CN212567972U

CN212567972U - Picking performance test bench for safflower picking robot

Info

Publication number: CN212567972U
Application number: CN202021766565.8U
Authority: CN
Inventors: 陈飞; 葛云; 马文霄; 郑一江; 戚祝晖; 张贺; ***
Original assignee: Shihezi University
Current assignee: Shihezi University
Priority date: 2020-08-21
Filing date: 2020-08-21
Publication date: 2021-02-19
Anticipated expiration: 2030-08-21

Abstract

The utility model relates to a safflower harvesting robot picks performance test bench, including safflower plant posture adjustment device, the horizontal motion module, vertical removal module, pick the ware, safflower plant clamping device, a control device, a collecting device, rack and platform, rack-mount is directly over the platform, the horizontal motion module is installed directly over the rack, vertical removal module sets up on the horizontal motion module, it installs on vertical removal module to pick the ware, safflower plant posture adjustment device and a control device install front side and the rear side at the platform respectively, safflower plant clamping device installs at the centre of platform, collecting device installs the rear side at safflower plant posture adjustment device. The utility model discloses can carry out safflower picking robot and pick the performance test, the parameter combination that the final definite picking performance is high lays a good foundation for safflower picking robot's research and development.

Description

Picking performance test bench for safflower picking robot

Technical Field

The utility model relates to an agricultural picking robot field, in particular to safflower picking robot picks performance test platform.

Background

At present, robot technology is widely applied to the field of agriculture, at present, harvesting robots are mainly applied to crops with clear targets such as apples and oranges, picking positioning is basically achieved through a visual recognition technology, but safflower is cluster-shaped crops formed by gathering strip-shaped filaments, space-time difference exists in the safflower, shielding and overlapping conditions are popularized, and when machine visual recognition is carried out, denoising, recognition and positioning time is long, and picking requirements of the harvesting robots cannot be met. Therefore, according to the unique growth characteristics of the safflower plants, the picking performance test bed of the safflower picking robot is designed for carrying out picking performance tests, and finally, the parameter combination with high picking performance is determined, so that a basis is provided for the research and development of the safflower picking robot.

Disclosure of Invention

The utility model mainly aims at providing a safflower picking robot picks performance test platform.

The utility model relates to a safflower harvesting robot picks performance test bench, including safflower plant posture adjustment device, the horizontal motion module, vertical removal module, pick the ware, safflower plant clamping device, a control device, a collecting device, rack and platform, rack-mount is directly over the platform, the horizontal motion module is installed directly over the rack, vertical removal module sets up on the horizontal motion module, it installs on vertical removal module to pick the ware, safflower plant posture adjustment device and a control device install front side and the rear side at the platform respectively, safflower plant clamping device installs at the centre of platform, collecting device installs the rear side at safflower plant posture adjustment device.

Safflower plant gesture adjusting device includes horizontal two-way ball screw module and vertical ball screw module. The vertical ball screw module is fixed in platform front side central authorities, and the two-way ball screw module of level is fixed on vertical ball screw module, realizes the accurate regulation of high position, and the accurate regulation of distance between the arc group is realized to the arc group install respectively on slider 2 and slider 1.

The horizontal bidirectional ball screw module comprises a bidirectional ball screw, a horizontal stepping motor, a sliding block 1, a sliding block 2, a sliding table 1, a guide optical axis 2, a screw fixing block 1, a screw tailstock 1, an arc plate group, a coupler 1, a bearing and the like.

The picking device comprises a rubber roller 1, a rubber roller 2, a gear 1, a gear 2, a motor, a hose, a shell, a rubber roller bearing, a coupler 3 and the like, wherein the rubber roller 1 and the rubber roller 2 are installed on the front side of the shell through the rubber roller bearing, the gear 1 and the gear 2 are respectively installed at one end of the rubber roller 1 and one end of the rubber roller 2, the motor and the coupler 3 are installed on the rear side of the rubber roller 1 and are connected with the rubber roller 1, a distance sensor is installed on the shell on one side of the rubber roller 1, one end of the hose is installed on the shell above the roller, and the other end.

Safflower plant clamping device include grip block 1, grip block 2, fixed angle sign indicating number 1, fixed angle sign indicating number 2, hex bolts 1, hex bolts 2, spring 1, spring 2, nut 1, nut 2, wherein fixed angle sign indicating number 1 and fixed angle sign indicating number 2 one end are fixed with grip block 1, the other end is fixed at platform central authorities, the through-hole of grip block 1 and grip block 2's both sides is passed respectively to hex bolts 1 and hex bolts 2, it is fixed through spring 1, nut 1 and spring 2, nut 2 respectively.

The working process of the utility model is as follows:

inserting the safflower plants into the gaps of the safflower plant clamping device in the center of the platform, adjusting the tightness degree of the spring 1 and the spring 2 on one side of the clamping plate 2, simulating the growth environment of the safflower plants in the field, and fixing the safflower plants in the middle of the clamping plate 1 and the clamping plate 2; the height of the horizontal bidirectional ball screw module is adjusted by controlling the vertical ball screw module positioned in the front of the platform to output linear motion, so that the height of the arc-shaped plate group is changed, the arc-shaped plate group is adaptive to the height of the safflower plants and the distribution of fruit balls, and effective clamping and obtaining of the basic positions of the fruit balls are guaranteed; the arc-shaped plate groups are driven to move towards the center of a preset safflower plant by controlling the linear bidirectional motion output by the horizontal bidirectional ball screw module, and the shape of the safflower plant is changed from a three-dimensional space shape to a two-dimensional plane shape by adjusting the distance between the arc-shaped plate groups to the condition that the safflower fruit balls are basically distributed on the same plane. Ensuring effective regulation of the morphology of the safflower plant and determination of the basic position of the safflower fruit ball; the picking device is driven by a horizontal movement module above the control rack to transversely move to the same plane with the center of the safflower fruit ball and longitudinally move to the initial picking position on one side of the arc plate group; distance sensor carries out real-time distance response and obtains the accurate position of safflower fruit ball, and the ware removal is picked in the drive of control vertical removal module and horizontal motion module, picks the ware start-up operation and picks the operation to safflower fruit ball one by one.

Drawings

Fig. 1 is the utility model relates to a safflower picking robot picks overall structure sketch map of performance test platform.

Figure 2 is the utility model discloses vertical removal module and horizontal motion module axonometric drawing.

Fig. 3 is an axonometric view of the posture adjusting device for safflower plants of the utility model.

Fig. 4 is a front view of the posture adjusting device for safflower plants of the present invention.

Fig. 5 is a side view of the posture adjusting device for safflower plants of the present invention.

Fig. 6 is a schematic view of the structure of the picking device of the present invention.

Fig. 7 is the structure diagram of the safflower plant clamping device of the utility model.

Shown in the figure: 1 is a platform, 2 is a rack, 3 is a collecting device, 4 is a horizontal bidirectional ball screw module, 5 is a vertical ball screw module, 6 is a vertical moving module, 7 is a horizontal moving module, 8 is a picking device, 9 is a control device, 10 is a safflower plant clamping device, 11 is a unidirectional ball screw, 12 is a horizontal stepping motor, 13 is a coupler 1, 14 is a screw fixing block 1, 15 is a bidirectional ball screw, 16 is a

slider

2, 17 is a guide optical axis 1, 18 is a slider 1, 19 is a screw tail block 1, 20 is a guide

optical axis

2, 21 is a fixing angle code, 22 is a

screw tail block

2, 23 is a sliding table 1, 24 is an arc plate group, 25 is a bearing, 26 is a

screw fixing block

2, 27 is a

coupler

2, 28 is a vertical stepping motor, 29 is a sliding table 2, 30 is a

rubber roller

2, 31 is a rubber roller 1, 32 is a gear 1, 33 is a coupler 3, 34 is a shell, 35 is a motor, 36 is

gear

2, 37 is distance sensor, 38 is rubber roller bearing, 39 is hose, 40 is hex bolt 1, 41 is clamping plate 1, 42 is fixed angle 1, 43 is

fixed angle

2, 44 is

hex bolt

2, 45 is spring 1, 46 is nut 1, 47 is

clamping plate

2, 48 is

spring

2, 49 is nut 2.

Detailed Description

Example 1:

referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6 and fig. 7, the utility model relates to a picking performance test stand of a safflower picking robot, which comprises a safflower plant posture adjusting device, a horizontal motion module (7), a vertical moving module (6), a picking device (8), a safflower plant clamping device (10), a control device (9), a collecting device (3), a rack (2) and a platform (1), wherein the rack (2) is arranged right above the platform (1), the horizontal motion module (7) is arranged right above the rack (2), the vertical moving module (6) is arranged on the horizontal motion module (7), the picking device (8) is arranged on the vertical moving module (6), the safflower plant posture adjusting device and the control device (9) are respectively arranged at the front side and the rear side of the platform (1), the safflower plant clamping device (10) is arranged at the center of the platform (1), the collecting device (3) is arranged at the rear side of the safflower plant posture adjusting device.

Example 2:

the difference between the present example and embodiment 1 is that the safflower plant posture adjusting device comprises a horizontal bidirectional ball screw module (4) and a vertical ball screw module (5). The vertical ball screw module (5) is fixed in the center of the front side of the platform (1), the horizontal bidirectional ball screw module (4) is fixed on the vertical ball screw module (5), the height position is accurately adjusted, the arc-shaped plate groups (24) are respectively installed on the sliding blocks (2), (16) and (1), (18), and the distance between the arc-shaped plate groups (24) is accurately adjusted.

Example 3:

the difference between the present embodiment and embodiment 1 is that the horizontal bidirectional ball screw module (4) includes a bidirectional ball screw (15), a horizontal stepping motor (12), a slider 1 (18), a slider 2 (16), a sliding table 1 (23), a guiding optical axis 2 (20), a fixed screw block 1 (14), a tail screw block 1 (19), an arc plate set (24), a shaft coupling 1 (13), a bearing (25), and the like.

Example 4:

the difference between the embodiment and the embodiment 1 is that the picker comprises a rubber roller 1 (31), a rubber roller 2 (30), a gear 1 (32), a gear 2 (36), a motor (35), a hose (39), a housing (34), a rubber roller bearing (38), a coupler 3 (33) and the like, wherein the rubber roller 1 (31) and the rubber roller 2 (30) are arranged on the front side of the housing (34) through the rubber roller bearing (38), the gear 1 (32) and the gear 2 (36) are respectively arranged on one end of the rubber roller 1 (31) and one end of the rubber roller 2 (30), the motor (35) and the coupler 3 (33) are arranged on the rear side of the rubber roller 1 (31), is connected with the rubber roller 1 (31), the distance sensor (37) is arranged on the shell (34) at one side of the rubber roller 1 (31), one end of the hose (39) is arranged on the shell (34) above the pair of rollers, and the other end is connected with the collecting device (3) arranged on the platform (1).

Example 5:

the difference between this example and embodiment 1 is that the safflower plant clamping device (10) includes a clamping plate 1 (41), a clamping plate 2 (47), a fixed corner joint 1(42), a fixed corner joint 2 (43), a hexagonal bolt 1 (40), a hexagonal bolt 2 (44), a spring 1 (45), a spring 2 (48), a nut 1 (46), and a nut 2 (49), wherein one end of the fixed corner joint 1(42) and the fixed corner joint 2 (43) is fixed with the clamping plate 1 (41), and the other end is fixed at the center of the platform (1), and the hexagonal bolt 1 (40) and the hexagonal bolt 2 (44) respectively pass through holes at two sides of the clamping plate 1 (41) and the clamping plate 2 (47) and are respectively fixed by the spring 1 (45), the nut 1 (46), the spring 2 (48), and the nut 2 (49).

Claims

1. A picking performance test bench of a safflower picking robot comprises a safflower plant posture adjusting device, a horizontal movement module (7), a vertical movement module (6), a picking device (8), a safflower plant clamping device (10), a control device (9), a collecting device (3), a rack (2) and a platform (1), the device is characterized in that the rack (2) is installed right above the platform (1), the horizontal movement module (7) is installed right above the rack (2), the vertical movement module (6) is arranged on the horizontal movement module (7), the picking device (8) is installed on the vertical movement module (6), the safflower plant posture adjusting device and the control device (9) are installed on the front side and the rear side of the platform (1) respectively, the safflower plant clamping device (10) is installed in the center of the platform (1), and the collecting device (3) is installed on the rear side of the safflower plant posture adjusting device.

2. The safflower picking robot picking performance test bench of claim 1, characterized in that safflower plant posture adjustment device includes horizontal two-way ball screw module (4) and vertical ball screw module (5), vertical ball screw module (5) is fixed at the front side center of platform (1), horizontal two-way ball screw module (4) is fixed on vertical ball screw module (5), realize the accurate regulation of height position, arc group (24) are installed respectively on slider 2 (16) and slider 1 (18), realize the accurate regulation of distance between arc group (24).

3. The safflower picking robot picking performance test bench according to claim 2, characterized in that the horizontal bidirectional ball screw module (4) comprises a bidirectional ball screw (15), a horizontal stepping motor (12), a slide block 1 (18), a slide block 2 (16), a slide table 1 (23), a guide optical axis 2 (20), a screw fixing block 1 (14), a screw tail seat 1 (19), an arc plate group (24), a shaft coupling 1 (13) and a bearing (25).

4. The safflower picking robot picking performance test bench according to claim 1, characterized in that the picker (8) comprises a rubber roller 1 (31), a rubber roller 2 (30), a gear 1 (32), a gear 2 (36), a motor (35), a hose (39), a housing (34), a rubber roller bearing (38) and a coupler 3 (33), the rubber roller 1 (31) and the rubber roller 2 (30) are installed on the front side of the housing (34) through the rubber roller bearing (38), the gear 1 (32) and the gear 2 (36) are respectively installed on the rubber roller 1 (31) and the rubber roller 2 (30), the motor (35) and the coupler 3 (33) at one end are installed on the rear side of the rubber roller (1) (31) and connected with the rubber roller 1 (31), the distance sensor (37) is installed on the housing (34) at one side of the rubber roller 1 (31), one end of the hose (39) is installed on the housing (34) above the rubber roller, the other end is connected with a collecting device (3) arranged on the platform (1).