CN212324775U - Self-propelled multi-mechanical-arm potato pickup machine based on machine vision - Google Patents
Self-propelled multi-mechanical-arm potato pickup machine based on machine vision Download PDFInfo
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- CN212324775U CN212324775U CN202021656951.1U CN202021656951U CN212324775U CN 212324775 U CN212324775 U CN 212324775U CN 202021656951 U CN202021656951 U CN 202021656951U CN 212324775 U CN212324775 U CN 212324775U
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Abstract
The utility model discloses a self-propelled multi-mechanical-arm potato pickup machine based on machine vision, which comprises a mechanical arm, an industrial camera, an aluminum profile frame, a driving motor, a conveyor belt, a speed reducer, a steering motor, a support frame, a hub motor wheel, a transmission shaft, a C-shaped mounting plate and a potato box, wherein the industrial camera is arranged at the forefront of the aluminum profile frame, the mechanical arm is arranged at two sides of the aluminum profile frame, the potato box is arranged at the rearmost of the aluminum profile frame, the C-shaped mounting plate is arranged around the bottom of the aluminum profile frame, the conveyor belt is connected with the aluminum profile frame through a bearing seat, the driving motor controls the mechanical arm, the steering motor and the speed reducer are arranged on the C-shaped mounting plate, the C-shaped mounting plate is connected with the support frame through the transmission shaft, the support frame is connected with the hub motor wheel, the speed reducer drives the transmission shaft, the potato is picked up in the work of driving motor control arm to put on corresponding the conveyer belt, powerful, can once only accomplish the potato and pick up, hierarchical and go into the case, and can realize stably walking certainly, pick up the potato and can carry out preliminary grading simultaneously, effectively reduce follow-up hierarchical work load, two arm collaborative work, improve greatly and pick up efficiency, can replace artifical the pickup, effectively solved operational environment poor, intensity of labour is big and the action is repeated boring and boring problem, guarantee to pick up the quality of back potato.
Description
Technical Field
The utility model relates to a pick up grader, in particular to machine is picked up to self-propelled many robotic arms potato based on machine vision belongs to agricultural harvest machinery field.
Background
China is a big potato planting country, but a lot of potato production areas are located in hilly and mountainous areas with complex terrains, land parcels are small and irregular, and a large-scale combine harvester cannot be suitable for use, so that a potato excavator is adopted to dig out potatoes firstly and place the potatoes on the ground, and then the potatoes are picked up in a manual picking mode, but many defects exist.
The speed is slowly picked up in the manual work, inefficiency, causes easily lou to examine, and the human cost accounts for the very big part of whole expenditures simultaneously, and direct influence economic benefits, on the other hand dust pollutes greatly, picks up the environment poor, and the manual work is picked up the mode of adopting half squatting more moreover, very easily tired, and it is healthy to bend over for a long time and pick up the harm.
SUMMERY OF THE UTILITY MODEL
The utility model provides a machine is picked up to self-propelled multi-mechanical-arm potato based on machine vision can solve the manual work effectively and pick up potato speed slow, inefficiency, and the poor harmful and the expensive problem of human cost of operation environment.
In order to solve the technical problem, the utility model provides a self-propelled multi-mechanical-arm potato pickup machine based on machine vision, which comprises mechanical arms, an industrial camera, an aluminum profile frame, a driving motor, a conveying belt, a speed reducer, a steering motor, a supporting frame, wheel hub motor wheels, a transmission shaft, a C-shaped mounting plate and a potato collecting box, wherein the industrial camera is arranged at the forefront of the aluminum profile frame, the mechanical arms are arranged at two sides of the aluminum profile frame, the potato collecting box is arranged at the rearmost of the aluminum profile frame, the C-shaped mounting plate is arranged around the bottom of the aluminum profile frame, the conveying belt is connected with the aluminum profile frame through a bearing seat, the driving motor controls the mechanical arms, the steering motor and the speed reducer are arranged on the C-shaped mounting plate, the C-shaped mounting plate is connected with the supporting frame through the transmission, and further controls the wheel steering of the hub motor.
As a preferred technical scheme of the utility model, industry camera mounted position can adjust as required.
As an optimal technical scheme of the utility model, the aluminium alloy frame is through four wheel hub electric locomotive wheel drives in bottom.
As an optimal technical scheme of the utility model, the arm is installed in pairs in aluminium alloy frame both sides.
As an optimal technical scheme of the utility model, wheel hub motor wheel self is responsible for the control and advances, and the top turns to the electric machine control and turns to.
As an optimized technical scheme of the utility model, the conveyer belt divide into big conveyer belt and little conveyer belt two kinds, and the arm is put not equidimension potato on corresponding the conveyer belt to realize that the potato is hierarchical.
The utility model discloses the beneficial effect who reaches is: this kind of grader is picked up to self-propelled multi-mechanical arm potato based on machine vision, powerful can once only accomplish the potato and pick up, classify and go into the case to can realize stably walking certainly, pick up the potato and can carry out preliminary grading simultaneously, effectively reduce follow-up hierarchical work load, two arm collaborative work, improve greatly and pick up efficiency, can replace artifical the pick up, effectively solved operational environment poor, intensity of labour is big and the action is repeated boring and boring problem, guarantee to pick up the quality of back potato.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the turning part of the present invention.
In the figure: 1. a mechanical arm; 2. an industrial camera; 3. an aluminum profile frame; 4. a drive motor; 5. a conveyor belt; 6. a speed reducer; 7. a steering motor; 8. a support frame; 9. a hub motor wheel; 10. a drive shaft; 11. a C-shaped mounting plate; 12. collect potato case.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
As shown in figures 1-2, the utility model provides a self-propelled multi-mechanical arm potato pickup machine based on machine vision, which comprises a mechanical arm 1, an industrial camera 2, an aluminum profile frame 3, a driving motor 4, a conveying belt 5, a speed reducer 6, a steering motor 7, a support frame 8, a hub motor wheel 9, a transmission shaft 10, a C-shaped mounting plate 11 and a potato collecting box 12, wherein the industrial camera 2 is arranged at the forefront of the aluminum profile frame 3, the mechanical arm 1 is arranged at two sides of the aluminum profile frame 3, the potato collecting box 12 is arranged at the rearmost part of the aluminum profile frame 3, the C-shaped mounting plate 11 is arranged around the bottom of the aluminum profile frame 3, the conveying belt 5 is connected with the aluminum profile frame 3 through a bearing seat, the driving motor 4 controls the mechanical arm 1, the steering motor 7 and the speed reducer 6 are arranged on the C-shaped mounting plate 11, the C-shaped mounting plate, the reducer 6 drives the transmission shaft 10, and then controls the steering of the wheel hub motor wheel 9.
Further, the mounting position of the industrial camera 2 can be adjusted as required, which is beneficial to identifying potatoes in a wider range.
Further, the mechanical arms 1 are installed on two sides of the aluminum profile frame 3 in pairs, so that cooperative work is facilitated, and the picking efficiency is improved.
Further, aluminum profile frame 3 is driven through four wheel hub motor wheels 9 in the bottom, and is favorable for picking up the grader and stably self-propelled.
Furthermore, the wheel hub motor wheel 9 is in charge of controlling advancing, and the steering motor 7 is arranged above the wheel hub motor wheel to control steering, so that the correct advancing direction can be ensured.
Further, conveyer belt 5 divide into big conveyer belt and little conveyer belt two kinds, and arm 1 is put not equidimension potato on corresponding conveyer belt 5, is favorable to accomplishing the potato simultaneously and grades.
The utility model discloses a theory of operation: the during operation, pick up the machine and stabilize self-propelled, turn to the direction that motor 7 passes through reduction gear 6 and transmission shaft 10 control wheel hub motor wheel 9, discern the potato position through industrial camera 2 and transmit for driving motor 4, driving motor 4 control arm 1 accomplishes planning the route and picks up the potato, pick up and put on the conveyer belt 5 that corresponds the size after accomplishing, move to 3 terminal collection potato casees 12 of aluminium alloy frame, accomplish and pick up the classification.
The utility model relates to a machine is picked up to self-propelled multi-mechanical-arm potato based on machine vision, powerful can once only accomplish the potato and pick up, hierarchical and go into the case to can realize stably walking certainly, pick up the potato and can carry out preliminary grading simultaneously, effectively reduce follow-up hierarchical work load, two arms collaborative work, improve greatly and pick up efficiency, can replace artifical the picking up, effectively solved operational environment poor, intensity of labour is big and the action is repeated dry problem, guarantee to pick up the quality of back potato.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A self-propelled multi-mechanical-arm potato pickup machine based on machine vision comprises mechanical arms (1), an industrial camera (2), an aluminum profile rack (3), a driving motor (4), a conveying belt (5), a speed reducer (6), a steering motor (7), a support frame (8), hub motor wheels (9), a transmission shaft (10), a C-shaped mounting plate (11) and a potato collecting box (12), and is characterized in that the industrial camera (2) is arranged at the forefront of the aluminum profile rack (3), the mechanical arms (1) are arranged at two sides of the aluminum profile rack (3), the potato collecting box (12) is arranged at the rearmost of the aluminum profile rack (3), the C-shaped mounting plate (11) is arranged around the bottom of the aluminum profile rack (3), the conveying belt (5) is connected with the aluminum profile rack (3) through a bearing seat, the driving motor (4) controls the mechanical arms (1), turn to motor (7) and reduction gear (6) and install on C type mounting panel (11), C type mounting panel (11) are through transmission shaft (10) joint support frame (8), support frame (8) are connected with wheel hub motor wheel (9), reduction gear (6) drive transmission shaft (10), and then control wheel hub motor wheel (9) and turn to.
2. The machine vision based self-propelled multi-robot potato picker according to claim 1, wherein the industrial camera (2) mounting position can be adjusted as required.
3. The machine vision-based self-propelled multi-arm potato pickup machine is characterized in that the mechanical arms (1) are installed on two sides of an aluminum profile frame (3) in pairs.
4. The machine vision based self-propelled multi-robot potato picker according to claim 1, wherein said aluminum profile frame (3) is driven by bottom four hub motor wheels (9).
5. The machine vision based self-propelled multi-robot potato picker according to claim 1, wherein said hub motor wheel (9) is itself responsible for controlling the travel, and the upper steering motor (7) controls the steering.
6. The machine vision-based self-propelled multi-arm potato pickup machine is characterized in that the conveying belts (5) are divided into a large conveying belt and a small conveying belt, and the mechanical arms (1) place potatoes with different sizes on the corresponding conveying belts (5) so as to realize potato grading.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021656951.1U CN212324775U (en) | 2020-08-11 | 2020-08-11 | Self-propelled multi-mechanical-arm potato pickup machine based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021656951.1U CN212324775U (en) | 2020-08-11 | 2020-08-11 | Self-propelled multi-mechanical-arm potato pickup machine based on machine vision |
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| Publication Number | Publication Date |
|---|---|
| CN212324775U true CN212324775U (en) | 2021-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021656951.1U Expired - Fee Related CN212324775U (en) | 2020-08-11 | 2020-08-11 | Self-propelled multi-mechanical-arm potato pickup machine based on machine vision |
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| CN (1) | CN212324775U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113632643A (en) * | 2021-08-06 | 2021-11-12 | 华中农业大学 | Machine is picked up to water chestnut based on machine vision |
-
2020
- 2020-08-11 CN CN202021656951.1U patent/CN212324775U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113632643A (en) * | 2021-08-06 | 2021-11-12 | 华中农业大学 | Machine is picked up to water chestnut based on machine vision |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210112 Termination date: 20210811 |
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| CF01 | Termination of patent right due to non-payment of annual fee |