CN207070639U - A kind of strawberry picking robot - Google Patents
A kind of strawberry picking robot Download PDFInfo
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- CN207070639U CN207070639U CN201720955943.9U CN201720955943U CN207070639U CN 207070639 U CN207070639 U CN 207070639U CN 201720955943 U CN201720955943 U CN 201720955943U CN 207070639 U CN207070639 U CN 207070639U
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- workbench
- large arm
- picking robot
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Abstract
The utility model discloses a kind of strawberry picking robot, including wheel, axletree, vehicle frame and video camera, workbench is installed above the vehicle frame, discharging box and support column are installed above the workbench, supporting plate is installed on the support column, base electrical machinery is installed below the supporting plate, the base electrical machinery is connected with base, large arm motor is installed on the base, the large arm motor is connected with large arm, the large arm is provided with forearm motor with forearm link position, the forearm is connected with claw device, claw is installed on the claw device, the end of the claw is provided with photoelectric sensor, air cylinder support is provided with the claw device, cylinder is installed on the air cylinder support, the cylinder is connected with connector.The strawberry picking robot is provided with video camera, photoelectric sensor and controller, can be accurately judged to the particular location of ripe strawberry, and then is won, and automaticity is high, simple to operate, effectively reduces hand labor intensity.
Description
Technical field
It the utility model is related to strawberry harvesting correlative technology field, and in particular to a kind of strawberry picking robot.
Background technology
Strawberry, perennial herb are high 10-40 centimetres.Stem is close by development yellow pubescence less than leaf or near equal.Leaf three goes out,
Leaflet have short handle, quality is thicker, obovate or rhombus, above bottle green, it is several hairless, below light white green, thinly covered hair, along the pulse compared with
It is close；Petiole is close by development yellow pubescence.Cyme, the leaflet of the short handle of mask one under inflorescence；Flower both sexes；Sepal is avette, than pair
Sepal is slightly long；Petal white, subcircular or the ellipse of falling ovum.Aggregate fruit is big, and it is upright to harbor sepal, is close to fruit；Achene point
It is avette, it is smooth.The month at florescence 4-5, the fruiting period 6-7 months.South America is originated in, all over China and the ground such as Europe is widely cultivated.Strawberry nutrition valency
Value is high, containing a variety of nutriments, and has health-care efficacy, most area has extensive plantation in the world.In order to ensure grass
The certain kind of berries is edible and exterior quality, it is necessary to the daily time-division morning and evening harvesting ripe of water content in harvest fruit, mostly strawberry harvesting is manually to adopt
Pluck, need to bend over when plucking fruit, labor intensity is big, and the cost of labor spent accounts for the ratio of strawberry cultivating production cost relatively
Height, substantially increase the planting cost of strawberry.In the market has some strawberry pickers, such as strawberry device for picking, harvesting pincers, harvesting
Gloves etc., although people can be helped to pluck strawberry, manual operation is still, and is easy cutting implement mostly, not
The working strength of effective link labourer.
Utility model content
The purpose of this utility model is that to solve the above problems and provides a kind of strawberry picking robot.
The utility model is achieved through the following technical solutions above-mentioned purpose：
A kind of strawberry picking robot, including wheel, axletree, vehicle frame and video camera, the wheel by the axletree with
The vehicle frame connection, the vehicle frame top are provided with workbench, controller, the workbench are provided with below the workbench
Lower section side the video camera is installed, discharging box and support column be installed, on the support column above the workbench
Supporting plate is installed, base electrical machinery is installed below the supporting plate, the base electrical machinery is connected with base, is pacified on the base
Equipped with large arm motor, the large arm motor is connected with large arm, and the large arm is provided with forearm motor with forearm link position, described
Forearm is connected with claw device, and claw is provided with the claw device, and the end of the claw is provided with photoelectric sensor, the card
Air cylinder support is provided with pawl device, cylinder is installed on the air cylinder support, the cylinder is connected with connector, the axletree with
Movable motor connects, and is connected between the claw and the claw device by jaw frame.
In said structure, the camera acquisition image information, and the controller is passed information to, the controller
The coordinate of ripe strawberry is determined using image-forming techniques, the controller controls the base electrical machinery, the forearm motor
Worked with the large arm motor, by the claw to being adapted to the position for winning strawberry to move, when the photoelectric sensor senses
Behind the position of ripe strawberry, signal is passed into the controller, the controller controls the claw to slow down translational speed, when
The claw is moved to when being adapted to win position, and the controller controls the cylinder operation, and the cylinder drives the claw
Action is won in completion, and the strawberry won is put into the discharging box afterwards.
In order to further improve a kind of use function of strawberry picking robot, the air cylinder support has two, the gas
Jar support is bolted on the claw device, and the cylinder is fixed by screws on the air cylinder support.
In order to further improve a kind of use function of strawberry picking robot, the support column and the discharging box pass through
Screw is fixed on the workbench, and the controller is fixed by screws in the lower section of the workbench.
In order to further improve a kind of use function of strawberry picking robot, the base electrical machinery is arranged on by bolt
In the supporting plate, the main shaft of the base electrical machinery is connected with the base, and the base is rotatable.
In order to further improve a kind of use function of strawberry picking robot, the photoelectric sensor and the controller
Between connected by signal wire, the controller and the base electrical machinery, the forearm motor, the large arm motor and the row
Walk and electrically connect between motor.
In order to further improve a kind of use function of strawberry picking robot, the wheel has four, wherein symmetrically
Two wheels are connected with two movable motors respectively.
Beneficial effect is：The strawberry picking robot is provided with video camera, photoelectric sensor and controller, can accurate judgement
Go out the particular location of ripe strawberry, and then won, automaticity is high, simple to operate, effectively reduces hand labor intensity.
Brief description of the drawings
Fig. 1 is a kind of structural representation of strawberry picking robot described in the utility model；
Fig. 2 is a kind of partial schematic diagram of strawberry picking robot described in the utility model；
Fig. 3 is a kind of partial schematic diagram of strawberry picking robot described in the utility model；
Description of reference numerals is as follows：
1st, wheel；2nd, axletree；3rd, vehicle frame；4th, video camera；5th, claw；6th, claw device；7th, forearm；8th, forearm motor；9th, it is big
Arm；10th, large arm motor；11st, base；12nd, supporting plate；13rd, support column；14th, workbench；15th, controller；16th, base electrical machinery；
17th, discharging box；18th, air cylinder support；19th, cylinder；20th, connector；21st, jaw frame；22nd, photoelectric sensor；23rd, movable motor.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings：
As shown in Figure 1-Figure 3, a kind of strawberry picking robot, including wheel 1, axletree 2, vehicle frame 3 and video camera 4, wheel 1
It is connected by axletree 2 with vehicle frame 3, the top of vehicle frame 3 is provided with workbench 14, and the lower section of workbench 14 is provided with controller 15, work
The lower section side for making platform 14 is provided with video camera 4, and the top of workbench 14 is provided with discharging box 17 and support column 13, support column 13
On supporting plate 12 is installed, the lower section of supporting plate 12 is provided with base electrical machinery 16, and base electrical machinery 16 is connected with base 11, on base 11
Large arm motor 10 is installed, large arm motor 10 is connected with large arm 9, and large arm 9 is provided with forearm motor 8 with the link position of forearm 7, small
Arm 7 is connected with claw device 6, is provided with claw 5 on claw device 6, and the end of claw 5 is provided with photoelectric sensor 22, on claw device 6
Air cylinder support 18 is provided with, cylinder 19 is installed on air cylinder support 18, cylinder 19 is connected with connector 20, axletree 2 and walking electricity
Machine 23 connects, and is connected between claw 5 and claw device 6 by jaw frame 21.
In said structure, video camera 4 gathers image information, and passes information to controller 15, and controller 15 utilizes figure
As forming technique determines the coordinate of ripe strawberry, the control of controller 15 base electrical machinery 16, forearm motor 8 and the work of large arm motor 10
Make, by claw 5 to being adapted to the position for winning strawberry to move, after photoelectric sensor 22 senses the position of ripe strawberry, will believe
Controller 15 number is passed to, controller 15 controls claw 5 to slow down translational speed, when claw 5, which is moved to, is adapted to win position, control
Device 15 processed controls cylinder 19 to work, and cylinder 19 drives claw 5 to complete to win action, afterwards, the strawberry won is put into institute's blowing
In case 17.
In order to further improve a kind of use function of strawberry picking robot, air cylinder support 18 has two, air cylinder support
18 are bolted on claw device 6, and cylinder 19 is fixed by screws on air cylinder support 18, support column 13 and discharging box 17
It is fixed by screws on workbench 14, controller 15 is fixed by screws in the lower section of workbench 14, and base electrical machinery 16 passes through
Bolt is arranged in supporting plate 12, and the main shaft of base electrical machinery 12 is connected with base 11, and base 11 is rotatable, photoelectric sensor 22 and
Connected between controller 15 by signal wire, controller 15 and base electrical machinery 16, forearm motor 8, large arm motor 10 and walking electricity
Electrically connected between machine 23, wheel 1 there are four, wherein symmetrical two wheels 1 are connected with two movable motors 23 respectively.
General principle, principal character and advantage of the present utility model has been shown and described above.The technical staff of the industry
It should be appreciated that the utility model is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification is originally
The principle of utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model also has various change
And improvement, these changes and improvements are both fallen within claimed the scope of the utility model.The utility model requires protection scope
Defined by appended claims and its effect thing.
Claims (6)
- A kind of 1. strawberry picking robot, it is characterised in that：Including wheel, axletree, vehicle frame and video camera, the wheel passes through institute State axletree to be connected with the vehicle frame, workbench is installed above the vehicle frame, controller, institute are installed below the workbench The lower section side for stating workbench is provided with the video camera, and discharging box and support column are provided with above the workbench, described Supporting plate is installed on support column, base electrical machinery is installed below the supporting plate, the base electrical machinery is connected with base, described Large arm motor is installed, the large arm motor is connected with large arm, and the large arm is provided with forearm with forearm link position on base Motor, the forearm are connected with claw device, and claw is provided with the claw device, and the end of the claw is provided with photoelectric sensing Device, air cylinder support is provided with the claw device, cylinder is installed on the air cylinder support, the cylinder is connected with connector, The claw is connected with claw device, and the axletree is connected with movable motor, passes through claw between the claw and the claw device Frame connects.
- A kind of 2. strawberry picking robot according to claim 1, it is characterised in that：The air cylinder support has two, institute State air cylinder support to be bolted on the claw device, the cylinder is fixed by screws on the air cylinder support.
- A kind of 3. strawberry picking robot according to claim 1, it is characterised in that：The support column and the discharging box It is fixed by screws on the workbench, the controller is fixed by screws in the lower section of the workbench.
- A kind of 4. strawberry picking robot according to claim 1, it is characterised in that：The base electrical machinery is pacified by bolt In the supporting plate, the main shaft of the base electrical machinery is connected with the base, and the base is rotatable.
- A kind of 5. strawberry picking robot according to claim 1, it is characterised in that：The photoelectric sensor and the control Connected between device processed by signal wire, the controller and the base electrical machinery, the forearm motor, the large arm motor and institute State and electrically connect between movable motor.
- A kind of 6. strawberry picking robot according to claim 1, it is characterised in that：The wheel has four, wherein right Two wheels claimed are connected with two movable motors respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720955943.9U CN207070639U (en) | 2017-08-02 | 2017-08-02 | A kind of strawberry picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720955943.9U CN207070639U (en) | 2017-08-02 | 2017-08-02 | A kind of strawberry picking robot |
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| Publication Number | Publication Date |
|---|---|
| CN207070639U true CN207070639U (en) | 2018-03-06 |
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| CN201720955943.9U Active CN207070639U (en) | 2017-08-02 | 2017-08-02 | A kind of strawberry picking robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108401684A (en) * | 2018-05-03 | 2018-08-17 | 黄冈师范学院 | A kind of intelligence fruit picking and picking method |
| CN108781762A (en) * | 2018-04-10 | 2018-11-13 | 河海大学文天学院 | A kind of efficient strawberry picking robot and picking method |
| US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US10437252B1 (en) | 2017-09-08 | 2019-10-08 | Perceptln Shenzhen Limited | High-precision multi-layer visual and semantic map for autonomous driving |
| US10794710B1 (en) | 2017-09-08 | 2020-10-06 | Perceptin Shenzhen Limited | High-precision multi-layer visual and semantic map by autonomous units |
| US11328158B2 (en) | 2016-08-29 | 2022-05-10 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
| US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
| US11842500B2 (en) | 2016-08-29 | 2023-12-12 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
| US11953910B2 (en) | 2016-08-29 | 2024-04-09 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
-
2017
- 2017-08-02 CN CN201720955943.9U patent/CN207070639U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US11328158B2 (en) | 2016-08-29 | 2022-05-10 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US11842500B2 (en) | 2016-08-29 | 2023-12-12 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
| US11900536B2 (en) | 2016-08-29 | 2024-02-13 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US11953910B2 (en) | 2016-08-29 | 2024-04-09 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
| US10437252B1 (en) | 2017-09-08 | 2019-10-08 | Perceptln Shenzhen Limited | High-precision multi-layer visual and semantic map for autonomous driving |
| US10794710B1 (en) | 2017-09-08 | 2020-10-06 | Perceptin Shenzhen Limited | High-precision multi-layer visual and semantic map by autonomous units |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
| CN108781762A (en) * | 2018-04-10 | 2018-11-13 | 河海大学文天学院 | A kind of efficient strawberry picking robot and picking method |
| CN108781762B (en) * | 2018-04-10 | 2021-04-13 | 河海大学文天学院 | Efficient strawberry picking robot and picking method |
| CN108401684A (en) * | 2018-05-03 | 2018-08-17 | 黄冈师范学院 | A kind of intelligence fruit picking and picking method |
| US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
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