CN213127146U

CN213127146U - Prickly ash picking device and prickly ash vision picking robot that constitutes thereof

Info

Publication number: CN213127146U
Application number: CN202021442387.3U
Authority: CN
Inventors: 刘雪垠; 杨前; 李柏林; 罗建桥; 曾梦玮; 肖夏; 宋冬梅; 邓宏盛
Original assignee: Sichuan Machinery Research And Design Institute Group Co Ltd; Southwest Jiaotong University
Current assignee: Sichuan Machinery Research And Design Institute Group Co Ltd; Southwest Jiaotong University
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2021-05-07
Anticipated expiration: 2030-07-21

Abstract

The utility model discloses a pepper picking device and a pepper visual picking robot composed of the pepper picking device, which comprises a pepper picking device, an installation chassis, a walking system, a drying and screening system and a picking manipulator, wherein the pepper picking device is installed at the top end of the picking manipulator in a matching way, a negative pressure collector is arranged on the installation chassis, and the negative pressure collector is hermetically connected with a discharge port of the pepper picking device through a pepper negative pressure collecting pipe; the drying and screening system comprises a drying and screening box, wherein a conveying device, a vibration impurity removing device and a material receiving basket are installed in the drying and screening box, a vibration sieve plate and a blower are arranged in the vibration impurity removing device, the vibration sieve plate divides the interior of the vibration impurity removing device into an upper-layer screening space and a lower-layer screening space, and the upper-layer screening space corresponds to the material receiving basket. The utility model discloses a prickly ash rhizome in deciding the broach groove is arranged in to the comb tooth shearing of moving the broach board has walking mechanization, picks advantages such as precision height, has reduced intensity of labour, has improved and has picked efficiency.

Description

Prickly ash picking device and prickly ash vision picking robot that constitutes thereof

Technical Field

The utility model relates to a prickly ash picks technical field, especially relates to a prickly ash picks device and prickly ash vision picking robot that constitutes thereof.

Background

The pepper is the most important seasoning food material in daily life, and the pepper tree is full of thorns, which brings troubles to pepper picking. At present, the Chinese prickly ash is picked basically manually, namely, the Chinese prickly ash is picked manually by an instrument or bare-handed people near the Chinese prickly ash, often damaged by thorns on the Chinese prickly ash, is very difficult to pick, has low manual picking efficiency and high labor intensity, and seriously restricts the development of the Chinese prickly ash industry. Although picking modes such as high branch shearing, mechanical vibration and the like exist, the defects of damaging pepper branches and trunks exist, the problem that part of regions are difficult to pick also exists, or the problems that the pepper is troublesome to collect after picking and the like exist, the prior art has defects of different degrees, and the picking effect is not ideal.

In recent years, agricultural picking robots have been developed and applied as a robot for performing work in a specific environment; in the aspect of research of agricultural robot technology, the pepper picking is only performed by some manual auxiliary picking machines at present, and the pepper picking robot is still blank. When the peppers are picked, if excessive pepper leaves and branches are cut off, the harvest of the peppers in the next year can be influenced, so that the current pepper picking is basically manual picking or picking is carried out by adopting a manual auxiliary picking machine, the manual auxiliary picking machine on the market has two types of electric picking and manual picking, and the electric pepper picking machine mainly drives a cutting edge to vibrate through a motor to cut off pepper twigs for picking. Although the traditional Chinese prickly ash picker reduces the labor intensity of manual picking to a certain extent, a large amount of manual participation is still required per se. Because the fruits of the pepper are scattered, the picking requirement is high (excessive branches and leaves cannot be picked), and the picking difficulty is high, a full-automatic pepper picking machine is not available at present.

Although the total yield and area of the zanthoxylum bungeanum is increasing, the zanthoxylum bungeanum is limited by geographical, traffic and technical conditions, and the zanthoxylum bungeanum picking mainly depends on manpower, so that the labor intensity is high, the efficiency is low, the labor force is increasingly in shortage, and the mechanical picking technology is immature, so that the picking cost is over high in the production cost of the zanthoxylum bungeanum, and the continuous, efficient and healthy development of the zanthoxylum bungeanum industry is difficult to guarantee. Therefore, the development of the self-walking intelligent pepper picking robot plays a vital role in the development of the pepper industry in China.

SUMMERY OF THE UTILITY MODEL

Weak point to prior art exists, the utility model aims to provide a prickly ash vision picking robot that device and constitute is picked to prickly ash, walk to near waiting to pick the prickly ash tree through traveling system, lift anchor clamps and remove to waiting to pick branch or branch department near prickly ash cluster through the anchor clamps manipulator, anchor clamps will wait to pick branch or branch centre gripping near prickly ash cluster and fix, then lift prickly ash picking device and remove to waiting to pick around prickly ash cluster through picking the manipulator, prickly ash picking device treats to pick the prickly ash and picks the processing, prickly ash after picking is carried to stoving screening system through prickly ash negative pressure collecting pipe negative pressure, stoving screening system dries the dehumidification to the prickly ash fruit, processing such as edulcoration, obtain clean, dry prickly ash fruit transportation is stored in receiving basket.

The purpose of the utility model is realized through the following technical scheme:

the utility model provides a device is picked to prickly ash, prickly ash pick device is including picking the casing, it has the mouth of picking to pick the casing lateral part, it has the discharge gate corresponding with the mouth of picking to pick casing bottom, the department of picking the mouth of picking the casing installs picks the subassembly, it comprises a plurality of picking broach unit to pick the subassembly, it includes the comb plate and with the comb plate corresponding comb plate that decides to pick the broach unit, it is equipped with the drive arrangement who is used for driving each comb plate elevating movement to pick the casing top.

In order to better realize the pepper picking device of the utility model, the driving device is a motor, the top of the picking shell is provided with a fixed support, the fixed support is hinged with a transmission frame, the driving device is provided with a driving cam, and a main shaft driving shaft is fixed on the driving cam; the transmission frame comprises a transmission main arm and a driving swing arm assembly, a swing matching hole A is formed in one end of the transmission main arm, a main shaft driving shaft is movably installed in the swing matching hole A in a matching mode, the other end of the transmission main arm is fixedly connected with the driving swing arm assembly, the driving swing arm assembly is rotatably installed on a fixed support through a rotating shaft, the driving swing arm assembly comprises a plurality of driving swing arms, and the end portions of the driving swing arms are hinged to the top of a movable comb plate in a one-to-one correspondence mode.

As the utility model discloses a prickly ash picking device's an preferred technical scheme is: the driving swing arm assembly comprises two driving swing arms, a cross beam is fixedly connected with the main transmission arm, the two driving swing arms are connected to two ends of the cross beam, a synchronizing shaft is connected between the two driving swing arms, the driving swing arms are provided with swing matching holes B which are movably matched with the synchronizing shaft, and the top of the movable comb plate is connected to the synchronizing shaft.

As the utility model discloses a prickly ash picking device's an preferred technical scheme is: the picking device is characterized in that a movable comb tooth transmission protection shell is arranged at the top of the picking shell, the driving device, the transmission frame and the fixed support are arranged in the movable comb tooth transmission protection shell, and movable fit lifting adaptation grooves corresponding to the driving swing arms are formed in the movable comb tooth transmission protection shell.

As the utility model discloses a prickly ash picking device's an preferred technical scheme is: the fixed comb plate is fixedly connected with the picking shell and provided with a plurality of fixed comb teeth, and a fixed comb tooth groove is formed between every two adjacent fixed comb teeth; the movable comb tooth plate is provided with a plurality of movable comb teeth, and a movable comb tooth groove is formed between every two adjacent movable comb teeth; the picking shell is provided with a limiting guide mechanism for guiding the movement of the movable comb plate; the side part of one end of the picking shell, which is far away from the picking opening, is fixed with a frame, and the frame or the picking shell is provided with a binocular camera B and a distance measuring sensor which face the direction of the picking opening.

A vision picking robot for Chinese prickly ash comprises a Chinese prickly ash picking device, an installation chassis, traveling systems, a drying and screening system and a picking manipulator, wherein the traveling systems are respectively installed on two sides of the bottom of the installation chassis, and the picking manipulator and a control cabinet are installed on the installation chassis; the pepper picking device is arranged at the top end of the picking manipulator in a matching way, the mounting base plate is provided with a negative pressure collector, and the negative pressure collector is hermetically connected with a discharge port of the pepper picking device through a pepper negative pressure collecting pipe; and the drying and screening system is connected with the negative pressure collector.

The utility model discloses preferred stoving screening system technical scheme of prickly ash vision picking robot as follows: the drying and screening system comprises a drying and screening box, wherein a conveying device, a vibration impurity removal device and a material receiving basket are installed in the drying and screening box, a feeding hopper corresponding to the negative pressure collector is arranged at the feeding end of the conveying device, the discharging end of the conveying device corresponds to the feeding end of the vibration impurity removal device, a vibration sieve plate and a blower are arranged in the vibration impurity removal device, the vibration sieve plate divides the interior of the vibration impurity removal device into an upper-layer screening space and a lower-layer screening space, the upper-layer screening space corresponds to the material receiving basket, and the blower is arranged in the vibration impurity removal device; the control cabinet is respectively connected with the picking manipulator, the pepper picking device, the negative pressure collector, the traveling system, the conveying device and the vibration impurity removal device.

The utility model discloses preferred technical scheme of prickly ash vision picking robot as follows: the conveying device comprises a plurality of layers of conveying belts, all the layers of conveying belts are sequentially arranged from top to bottom, and a blanking hopper is correspondingly arranged between two adjacent upper layers of conveying belts; the inside microwave heating pipe that corresponds with conveyer that is equipped with of stoving screening bottom of the case portion, stoving screening bottom of the case portion has still opened the hole of airing exhaust corresponding with the exhaust fan, microwave heating pipe, exhaust fan are connected with the switch board respectively, the inside communication module that is equipped with of switch board.

The utility model discloses preferred technical scheme of prickly ash vision picking robot as follows: the walking system comprises a walking driving motor, a driving wheel and a walking crawler, wherein the walking driving motor is in power connection with the driving wheel, driven wheels are respectively arranged on two sides of the walking system, the walking crawler of the walking system is installed on the two driven wheels and one driving wheel in a power fit mode, and the walking driving motor is connected with the control cabinet; the vibration impurity removing device is provided with a movable door.

The utility model discloses preferred technical scheme of prickly ash vision picking robot as follows: the mounting chassis is also provided with a clamp manipulator, the top end of the clamp manipulator is provided with a clamp, and the clamp manipulator is connected with the control cabinet; the clamp comprises a clamp seat, the clamp seat is connected with a clamp manipulator through a connecting rod A, two sides of the clamp seat are respectively provided with a scissor type connecting rod frame, and the end parts of the two scissor type connecting rod frames are provided with arc-shaped clamping plates in a matching way; a panoramic camera and a binocular camera A are arranged on the mounting chassis, the panoramic camera and the binocular camera A are respectively connected with the control cabinet, and a binocular camera B of the pepper picking device is connected with the control cabinet; and a power supply or a generator is arranged in the control cabinet, or the mounting chassis is provided with the power supply or the generator connected with the control cabinet.

In order to realize the utility model discloses prickly ash vision picking robot's intellectuality is controlled, its technical scheme as follows: the intelligent control system of the picking robot is arranged in the control cabinet and comprises a walking control system, a picking control system, a negative pressure collection control system and a drying screening control system, the walking control system comprises a vision recognition positioning system A and a walking execution control module, the vision recognition positioning system A is respectively connected with a panoramic camera and a binocular camera A, the panoramic camera is used for panoramic scanning and recognition, the binocular camera A is used for local scanning and recognition, the vision recognition positioning system A calculates a planned walking path and transmits the planned walking path to the walking execution control module, the walking execution control module is connected with the walking system, and the walking execution control module controls the walking system to perform walking motion according to the planned walking path; the picking control system comprises a visual identification positioning system B and a picking execution control module, the visual identification positioning system B is respectively connected with a binocular camera B and a ranging sensor, the binocular camera B is used for local scanning and identification, the ranging sensor is used for ranging the position of pepper to be picked, the visual identification positioning system B respectively calculates a mechanical arm clamp motion instruction and a mechanical arm picking motion instruction, the mechanical arm clamp motion instruction corresponds to a clamp mechanical arm, the mechanical arm picking motion instruction corresponds to a picking mechanical arm, the picking execution control module is respectively connected with the picking mechanical arm and the clamp mechanical arm, and the picking execution control module respectively controls the picking mechanical arm and the clamp mechanical arm to perform multi-joint operation combined motion; the negative pressure collector is internally provided with a negative pressure generator, and the negative pressure collection control system is connected with the negative pressure generator of the negative pressure collector; and the drying and screening control system is respectively connected with the conveying device and the vibration impurity removal device.

Compared with the prior art, the utility model, have following advantage and beneficial effect:

(1) the utility model discloses an accurate positioning of route, prickly ash cluster, branch can be realized to vision recognition, location processing, and picking robot intelligence control system can carry out reasonable path planning according to vision recognition positioning result, the motion of control robot and arm. Meanwhile, the double-mechanical-arm design is adopted, the manual picking operation mode and process are simulated, the damage of excessive branches and leaves is avoided, and the mechanical-arm-type picking robot has the advantages of mechanical walking, mechanical picking, high picking precision and the like.

(2) The utility model discloses a traveling system walks to near waiting to pick the prickly ash tree, lift anchor clamps and remove to waiting to pick branch or branch department near prickly ash cluster through anchor clamps manipulator, anchor clamps will wait to pick branch or branch centre gripping near prickly ash cluster and fix, then pick the device with prickly ash and lift and remove to waiting to pick near prickly ash cluster through picking the manipulator, prickly ash picks the device and treats to pick the prickly ash and handles, prickly ash after picking is carried to drying and screening system through prickly ash negative pressure collecting pipe negative pressure, drying and screening system dries the dehumidification to the prickly ash fruit, processing such as edulcoration, it is clean to obtain, the transportation of dry prickly ash fruit is stored in material receiving basket.

(3) The utility model discloses moving the fishback and having and moving the broach, deciding the broach has on the fishback, deciding the fishback and having between the broach each of fishback and deciding the fishback, comb and hold the prickly ash rhizome that prickly ash crowd through deciding the fishback and deciding the fishback, then through drive arrangement, the drive frame drive moves the fishback elevating movement, realized moving the fishback and deciding the fishback reciprocal movement to cut the purpose of arranging prickly ash rhizome in deciding the fishback and deciding the fishback through moving the fishback of fishback.

(4) The utility model discloses a negative pressure collection mode is collected the prickly ash that the device was picked to prickly ash, then carries through prickly ash negative pressure collecting pipe, can prevent effectively that prickly ash oil cell from breaking or damaging the prickly ash quality, has improved prickly ash fruit picking efficiency and has picked back prickly ash fruit quality.

(5) The utility model discloses a stoving screening system dries the dehumidification, gets rid of processing such as impurity to the prickly ash fruit, can directly obtain dry prickly ash finished product, is favorable to the transportation and the storage of prickly ash fruit. The utility model discloses need not artifical the participation almost, reduced the intensity of labour who picks the workman, improved prickly ash and picked efficiency.

Drawings

Fig. 1 is a schematic structural view of a pepper picking device of the utility model;

FIG. 2 is an enlarged partial schematic view of FIG. 1;

fig. 3 is a schematic structural view of the driving device of the present invention driving each movable comb plate to move up and down;

fig. 4 is a schematic structural view of the pepper vision picking robot of the present invention;

FIG. 5 is a schematic view of the structure of the fixture of FIG. 4;

fig. 6 is the structure schematic diagram of the drying and screening system of the present invention.

Wherein, the names corresponding to the reference numbers in the drawings are:

1-mounting chassis, 2-control cabinet, 3-walking system, 4-panoramic camera, 5-drying screening system, 51-feeding hopper, 52-conveying device, 521-conveying belt, 522-discharging hopper, 53-vibration impurity removing device, 531-movable door, 54-receiving basket, 55-microwave heating pipe, 56-exhaust fan, 6-negative pressure collector, 7-pepper negative pressure collecting pipe, 8-clamp, 81-clamp seat, 82-scissor type connecting rod frame, 83-arc clamping plate, 84-connecting rod A, 9-picking mechanical arm, 10-clamp mechanical arm, 11-binocular camera A, 12-binocular camera B, 13-pepper picking device, 131-frame, 132-picking shell, 133-motor, 1331-driving cam, 1332-main shaft driving shaft, 134-fixing support, 1341-rotating shaft, 135-frame, 1351-driving main arm, 13511-swinging matching hole A, 1352-driving swing arm, 13521-swing matching holes B, 1353-synchronizing shaft, 136-moving comb plate, 1361-moving comb tooth, 137-fixed comb plate, 1371-fixed comb tooth, and 14-distance measuring sensor.

Detailed Description

The present invention will be described in further detail with reference to the following examples:

examples

As shown in fig. 1 to 6, a pepper picking device 13 includes a picking shell 132, a picking port is provided at a side portion of the picking shell 132 (when in use, picking treatment is performed on pepper bundles picked by the picking port), a discharge port corresponding to the picking port is provided at a bottom portion of the picking shell 132 (pepper fruits picked by the pepper picking device 13 are discharged into a pepper negative pressure collecting pipe 7 or other pepper collecting containers through the discharge port), a picking assembly is installed at the picking port of the picking shell 132, the picking assembly is composed of a plurality of picking comb tooth units, each picking comb tooth unit includes a movable comb tooth plate 136 and a fixed comb tooth plate 137 corresponding to the movable comb tooth plate 136, and a driving device for driving each movable comb tooth plate 136 to move up and down is provided at the top portion of the picking shell 132. Decide fishback 137 and pick casing 132 and be connected fixedly, decide fishback 137 and be equipped with a plurality of and decide broach 1371, have between two adjacent fixed broaches and decide the broach groove, should decide the broach groove and be used for carding the prickly ash rhizome, during the use, can realize letting the prickly ash rhizome of prickly ash bundle or prickly ash cluster arrange each in deciding the broach groove. The moving comb plate 136 is provided with a plurality of moving comb teeth 1361, a moving comb tooth groove is formed between every two adjacent moving comb teeth, the distance of the notch of the moving comb tooth groove is larger than that of the notch of the fixed comb tooth groove (generally, the distance of the notch of the moving comb tooth groove is 1.5-3.5 times that of the notch of the fixed comb tooth groove), and the moving comb plate 136 can be lifted to enable the moving comb teeth 1361 to cut off the roots and stems of the peppers placed in the fixed comb tooth groove.

The utility model discloses prickly ash picking device's theory of operation as follows: the prickly ash picking device 13 is lifted to be close to prickly ash clusters to be picked through the picking manipulator 9 (the distance measuring sensor 14 is used for measuring the distance from the prickly ash clusters to be picked, the binocular camera B12 is used for carrying out camera shooting operation on the front of the prickly ash picking device 13 and feeding back front prickly ash cluster camera shooting data to a person or an intelligent control system of a picking robot), the picking manipulator 9 drives a picking opening of the prickly ash picking device 13 to be close to the prickly ash clusters to be picked, the fixed comb tooth grooves of the fixed comb tooth plates 137 of the prickly ash picking device 13 comb out prickly ash roots and stems of the prickly ash clusters to be picked, the prickly ash roots and stems of the prickly ash clusters to be picked are placed in the fixed comb tooth grooves 137 of the fixed comb tooth plates, the driving device drives the movable comb tooth plates 135 to obliquely move up and down relative to the corresponding fixed comb tooth plates 137, so that the movable comb teeth 1361 on the movable comb tooth plates 135 cut the prickly ash clusters to be picked, and, then the mixture is conveyed to a drying and screening system 5 from a discharge port through a pepper negative pressure collecting pipe 7 under the negative pressure action of a negative pressure collector 6.

The utility model discloses preferred drive arrangement structure and each move broach board 136 elevating movement theory of operation as follows: as shown in fig. 1 to 3, the driving device is a motor 133, the top of the picking housing 132 is provided with a fixed support 134, the fixed support 134 is hinged with a transmission frame 135, the driving device is provided with a driving cam 1331 (i.e. the driving cam 1331 is fixed on the power shaft of the motor 133), and a spindle driving shaft 1332 is fixed on the driving cam 1331 (the spindle driving shaft 1332 is fixed on the end of the driving cam 1331, and the end of the driving cam 1331 is in an eccentric position relative to the power shaft of the motor 133, so that the motor 133 can drive the spindle driving shaft 1332 to rotate eccentrically relative to the motor 133). The transmission frame 135 comprises a transmission main arm 1351 and a driving swing arm assembly, one end of the transmission main arm 1351 is provided with a swing matching hole A13511, a main shaft driving shaft 1332 is movably and fittingly installed in the swing matching hole A13511, the other end of the transmission main arm 1351 is fixedly connected with the driving swing arm assembly, the driving swing arm assembly is rotatably installed on the fixed support 134 through a rotating shaft 1341, the driving swing arm assembly comprises a plurality of driving swing arms 1352, and the end parts of the driving swing arms 1352 are correspondingly hinged with the top of the movable comb plate 136 one by one. The driving swing arm assembly comprises two driving swing arms 1352, a cross beam is fixedly connected to the driving main arm 1351, the two driving swing arms 1352 are connected to two ends of the cross beam, a synchronizing shaft 1353 is connected between the two driving swing arms 1352, the driving swing arms 1352 are provided with swing matching holes B13521 which are movably matched with the synchronizing shaft 1353, and the top of the movable comb plate 136 is connected to the synchronizing shaft 1353. The working principle is as follows: the motor 133 drives the driving cam 1331 to move, the driving cam 1331 drives the main shaft driving shaft 1332 to eccentrically rotate, and the main shaft driving shaft 1332 drives the transmission main arm 1351 to move up and down, specifically: the main shaft driving shaft 1332 moves back and forth in the swing matching hole a13511 at the end of the main transmission arm 1351 to drive the main transmission arm 1351 to swing up and down relative to the fixed support 134 (specifically, the rotating shaft 1341), so that the transmission frame 135 is driven to swing relative to the fixed support 134 (specifically, the rotating shaft 1341), and the swing arm 1352 is driven to swing up and down (when the main transmission arm 1351 swings down, the swing arm 1352 swings up, and when the main transmission arm 1351 swings up, the swing arm 1352 swings down). Since the end of the driving swing arm 1352 is provided with the swing matching hole B13521, as shown in fig. 3, the driving swing arm 1352 drives the synchronizing shaft 1353 to move up and down (the synchronizing shaft 1353 also moves in the swing matching hole B13521 of the driving swing arm 1352), and the synchronizing shaft 1353 synchronously drives the moving comb plates 136 to move up and down in a tilting and lifting manner.

Of course, the utility model discloses a drive arrangement can be for elevator motor or lift cylinder, and this drive arrangement can direct action move the fishback 136 (drive arrangement has the lift axle, and drive arrangement's lift axle is direct to be connected with moving fishback 136 power), and drive arrangement direct drive moves fishback 136 elevating movement this moment. The utility model discloses a drive arrangement can be elevator motor or lift cylinder, simultaneously the utility model discloses still include gear frame 135 and fixing support 134, drive arrangement is connected with gear frame 135 one end power this moment, if drive arrangement has the lift axle, drive arrangement's lift axle articulates in gear frame 135 one end, the gear frame 135 other end is articulated with each comb plate 136, gear frame 135 middle part is rotated through pivot 1341 and is installed on fixing support 134, drive arrangement slant drive gear frame 135 one end is ascending or descending motion to one side like this, the gear frame 135 other end also can descend or ascending motion, gear frame 135 will be for fixing support 134 at the middle part position swing promptly, its motion just to the seesaw principle, the gear frame 135 other end has just realized each comb plate 136 slant lift shearing movement of slant drive.

The utility model discloses a picking casing 132 top is equipped with and moves broach transmission protection casing, moves broach transmission protection casing and can effectively prevent the interference of prickly ash leaf to motor 133 and driving frame 135, and during driving arrangement, driving frame 135, fixing support 134 arranged in moved broach transmission protection casing, moved broach transmission protection casing and seted up and moved the cooperation lift adaptation groove corresponding with each drive swing arm 1352. Picking casing 132 is equipped with the spacing guiding mechanism who is used for moving the broach board 136 motion direction, and the spacing guiding mechanism of this embodiment is for setting up the spacing groove on picking casing 132, and this spacing groove can assist and guide moving the broach board 136 and carry out elevating movement, prevents that moving the broach board 136 and appear moving partial or skew. A frame 131 is fixed on one end side of the picking shell 132 far away from the picking opening, and a binocular camera B12 and a distance measuring sensor 14 facing the picking opening are arranged on the frame 131 or the picking shell 132.

The vision picking robot for the Chinese prickly ash comprises a Chinese prickly ash picking device 13, an installation chassis 1, a walking system 3, a drying and screening system 5 and a picking manipulator 9, wherein the walking system 3 is installed on two sides of the bottom of the installation chassis 1 respectively, and the picking manipulator 9 and a control cabinet 2 are installed on the installation chassis 1. The pepper picking device 13 is arranged at the top end of the picking manipulator 9 in a matching way, the mounting chassis 1 is provided with a negative pressure collector 6, and the negative pressure collector 6 is hermetically connected with the discharge port of the pepper picking device 13 through a pepper negative pressure collecting pipe 7. Drying and screening system 5 includes the stoving screening case, install conveyer 52 in the stoving screening case, vibration edulcoration device 53 and connect material basket 54, conveyer 52's feed end is equipped with the feeder hopper 51 corresponding with negative pressure collector 6, conveyer 52's discharge end is corresponding with vibration edulcoration device 53's feed end, vibration edulcoration device 53 is inside to have vibrating screen plate and hair-dryer, vibrating screen plate separates vibration edulcoration device 53 internal partitioning into upper strata screening space and lower floor screening space, upper strata screening space with connect material basket 54 corresponding, the hair-dryer is located inside vibration edulcoration device 53. The control cabinet 2 is respectively connected with a picking manipulator 9, a pepper picking device 13, a negative pressure collector 6, a walking system 3, a conveying device 52 and a vibration impurity removing device 53.

As shown in fig. 4, the traveling system 3 includes a traveling driving motor, a driving wheel and a traveling crawler, the traveling driving motor is in power connection with the driving wheel, the traveling system is provided with driven wheels on two sides of the driving wheel, the traveling crawler of the traveling system 3 is installed on two driven wheels and one driving wheel in power fit, and the traveling driving motor is connected with the control cabinet 2. The vibration trash removing device 53 has a movable door 531. The bottom of the installation chassis 1 of the embodiment is provided with a chassis frame, two sides of the chassis frame are respectively provided with a traveling system 3, and a drying and screening system 5 is arranged on the chassis frame. The utility model discloses a traveling system 3 walks to near waiting to pick the prickly ash tree, lift anchor clamps 8 and remove to waiting to pick branch or branch department near prickly ash cluster through anchor clamps manipulator 10, will wait to pick branch or branch centre gripping near prickly ash cluster through anchor clamps 8 and fix, then lift prickly ash picking device 13 and remove to waiting to pick around prickly ash cluster through picking manipulator 9, treat through prickly ash picking device 13 and pick the processing, prickly ash after the picking is carried to drying and screening system 5 through prickly ash negative pressure collecting pipe 7 negative pressure, drying and screening system 5 dries the dehumidification to the prickly ash fruit, processing such as edulcoration, it is clean, dry prickly ash fruit transportation is stored in receiving basket 54.

As shown in fig. 5, the conveying device 52 includes a plurality of layers of conveyor belts 521, all the layers of conveyor belts 521 are arranged in sequence from top to bottom, and a discharge hopper 522 is correspondingly arranged between two adjacent layers of conveyor belts 521 on the upper layer. The microwave heating pipe 55 corresponding to the conveying device 52 is arranged inside the drying and screening box, the exhaust fan 56 is arranged at the bottom of the drying and screening box, the exhaust hole corresponding to the exhaust fan 56 is further formed in the bottom of the drying and screening box, the microwave heating pipe 55 and the exhaust fan 56 are respectively connected with the control cabinet 2, and the communication module is arranged inside the control cabinet 2. Therefore, the control cabinet 2 can be in communication connection with the external control terminal through the communication module, and remote control through the external control terminal is convenient to realize. When the device is used, the peppers collected by the pepper negative pressure collecting pipe 7 (the peppers contain sundries such as small roots, small branches and leaves, hereinafter called pepper mixture for short) form a negative pressure collecting system by the pepper negative pressure collecting pipe 7 and the negative pressure collector 6, the negative pressure collecting system adopts a structure that a motor is provided with a hose, and collected pepper fruits are collected by the negative pressure collecting system along with a picking device, so that pepper oil cells on the surfaces of the pepper fruits are prevented from being broken and the quality of the peppers is prevented from being damaged. The pepper mixture enters the conveyer 52 through the negative pressure collector 6 and the feed hopper 51, the layered transportation operation is carried out through the conveyer 52, the microwave heating pipes 55 at the side part of the conveyer 52 respectively and correspondingly carry out heating and dehumidifying treatment on the pepper mixture on the layered conveyer belt 521, simultaneously, the microwave heating of the microwave heating pipes 55 is beneficial to drying and curling the small branches and leaves in the pepper mixture, and drying the pepper fruits, thereby being beneficial to preventing the pepper fruits from adhering to or being mixed with wet small branches and leaves, accelerating the separation between the pepper fruits and the small roots and leaves, because the layered microwave heating transmission is adopted, the pepper fruits can be orderly separated from the small roots and leaves, and being more beneficial to the separation between the pepper fruits and the small roots and leaves, and the water vapor released by the layered microwave heating pipes 55 can be discharged from the bottom of the drying and screening box under the drainage action of the exhaust fan 56, the air flow effect of the exhaust fan 56 can accelerate the dehumidification efficiency of the pepper fruits. The prickly ash fruits, dried curled small branches and leaves, dried small roots and stems or other sundries after being dehumidified and dried are conveyed to the vibration impurity removal device 53 through the conveying device 52, when the vibration impurity removal device 53 is used, the movable door 531 needs to be opened to facilitate the discharge of the sundries except the prickly ash fruits, the prickly ash fruits after being dehumidified and dried can fall into the material receiving basket 54, the dried curled small branches and leaves, dried small roots and stems or other sundries can be discharged under the operation of the blower, and therefore the prickly ash fruits collected in the material receiving basket 54 are clean, dried and dehumidified pricklyash fruits, and the transportation and storage of the pricklyash fruits are facilitated. The prickly ash gathers the back and passes through multirow stoving conveyer belt, and one row of microwave heating pipe is installed to stoving screening case dorsal part, dries the prickly ash of collecting, and one row of air discharge fan is equipped with to the collecting box bottom, and air cycle accelerates when drying dehumidifies the prickly ash. After being dried, the dried pepper enters a vibration impurity removal device 53 through a conveyor belt, and impurities such as pepper and twigs are separated through vibration, so that a dried pepper finished product is obtained.

As shown in fig. 4, a clamp manipulator 10 is further mounted on the mounting chassis 1, a clamp 8 is mounted at the top end of the clamp manipulator 10, and the clamp manipulator 10 is connected with the control cabinet 2. As shown in fig. 5, the clamp 8 includes a clamp seat 81, the clamp seat 81 is connected to the clamp manipulator 10 through a connecting rod a84, two scissor type link holders 82 are respectively disposed on two sides of the clamp seat 81, and arc-shaped clamping plates 83 are disposed at ends of the two scissor type link holders 82 in a matching manner. As shown in fig. 4, a clamp manipulator 10 is further mounted on the mounting chassis 1, a clamp 8 is mounted at the top end of the clamp manipulator 10, and the clamp manipulator 10 is connected with the control cabinet 2. As shown in fig. 5, the clamp 8 includes a clamp seat 81, the clamp seat 81 is connected to the clamp manipulator 10 through a connecting rod a84, two scissor type link holders 82 are respectively disposed on two sides of the clamp seat 81, and arc-shaped clamping plates 83 are disposed at ends of the two scissor type link holders 82 in a matching manner.

As shown in fig. 4, a panoramic camera 4 and a binocular camera a11 are arranged on the mounting chassis 1, the panoramic camera 4 and the binocular camera a11 are respectively connected with the control cabinet 2, and a binocular camera B12 of the pepper picking device 13 is connected with the control cabinet 2. A power supply or a generator is arranged in the control cabinet 2, or the power supply or the generator connected with the control cabinet 2 is arranged on the mounting chassis 1. The mounting chassis 1 adopts a hydraulic crawler type all-terrain traveling mechanism as an operation chassis of the picking robot, provides a power source for the robot and simultaneously serves as a bearing foundation of each functional component; the installation chassis 1 adopts remote control, and the actuating system adopts hydraulic drive, can pivot turn to, can carry on power or generator as the power source.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a device is picked to prickly ash which characterized in that: prickly ash picking device (13) is including picking casing (132), it has the picking mouth to pick casing (132) lateral part, it has the discharge gate corresponding with the picking mouth to pick casing (132) bottom, the picking mouth department of picking casing (132) installs and picks the subassembly, it picks the broach unit by a plurality of and constitutes to pick the subassembly, it includes comb plate (136) and comb plate (137) surely corresponding with comb plate (136) to pick the broach unit, it is equipped with the drive arrangement who is used for driving each comb plate (136) elevating movement to pick casing (132) top.

2. A pepper picking device according to claim 1, characterized in that: the driving device is a motor (133), a fixed support (134) is arranged at the top of the picking shell (132), a transmission frame (135) is hinged to the fixed support (134), the driving device is provided with a driving cam (1331), and a spindle driving shaft (1332) is fixed on the driving cam (1331); the transmission frame (135) comprises a transmission main arm (1351) and a driving swing arm assembly, a swing matching hole A (13511) is formed in one end of the transmission main arm (1351), the spindle driving shaft (1332) is movably installed in the swing matching hole A (13511) in a matching mode, the other end of the transmission main arm (1351) is fixedly connected with the driving swing arm assembly, the driving swing arm assembly is rotatably installed on the fixed support (134) through a rotating shaft (1341), the driving swing arm assembly comprises a plurality of driving swing arms (1352), and the end portions of the driving swing arms (1352) are hinged to the top of the movable comb plate (136) in a one-to-one correspondence mode.

3. A pepper picking device according to claim 2, characterized in that: the driving swing arm assembly comprises two driving swing arms (1352), a cross beam is fixedly connected to the main transmission arm (1351), the two driving swing arms (1352) are connected to two ends of the cross beam, a synchronizing shaft (1353) is connected between the two driving swing arms (1352), a swing matching hole B (13521) in movable matching with the synchronizing shaft (1353) is formed in each driving swing arm (1352), and the top of the movable comb plate (136) is connected to the synchronizing shaft (1353).

4. A pepper picking device according to claim 3, characterized in that: picking casing (132) top and being equipped with and move broach transmission protection casing, drive arrangement, transmission frame (135), fixing support (134) are arranged in and are moved broach transmission protection casing, it offers and moves the adaptation groove that goes up and down with the corresponding movable fit of each drive swing arm (1352) to move broach transmission protection casing.

5. A pepper picking device according to claim 1 or 3, characterized in that: the fixed comb plate (137) is fixedly connected with the picking shell (132), the fixed comb plate (137) is provided with a plurality of fixed comb teeth (1371), and a fixed comb tooth slot is formed between every two adjacent fixed comb teeth; the moving comb plate (136) is provided with a plurality of moving comb teeth (1361), and a moving comb tooth groove is formed between every two adjacent moving comb teeth; the picking shell (132) is provided with a limiting guide mechanism for guiding the movement of the movable comb plate (136); picking shell (132) keep away from the one end lateral part of picking the mouth and be fixed with frame (131), be equipped with on frame (131) or picking shell (132) towards picking mouthful binocular camera B (12) and range sensor (14) of direction.

6. The utility model provides a prickly ash vision picking robot who constitutes by prickly ash picking device which characterized in that: the device comprises a pepper picking device (13), an installation chassis (1), a traveling system (3), a drying and screening system (5) and a picking manipulator (9), wherein the traveling system (3) is respectively installed on two sides of the bottom of the installation chassis (1), and the picking manipulator (9) and a control cabinet (2) are installed on the installation chassis (1); the pepper picking device (13) is arranged at the top end of the picking manipulator (9) in a matching way, the mounting base plate (1) is provided with a negative pressure collector (6), and the negative pressure collector (6) is hermetically connected with a discharge port of the pepper picking device (13) through a pepper negative pressure collecting pipe (7); and the drying and screening system (5) is connected with the negative pressure collector (6).

7. The vision picking robot for Chinese prickly ash, which is composed of a Chinese prickly ash picking device, according to claim 6, is characterized in that: the drying and screening system (5) comprises a drying and screening box, a conveying device (52), a vibration impurity removal device (53) and a material receiving basket (54) are installed in the drying and screening box, a feeding hopper (51) corresponding to the negative pressure collector (6) is arranged at the feeding end of the conveying device (52), the discharging end of the conveying device (52) corresponds to the feeding end of the vibration impurity removal device (53), a vibration sieve plate and a blower are arranged in the vibration impurity removal device (53), the vibration sieve plate divides the interior of the vibration impurity removal device (53) into an upper-layer screening space and a lower-layer screening space, the upper-layer screening space corresponds to the material receiving basket (54), and the blower is arranged in the vibration impurity removal device (53); the control cabinet (2) is respectively connected with the picking manipulator (9), the pepper picking device (13), the negative pressure collector (6), the walking system (3), the conveying device (52) and the vibration impurity removal device (53).

8. The vision picking robot for Chinese prickly ash, which is composed of a Chinese prickly ash picking device, according to claim 7, is characterized in that: the conveying device (52) comprises a plurality of layers of conveying belts (521), all the layers of conveying belts (521) are sequentially arranged from top to bottom, and a discharging hopper (522) is correspondingly arranged between two adjacent layers of conveying belts (521) on the upper layer; stoving screening incasement portion is equipped with microwave heating pipe (55) corresponding with conveyer (52), stoving screening bottom of the case portion is equipped with exhaust fan (56), stoving screening bottom of the case portion has still opened the exhaust hole corresponding with exhaust fan (56), microwave heating pipe (55), exhaust fan (56) are connected with switch board (2) respectively, switch board (2) inside is equipped with communication module.

9. The vision picking robot for Chinese prickly ash, which is composed of a Chinese prickly ash picking device, according to claim 8, is characterized in that: the walking system (3) comprises a walking driving motor, driving wheels and a walking crawler belt, the walking driving motor is in power connection with the driving wheels, driven wheels are respectively arranged on two sides of the walking system, the walking crawler belt of the walking system (3) is installed on the two driven wheels and one driving wheel in a power matching mode, and the walking driving motor is connected with the control cabinet (2); the vibration impurity removing device (53) is provided with a movable door (531).

10. The vision picking robot for Chinese prickly ash, which is composed of a Chinese prickly ash picking device, according to claim 9, is characterized in that: the mounting chassis (1) is further provided with a clamp manipulator (10), a clamp (8) is mounted at the top end of the clamp manipulator (10), and the clamp manipulator (10) is connected with the control cabinet (2); the clamp (8) comprises a clamp seat (81), the clamp seat (81) is connected with the clamp manipulator (10) through a connecting rod A (84), two sides of the clamp seat (81) are respectively provided with a scissor type connecting rod frame (82), and the end parts of the two scissor type connecting rod frames (82) are provided with arc-shaped clamping plates (83) in a matching way; a panoramic camera (4) and a binocular camera A (11) are arranged on the mounting chassis (1), the panoramic camera (4) and the binocular camera A (11) are respectively connected with the control cabinet (2), and a binocular camera B (12) of the pepper picking device (13) is connected with the control cabinet (2); a power supply or a generator is arranged in the control cabinet (2), or the power supply or the generator connected with the control cabinet (2) is arranged on the mounting chassis (1).