CN212786681U - Shed-planting strawberry picking machine - Google Patents
Shed-planting strawberry picking machine Download PDFInfo
- Publication number
- CN212786681U CN212786681U CN202021329341.0U CN202021329341U CN212786681U CN 212786681 U CN212786681 U CN 212786681U CN 202021329341 U CN202021329341 U CN 202021329341U CN 212786681 U CN212786681 U CN 212786681U
- Authority
- CN
- China
- Prior art keywords
- strawberry
- mechanical arm
- picking
- flat
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to an agricultural machinery equipment technical field, concretely relates to strawberry picking machine is planted to canopy, lay the guide rail during use in externally ridge way earlier, thereby first motor drive wheel rotates and drives supporting mechanism and picking mechanism along the rail mobility, near the strawberry of waiting to pick is arrived until arriving, arm length direction removes is indulged to first drive assembly drive flat-bed machine arm, make the hand claw highly align to wait to pick the strawberry, then second drive assembly drive flat-bed machine arm removes along self length direction, make the hand claw towards waiting to pick the strawberry and remove, the closed fruit stalk in order to cut off the strawberry of steering wheel drive hand claw, the strawberry falls into the storage basket promptly, accomplish the picking work of a strawberry, it can to follow a plurality of strawberries of taking in this way. Compared with the prior art, the utility model discloses a strawberry picking machine is planted to canopy can reduce artifical intensity of labour, improves and picks the undamaged rate.
Description
Technical Field
The utility model relates to an agricultural machinery equipment technical field, concretely relates to strawberry picking machine is planted to canopy.
Background
The strawberry picking is always a time-consuming, labor-consuming and quite complicated link in the production process. At present, the strawberry picking work is still completed by manual picking, the labor intensity is high, the picking cost is high, the workload is large, and the operation timeliness is poor.
Disclosure of Invention
There is above-mentioned technical problem to prior art, the utility model provides a strawberry picking machine is planted to canopy that can reduce intensity of labour.
In order to achieve the above object, the utility model provides a following technical scheme:
the greenhouse strawberry picking machine comprises a supporting mechanism, a traveling mechanism and a picking mechanism, wherein the supporting mechanism comprises a frame and a supporting plate, and the supporting plate is fixed on the frame; the travelling mechanism comprises a guide rail arranged transversely, wheels which are rotatably arranged at the bottom of the supporting plate and are arranged on the guide rail, and a first motor for driving the wheels to rotate, wherein the first motor is fixed on the supporting plate; the picking mechanism comprises a longitudinal mechanical arm, a flat-knitting mechanical arm, a first driving assembly and a second driving assembly, the longitudinal mechanical arm is erected on the supporting plate, the flat-knitting mechanical arm and the longitudinal mechanical arm are arranged in a mutually perpendicular mode, the first driving assembly is used for driving the flat-knitting mechanical arm to move along the length direction of the longitudinal mechanical arm, and the second driving assembly is used for driving the flat-knitting mechanical arm to move along the length direction of the second driving assembly; the end part of a flat knitting machine mechanical arm is provided with a paw and a steering engine for driving the paw to open and close; the storage basket is detachably arranged on the supporting plate and is positioned below the paw.
Preferably, the number of the guide rails is two, and the two guide rails are horizontally arranged in parallel; the number of the wheels is four, and every two wheels are correspondingly arranged on one guide rail.
Preferably, the guide rails are nylon directional slats.
Preferably, the first motor is a dc gear motor.
Preferably, the frame is an aluminum alloy frame body.
Preferably, an electric cabinet is arranged on the supporting plate, the frame is provided with a camera, and the camera, the first driving assembly, the second driving assembly and the steering engine are respectively and electrically connected with the electric cabinet.
The utility model has the advantages that:
the utility model discloses a strawberry picking machine is planted to canopy, lay the guide rail during use in externally ridge way earlier, thereby first motor drive wheel rotates and drives supporting mechanism and picking mechanism along the rail mobility, until reaching near the strawberry of treating picking, arm length direction removes is indulged to first drive assembly drive flat-bed machine arm, make the hand claw highly align and treat to pick the strawberry, then second drive assembly drive flat-bed machine arm removes along self length direction, make the hand claw move towards treating to pick the strawberry, steering wheel drive hand claw is closed in order to cut off the fruit stalk of strawberry, the strawberry falls into the storage basket promptly, accomplish the picking work of a strawberry, it can to follow bad picking a plurality of strawberries according to this. Compared with the prior art, the utility model discloses a strawberry picking machine is planted to canopy can reduce artifical intensity of labour.
Drawings
Fig. 1 is a schematic structural diagram of a shed strawberry picking machine in the embodiment.
Reference numerals:
a wheel 1; a support plate 2; a storage basket 3; a gripper 4; a flat knitting mechanical arm 5; a camera 6; a first drive assembly 7; a frame 8; a longitudinal mechanical arm 9; an electric cabinet 10; a first motor 11; a guide rail 12; a second drive assembly 13.
Detailed Description
The present invention will be described in detail with reference to the following embodiments and accompanying drawings.
The shed-planting strawberry picking machine of the embodiment, as shown in fig. 1, includes a supporting mechanism, a traveling mechanism and a picking mechanism, the supporting mechanism includes a frame 8 and a supporting plate 2, and the supporting plate 2 is horizontally fixed to the frame 8. The frame 8 is an aluminum alloy frame body, and has light weight and high strength.
The travelling mechanism comprises two guide rails 12 which are horizontally arranged in parallel, four wheels 1 which are rotatably arranged at the bottom of the supporting plate 2 and are arranged on the guide rails 12, and a first motor 11 for driving the wheels 1 to rotate, wherein the first motor 11 is fixed on the supporting plate 2. The first motor 11 and the wheel 1 are driven by the existing gear assembly.
The picking mechanism comprises a longitudinal mechanical arm 9, a flat-bed mechanical arm 5, a first driving component 7 and a second driving component 13, wherein the longitudinal mechanical arm 9 is erected on the supporting plate 2, the flat-bed mechanical arm 5 and the longitudinal mechanical arm 9 are arranged in a mutually perpendicular mode, the first driving component 7 is used for driving the flat-bed mechanical arm 5 to move along the length direction of the longitudinal mechanical arm 9, namely the vertical direction, the effective stroke is 390mm, and the highest speed is 20mm/s respectively. The second driving assembly 13 is used for driving the flat knitting mechanical arm 5 to move along the length direction of the flat knitting mechanical arm, namely the horizontal front and back direction perpendicular to the guide rail 12, the effective stroke is 290mm, and the highest speed is 10mm/s respectively. Specifically, the first driving assembly 7 and the second driving assembly 13 are both of an existing motor and lead screw nut pair structure, and are not described herein again.
The end part of the flat knitting mechanical arm 5 is provided with a paw 4 and a steering engine for driving the paw 4 to open and close, and the paw 4 can be closed to clamp and cut off strawberry stalks. The steering engine is an existing part. Detachable liftoff storage basket 3 that is equipped with in backup pad 2 stores basket 3 and is located the below of hand claw 4 for place the strawberry.
During the use earlier lay guide rail 12 in the ridge way of outside, thereby first motor 11 drive wheel 1 rotates and drives supporting mechanism and picking mechanism and move along the track, until reaching near the strawberry of waiting to pick, first drive assembly 7 drive flat-bed machine arm 5 indulges arm 9 length direction and removes, make hand claw 4 align in height and wait to pick the strawberry, then second drive assembly 13 drive flat-bed machine arm 5 moves along self length direction, make hand claw 4 towards waiting to pick the strawberry and remove, steering wheel drive hand claw 4 is closed in order to cut off the fruit stalk of strawberry, the strawberry falls into storage basket 3 promptly, accomplish the picking work of a strawberry, it can to follow bad picking a plurality of strawberries according to this. Compared with the prior art, the shed-cultivation strawberry picking machine can reduce the labor intensity of workers, and especially has more obvious advantages when used for picking strawberries at high positions.
In the embodiment, each guide rail 12 is a nylon directional lath with the thickness of 20mm and the width of 30 mm, so that the weight is light, and the manufacturing cost is low.
In this embodiment, the first motor 11 is a dc speed reduction motor, and is driven more stably.
In practice, the purpose of the invention can be achieved by controlling the first driving component 7, the second driving component 13 and the steering engine through manual operation. However, in practice, a machine vision recognition system can be arranged to realize automatic picking, which is specifically as follows: be equipped with electric cabinet 10 in the backup pad 2, frame 8 is equipped with camera 6, and electric cabinet 10 is connected respectively to camera 6, first drive assembly 7, second drive assembly 13 and steering wheel. The camera 6 is used for carrying out color recognition and space positioning on the picking target and determining the accurate position of the strawberry in the three-dimensional entity. A power supply and a controller are arranged in the electric cabinet 10, the power supply is used for providing a power source, and the controller is used for receiving digital images fed back by the camera 6, so that the spatial position of the strawberries is calculated and all parts of the picking mechanism are driven to perform movement. It should be noted that the structure and model of the camera 6 and the technology for identifying the position of the specific color target are conventional, and those skilled in the art can purchase the existing camera 6 on the market for the software engineer to use after programming.
It should be finally noted that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention.
Claims (6)
1. The greenhouse strawberry picking machine is characterized in that: the picking machine comprises a supporting mechanism, a traveling mechanism and a picking mechanism, wherein the supporting mechanism comprises a frame and a supporting plate, and the supporting plate is fixed on the frame;
the travelling mechanism comprises a guide rail arranged transversely, wheels which are rotatably arranged at the bottom of the supporting plate and are arranged on the guide rail, and a first motor for driving the wheels to rotate, wherein the first motor is fixed on the supporting plate;
the picking mechanism comprises a longitudinal mechanical arm, a flat-knitting mechanical arm, a first driving assembly and a second driving assembly, the longitudinal mechanical arm is erected on the supporting plate, the flat-knitting mechanical arm and the longitudinal mechanical arm are arranged in a mutually perpendicular mode, the first driving assembly is used for driving the flat-knitting mechanical arm to move along the length direction of the longitudinal mechanical arm, and the second driving assembly is used for driving the flat-knitting mechanical arm to move along the length direction of the second driving assembly; the end part of a flat knitting machine mechanical arm is provided with a paw and a steering engine for driving the paw to open and close;
the storage basket is detachably arranged on the supporting plate and is positioned below the paw.
2. The shed strawberry picker according to claim 1, wherein: the number of the guide rails is two, and the two guide rails are horizontally arranged in parallel; the number of the wheels is four, and every two wheels are correspondingly arranged on one guide rail.
3. The shed strawberry picker according to claim 1, wherein: the guide rail is a nylon directional lath.
4. The shed strawberry picker according to claim 1, wherein: the first motor is a direct current speed reduction motor.
5. The shed strawberry picker according to claim 1, wherein: the frame is an aluminum alloy frame body.
6. The shed strawberry picker according to claim 1, wherein: be equipped with the electric cabinet in the backup pad, the frame is equipped with the camera, and electric cabinet is connected respectively to camera, first drive assembly, second drive assembly and steering wheel electricity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021329341.0U CN212786681U (en) | 2020-07-08 | 2020-07-08 | Shed-planting strawberry picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021329341.0U CN212786681U (en) | 2020-07-08 | 2020-07-08 | Shed-planting strawberry picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212786681U true CN212786681U (en) | 2021-03-26 |
Family
ID=75100011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021329341.0U Active CN212786681U (en) | 2020-07-08 | 2020-07-08 | Shed-planting strawberry picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212786681U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114600641A (en) * | 2022-03-22 | 2022-06-10 | 河南科技大学 | Strawberry picking machine based on image recognition technology and picking method thereof |
-
2020
- 2020-07-08 CN CN202021329341.0U patent/CN212786681U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114600641A (en) * | 2022-03-22 | 2022-06-10 | 河南科技大学 | Strawberry picking machine based on image recognition technology and picking method thereof |
| CN114600641B (en) * | 2022-03-22 | 2023-10-24 | 河南科技大学 | Strawberry picking machine based on image recognition technology and picking method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111527882A (en) | Parallel type automatic famous tea picking robot | |
| CN111602518A (en) | Full-automatic ridge culture type strawberry picking robot and using method | |
| CN107750626A (en) | A kind of pineapple harvests intelligent carriage | |
| CN212786681U (en) | Shed-planting strawberry picking machine | |
| CN113396650B (en) | Intelligent vegetable inter-plant weeding device and control method | |
| CN207460846U (en) | A kind of pineapple harvests intelligent carriage | |
| CN211745437U (en) | Robot is picked to overhead fruit vegetables intelligence | |
| CN109937694B (en) | Fruit picking harvester | |
| EP3498076B1 (en) | Machine for automatically harvesting fruits cultivated in rows | |
| US20180153103A1 (en) | Machine for automatically harvesting fruits cultivated in rows | |
| CN109197148B (en) | Intelligent recognition cotton picking robot | |
| CN213991734U (en) | Parallel type automatic famous tea picking robot | |
| CN208924955U (en) | One kind being equipped with automatic egg picking machine equipment | |
| CN116076243A (en) | Kiwi fruit picking machine based on visual perception and CoreXY structure | |
| CN209554186U (en) | Truss-like wine box floor truck | |
| CN212324775U (en) | Self-propelled multi-mechanical-arm potato pickup machine based on machine vision | |
| CN212278922U (en) | Full-automatic ridge culture type strawberry picking robot | |
| CN108718709B (en) | Automatic strawberry picking machine | |
| CN214592966U (en) | Strawberry picking robot based on binocular vision | |
| CN211430100U (en) | Robot for picking and lifting bananas | |
| CN210928671U (en) | Flexible comb brush type apple harvesting machine | |
| CN111328539A (en) | Self-propelled day lily picking machine | |
| CN218680166U (en) | Kiwi fruit picking robot | |
| CN210704475U (en) | Control system of fruit harvesting robot | |
| CN219330091U (en) | Kiwi fruit picking machine based on visual perception and CoreXY structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |