CN212116264U - Novel fruit is picked device - Google Patents
Novel fruit is picked device Download PDFInfo
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- CN212116264U CN212116264U CN202020835779.XU CN202020835779U CN212116264U CN 212116264 U CN212116264 U CN 212116264U CN 202020835779 U CN202020835779 U CN 202020835779U CN 212116264 U CN212116264 U CN 212116264U
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Abstract
The utility model discloses a novel fruit is picked device, including supporting the base, two mesh cameras, first drive arrangement, rotary device, second drive arrangement, pendulous device, telescoping device and shearing mechanism, two mesh cameras set up on supporting the base, be provided with rotary device on the support base and be used for driving rotary device three hundred sixty degrees pivoted first drive arrangement, the last pendulous device that is provided with of rotary device, the last telescoping device that is provided with of pendulous device and the second drive arrangement that is used for driving the telescoping device luffing motion, the last third drive arrangement who is provided with shearing mechanism and is used for driving shearing mechanism and cuts fruit from the branch that is provided with of telescoping device. The utility model discloses simple structure, it is with low costs, convenient the dismantlement, adopt telescopic link manipulator structure to realize picking the free nimble control of position, improve greatly and pick efficiency, can save a large amount of manpowers, material resources, financial resources, both can be used to small-size bulk customer peasant household, also can be used to the intensive peasant household of large tracts of land, market prospect is wide.
Description
Technical Field
The utility model belongs to the technical field of the fruit picking technique and specifically relates to a novel fruit is picked device.
Background
At present, agricultural robots are mainly applied to the fields of transplanting, grafting, spraying, picking, fruit grading and the like, wherein picking is one of the most important links in fruit (fruit and pear) production, fruit tree picking robots are the fields which are most likely to be widely applied, and the two technical problems of improving the intelligent degree and reducing the production cost are needed to be solved in the practical application and the popularization application. The prior fruit picking technology in China has the defects of low picking precision, high bad fruit rate, low automation degree, larger labor consumption and the like.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The utility model aims at solving the technical problem and providing a novel fruit is picked device.
(II) technical scheme
The technical scheme of the utility model: the utility model provides a novel fruit is picked device, which comprises a supporting pedestal and is characterized by further comprising, two mesh cameras, first drive arrangement, rotary device, second drive arrangement, pendulous device, telescoping device and shearing mechanism, two mesh cameras set up on supporting the base, be provided with rotary device on the support base and be used for driving rotary device three hundred sixty degrees pivoted first drive arrangement, the last pendulous device that is provided with of rotary device, the last telescoping device that is provided with of pendulous device and is used for driving the second drive arrangement of telescoping device luffing motion, the last third drive arrangement that is provided with shearing mechanism and is used for driving shearing mechanism and cuts fruit from the branch that is provided with of telescoping device.
Preferably, the rotating device comprises a first supporting plate, a speed reducer, a first supporting rod, a second supporting plate and a first bearing with a seat, the bearing with the seat is arranged on the second supporting plate, the output end of the speed reducer is inserted into the bearing of the first bearing with the seat, the bottom of the speed reducer is fixedly connected with the first supporting plate, the first supporting rod is arranged on the second supporting plate, and the second supporting rod is arranged on the first supporting rod.
Preferably, the oscillating device comprises a second rolling bearing and a first rotating rod, and the first rotating rod is inserted in the second rolling bearing.
Preferably, the telescoping device includes inner tube, outer tube, fourth drive arrangement, lead screw, movable block, spacer sleeve, leads positive pipe and connecting rod, and outer tube one end bottom is provided with fourth drive arrangement, and the lead screw setting is in the outer tube and lead screw one end is connected with fourth drive arrangement, and the lead screw other end is provided with the spacer sleeve, and the movable block slidable sets up on the lead screw, and outer tube one end is provided with leads positive pipe, and inner tube one end is passed and is led positive pipe and be connected with the movable block, and the inner tube top is provided with the connecting rod.
Preferably, the shearing device comprises an outer rod, a shearing rod, a cutter and a fixing rod, one end of the outer rod is connected with one end of the fixing rod, one end of the shearing rod is rotatably connected with the fixing rod, and the cutter is arranged on the shearing rod.
Preferably, the third drive arrangement is including fixed box, the steering wheel, the master gear, first driven gear, the second bull stick, the third is taken the seat bearing, second driven gear and connecting block, fixed box outside one side is connected with the connecting block, fixed box inside one side is provided with steering wheel and two third and is taken the seat bearing, be provided with the master gear on the rotation axis of steering wheel, second bull stick one end is inserted in establishing the bearing on the third is taken the seat bearing, fixed box one side is worn out to the second bull stick other end, be provided with second driven gear on two second bull sticks respectively, two second driven gear meshes, first driven gear sets up on one of them second bull stick, first driven gear meshes with the master gear.
Preferably, the telescopic device further comprises a stabilizer, and the stabilizer is connected with the telescopic device and the third driving device.
Preferably, the device further comprises a control system, and the control system is used for driving each driving device to act.
(III) advantageous effects
The utility model has the advantages that: the utility model discloses simple structure, it is with low costs, convenient the dismantlement, adopt telescopic link manipulator structure to realize picking the free nimble control of position, improve greatly and pick efficiency, can save a large amount of manpowers, material resources, financial resources, both can be used to small-size bulk customer peasant household, also can be used to the intensive peasant household of large tracts of land, market prospect is wide.
Drawings
FIG. 1 is a perspective view of the overall structure of the preferred embodiment of the present invention;
FIG. 2 is a front view of the overall structure of the preferred embodiment of the present invention;
FIG. 3 is a perspective view of a rotating device in a preferred embodiment of the present invention;
FIG. 4 is a front view of a rotary device in a preferred embodiment of the present invention;
FIG. 5 is a perspective view of a portion of the components of the preferred embodiment of the present invention;
FIG. 6 is a top view of the rotating assembly in a preferred embodiment of the present invention showing the telescoping assembly, shearing assembly, third drive assembly and stabilizer in a perspective view;
fig. 7 is a cross-sectional view of the telescopic device in the preferred embodiment of the present invention;
FIG. 8 is an enlarged view of a portion of FIG. 7 at A;
FIG. 9 is a perspective view of the preferred embodiment of the present invention showing the connection between the shearing device and the third driving device;
FIG. 10 is a bottom view of the shearing device and the third driving device in a preferred embodiment of the present invention;
FIG. 11 is a simplified perspective view of a stabilizer in accordance with a preferred embodiment of the present invention;
FIG. 12 is a flow chart of the upper computer processing in the preferred embodiment of the present invention;
fig. 13 is a schematic diagram of a picking system in a preferred embodiment of the present invention;
fig. 14 is a flowchart of the control procedure of the picking apparatus according to the preferred embodiment of the present invention.
Reference numerals: the device comprises a supporting base 1, a binocular camera 2, a first driving device 3, a rotating device 4, a first supporting plate 41, a speed reducer 42, a first supporting rod 43, a second supporting rod 44, a second supporting plate 45, a first belt seat bearing 46, a second driving device 5, a swinging device 6, a second belt seat bearing 61, a first rotating rod 62, a telescopic device 7, an inner pipe 71, an outer pipe 72, a fourth driving device 73, a screw rod 74, a moving block 75, a blocking sleeve 76, a guide pipe 77, a connecting rod 78, a shearing device 8, an outer rod 81, a shearing rod 82, a cutter 83, a fixing rod 84, a third driving device 9, a fixing box 91, a steering engine 92, a main gear 93, a first driven gear 94, a second rotating rod 95, a third belt seat bearing 96, a second driven gear 97, a connecting block 98 and a stabilizer 10.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 14, a novel fruit is picked device, including supporting base 1, two mesh cameras 2, first drive arrangement 3, rotary device 4, second drive arrangement 5, pendulous device 6, telescoping device 7 and shearing mechanism 8, two mesh cameras 2 set up on supporting base 1, be provided with rotary device 4 on the supporting base 1 and be used for driving rotary device 4 three hundred sixty degrees pivoted first drive arrangement 3, be provided with pendulous device 6 on the rotary device 4, be provided with telescoping device 7 on the pendulous device 6 and be used for driving telescoping device 7 luffing motion's second drive arrangement 5, be provided with shearing mechanism 8 on the telescoping device 7 and be used for driving third drive arrangement 9 that shearing mechanism 8 cut fruit from the branch. Specifically, the binocular camera 2 is fixed on the support base 1 through a support rod.
As a preferred embodiment of the present invention, it may also have the following additional technical features:
in this embodiment, the rotating device 4 includes a first supporting plate 41, a speed reducer 42, a first supporting rod 43, a second supporting rod 44, a second supporting plate 45 and a first pedestal bearing 46, the second supporting plate 45 is provided with the pedestal bearing 46, the output end of the speed reducer 42 is inserted into the bearing of the first pedestal bearing 46, the bottom of the speed reducer 42 is fixedly connected with the first supporting plate 41, the second supporting plate 45 is provided with the first supporting rod 43, and the first supporting rod 43 is provided with the second supporting rod 44. Specifically, the first supporting plate 41 is fixedly connected with the supporting base 1, the input end of the speed reducer 42 is connected with the first driving device 3, the first driving device 3 works to drive the output end of the speed reducer 42 to work, that is, the output end of the speed reducer 42 is driven to rotate, so that the whole rotating device 4 can rotate by three hundred sixty degrees, and the speed reducer 42 plays a role in matching rotating speed and transmitting torque between a prime mover and a working machine or an actuating mechanism, and the structure and the principle of the speed reducer are well known to those skilled in the art and are not described in detail herein; the first driving device 3 is a base motor.
In the present embodiment, the swing device 6 includes a second bearing 61 with a seat and a first rotating lever 62, and the first rotating lever 62 is inserted in the second bearing 61 with a seat. Specifically, the second rolling bearing 61 is fixed on the second support rod 44, one of the first rotating rods 62 is connected with the second driving device 5, and the second driving device 5 is a swing arm motor.
In this embodiment, the telescopic device 7 includes an inner tube 71, an outer tube 72, a fourth driving device 73, a lead screw 74, a moving block 75, a blocking sleeve 76, a guiding tube 77 and a connecting rod 78, the fourth driving device 73 is disposed at the bottom of one end of the outer tube 72, the lead screw 74 is disposed in the outer tube 72, one end of the lead screw 74 is connected to the fourth driving device 73, the blocking sleeve 76 is disposed at the other end of the lead screw 74, the moving block 75 is slidably disposed on the lead screw 74, the guiding tube 77 is disposed at one end of the outer tube 72, one end of the inner tube 71 passes through the guiding tube 77 and is connected to the moving block 75, and the connecting rod. Specifically, the outer tube 72 is connected to the first rotating rod 62, and the fourth driving device 73 is a telescopic rod motor.
In this embodiment, the shearing device 8 includes an outer rod 81, a shearing rod 82, a cutter 83 and a fixing rod 84, one end of the outer rod 81 is connected with one end of the fixing rod 84, one end of the shearing rod 82 is rotatably connected with the fixing rod 84, and the cutter 83 is arranged on the shearing rod 82.
In this embodiment, the third driving device 9 includes a fixed box 91, a steering gear 92, a main gear 93, a first driven gear 94, a second rotating rod 95, a third bearing with seat 96, a second driven gear 97 and a connecting block 98, one side of the outside of the fixed box 91 is connected to the connecting block 98, one side of the inside of the fixed box 91 is provided with the steering gear 92 and two third bearings with seat 96, the main gear 93 is arranged on a rotating shaft on the steering gear 92, one end of the second rotating rod 95 is inserted into a bearing on the third bearing with seat 96, the other end of the second rotating rod 95 penetrates through one side of the fixed box 91, the two second rotating rods 95 are respectively provided with the second driven gear 97, the two second driven gears 97 are engaged, the first driven gear 94 is arranged on one of the second rotating rods 95, and the first driven gear 94 is engaged with the main gear 93. Specifically, the other end of the shearing rod 82 is rotatably connected with the second rotating rod 95, the other end of the outer rod 81 is fixedly connected with the fixing box 91, and the connecting block 98 is fixedly connected with the connecting rod 78; steering gear 92 is the end effector motor of fig. 13.
In this embodiment, still include stabilizer 10, stabilizer 10 is connected with telescoping device 7 and third drive arrangement 9, and the contained angle that forms with ground after telescoping device 7 swings each time is different, and the effect of stabilizer 10 can the automatically regulated shearing mechanism 8 position, makes shearing mechanism 8 keep being parallel relatively with ground throughout, reaches that shearing mechanism 8 can both cut the fruit pedicle of a fruit after telescoping device 7 swings different angles. Specifically, the stabilizer is developed from a gyroscope complying with the law of conservation of angular momentum, and actually comprises three gyroscopes, each of which has one dimension, so that the terms yaw axis, pitch axis, and roll axis are used.
In this embodiment, the device further includes a control system, and the control system is configured to drive each driving device to operate. Specifically, the control system comprises an upper computer, a lower computer STM32, motor drivers, a power supply and the like, wherein the upper computer opens a computer vision library through opencv, the images collected by the camera are subjected to Gaussian filtering, Canny edge detection, image opening operation, expansion and contour extraction to identify and position fruits, the binocular camera is calibrated by combining a Zhang-Zhengyou binocular calibration method, three-dimensional reconstruction is carried out on fruits through image distortion correction and stereo matching, a robot kinematics inverse solution is carried out on a target which is subjected to three-dimensional reconstruction by adopting a geometric method, and the inverse solution result is sent to a lower machine STM32 through a serial port, the lower machine drives a base to rotate, an upright column sliding table to lift and a cross arm sliding table to advance and retreat, so that a picking actuating mechanism reaches the position of the fruit, and then the stepping motor controls the picking actuating mechanism to pick the fruits, thereby realizing the automatic picking of the fruits.
The working principle is as follows:
after the binocular camera 2 collects images, Gaussian filtering, Canny edge detection, image division operation, expansion and contour extraction are carried out on the collected images to identify and position fruits, the binocular camera 2 is calibrated by combining a Zhang-Zhengyou binocular calibration method, three-dimensional reconstruction is carried out on the fruits through image distortion correction and three-dimensional matching, the robot kinematics inverse solution is carried out on the three-dimensional reconstructed target by adopting a geometric method, the inverse solution result is sent to a lower computer STM32 through a serial port, the lower computer controls a first driving device 3 to act and drive a rotating device 4 to rotate, the lower computer controls a second driving device 5 to drive a telescopic device 7 to act, after a shearing device 8 reaches a preset position, the lower computer controls a steering engine 92 to act and drive a first driven gear 94 to rotate, so that two second rotating rods 95 rotate, so that two cutters 83 contact with each other to shear the fruits, the fruit picking is realized.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a novel fruit is picked device which characterized in that: the fruit tree pruning machine comprises a supporting base (1), a binocular camera (2), a first driving device (3), a rotating device (4), a second driving device (5), a swinging device (6), a telescopic device (7) and a shearing device (8), wherein the binocular camera (2) is arranged on the supporting base (1), the supporting base (1) is provided with the rotating device (4) and the first driving device (3) used for driving the rotating device (4) to rotate at three hundred and sixty degrees, the rotating device (4) is provided with the swinging device (6), the swinging device (6) is provided with the telescopic device (7) and the second driving device (5) used for driving the telescopic device (7) to swing up and down, and the telescopic device (7) is provided with the shearing device (8) and the third driving device (9) used for driving the shearing device (8) to shear fruits from branches.
2. A novel fruit picking device according to claim 1, characterised in that: the rotating device (4) comprises a first supporting plate (41), a speed reducer (42), a first supporting rod (43), a second supporting rod (44), a second supporting plate (45) and a first bearing with a seat (46), the bearing with the seat (46) is arranged on the second supporting plate (45), the output end of the speed reducer (42) is inserted into the bearing of the first bearing with the seat (46), the bottom of the speed reducer (42) is fixedly connected with the first supporting plate (41), the first supporting rod (43) is arranged on the second supporting plate (45), and the second supporting rod (44) is arranged on the first supporting rod (43).
3. A novel fruit picking device according to claim 1, characterised in that: the swinging device (6) comprises a second bearing with a seat (61) and a first rotating rod (62), and the first rotating rod (62) is inserted in the second bearing with a seat (61).
4. A novel fruit picking device according to claim 1, characterised in that: the telescopic device (7) comprises an inner tube (71), an outer tube (72), a fourth driving device (73), a lead screw (74), a moving block (75), a blocking sleeve (76), a guide tube (77) and a connecting rod (78), wherein the fourth driving device (73) is arranged at the bottom of one end of the outer tube (72), the lead screw (74) is arranged in the outer tube (72), one end of the lead screw (74) is connected with the fourth driving device (73), the blocking sleeve (76) is arranged at the other end of the lead screw (74), the moving block (75) is arranged on the lead screw (74) in a sliding mode, the guide tube (77) is arranged at one end of the outer tube (72), the guide tube (77) is arranged at one end of the inner tube (71) in a penetrating mode and connected with the moving block (75), and the connecting rod.
5. A novel fruit picking device according to claim 1, characterised in that: the shearing device (8) comprises an outer rod (81), a shearing rod (82), a cutter (83) and a fixing rod (84), one end of the outer rod (81) is connected with one end of the fixing rod (84), one end of the shearing rod (82) is rotatably connected with the fixing rod (84), and the cutter (83) is arranged on the shearing rod (82).
6. A novel fruit picking device according to claim 1, characterised in that: the third driving device (9) comprises a fixed box (91), steering engines (92), a main gear (93), a first driven gear (94), a second rotating rod (95), third bearings with seats (96), a second driven gear (97) and a connecting block (98), one side of the outside of the fixed box (91) is connected with the connecting block (98), one side of the inside of the fixed box (91) is provided with the steering engines (92) and the two third bearings with seats (96), the main gear (93) is arranged on a rotating shaft on the steering engines (92), one end of the second rotating rod (95) is inserted into a bearing on the third bearing with seats (96), the other end of the second rotating rod (95) penetrates out of one side of the fixed box (91), the two second rotating rods (95) are respectively provided with a second driven gear (97), the two second driven gears (97) are meshed, the first driven gear (94) is arranged on one of the second rotating rods (95), the first driven gear (94) is engaged with the main gear (93).
7. A novel fruit picking device according to claim 1, characterised in that: the device also comprises a stabilizer (10), wherein the stabilizer (10) is connected with the telescopic device (7) and the third driving device (9).
8. A novel fruit picking device according to claim 1, characterised in that: the device also comprises a control system, and the control system is used for driving each driving device to act.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020835779.XU CN212116264U (en) | 2020-05-19 | 2020-05-19 | Novel fruit is picked device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020835779.XU CN212116264U (en) | 2020-05-19 | 2020-05-19 | Novel fruit is picked device |
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| Publication Number | Publication Date |
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| CN212116264U true CN212116264U (en) | 2020-12-11 |
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| CN202020835779.XU Active CN212116264U (en) | 2020-05-19 | 2020-05-19 | Novel fruit is picked device |
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| CN (1) | CN212116264U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111418351A (en) * | 2020-05-19 | 2020-07-17 | 江西农业大学 | Fruit picking device |
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2020
- 2020-05-19 CN CN202020835779.XU patent/CN212116264U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111418351A (en) * | 2020-05-19 | 2020-07-17 | 江西农业大学 | Fruit picking device |
| CN111418351B (en) * | 2020-05-19 | 2023-08-18 | 江西农业大学 | Fruit picking device |
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