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CN-122004050-A - Fruit and vegetable picking robot with multi-arm cooperative operation function

CN122004050ACN 122004050 ACN122004050 ACN 122004050ACN-122004050-A

Abstract

The invention discloses a fruit and vegetable picking robot with a multi-arm cooperative operation function, which relates to the field of fruit and vegetable picking and comprises a picking trolley, wherein the fruit and vegetable picking robot with the multi-arm cooperative operation function drives an installation box to move through a mechanical arm main body, after the clamping plate is positioned below the tomatoes and moves upwards to enable the tomatoes to enter the clamping plate, the first driving mechanism drives the transmission ring to rotate according to the size of the tomatoes, and then the transmission block and the clamping plate are driven to approach towards the middle. At this moment, only the first buffer air bag on the clamping plate is contacted with the tomatoes, so that the situation that the pressure is directly applied to the tomatoes by mechanical parts in the traditional picking mode is avoided, and the tomatoes are effectively prevented from being damaged due to extrusion. Simultaneously, the second drive mechanism drives the baffle and removes, blocks tomato top, forms the omnidirectional parcel, further protects tomato. The extrusion-free picking mode keeps the integrity and freshness of tomatoes to the greatest extent, reduces the damage rate in the picking process, and improves the quality of tomatoes after picking.

Inventors

  • JIN WENTING

Assignees

  • 河北石油职业技术大学

Dates

Publication Date
20260512
Application Date
20260409

Claims (8)

  1. 1. The utility model provides a fruit vegetables picking robot with multi-arm collaborative work function, includes picks dolly (1), its characterized in that, the top fixedly connected with mounting bracket (2) of picking dolly (1), fixedly connected with a plurality of arm main part (3) on mounting bracket (2), one side fixedly connected with degree of depth vision camera (4) of mounting bracket (2), the output fixedly connected with install bin (5) of arm main part (3), sliding connection has a plurality of transmission piece (6) on install bin (5), the top fixedly connected with grip block (7) of transmission piece (6), the bottom fixedly connected with of transmission piece (6) is connected with first drive mechanism of install bin (5), first drive mechanism is used for driving transmission piece (6) and grip block (7) and moves towards install bin (5) central point put together, one side fixedly connected with first buffer air bag (8) of grip block (7), sliding connection has baffle (9) on grip block (7), the bottom fixedly connected with grip block (9) has second drive mechanism (12) to carry out the transmission with second drive mechanism (9) that is connected with baffle (5).
  2. 2. The fruit and vegetable picking robot with the multi-arm collaborative work function according to claim 1, characterized in that the first transmission mechanism comprises a transmission ring (21) rotationally connected with the mounting box (5), a plurality of arc-shaped transmission grooves (22) are formed in the transmission ring (21), transmission columns (23) are slidably connected in the arc-shaped transmission grooves (22), the top ends of the transmission columns (23) are fixedly connected with the bottoms of the transmission blocks (6), and a first driving mechanism connected with the mounting box (5) is in transmission connection with the inner surface of the transmission ring (21), and the first driving mechanism is used for driving the transmission ring (21) to rotate.
  3. 3. The fruit and vegetable picking robot with the multi-arm collaborative work function according to claim 1, characterized in that the first driving mechanism comprises a rotary driving piece (31) fixedly connected with a mounting box (5), an output end of the rotary driving piece (31) is fixedly connected with a driving shaft (32), an outer surface of the driving shaft (32) is fixedly sleeved with a driving gear (33), and a transmission gear ring (34) fixedly connected with a transmission ring (21) is connected with an outer surface of the driving gear (33) in a meshed manner.
  4. 4. The fruit and vegetable picking robot with the multi-arm collaborative work function according to claim 1, characterized in that the second transmission mechanism comprises a first transmission gear (41) rotationally connected with the clamping plate (7), a first transmission rack (42) fixedly connected with the baffle plate (9) is meshed and connected with the outer surface of the first transmission gear (41), a first connecting frame (43) is fixedly connected with the mounting box (5), and a second transmission rack (44) meshed and connected with the first transmission gear (41) is fixedly connected with one side of the first connecting frame (43).
  5. 5. The fruit and vegetable picking robot with the multi-arm collaborative work function according to claim 1, wherein the cutting mechanism comprises a second connecting frame (51) fixedly connected with the mounting box (5), a transmission shaft (52) is rotatably connected to the second connecting frame (51), a cutting knife (53) is fixedly connected to the outer surface of the transmission shaft (52), and a second driving mechanism connected with the second connecting frame (51) is in transmission connection with the outer surface of the transmission shaft (52), and is used for driving the transmission shaft (52) to rotate.
  6. 6. The fruit and vegetable picking robot with the multi-arm collaborative work function according to claim 5, wherein the second driving mechanism comprises a telescopic driving piece (61) fixedly connected with a second connecting frame (51), an output end of the telescopic driving piece (61) is fixedly connected with a third transmission rack (62) which is slidably connected with the second connecting frame (51), and one side of the third transmission rack (62) is in meshed connection with a second transmission gear (63) fixedly sleeved with the transmission shaft (52).
  7. 7. The fruit and vegetable picking robot with the multi-arm cooperative work function according to claim 1, wherein a third buffer air bag (13) is fixedly connected to the top of the installation box (5).
  8. 8. The fruit and vegetable picking robot with the multi-arm collaborative work function according to claim 1, wherein a cutting mechanism is fixedly connected to the outer surface of the mounting box (5), the cutting mechanism is used for cutting off fruit and vegetable handles of fruits and vegetables, a plurality of conveying belts (10) are fixedly connected to the top of the picking trolley (1), a plurality of material receiving boxes (11) are fixedly connected to the top of the conveying belts (10), and the material receiving boxes (11) on the conveying belts (10) are sequentially large, medium and small from left to right.

Description

Fruit and vegetable picking robot with multi-arm cooperative operation function Technical Field The invention relates to a fruit and vegetable picking technology, in particular to a fruit and vegetable picking robot with a multi-arm cooperative operation function. Background In the fruit and vegetable planting industry, the picking link is a key step affecting the quality and economic benefit of fruits and vegetables. Traditional fruit and vegetable picking methods mainly rely on manual operation, however, the methods have a plurality of defects. On the one hand, the manual picking efficiency is low, the picking requirement of large-scale planting is difficult to meet, and especially in the picking season, the problem of labor shortage is particularly remarkable, so that the picking is not timely, and the maturity and quality of fruits and vegetables are affected. On the other hand, the manual picking cost is higher, and along with the continuous rising of labor price, the proportion of the picking cost in the fruit and vegetable production cost is gradually increased, so that the profit margin of a grower is compressed. Along with the development of science and technology, fruit vegetables picking robot is the same, and current robot picks and adopts the deep vision camera to discern ripe fruit, discerns the position and the size of fruit, drives mechanical clamping jaw through the arm and carries out the centre gripping through the fruit and picks to this solves the not enough of manual work picking. However, the picking mode still has some defects, when vulnerable fruits and vegetables such as tomatoes are picked, most picking robots adopt a mode of directly clamping mechanical parts, the picking mode is easy to cause extrusion damage to the tomatoes, so that the problems of damage, ecchymosis and the like on the surfaces of the tomatoes are solved, the appearance quality of the tomatoes is reduced, the fresh-keeping effect in the storage and transportation processes is also influenced, the overall quality of the tomatoes after picking is further reduced, and a plurality of difficulties are brought to subsequent storage, transportation and sales. Therefore, research and development of the picking robot capable of avoiding the squeezing damage function to fruits and vegetables in the picking process has important practical significance. Disclosure of Invention The invention aims to provide a fruit and vegetable picking robot with a multi-arm cooperative operation function, which aims to solve the problem that the surface of picked fruits and vegetables is easy to damage in the prior art. In order to achieve the aim, the fruit and vegetable picking robot with the multi-arm collaborative operation function comprises a picking trolley and is characterized in that the top of the picking trolley is fixedly connected with a mounting frame, a plurality of mechanical arm main bodies are fixedly connected to the mounting frame, one side of the mounting frame is fixedly connected with a depth vision camera, the output end of the mechanical arm main bodies is fixedly connected with a mounting box, a plurality of transmission blocks are connected to the mounting box in a sliding mode, the top of each transmission block is fixedly connected with a clamping plate, the bottom of each transmission block is fixedly connected with a first transmission mechanism connected with the mounting box, the first transmission mechanism is used for driving the transmission blocks and the clamping plates to move towards the center of the mounting box in a gathering mode, one side of each clamping plate is fixedly connected with a first buffer air bag, each clamping plate is connected with a baffle in a sliding mode, one side of each baffle is connected with a second transmission mechanism connected with the mounting box in a transmission mode, and the second transmission mechanism is used for driving the baffle to move. Further, the first transmission mechanism comprises a transmission ring which is rotationally connected with the installation box, a plurality of arc-shaped transmission grooves are formed in the transmission ring, a transmission column is connected in a sliding manner in the arc-shaped transmission grooves, the top end of the transmission column is fixedly connected with the bottom of the transmission block, a first driving mechanism which is connected with the installation box is connected with the inner surface of the transmission ring in a transmission manner, and the first driving mechanism is used for driving the transmission ring to rotate. Further, the first driving mechanism comprises a rotary driving piece fixedly connected with the mounting box, the output end of the rotary driving piece is fixedly connected with a driving shaft, the outer surface of the driving shaft is fixedly sleeved with a driving gear, and the outer surface of the driving gear is in meshed connection with a transmission gear ring fixedl