CN207266541U - Safflower picking robot - Google Patents
Safflower picking robot Download PDFInfo
- Publication number
- CN207266541U CN207266541U CN201721274476.XU CN201721274476U CN207266541U CN 207266541 U CN207266541 U CN 207266541U CN 201721274476 U CN201721274476 U CN 201721274476U CN 207266541 U CN207266541 U CN 207266541U
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- CN
- China
- Prior art keywords
- safflower
- picking
- running gear
- collection
- swing arm
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Abstract
A kind of safflower picking robot, including running gear, image collecting device, picker, filigree collection device, power set and control device.The running gear is characterized as crawler type traveling trolley；Described image harvester is installed on the rearward end of running gear, including the binocular camera on camera support and stent；The picker is installed in the six degree of freedom picking mechanical arm of moving device medium position, and the stepper motor installed in each swing arm joint；The filigree collection device includes defeated colored hose, collection flower case, strainer, fan and fan housing, wherein collection flower case is connected by defeated colored hose with the end picking head in picker, and the front end for being fixedly placed in running gear is bolted；Power set and the control device office is installed on the bottom of moving device.The utility model can realize the automatic identification to safflower, picking and collection, whole without manually participating in, and liberate labour completely, can provide power for the great-leap-forward development of safflower industry.
Description
Technical field
The utility model designs a kind of safflower picking robot, and especially suitable for picking the safflower filament of phase in full bloom, belongs to
Field is harvested in agricultural machinery.
Background technology
Safflower is a kind of very high crop of economic value, is widely used in the fields such as pigment, Chinese medicine, health products, Xinjiang
It is its main original producton location.Increasingly vigorous with the market safflower demand, cultivated area constantly expands, but the picking of safflower
Main still rely on is accomplished manually, and picking amount is only 15 kg or so per capita, and lack of labor phenomenon is increasingly apparent；And manually
During picking, it need to bend over to capture, safflower plant is covered with fine strip shape acupuncture, and long working not only causes the body of peasant household certain
Fatigue damage, and due to the erosion of filigree haematochrome, different degrees of infringement is equally caused to finger.
Develop with the Quick mechanicalization in agriculture harvest field, it is red to develop a kind of quick, efficient, accurate intelligence picking
Flower robot has important strategic importance, and simultaneously for increase Xinjiang people income, the long peace of stable society also has important
Social value.But do not occur a kind of picking robot for being suitable for picking safflower filament currently on the market, document report
Most of safflower harvest machines are still under test, it is necessary to could complete harvesting work by manually participation.Therefore, develop a kind of
Safflower picking robot that is intelligent, efficient, precisely identifying, is one of necessary condition for solving safflower picking problem.
Utility model content
In order to overcome problem present in background technology, the utility model provides a kind of safflower picking robot, purpose
It is to provide a kind of full-automatic, Softening of intelligent machine, liberates labour completely, promotes the scale hair of safflower industry
Exhibition.
To achieve these goals, the technical solution of the utility model is as follows：A kind of safflower picking robot, including walking
Device, image collecting device, picker, filigree collection device, power set and control device.The running gear is characterized as
Crawler type traveling trolley, using motor as driver, effect is prevented because farmland soil is uneven, the phenomenon that miriness is skidded；The figure
As harvester be installed on running gear rearward end, including be bolted be installed on moving device on camera support, with
And rotating binocular camera up and down can be carried out；The picker is six degree of freedom picking mechanical arm, including female arm,
Swing arm I, swing arm II, swing arm III, swing arm IV, end picking head, and the stepper motor installed in swing arm joint, mother's arm
It is bolted to connection installed in the middle part of running gear；The filigree collection device includes defeated colored hose, collection flower case, filter
Net, fan and fan housing, wherein collection flower case is connected by defeated colored hose with the end picking head in picker, and pass through spiral shell
Tether and connect the front end for being fixedly placed in running gear；The power set are the storage battery that can carry out cycle charging, and installation is expert at
The bottom of walking apparatus；The control device can be to running gear, image collecting device, picker, filigree collection device and dynamic
Power apparatus is automatically controlled, installed in the bottom of running gear.
Preferably, the moving device is crawler type traveling trolley, situation of the wheeled construction in soil miriness is avoided
The generation of lower slipping phenomenon, at the same will not because of being uneven for field difficulty in walking.
Preferably, the picker is six degree of freedom picking mechanical arm, and each swing arm include female arm by
One stepper motor is driven, and can carry out exhaustive picking to the both sides safflower of process；The end picking head is pair roller type
Picking structure, can carry out not damaged picking to safflower.
Preferably, described image harvester is binocular stereo camera, the three-dimensional coordinate of safflower can be obtained.
Preferably, the filigree collection device uses aspiration principle, the air-flow suction produced by fan is by safflower by end
End picking head is conveyed into collection flower case, is provided with strainer between collection flower case and fan, can be prevented filigree from being suctioned out by fan outside case.
The course of work of the utility model is as follows：It is double when safflower picking robot carries out safflower picking operation in field
The safflower image of shooting is passed to controller by lens camera, and the three-dimensional coordinate of safflower is obtained after via controller analysis,
Then signal is passed into picker and running gear；When running gear is close to safflower target proximity, stepping
Motor drive machinery arm is further by end picking head close to safflower target, and then the implementation of motor driving end picking head is to filigree
Picking；The filigree picked can be under the action of the negative-pressure air-flow that collection flower case inner blower produces, through above the picking head of end
Through hole enter defeated colored hose, be finally delivered into collection flower case.
Compared to current safflower harvest machinery, the beneficial effects of the utility model are, the picking of safflower filament no longer by
Manually complete, but completed by a kind of full-automatic, intelligent machine safflower picking robot, whole process is not required artificial ginseng
With having liberated labour completely, the great-leap-forward development for realizing safflower industry has important impetus.
Brief description of the drawings
Fig. 1 is the utility model overall structure side view.
Fig. 2 is the utility model overall structure top view.
Fig. 3 is the utility model mechanical arm overall structure diagram.
Fig. 4 spends case overall structure diagram for the utility model collection.
Fig. 5 is the utility model end picking head structure diagram.
Shown in figure：1 is running gear, and 2 be camera mount, and 3 be binocular camera, and 4 be female arm 5, swing arm I, and 6 are
Arm II, 7 be swing arm III, and 8 be swing arm IV, and 9 be end picking head, and 10 be stepper motor, and 11 be defeated colored hose, and 12 be collection flower case,
13 be fan, and 14 be strainer, and 15 be fan housing.
Embodiment
The preferred embodiment of the utility model is described in detail below in conjunction with the accompanying drawings, is facilitated the technical staff to understand.
Embodiment 1：
As Figure 1-Figure 5, the utility model discloses a kind of safflower picking robot, it is characterised in that：The safflower
Picking robot mainly includes running gear 1, image collecting device, picker, filigree collection device, power set and control
Device.The running gear 1 is crawler type traveling trolley, it is characterised in that with roller drive belt, then drives whole device
Advance；Described image harvester mainly includes camera mount 2 and binocular camera 3, and camera mount 2 is bolted
Installed in the rear end of running gear 1, binocular camera 3 is installed above camera support, and can realize rotation up and down；Institute
It is mainly sixdegree-of-freedom simulation structure to state picker, including to be bolted the female arm 4 being installed in the middle part of running gear 1,
The swing arm I 5 being connected with female arm 4, the swing arm II 6 being connected with swing arm I 5, the swing arm III 7 being connected with swing arm II 6, connects with swing arm III 7
The swing arm IV 8 connect, is finally end picking head 9, has a stepper motor 10 between each structure as driving, control is often
The rotation of one swing arm；The filigree collection device is characterized in that including defeated colored hose 11, collection flower case 12, fan 13, strainer 14
With fan housing 15, the defeated colored hose 11 for it is a kind of can free bend siphunculus, end picking head 9 and the colored case 12 of collection are connected
Connect, the fan 13 can produce air-flow suction and spend the filigree inspiration collection picked in case 12, the collection flower case 12 and fan
Strainer 14 is installed, it is therefore an objective to prevent filigree to be lost between 13；The power set and control device are installed in running gear 1
Bottom.
Embodiment 2：
This example is pair roller type safflower picking head difference lies in the end picking head 9 with embodiment 1, and roller gap is
Filigree, drawing can be extruded into picking head using the frictional force of roller by 5 mm, while is arranged on the defeated of end picking head top
Filigree after fancy top can be picked conveniently is directly entered defeated colored hose.
Embodiment 3：
This example is connected difference lies in binocular camera 3 with embodiment 1 by redundancy structure with camera mount 2, can
Realize being freely rotated up and down, and the three-dimensional coordinate of safflower can be obtained, what one of camera obtained is safflower
X and Y coordinates information, another camera obtain for Z coordinate information, coordinate information can be transmitted by the analysis of controller
To running gear 1 and picker.
Above-described embodiment is only the preferable example of the utility model, is not the limit to the utility model embodiment
Fixed, all any modification, equivalent and improvement made within the utility model spirit and principle etc., should be included in this reality
Within new claims.
Claims (5)
- A kind of 1. safflower picking robot, mainly including running gear（1）, image collecting device, picker, filigree collect dress Put, power set and control device；The running gear（1）For crawler type traveling trolley, it is characterised in that drive skin with roller Band, then drives whole device to advance；Described image harvester mainly includes camera mount（2）And binocular camera（3）, Camera mount（2）It is bolted and is installed on running gear（1）Rear end, binocular camera（3）Installed in camera support Top, and can realize rotation up and down；The picker is mainly sixdegree-of-freedom simulation structure, including with bolt Connection is installed on running gear（1）Female arm at middle part（4）, with female arm（4）The swing arm I of connection（5）, with swing arm I（5）Connection is moved Arm II（6）, with swing arm II（6）The swing arm III of connection（7）, with swing arm III（7）The swing arm IV of connection（8）, finally picked for end Head（9）, have a stepper motor between each structure（10）As driving, the rotation of each swing arm is controlled；The flower Silk collection device is characterized in that including defeated colored hose（11）, collection flower case（12）, fan（13）, strainer（14）And fan housing （15）, the defeated colored hose（11）For it is a kind of can free bend siphunculus, by end picking head（9）With collection flower case（12）Connection, The fan（13）Air-flow suction can be produced the filigree inspiration collection picked is spent into case（12）It is interior, the collection flower case（12）And wind Fan（13）Between strainer is installed（14）, it is therefore an objective to prevent filigree to be lost in；The power set and control device, which are respectively mounted, is expert at Walking apparatus（1）Bottom.
- 2. safflower picking robot according to claim 1, it is characterised in that using crawler type traveling trolley as running gear.
- 3. safflower picking robot according to claim 1, it is characterised in that image collecting device is mainly taken the photograph including binocular Camera（3）, pass through redundancy structure and camera mount（2）It is attached, and can realizes being freely rotated up and down.
- 4. safflower picking robot according to claim 1, it is characterised in that end picking head（9）For pair roller type picking side Formula, its defeated fancy top is in the surface of roller.
- 5. safflower picking robot according to claim 1, it is characterised in that picker is six degree of freedom picking machine machine Tool arm, using stepper motor as type of drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721274476.XU CN207266541U (en) | 2017-09-30 | 2017-09-30 | Safflower picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721274476.XU CN207266541U (en) | 2017-09-30 | 2017-09-30 | Safflower picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207266541U true CN207266541U (en) | 2018-04-24 |
Family
ID=61954775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721274476.XU Expired - Fee Related CN207266541U (en) | 2017-09-30 | 2017-09-30 | Safflower picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207266541U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107637279A (en) * | 2017-09-30 | 2018-01-30 | 石河子大学 | Safflower picking robot |
| CN108391507A (en) * | 2018-05-10 | 2018-08-14 | 石河子大学 | A kind of safflower picking robot |
| CN111492802A (en) * | 2020-05-15 | 2020-08-07 | 四川省农业科学院经济作物育种栽培研究所 | Intelligent asparagus picking robot |
| CN114503833A (en) * | 2020-11-17 | 2022-05-17 | 新疆农业大学 | Safflower picking parallel robot |
-
2017
- 2017-09-30 CN CN201721274476.XU patent/CN207266541U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107637279A (en) * | 2017-09-30 | 2018-01-30 | 石河子大学 | Safflower picking robot |
| CN108391507A (en) * | 2018-05-10 | 2018-08-14 | 石河子大学 | A kind of safflower picking robot |
| CN111492802A (en) * | 2020-05-15 | 2020-08-07 | 四川省农业科学院经济作物育种栽培研究所 | Intelligent asparagus picking robot |
| CN114503833A (en) * | 2020-11-17 | 2022-05-17 | 新疆农业大学 | Safflower picking parallel robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180424 Termination date: 20180930 |
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| CF01 | Termination of patent right due to non-payment of annual fee |