The invention discloses a large-stroke apple picking robot which comprises a self-balancing crawler chassis and a working platform. An expansion platform, a control box, a detection device, a sorting device and a visual navigation system are arranged on the working platform, and a plurality of collection boxes are further arranged on the working platform; the detection device, the sorting device and the plurality of collection boxes are sequentially arranged according to the treatment process of apple detection, sorting and collection; a picking mechanical arm unit is installed on the expansion platform, a picking gripper unit is arranged on the mechanical arm unit, and the fruit conveying pipe unit is connected with the picking mechanical arm unit; the control box comprises a first controller and a second controller. The expansion platform, the picking mechanical arm unit and the picking gripper unit are all connected with the first controller; the detection device and the sorting device are both connected with the second controller; and the self-balancing crawler chassis is connected with the visual navigation system. When the robot is used for picking, damage to apples can be effectively reduced, and the picked apples are graded according to quality. The invention further discloses a large-stroke apple picking method.
本发明公开大行程苹果采摘机器人,包括有自平衡履带底盘及工作平台;工作平台上设有拓展平台、控制箱、检测装置、分拣装置及视觉导航系统,还设有若干个收集箱;检测装置、分拣装置及若干个收集箱按照苹果检测、分拣、收集的处理过程依次布置;拓展平台上安装有采摘机械臂单元,机械臂单元上设有采摘手爪单元,还包括有输果管单元,输果管单元与采摘机械臂单元连接;控制箱包括有1号控制器及2号控制器;拓展平台、采摘机械臂单元及采摘手爪单元均与1号控制器连接;检测装置及分拣装置均与2号控制器连接;自平衡履带底盘与视觉导航系统连接。该机器人采摘时可以有效减少苹果损伤,根据品质对采摘的苹果进行分级。还公开了大行程苹果采摘方法。
Large-stroke apple picking robot and picking method
大行程苹果采摘机器人及采摘方法
18.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B07C Sortieren von Postgut , POSTAL SORTING / B25J Manipulatoren , MANIPULATORS / A01D Ernten , HARVESTING / A23N MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES, OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR , Maschinen oder Vorrichtungen zum Behandeln geernteter Früchte, Gemüse oder Blumenzwiebeln in großen Mengen, soweit nicht anderweitig vorgesehen / B62D MOTOR VEHICLES , Motorfahrzeuge |