gathering in grades. The control system is integrated on a control console 1 of the driving seat 2, and a control panel is arranged on the control console 1 to realize the input of operation parameters.
As an optimization scheme, the picking robot of the embodiment further comprises a positioning and measuring instrument, the positioning and measuring instrument positions the height of the apples in the fruit box and the position of the collecting pipe in real time in the process of conveying the picked apples to the fruit box by the vertical conveying belt, when the position that the apples cross the position of the pipe opening of the collecting pipe is determined, the single chip microcomputer transmits a signal to the control system, and the control system controls the vertical conveying belt to move upwards by one working unit along the rack integrally to continue the apple boxing operation. When the sensor detects that the fruit box is fully loaded, the prompt is sent, the pushing oil cylinder pushes the fully loaded fruit box to the box falling device, and the fully loaded fruit box stably falls through the transmission of the box falling roller.
The picking method using the self-propelled apple picking robot of the embodiment comprises the following steps:
a. the frame is fixed on a vehicle chassis, a rear driving axle provides driving force, a front driving axle is connected with a steering wheel to control the advancing direction, an adjustable operation platform is arranged at the front end of a collecting conveyer belt, and workers manually fill empty fruit boxes below a vertical conveyer belt before picking and grading operation is carried out by an apple picking platform grading device; according to the actual growth condition of the apple trees, the orchard terrain and the growth environment, the speed range of each conveyer belt and the conveying speed ratio among the conveyer belts are determined through a pre-picking test, so that the picking system is ensured to operate at a reasonable speed and the apple accumulation is avoided; filling and lifting the empty fruit box, starting picking the apples, stopping the equipment in the set area when workers pick the apples, and continuously moving the equipment to the next area for picking after the picking in the set area is finished;
b. after the operation platform is started, according to the distribution density of the fruit trees and apples, the picking personnel control the operation platform to reach a proper picking position through the control rod, and the high efficiency is guaranteed to finish single picking operation. The workers on the two side operation platforms respectively place picked apples on the tail end conveying belts on the two sides, the tail end conveying belts are used for conveying the apples to the collecting conveying belt, and the apples are collected by the collecting conveying belt to be subjected to next grading boxing operation;
c. after the apples are collected by the collecting conveying belt, the apples sequentially pass through two arc-shaped guide plates which are obliquely arranged at 45 degrees above the collecting conveying belt, the vertical distance between the guide plate positioned in front and the collecting conveying belt is 90mm, and the vertical distance between the guide plate positioned in rear and the collecting conveying belt is 60mm; the apples firstly pass through the front guide plate, and apples with the diameter larger than the vertical distance between the front guide plate and the collecting conveyer belt enter the first vertical conveyer device along the front guide plate; apples with the diameter smaller than the vertical distance between the front guide plate and the collecting conveyer belt and larger than the vertical distance between the rear guide plate and the collecting conveyer belt enter a second vertical conveyer device along the rear guide plate; apples with the diameter smaller than the vertical distance between the rear guide plate and the collecting conveyer belt pass through a gap below the rear guide plate and fall into the discharge box; conveying and boxing the apples entering the vertical conveying device from top to bottom through a vertical conveying belt to finish the grading operation of the apples with different sizes; the apples in the box are flatly spread by rotating the rolling brush, and along with the increase of the apples in the box, the vertical conveying belt integrally moves upwards under the driving of the stepping motor and drives the rolling brush to move upwards together.
d. After the sensor detects that the fruit box is fully loaded, the sensor transmits a signal to the control system, the control system sends out a prompt tone and controls the pushing oil cylinder to push the fruit box to the box falling device, box falling operation is completed, after the box falling operation is completed, workers fill the empty box, a new round of circulating picking and grading operation is performed, and automatic grading picking operation of an apple orchard is achieved.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.
Claims (9)
1. The utility model provides a self-propelled apple picking robot which characterized in that: the fruit juice extractor comprises a rack (9) provided with a walking device, and an operation platform (3), a tail end conveying device (5), a collecting conveying device (19), a vertical conveying device (6) and a fruit box (11) which are arranged on the rack, wherein the tail end conveying device is positioned on one side above the operation platform, and the discharge end of the tail end conveying device extends to the position above a collecting conveying belt of the collecting conveying device;
the collecting and conveying device is positioned on one side of the vertical conveying device in the horizontal direction, and a discharge hole of the collecting and conveying device is matched with a feed hole of the vertical conveying device;
the fruit box (11) is positioned below the discharge hole of the vertical conveying device.
2. The self-propelled apple picking robot of claim 1, characterized in that: collect conveyor and include along horizontal setting collect conveyer belt and drive collect the conveyer belt by preceding drive arrangement that collects that rotates the transport backward, collect the left and right sides of conveyer belt and be equipped with the baffle respectively, seted up a plurality of discharge gates on the baffle, the back edge of every discharge gate sets firmly and extends to the guide board (8) that collect the conveyer belt top, guide board (8) are less than 90 degrees with the contained angle of fore-and-aft direction, each guide board and collect the vertical interval between the conveyer belt and reduce in proper order from preceding backward.
3. The self-propelled apple picking robot of claim 2, characterized in that: the baffle plates on the left side and the right side of the collecting conveyer belt are respectively provided with a discharge hole, the vertical conveyer devices are two and are respectively and correspondingly arranged on the left side and the right side of the collecting conveyer belt, and a material placing box for placing the rack is arranged below the rear end of the collecting conveyer belt.
4. The self-propelled apple picking robot of claim 1, characterized in that: the tail end conveying device comprises two tail end conveying belts which are arranged in a downward inclined mode and a driving mechanism for driving the tail end conveying belts to rotate, a plurality of partition plates which are distributed in sequence along the circumferential direction are fixedly arranged on the tail end conveying belts, the space between every two adjacent partition plates is larger than the maximum overall dimension of an apple, the two tail end conveying belts extend obliquely from the left side and the right side above the collected conveying belts respectively, and operation platforms are arranged on the front sides of the two tail end conveying belts respectively.
5. The self-propelled apple picking robot of claim 1, characterized in that: vertical conveyor sets up including installing main frame (27) in the frame, rotation vertical conveyer belt (34) and the drive in the main frame vertical conveying drive arrangement of vertical conveyer belt pivoted, set firmly a plurality of rows of supporting device who arranges in proper order along circumference on the vertical conveyer belt, every row of supporting device includes that a plurality of toper fruits hold in the palm (33), and the interval between two horizontal adjacent toper fruits hold in the palm is less than the minimum overall dimension of apple, and the big footpath end and the vertical conveyer belt rigid coupling that the toper fruit held in the palm, and the toper fruit holds in the palm the tilt up.
6. The self-propelled apple picking robot of claim 5, wherein: the lower end of the main frame is fixedly connected with a collecting box (32) positioned below the vertical conveying belt, the vertical projections of the vertical conveying belt and the conical fruit support are positioned in the vertical projection of the collecting box, and a collecting pipe (31) extending into the fruit box is arranged at the lower end of the collecting box.
7. The self-propelled apple picking robot of claim 5, wherein: the main frame is slidably mounted on the frame, and the frame is provided with a lifting device for driving the main frame to slide up and down and a vertical guide device matched with the main frame.
8. The self-propelled apple picking robot of claim 1, wherein: a box bearing frame (13) for placing the fruit box (11) is fixedly arranged on the machine frame, a plurality of rollers for supporting the fruit box are rotatably arranged on the box bearing frame,
one end of the box bearing frame, which is far away from the rack, is provided with a box falling device (12) which is arranged in a downward inclination manner, and the box falling device (12) is provided with a pulley which is matched with the fruit box;
and a pushing oil cylinder for pushing the fruit box to the box falling device is also arranged on the box bearing frame.
9. A picking process using the self-propelled apple picking robot of any of claims 1~8 comprising the steps of:
a. determining the speed ranges of the conveying belts and the conveying speed ratios among the conveying belts through a pre-picking test according to the actual growth condition and growth environment of the apple trees, stopping equipment in a set area when workers pick, and continuously moving to the next area to pick after picking in the set area is finished;
b. after the operation platform is started, picking personnel control the operation platform to reach a proper picking position through a control lever according to the distribution density of the apples on the fruit trees, the picked apples are respectively placed on the tail end conveying belts at two sides, the apples are conveyed to the collecting conveying belt through the tail end conveying belts, and the apples are collected through the collecting conveying belt to be subjected to next step of grading boxing operation;
c. the apples are collected by the collecting conveyer belt and then sequentially pass through two arc-shaped guide plates which are obliquely arranged at an angle of 45 degrees above the collecting conveyer belt, the apples firstly pass through the front guide plate, and the apples with the diameter larger than the vertical distance between the front guide plate and the collecting conveyer belt enter the first vertical conveyer device along the front guide plate; apples with the diameter smaller than the vertical distance between the front guide plate and the collecting conveyer belt and larger than the vertical distance between the rear guide plate and the collecting conveyer belt enter a second vertical conveyer device along the rear guide plate; apples with the diameter smaller than the vertical distance between the rear guide plate and the collecting conveyer belt pass through a gap below the rear guide plate and fall into the discharge box;
conveying and boxing the apples entering the vertical conveying device from top to bottom through a vertical conveying belt to finish grading operation of the apples with different sizes;
d. after the sensor detects that the fruit box is fully loaded, a signal is transmitted to the control system, the control system sends out a prompt and controls the pushing oil cylinder to push the fruit box to the box falling device, box falling operation is completed, after the box falling operation is completed, workers fill empty boxes, a new round of circulating picking and grading operation is performed, and automatic grading picking operation of an apple orchard is achieved.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211172212.9A CN115486269A (en) | 2022-09-26 | 2022-09-26 | Self-propelled apple picking robot and picking method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211172212.9A CN115486269A (en) | 2022-09-26 | 2022-09-26 | Self-propelled apple picking robot and picking method |
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| CN115486269A true CN115486269A (en) | 2022-12-20 |
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| CN202211172212.9A Pending CN115486269A (en) | 2022-09-26 | 2022-09-26 | Self-propelled apple picking robot and picking method |
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| CN205510921U (en) * | 2016-04-02 | 2016-08-31 | 西北农林科技大学 | Semi -automatic harvesting platform in towed orchard |
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| CN112868381A (en) * | 2021-04-02 | 2021-06-01 | 陕西科技大学 | Apple picking, conveying, sorting and boxing all-in-one machine |
| CN114568128A (en) * | 2022-04-08 | 2022-06-03 | 山东农业大学 | Traction type apple picking system and picking method |
| CN217088701U (en) * | 2022-03-03 | 2022-08-02 | 洛阳四达农机有限公司 | Self-propelled fruit picking machine convenient for fruit boxing |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201423351Y (en) * | 2008-12-24 | 2010-03-17 | 樊建勇 | Fruit grader |
| CN205510921U (en) * | 2016-04-02 | 2016-08-31 | 西北农林科技大学 | Semi -automatic harvesting platform in towed orchard |
| CN206155864U (en) * | 2016-08-31 | 2017-05-10 | 烟台杰瑞石油装备技术有限公司 | Packing equipment is carried to fruit |
| CN107409634A (en) * | 2017-08-23 | 2017-12-01 | 西北农林科技大学 | One kind plucks platform automatically based on the self-propelled orchard of GPS navigation |
| CN112868381A (en) * | 2021-04-02 | 2021-06-01 | 陕西科技大学 | Apple picking, conveying, sorting and boxing all-in-one machine |
| CN217088701U (en) * | 2022-03-03 | 2022-08-02 | 洛阳四达农机有限公司 | Self-propelled fruit picking machine convenient for fruit boxing |
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