CN-121986654-A - Intelligent picking robot for orchard

CN121986654ACN 121986654 ACN121986654 ACN 121986654ACN-121986654-A

Abstract

The invention discloses an intelligent picking robot for an orchard, which comprises a collecting vehicle and a picking mechanical arm. The picking mechanical arm comprises an arm body and a photoelectric picking head, wherein the photoelectric picking head comprises a composite flange, an optical drive flexible grabbing module, a shearing module and a visual camera, the optical drive flexible grabbing module is driven by photoelectric mixing, the flexible bag body is driven to deform by the thermal expansion of photo-thermal conversion nano fluid so as to realize the nondestructive grabbing of fruits, and the shearing module is independently driven so as to cut off fruit stalks. The collecting vehicle comprises a vehicle shell electric control table, a crawler wheel, a collector and a conveyer, wherein the collector comprises three layers of I-shaped turntables capable of rotating independently and a plurality of stretchable collecting bins, and the conveyer is provided with a spiral surface and a plurality of fruit outlets with gradually increased apertures along the conveying direction so as to realize automatic grading collection of fruits. According to the invention, through the cooperative arrangement of the photoelectric picking head and the grading collection device, the nondestructive grabbing and automatic grading collection integrated operation of fruits is realized, the structural design is reasonable, and the picking operation efficiency is effectively improved.

Inventors

JIANG BAI
DU XUEPING
DAI XICHAO
WU XINZHONG
WANG JIAN
HU HEFAN
Chao Zekun
MA WENQIANG
LI SITONG
ZHANG JIAYUAN
GAO ZIBO
ZHANG RENTIAN
LI SHUO
LI JINDAN

Assignees

中国矿业大学

Dates

Publication Date: 20260508
Application Date: 20260227

Claims (7)

1. The intelligent orchard picking robot comprises a collecting vehicle (1) and a picking mechanical arm (2) and is characterized in that the picking mechanical arm (2) comprises an arm body (3) and a photoelectric picking head (4), the photoelectric picking head (4) is installed on the arm body (3), the photoelectric picking head (4) comprises a composite flange (8), an optical drive flexible grabbing module (5), a shearing module (6) and a visual camera (7), the optical drive flexible grabbing module (5) is installed at the front end of the composite flange (8), the optical drive flexible grabbing module (5) comprises a rigid base (5-1), a flexible bag body (5-2) and a pressing ring (5-3), and the rigid base (5-1) comprises a mechanical connecting layer (5-4), a light source cavity (5-10), The light guide cavity (5-13) and the capsule body installation layer (5-5), the mechanical connection layer (5-4) is positioned at the top of the rigid base (5-1), the mechanical connection layer (5-4) is provided with four through holes, the light source cavity (5-10) is of a hollow structure inside the mechanical connection layer (5-4), the light guide cavity (5-13) is positioned below the light source cavity (5-10), the top and the bottom of the light guide cavity (5-13) are respectively provided with a transparent sealing window A (5-12) and a transparent sealing window B (5-14), the capsule body installation layer (5-5) is positioned at the bottom of the rigid base (5-1), the end face of the capsule body installation layer (5-5) is a flat annular sealing surface (5-6), the annular sealing surface (5-6) is provided with a threaded hole (5-7), the flexible capsule body (5-2) comprises a capsule body (5-16) and a top flange (5-17), the annular sealing surface (5-6) is tightly connected with the bottom flange (5-3) of the rigid base (5-1), the bottom flange (5-3) is tightly connected with the electric control platform (5-3), the automatic control device is characterized in that a turntable (9-1) is arranged at the top of the electric control table (9), the electric control table (9) is rotationally connected with a vehicle shell (10) through the turntable (9-1), crawler wheels (11) are arranged on two sides of the electric control table (9), the crawler wheels (11) are fixedly connected through supporting columns (11-1), a collector (12) and a conveyor (13) are arranged in the vehicle shell (10), and the collector (12) comprises a shaft A (12-1), The novel H-shaped rotary table comprises an H-shaped rotary table (12-2) and a limiting frame (12-3), wherein the shaft A (12-1) and the limiting frame (12-3) are of an integrated structure, the H-shaped rotary table (12-2) and the shaft A (12-1) are connected through a bearing (12-5) in a concentric shaft manner, three guide rails (12-4) are arranged on a lower disc of the H-shaped rotary table (12-2), three collecting bins (14) are arranged between an upper disc and a lower disc of the H-shaped rotary table (12-2), and each collecting bin (14) comprises a transition belt (14-1), a bin shell (14-2), a handle (14-3), a track (14-4), The fruit conveying device comprises a rectangular fruit inlet (14-5), a fan-shaped fruit outlet (14-6) and a bottom groove (14-7), wherein the collection bin (14) is connected with a guide rail (12-4) in a sliding way through the bottom groove (14-7), and the conveyor (13) comprises a shaft B (13-1), a spiral surface (13-2), a small fruit outlet (13-3), a medium fruit outlet (13-4) and a big fruit outlet (13-5).
2. The intelligent orchard picking robot according to claim 1, wherein the flexible bag body (5-2) is an integrally formed bowl-shaped elastic member, the flexible bag body (5-2) is made of an optical transparent silica gel material, the bag body (5-16) is of a thin-wall structure with a hollow inside, the bottom center of the bag body (5-16) is a folded grabbing opening, the top flange edge (5-17) is of a solid annular structure with the top end of the bag body (5-16) extending outwards, the center of the bag body mounting layer (5-5) is provided with an opening leading to a space below the transparent sealing window B (5-14), the optical drive flexible grabbing module (5) is internally provided with a liquid cavity (5-18), the liquid cavity (5-18) is formed by jointly enclosing the bottom inner wall of the rigid base (5-1), the lower surface of the transparent sealing window B (5-14) and the inner surface of the flexible bag body (5-2), and the liquid cavity (5-18) is filled with light-heat transfer fluid (5-19) in a nanometer mode.
3. The intelligent orchard picking robot according to claim 1, wherein the light source cavity (5-10) is provided with an annular near infrared light source module (5-11), the light guide cavity (5-13) is a funnel-shaped cavity with a large upper part and a small lower part, the side wall of the rigid base (5-1) is provided with a liquid injection channel (5-15), the inner end of the liquid injection channel (5-15) is communicated with the liquid cavity (5-18), the outer end of the liquid injection channel (5-15) is provided with a sealable threaded interface, the annular sealing surface (5-6) is provided with an O-shaped ring sealing groove (5-8) with a rectangular section, and the O-shaped ring sealing groove (5-8) is embedded with an O-shaped ring (5-9).
4. The intelligent orchard picking robot according to claim 1, wherein the shearing module (6) comprises a driving motor A (6-1), a rotating rod (6-2), a driving motor B (6-3) and a rotary cutter (6-4), the driving motor A (6-1) is installed at the front end of the composite flange (8), the rotating rod (6-2) is installed at the rotating shaft of the driving motor A (6-1), the driving motor B (6-3) is installed at the tail end of the rotating rod (6-2), the rotary cutter (6-4) is installed at the rotating shaft of the driving motor B (6-3), and the vision camera (7) is installed at the front end of the composite flange (8).
5. The intelligent picking robot for the orchard according to claim 1, wherein the small fruit outlet (13-3), the medium fruit outlet (13-4) and the large fruit outlet (13-5) are of an integrated casting structure with the spiral surface (13-2), the tail ends of the small fruit outlet (13-3), the medium fruit outlet (13-4) and the large fruit outlet (13-5) are all a section of convex plates, and the small fruit outlet (13-3), the medium fruit outlet (13-4) and the large fruit outlet (13-5) are connected with the collector (12) through embedded tracks (14-4) in the convex plates.
6. The intelligent orchard picking robot is characterized in that front and rear ends of a bottom plate of an electric control platform (9) are protruded, rectangular through holes are formed in the supporting columns (11-1), the electric control platform (9) is connected with the supporting columns (11-1) in an inserted mode through the bottom plate with the protruded front and rear ends, cavities are reserved at the left end and the right end of the supporting columns (11-1), direct-current speed reducing motors (11-2) are fixedly installed in the cavities, supporting frameworks (9-2) are arranged in the inner cavities of the electric control platform (9), triangular cavities are formed in the supporting frameworks (9-2), a control system (15) is arranged in the inner cavities of the electric control platform (9), and protrusions (9-3) are arranged on the outer sides of the rotating tables (9-1).
7. The intelligent orchard picking robot according to claim 1, wherein a groove B (10-1) is formed in the rear end of the top of the car shell (10), a circular opening (10-2) is formed in the front end of the top of the car shell (10), a door (10-3) is arranged at the rear of the car shell (10), two identical bases (10-5) are mounted on the bottom surface inside the car shell (10), through holes are formed in the middle of the bases (10-5), the shaft A (12-1) and the shaft B (13-1) are fixedly connected with the two bases (10-5) through the through holes respectively, three motor supporting frames (10-6) are arranged on one side of the inner wall of the car shell (10) at equal intervals, a friction rubber ring (10-7) is fixedly arranged on the output shaft of each motor supporting frame (10-6), a groove A (10-4) with a center column is formed in the bottom of the car shell (10), an annular groove A (10-4) is formed in the inner wall of the car shell (10-4), the rotary table (9-1) is matched with the annular clamping groove (10-9) through the bulge (9-3) on the outer side to complete rotary connection, and the vehicle shell (10) is fixedly connected with the picking mechanical arm (2) through the groove B (10-1).

Description

Intelligent picking robot for orchard Technical Field The invention relates to the technical field of agricultural machinery, in particular to an intelligent picking robot for an orchard. Background As the global population grows and consumption upgrades, market demand for quality fruit continues to expand. However, fruit picking operation depends on manpower for a long time, so that the labor intensity is high, the operation efficiency is low, and the serious challenges of the aging of agricultural labor and the shortage of seasonal labor are faced, and the picking link becomes one of the core bottlenecks for restricting the large-scale development of fruit industry. Meanwhile, in the process of grabbing fruits, the existing picking robot often causes indentation damage to soft fruits due to improper control of grabbing force, or cannot stably hold the soft fruits due to insufficient grabbing force, so that double requirements of nondestructive grabbing and reliable separation are difficult to meet. In addition, the picked fruits are mixed together, and the fruits can be packaged in a grading manner only through an additional manual sorting procedure, so that the labor cost and the operation link are further increased, and the overall production efficiency is reduced. Disclosure of Invention The invention aims to solve the technical problems of the prior art by providing an intelligent orchard picking robot which can solve the problems of the background art. The intelligent picking robot for the orchard comprises a collecting vehicle and a picking mechanical arm, and is characterized in that the picking mechanical arm comprises an arm body and a photoelectric picking head, the arm body is provided with the photoelectric picking head, the photoelectric picking head comprises a composite flange, an optical drive flexible grabbing module, a shearing module and a visual camera, the optical drive flexible grabbing module is arranged at the front end of the composite flange, the optical drive flexible grabbing module comprises a rigid base, a flexible bag body and a pressing ring, the rigid base comprises a mechanical connecting layer, a light source cavity, a light guide cavity and a bag body mounting layer, the mechanical connecting layer is positioned at the top of the rigid base, the mechanical connecting layer is provided with four through holes, the light source cavity is of a hollow structure inside the mechanical connecting layer, the light guide cavity is positioned below the light source cavity, the top and the bottom of the light guide cavity are respectively provided with a transparent sealing window A and a transparent sealing window B, the bag body mounting layer is positioned at the bottom of the rigid base, the end face of the bag body mounting layer is a flat annular sealing face, the annular sealing face is provided with a threaded hole, the flexible bag body comprises a flexible edge, the annular sealing face and the annular sealing face is tightly connected with the top flange and the top of the rigid base, and the pressing ring is tightly connected with the top sealing face; the bottom of the collecting vehicle is provided with an electric control platform, the top of the electric control platform is provided with a turntable, the electric control platform is in rotary connection with the vehicle shell through the turntable, the two sides of the electric control platform are provided with crawler wheels which are fixedly connected through supporting columns, the inside of the vehicle shell is provided with a collector and a conveyer, the collector comprises a shaft A, an I-shaped turntable and a limiting frame, the shaft A and the limiting frame are of an integrated structure, the H-shaped rotary table is connected with the shaft A through a bearing concentric shaft, three guide rails are arranged on the lower disc of the H-shaped rotary table, three collecting bins are arranged between the upper disc and the lower disc of the H-shaped rotary table, each collecting bin comprises a transition zone, a bin shell, a handle, a track, a rectangular fruit inlet, a fan-shaped fruit outlet and a bottom groove, each collecting bin is connected with the guide rail in a sliding mode through the bottom groove, and each conveyor comprises a shaft B, a spiral surface, a small fruit outlet, a medium fruit outlet and a large fruit outlet. As a further scheme of the invention, the flexible capsule body is an integrally formed bowl-shaped elastic member, the flexible capsule body is made of an optical transparent silica gel material, the capsule body is of a hollow thin-wall structure, the bottom center of the capsule body is a folded grabbing opening, the top flange edge is of a solid annular structure extending outwards from the top end of the capsule body, the center of the capsule mounting layer is provided with an opening leading to a space below the transparent sealing window B, a liquid cavity is arrang