CN105309131B - Intelligent identification wolfberry picking device - Google Patents

Abstract

Aiming at the problems existing in the prior art, the present invention provides an intelligent identification wolfberry picking device equipped with a distributed machine vision system. The device includes a frame and a power supply system arranged on the frame, a control system, a drive system, a machine vision system, a wolfberry picking manipulator, a branch positioning manipulator, a wolfberry picking head and a fruit collection device; the control system communicates with the machine through the drive system The vision system, wolfberry picking manipulator, branch positioning manipulator, wolfberry picking head and fruit collecting device are connected respectively. The invention also proposes a method for picking wolfberry based on the above-mentioned image recognition wolfberry picking machine. The wolfberry picking device realizes the automatic and efficient collection of wolfberry fruit, solves the problems that the fruit is easily broken and the leaves are easy to block during the harvest of wolfberry fruit, greatly reduces the production cost, and has a good practical application prospect.

Description

Intelligent identification wolfberry picking device

technical field

The invention belongs to the field of agricultural machinery, and in particular relates to a picking device for granular fruits or crops, in particular to an intelligent picking device for wolfberry and an intelligent picking method using the picking device.

Background technique

Lycium barbarum is not only a traditional precious Chinese herbal medicine, but also a nutritional tonic. According to official statistics, in Gansu alone in 2012, the output of wolfberry reached 35,000 tons. Due to the characteristics of high water content and delicate peel of wolfberry fruit when ripe, it is easy to damage when collecting; if damage occurs, it will not only affect its appearance and color, but also reduce its medicinal value. Therefore, it is necessary to adopt a flexible collection method to pick off the wolfberry fruit together with the fruit handle. Due to the complexity of wolfberry growth and the unstructured farmland environment, simple hand-held wolfberry pickers, picking heads and vibrating pickers are currently used in production.

Invention patent application 201010272425 discloses a "hand-held goji berry picking machine", which still requires the participation of picking personnel and is very limited in improving the automation of goji berry picking. Simultaneously, this equipment is to pick a bunch of wolfberry branches, and it is very easy to pick immature wolfberry together, which is very unfavorable for improving the quality and output of wolfberry. Invention patent 201320182557.2 discloses a "elevating fruit picking machine". The lifting device in the picking machine includes a bottom plate arranged on the frame, and at least two sets of oil cylinders are set in the center of the bottom plate and nested. The telescopic oil cylinder in the sleeve is used to manipulate the lifting console of the telescopic oil cylinder, and the lifting brackets are arranged on both sides of the bottom plate. The problems of this picking machine are: (1) the lifting device is not very flexible, it can only be lifted up and down, and the direction needs to be adjusted by adjusting the direction of the whole implement; (2) hydraulic pressure is used for lifting, and the overall lifting device is too large and inflexible to use ,high cost.

In summary, in the prior art, there is no mature picking device based on machine vision; even if the machine vision picking device is currently in the experimental stage and has not applied for a patent, according to the existing research findings, the use of machine vision and picking When the manipulator picks wolfberry fruit, it needs to move the whole set of machine to the front of the wolfberry branches; since the visual range of the machine vision system is very limited, the horizontal pickable area of the picking machine is very limited, and the picking manipulator will finish picking the wolfberry in front of it Finally, it is necessary for the staff to move the system to other areas, which is very unfavorable for improving the picking efficiency. Moreover, picking wolfberries at different heights in the same area requires frequent movement of the machine, which is not conducive to improving the picking efficiency; moreover, trees with a large difference in height from the average wolfberry tree are very easy to pick due to the limited viewing angle of the machine vision system. Occurs that the lowest and highest images cannot be collected and missed. In addition, if referring to the existing harvesting methods of other crops or fruits, the crops or fruits can be collected by air suction, but due to the large working air flow, the collection device is very likely to be blocked by leaves.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention provides a wolfberry picking device equipped with a distributed machine vision system.

The technical solution of the present invention is: an intelligent identification wolfberry picking device, including a frame and a power supply system, a control system, a drive system, a machine vision system, a wolfberry picking manipulator, a branch positioning manipulator, a wolfberry picking head and a fruit collection device arranged on the frame device; the control system is respectively connected with the machine vision system, wolfberry picking manipulator, branch positioning manipulator, wolfberry picking head and fruit collecting device through the drive system. The power supply system, control system and drive system are all arranged in the control cabinet. The power supply system includes a lithium iron phosphate battery, an inverter, and a voltage stabilizing module; the control system is an industrial computer; the control cabinet also includes a touch screen and an information fusion module. Among them, the lithium iron phosphate battery is connected to the inverter and the voltage stabilizing module, and the voltage stabilizing module is connected to the touch screen, the information fusion module and the drive system; the inverter is connected to the information fusion module.

The machine vision system includes a high-position vision system, a low-position vision system and a vision lifting system; the high-position vision system is connected to the frame through the vision lifting system. The movement of the vision lifting system can drive the movement of the high-level vision system, thereby collecting high-level images. The wolfberry picking device also includes a sliding table lifting system arranged on the frame, the low-position vision system, the visual lifting system, the wolfberry picking manipulator and the branch positioning manipulator are all set on the sliding table lifting system through the electric turntable, and then connected with the machine frame connected. The machine vision system also includes a laser sensing matrix made up of laser sensors; the laser sensing matrix is used to measure the Z-direction distance between its position and the Lycium barbarum fruit, and the signal is transmitted to the control system; Locate the position of the manipulator and the picking manipulator.

The movement of the sliding platform lifting system can drive the movement of the entire electric turntable, high-position vision system, low-position vision system, vision lifting system, wolfberry picking manipulator and branch positioning manipulator. The control system is respectively connected with the sliding table lifting system, the visual lifting system, the electric turntable, the medlar picking machine manipulator, and the branch positioning manipulator through the drive system. Described slide table lifting system comprises slide table 1 and lift table, and described lift table is connected with frame by slide table 1; Described slide table 1 includes slide table main body, slide block 1, stepper motor, driving gear and driven Rack; the main body of the sliding table is fixed on the frame, and the inner two sides of the main body of the sliding table are embedded with driven racks. connect. A stepping motor and a driving gear are fixedly arranged on the slider 1, and the driving gear is fixed on the shaft of the stepping motor, and the driving gear and the driven rack are staggered; the lateral force strain of the slide table is increased, It not only ensures that the lifting system of the slide table will not shake due to the heavy load, but also provides stable lifting power. Wherein, two driven racks are embedded on both sides of the main body of the sliding table; the number of the driving gears is 3; the lifting platform is a square platform.

Wherein, the electric turntable includes a turntable, a disc body, a bearing, a coupling and a servo motor; the disc body and the servo motor are arranged on a square table, the turntable is connected to the disc body through a bearing, and the servo motor Connected to the disc body through a coupling. The rotation of the electric turntable can drive the rotation of wolfberry picking manipulator, branch positioning manipulator, high and low position vision system, and vision lifting system.

Wherein, the visual lifting system includes a lifting guide rail, a slide table II, a slide block II, an L-shaped corner code, a lead screw, a shaft coupling and a stepping motor; the slide table II is threadedly connected to the lead screw through its internal nut And move along the lifting guide rail, the L-shaped corner code is fixedly connected with the slide table II through the slider II; the stepping motor is connected with the lead screw through a coupling. The high-position vision system includes a camera I and a pulley biaxial light bar slide table I; the pulley biaxial light bar slide table I includes a slide table body I, a biaxial light bar I, a pulley bearing I and a slide block I; The base of the camera I is connected with the slide block I and the pulley biaxial light bar slide table I, and the slide table body I is connected with the slide block II of the visual lifting system through the L-shaped corner code I. Both sides inside described slide table body 1 are provided with biaxial light bar 1, and pulley bearing 1 is fixed on the slide table slider 1 by internal bearing, and slide table slide block 1 is installed on the slide table body 1. The movement of the vision lifting system can drive the movement of the high-level vision system, thereby collecting high-level images. The present invention collects images of high and low places respectively by setting a high-position vision system and a low-position vision system, and then performs subsequent analysis and processing; it not only greatly expands the field of vision of the vision system, but also greatly reduces the mechanical stress of the Qi picking machine in a narrow field. The problem of limited scope of work for vision and manipulator picking; and it avoids the picking of immature wolfberry fruits by picking hands, thereby improving the quality of wolfberry picking and ensuring the output of wolfberry.

Wherein, the wolfberry picking device also includes a "line" positioning rod, and the positioning rod includes a front positioning rod and a rear positioning rod; the front positioning rod and the rear positioning rod are symmetrically arranged on the two sides of the turntable side. The vision lifting system is fixed on the end of the rear positioning rod, and the head end of the rear positioning rod is fixed on the edge of the turntable; the low position vision system is fixed on the end of the front positioning rod, and the front positioning rod The head end is fixed on the edge of the turntable. The low position vision system and the vision lifting system are arranged on the same axis of the turntable. The low-position vision system includes a camera II and a two-axis light bar slide table II with pulleys; the two-axis light bar slide table II with pulleys includes a slide body II, a two-axis light bar II, a pulley bearing II, a slide block II and Composed of L-shaped corner code II; the base of the camera II is directly connected to the slide body II, and the slide body II is connected to the front positioning rod through the L-shaped corner code II; both sides inside the slide body II A double-axis light rod II is provided, and the pulley bearing II is fixed on the sliding block II of the sliding table through an internal bearing, and the sliding block II of the sliding table is installed on the main body II of the sliding table.

Preferably, one side of the slide block I is provided with a set screw I, and one side of the slide block II is provided with a set screw II; the set screw I is used to fix and limit the sliding The movement of the slide block I; the set screw II is used to fix and limit the movement of the slide block II.

Preferably, the wolfberry picking manipulator and the branch positioning manipulator each include a set of six-degree-of-freedom manipulators. A "line" fixing plate is provided on the rotary platform, and the "line" fixing plate is perpendicular to the "line" positioning rod. The wolfberry picking machine manipulator and the branch positioning manipulator are provided with two ends of a "line" fixing plate. Since the center point of the wolfberry picking manipulator and the branch positioning manipulator, the high-position vision system and the low-position vision system are on the same axis, and the high-position vision system and the low-position vision system, the wolfberry picking manipulator and the branch positioning manipulator are always synchronized; thus making the four in the image processing The coordinate position in is relatively fixed, so the accuracy of wolfberry picking has nothing to do with the accuracy of the electric turntable motor, ensuring the accuracy of picking.

The wolfberry picking head is an adjustable pair of roller gap surrounding type wolfberry picking head, which includes a picking head shell and a main roller, a transmission system and an auxiliary roller arranged inside the picking head shell. The main rollers include a main roller of forward rotation and a main roller of reverse rotation, and the main roller of normal rotation and main roller of reverse rotation rotate in opposite directions. The picking head also includes a transmission system and auxiliary rollers, and the auxiliary rollers include forward rotating auxiliary rollers and counter-rotating auxiliary rollers, and the forward rotating auxiliary rollers and counter-rotating auxiliary rollers rotate oppositely. The forward rotating auxiliary roller is arranged above the forward rotating main roller, and the reverse rotating auxiliary roller is arranged above the reverse rotating main roller. Both the main roller and the auxiliary roller are composed of rubber rollers and rubber teeth arranged on the rubber rollers. The driving system drives the rotation of the main roller and the auxiliary roller through the transmission system to realize the picking of Chinese wolfberry.

Wherein, the transmission system includes a plum-blossom elastic coupling, a first transmission shaft, a forward transmission device that provides power to the forward-rotating auxiliary roller and the forward-rotating main roller, and provides power to the reverse-rotating auxiliary roller and the reverse-rotating main roller. Power reverse transmission. The forward transmission device includes a forward-rotating worm, a second transmission shaft I, a forward-rotating worm gear, a first-stage transmission pulley I, a transmission transition shaft I, a second-stage transmission pulley I and a third transmission shaft I. The reverse transmission device includes a reverse-rotation worm, a second transmission shaft II, a reverse-rotation worm gear, a first-stage transmission pulley II, a transmission transition shaft II, a second-stage transmission pulley II and a third transmission shaft II. Through the use of forward-rotating worm gear, reverse-rotating worm gear, main rollers and auxiliary rollers, the fruit restraint work of wolfberry branches is realized, and the wrapping performance of wolfberry branches is excellent, which realizes all-round picking of wolfberry branches and improves wolfberry branches. The net fruit rate of picking.

The connection mode of the transmission system is: one end of the plum blossom elastic coupling is connected with the output shaft of the external motor, and the other end is connected with the first transmission shaft; on the drive shaft. A forward-rotating worm meshed with the forward-rotating worm is arranged directly above the forward-rotating worm, and the forward-rotating worm is installed on the second transmission shaft I through a key I, and its position on the shaft is fixed by a snap ring. The driving pulley 1a of the first stage transmission pulley 1 is installed on the second transmission shaft 1, and the axial and circumferential positions are fixed by the set screw 1a; Set screws fix the axial and circumferential positions. The driving pulley Ib of the second-stage transmission pulley I is installed on the transmission transition shaft I, and is connected with the driven pulley Ia of the first-stage transmission pulley I, and the driven pulley Ib is installed on the third transmission shaft I, through the set screw Ib fixes its axial and circumferential position. The main roller of normal rotation is installed on the second transmission shaft I, and the auxiliary roller of normal rotation is installed on the third transmission shaft I.

The anti-rotation worm meshed with it is set directly above the anti-rotation worm, and the anti-rotation worm is installed on the second transmission shaft II through the key II, and its position on the shaft is fixed by a snap ring. The driving pulley IIa of the first-stage transmission pulley II is installed on the second transmission shaft II, and the axial and circumferential positions are fixed by the set screw IIa; the driven pulley IIa is installed on the transmission transition shaft II, and the Screws fix the axial and circumferential positions. The driving pulley IIb of the second drive pulley II is installed on the transmission transition shaft II and connected with the driven pulley IIa of the first stage drive pulley II; the driven pulley IIb is installed on the third drive shaft II through the set screw IIb Fix its axial and circumferential position. The reverse main roller is installed on the second transmission shaft II, and the forward rotation secondary roller is installed on the third transmission shaft II.

The transmission system is arranged in a transmission box located at the front end of the picking head housing, and the transmission box includes a transmission box housing and a transmission transition shaft bearing. The first transmission shaft is installed on the bearing on the transmission case housing.

Wherein, the picking head also includes an opening and closing mouth, and the opening and closing mouth includes an opening and closing mouth main body, a secondary roller bearing, a steering gear and a convex pin, and the steering gear is arranged at the rear end of the picking head housing; one end of the opening and closing mouth main body The protruding pin is installed on the stepped hole of the picking head housing, and then connected with the steering wheel of the steering gear; the other end of the main body of the opening and closing port is connected with the auxiliary roller bearing. The auxiliary roller bearings are the bearings of the third transmission shaft I and the third transmission shaft II.

Wherein, the picking head housing includes a picking head housing main body, a protective shell and a gap adjustment device for main rollers. The main roller gap adjustment device includes a bearing seat, a bearing and a gap adjustment screw; the bearing is installed on the chute of the front and rear walls of the picking head housing through the bearing seat. The bearing seat is provided with a threaded hole matching the gap adjustment screw; the gap adjustment screw passes through the threaded hole to contact the bearing; a cotter pin is installed in the head hole of the gap adjustment screw; the protective shell is installed on the picking head On the rear wall of the casing, it is used to protect the normal operation of the main roller bearing and the steering gear. The bearings are the bearings of the second transmission shaft I and the second transmission shaft II. The invention uses the steering gear to control the size of the opening and closing opening to control the distance between the forward and reverse auxiliary rollers; the main roller gap adjustment device can be used to manually adjust the distance between the main and auxiliary rollers; by controlling the four forward and reverse main rollers The distance between the rollers and the reversing secondary rollers makes the device suitable for picking wolfberry branches with different diameters, and has wide versatility.

Preferably, a spring tensioning device is installed in the first-stage transmission pulley I and the first-stage transmission pulley II; the spring tensioning device includes a belt pressing piece, a spring and a spring seat; one end of the spring passes through The belt pressing pieces are connected with respective corresponding belts, and the other end of the spring is connected with the spring seat. The spring seat is installed on the front wall of the picking head housing. Compared with the conventional transmission system, the transmission system adopted in the present invention has added flexible transmission—belt transmission, so the gap of the main roller can be adjusted arbitrarily according to the wolfberry branches of different ages; Tightening device, so as to ensure that the whole transmission can work normally when the gap is adjusted.

The fruit collection device is an anti-blocking isolation type wolfberry automatic collection device, including a collection device, a power device and a storage device; the power device is connected with the collection device, and then connected with the storage device; the collection device includes a collection funnel and a collection soft Tube. A three-way interface and an anti-block electric valve are arranged on the collecting hose, and the collecting hose includes an upper collecting hose, a middle collecting hose and a lower collecting hose. Wherein, the power device is a fan, and the storage device is a fruit collection box; the fan is connected with the collection hose, and then connected with the fruit collection box. The control system is respectively connected with the fan and the anti-block electric valve. The fan is placed on the frame through the fan backing plate, and the anti-blocking electric valve is placed on the frame through the electric valve backing plate.

The anti-block electric valve includes an electric valve body, a fruit inlet, a fruit outlet and a valve plate; the valve plate is arranged on the pipeline between the fruit inlet and the fruit outlet. The valve plate is a circular plate matching the pipeline; a circular valve plate frame is arranged outside the circumference of the valve plate, and a plurality of circular holes are arranged on the valve plate frame. The anti-blocking electric valve also includes a retractable connecting rod, which runs through the round hole; the end of the retractable connecting rod facing the valve plate is connected to the valve plate through the valve plate spring, so that the shrinkable connecting rod changes with the diameter of the pipeline. length adjustment. Wherein, the valve plate is a solid plate or a mesh plate, and the aperture of the mesh is smaller than the size of the wolfberry fruit. A stepping motor is arranged inside the electric valve body, and the stepping motor is used to control the switch of the valve plate. Since the retractable link is connected to the valve plate spring, and the valve plate spring always maintains tension, the retractable link can telescopically slide in the round hole; the effect is that when the valve plate is about to close and there is a gap, the retractable link will Due to the blocking effect, the fruit will not fall into the gap, thus avoiding the occurrence of the problem of fruit rupture.

The upper end of the upper collection hose is connected to the lower end of the collection funnel, the lower end of the upper collection hose is connected to the first end of the tee interface; the upper end of the middle collection hose is connected to the third end of the tee interface Interface connection, the lower end of the middle collection hose is connected with the fruit inlet of the anti-blocking electric valve; the fruit outlet of the anti-blocking electric valve is connected with the fruit collection device through the lower collection hose; the third connection of the three-way interface The two-end interface is connected to the fan through the air inlet hose. The setting of the anti-blocking electric valve not only avoids the damage of the fruit due to extrusion during the process of outputting the fruit in the collecting hose to the fruit collection box, but also solves the problem that the current picking machine must suspend the machine to replace the fruit collection box , truly realizing the automation and continuity of wolfberry picking.

Wherein, the second end interface of the three-way interface is provided with an anti-blocking isolating bolt inside. The anti-blocking isolation bolt is a cylindrical structure that penetrates up and down inside, including an isolation bolt housing, rollers and wind deflectors arranged inside the isolation bolt housing. The rollers are uniformly arranged at one end of the anti-blocking isolation bolt, and the wind deflector is arranged at the other end of the anti-blocking isolation bolt. The gap between the adjacent rollers is smaller than the diameter of the fruit, and the rollers and the wind deflector are arranged in parallel. The inside of the roller is provided with a rotating shaft, and the roller is connected to the rotating shaft in rotation; the roller is connected to the bearing through the rotating shaft, and then connected to the housing of the isolation bolt. The rotating shaft is also provided with fan wheels; the number of the fan wheels is 2, and the 2 fan wheels are arranged on both sides of the roller on the rotating shaft. The end of the anti-blocking isolating bolt close to the wind deflector is connected with the fan, and the end of the anti-blocking isolating bolt near the roller is connected with the pipeline of the fruit picking device. The outer diameter of the anti-blocking isolating bolt is slightly larger than the inner diameter of the tee interface, and the housing of the isolating bolt is provided with a cut-off groove to facilitate the installation of the anti-blocking and isolating bolt; the cut-off groove is vertically arranged with the rollers.

When working, the airflow enters from the wind guide plate, and the airflow drives the fan wheel and the roller to rotate. Even if the leaves stick to the surface of the anti-blocking isolation plug, they will be substituted into the turbine fan with the rotation of the roller, and then discharged. In the process of fruit collection, the fruit falls under the guidance of its own weight and the assistance of the fan. The setting of the anti-blocking isolation plug not only separates the fruits and leaves that enter the collection pipe together, separates all the leaves into the fan duct, and then discharges them through the fan; it also avoids sucking the wolfberry fruit into the fan and blocking the fan interface with leaves.

Wherein, the interior of the collection hose is provided with a buffer device, and the buffer device includes a plurality of sponge damping strips fixed on the inner wall of the collection hose, and the sponge damping strips are arranged on the collection soft The inner wall of the tube reduces the collision between the goji berries and between the goji berries and the hose.

Working principle: When the wolfberry picking machine is working, the controller controls the fan to work, and the anti-blocking electric valve is in the closed state; the wolfberry fruit picked by the picking head enters the upper collecting hose from the collecting funnel under the suction of the turbo blower, and in three Gather at the first end of the three-way interface; when there is enough wolfberry, the controller controls the anti-blocking electric valve to open, and the wolfberry fruit enters the fruit collection box through the third end of the three-way interface through the lower collection hose.

The driving system includes a picking manipulator driver, a branch positioning manipulator driver, a high-level vision system driver, a low-level vision system driver, a sliding platform lifting system driver, a vision lifting system driver, a steering gear driver, a transmission system driver and an opening and closing driver. The drive system is connected with the picking manipulator, the branch positioning manipulator, the high-position vision system, the low-position vision system, the sliding table lifting system, the vision lifting system and the wolfberry picking head.

The present invention also proposes a method for picking wolfberry based on the above-mentioned image recognition wolfberry picking machine, including the following steps: after the industrial computer in the host computer collects images through a distributed machine vision system, determine the feature points on the wolfberry branches and fruits The two-dimensional coordinates (X, Y) are transmitted to the information fusion module in the control cabinet; after receiving the data, the module first controls the picking manipulator to move to the front of the feature point; then drives the laser sensor matrix to measure the depth information ( Z); then drive the branch positioning manipulator to grab the end of the branch to be picked and lift it slightly to separate; then drive the picking manipulator to control the wolfberry picking head to pick the fruit on the branch; finally, the anti-blocking isolated wolfberry automatic collection device realizes the wolfberry picking The suction and collection of the fruit completes a picking process.

The beneficial effects of the present invention are:

(1) Lycium barbarum picking device of the present invention improves the labor productivity of wolfberry picking, reduces labor intensity and picking cost of peasants, ensures timely harvesting of wolfberry and the quality of wolfberry, and promotes rural economic development and improves agricultural production in my country Modernization, intelligence, and accelerating the progress of agricultural science are of immeasurable significance.

(2) the present invention utilizes distributed machine vision system to carry out image acquisition to the Lycium barbarum of picking area, has improved the vision range of vision system on horizontal and vertical distance and the operating range of manipulator in horizontal direction, by analyzing the distribution position of Lycium barbarum fruit and maturity, avoiding wrong picking and missing picking;

(3) The present invention utilizes wolfberry branch positioning and picking manipulator to realize the positioning of wolfberry branches and the automatic picking of wolfberry fruit without manual intervention, which greatly reduces production costs;

(4) The present invention provides a kind of active type adjustable pair of roller gap surrounding type wolfberry automatic picking head, has improved the net fruit rate of wolfberry fruit;

(5) The present invention provides an automatic collection device for wolfberry fruit, which realizes the automatic and efficient collection of wolfberry fruit, solves the problems that the fruit is easy to break and the leaves are easy to block during the harvest of wolfberry fruit, and greatly reduces the production cost , has good practical application prospects.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is one of structural representations of machine vision system of the present invention;

Fig. 3 is the second structural representation of the machine vision system of the present invention;

Fig. 4 is the third structural representation of the machine vision system of the present invention;

Fig. 5 is the fourth structural representation of the machine vision system of the present invention;

Fig. 6 is a schematic structural view of the high-level vision system in the machine vision system of the present invention;

Fig. 7 is a schematic structural view of the vision lifting system in the machine vision system of the present invention;

Fig. 8 is a structural schematic diagram of the sliding table lifting system in the machine vision system of the present invention;

Fig. 9 is a structural schematic diagram of a sliding table lifting system equipped with an electric turntable and a positioning rod in the machine vision system of the present invention;

Fig. 10 is a schematic structural view of the electric turntable in the machine vision system of the present invention;

Fig. 11 is one of structural representations of wolfberry picking head of the present invention;

Fig. 12 is one of structural representations of wolfberry picking head of the present invention (remove transmission box housing and protective shell);

Fig. 13 is the second structural representation of the wolfberry picking head of the present invention (removing the transmission box housing and the protective shell);

Fig. 14 is the third structural representation of the wolfberry picking head of the present invention (remove the transmission box housing and the protective shell);

Fig. 15 is the fourth schematic view of the structure of the wolfberry picking head of the present invention (removing the transmission box housing and the protective shell);

Fig. 16 is a schematic structural view of the picking head housing (removing the transmission case housing and transmission system) of the present invention;

Fig. 17 is one of the transmission route schematic diagrams of the transmission system in the wolfberry picking head of the present invention;

Fig. 18 is the second of the transmission line intention of the transmission system in the wolfberry picking head of the present invention;

Fig. 19 is a schematic structural view of the fruit collecting device of the present invention;

Fig. 20 is one of the structural schematic diagrams of the anti-blocking electric valve in the fruit collecting device of the present invention;

Fig. 21 is a partial structural schematic diagram of the anti-blocking electric valve in the fruit collection device of the present invention (remove the body of the anti-blocking electric valve);

Fig. 22 is the third schematic diagram of the structure of the anti-blocking electric valve in the fruit collecting device of the present invention;

Fig. 23 is one of the structural representations of the anti-blocking isolation bolt in the fruit collection device of the present invention;

Fig. 24 is the second structural diagram of the anti-blocking isolation bolt in the fruit collecting device of the present invention;

Fig. 25 is a schematic structural view of the collecting hose in the fruit collecting device of the present invention;

Fig. 26 is a schematic structural view of the control cabinet in the present invention.

Among them: 1: Lycium barbarum picking manipulator; 2: Branch positioning manipulator;

3: Control cabinet; 3-1: Touch screen; 3-2: Information fusion module;

4: Control system;

5: Power system; 5-1: Lithium iron phosphate battery; 5-2: Inverter; 5-3: Voltage regulator module;

6: Drive system; 6-1: Picking manipulator driver; 6-2: Branch positioning manipulator driver; 6-3: High-level vision system driver; 6-4: Low-level vision system driver; 6-5: Slide table lifting system driver; 6-6: Vision lift system driver; 6-7: Steering gear driver; 6-8: Transmission system driver;

7: High-level vision system; 7-1: Camera I; 7-2: Pulley double-axis light bar slide table I; 7-2a: Slide table body I; 7-2b: Double-axis light bar I; 7-2c: Pulley Bearing I; 7-2d: slide block I; 7-2e: set screw I;

8: Low position vision system; 8-1: Camera II; 8-2: Pulley double-axis light bar slide table II; 8-2a: Slide table body II; 8-2f: L-shaped corner code II;

9: Slider lifting system; 9-1: Slider I; 9-2: Square table; 9-1a: Slider body; 9-1b: Slider I; 9-1c: Stepping motor; 9-1d: Driving gear; 9-1e: driven rack;

10: Visual lifting system; 10-1: Lifting guide rail; 10-2: Slider II; 10-3: Slider II; 10-4: L-shaped corner code I; 10-5: Lead screw; 10-6: Coupling; 10-7: stepper motor;

11: Electric turntable; 11-1: Rotary table; 11-2: Disc body; 11-3: Bearing; 11-4: Coupling; 11-5: Servo motor; 11-6: Fixed plate;

12: rack; 12-4: fan backing plate; 12-5: electric valve backing plate

13: positioning rod; 13-1: front positioning rod; 13-2: rear positioning rod.

14: Picking head shell; 14-1: Picking head shell main body; 14-2: Protective shell; 14-3: Main roller gap adjustment device; 14-3a: Bearing seat; 14-3b: Bearing; 14- 3c: gap adjustment screw; 14-3d: cotter pin;

15: transmission box; 15-1: transmission box shell; 15-2: transmission transition shaft bearing;

16: transmission system; 16-1: plum blossom elastic coupling; 16-2: first transmission shaft;

16-3: Forward transmission device; 16-3a: Forward-rotating worm; 16-3b: Second transmission shaft I; 16-3c: Forward-rotating turbine; 16-3d: Key; 16-3e: First-stage drive pulley I; 16-3e-1: driving pulley Ia; 16-3e-2: set screw; 16-3e-3: belt; 16-3e-4: driven pulley Ia; 16-3f: transmission transition shaft I; 16-3g: second stage transmission pulley I; 16-3g-1: driving pulley Ib; 16-3g-2: belt; 16-3g-3: set screw; 16-3g-4: driven pulley Ib; 16-3h: the third transmission shaft I;

16-4: reverse transmission device; 16-4a: reverse rotation worm; 16-4b: second transmission shaft II; 16-4c: reverse rotation turbine; 16-4d key; 16-4e: first stage transmission pulley II ;16-4e-1: driving pulley IIa; 16-4e-2: set screw; 16-4e-3: belt; 16-4e-4: driven pulley IIa; 16-4f: transmission transition shaft II; 16 -4g: second stage drive pulley II; 16-4g-1: drive pulley IIb; 16-4g-2: belt; 16-4g-3: set screw; 16-4g-4: driven pulley IIb; 16 -4h: the third transmission shaft II;

17: spring tensioning device; 17-1: belt pressing piece; 17-2: spring; 17-3: spring seat;

18: main roller; 18-1: forward rotating main roller; 18-1a: rubber roller; 18-1b: rubber gear; 18-2: reverse main roller; 18-2a: rubber roller; 18-2b: Rubber gear;

19: secondary roller; 19-1: forward rotating secondary roller; 19-1a: rubber roller; 19-1b: rubber gear; 19-2: reverse secondary roller; 19-2a: rubber roller; 19-2b: Rubber gear;

20: opening and closing port; 20-1: main body of opening and closing port; 20-2: auxiliary roller bearing; 20-3: steering gear; 20-3a: steering gear body; 20-3b: steering gear housing; 20-3c: steering gear plate;

21: Anti-blocking electric valve; 21-1: Anti-blocking electric valve body; 21-2: Fruit inlet of anti-blocking electric valve; 21-3: Fruit outlet of anti-blocking electric valve; 21-4: Valve plate; 21-5: valve plate frame; 21-5a: valve plate spring; 21-5b: retraction connecting rod;

22: Anti-blocking isolation bolt; 22-1: Anti-blocking isolation bolt housing; 22-2: Roller; 22-3: Fan wheel; 22-4: Wind guide plate; 22-5: Bearing; 22-6: Truncated slot;

23: fan; 23-2: air inlet hose;

24: collection funnel;

25: collection hose; 25-1: upper collection hose; 25-2: middle collection hose; 25-3: lower collection hose;

26: three-way interface; 26-1: the first end interface of the three-way interface; 26-2: the second end interface of the three-way interface; 26-3: the second end interface of the three-way interface;

27: Buffer device; 27-1: Sponge damping strip;

28: fruit collection box;

29: Laser sensor.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings.

Example 1:

The intelligent identification wolfberry picking device includes a frame and a power supply system 5 , a control system 4 , a drive system 6 , a machine vision system, a wolfberry picking robot 1 , a branch positioning robot 2 , a wolfberry picking head and a fruit collection device arranged on the frame. The control system 4 is respectively connected with the machine vision system, wolfberry picking manipulator 1, branch positioning manipulator 2, wolfberry picking head and fruit collecting device through the drive system 6. The power supply system 5 , control system 4 and drive system 6 are all arranged in the control cabinet 3 . The power system 5 includes a lithium iron phosphate battery 5-1, an inverter 5-2 and a voltage stabilizing module 5-3; the control system 4 is an industrial computer; the control cabinet 3 also includes a touch screen 3-1 and Information Fusion Module 3-2. Among them, the lithium iron phosphate battery 5-1 is connected to the inverter 5-2 and the voltage stabilizing module 5-3, and the voltage stabilizing module 5-3 is connected to the touch screen 3-1, the information fusion module 3-2 and the driving system 6; the inverter 5-2 Connection Information Fusion Module 3-2.

The machine vision system includes a high-position vision system 7 , a low-position vision system 8 and a vision lifting system 10 ; the high-position vision system 7 is connected to the frame 12 through the vision lifting system 10 . The movement of the vision lifting system 10 can drive the movement of the high position vision system 7, so as to collect high position images. The wolfberry picking device also includes a sliding table lifting system arranged on the frame, the low-position vision system, the visual lifting system, the wolfberry picking manipulator and the branch positioning manipulator are all set on the sliding table lifting system through the electric turntable, and then connected with the machine frame connected. Described machine vision system also comprises the laser sensing matrix that laser sensor 29 forms; Described laser sensing matrix is used for measuring the Z-direction distance of its position distance wolfberry fruit, and signal is delivered to control system 4; Control system 4 according to The position of processing result branch positioning manipulator 2 and picking manipulator 1. The drive system 6 includes a wolfberry picking machine manipulator driver 6-1, a branch positioning manipulator driver 6-2, a high-level vision system driver 6-3, a low-level vision system driver 6-4, a sliding table lifting system driver 6-5, and a visual lifting system. System drives 6-6.

The visual lifting system 10 includes a lifting guide rail 10-1, a slide table II 10-2, a slider II 10-3, an L-shaped corner code 10-4, a lead screw 10-5, a coupling 10-6 and a stepper motor 10-7. The slide table II 10-2 is movably connected with the lead screw 10-5 and moves along the lifting guide rail 10-1, and the L-shaped corner code 10-4 is fixedly connected with the slide table II 10-2 through the slide block II 10-3 ; The stepping motor 10-7 is connected with the lead screw 10-5 through a coupling 10-6.

The wolfberry picking device also includes a sliding table lifting system 9 arranged on the frame 12, the low-position vision system 8, the visual lifting system 10, the wolfberry picking manipulator 1 and the branch positioning manipulator 2 are all arranged on the sliding table through the electric turntable 11. On the lifting system 9, and then connected with the frame 12. The control system 4 is connected to the sliding platform lifting system 9, the visual lifting system 10, the electric turntable 11, the medlar picking machine manipulator 1, and the branch positioning manipulator 2 through the drive system 6 respectively. The slide table lifting system 9 includes a slide table I 9-1 and a square table 9-2, and the square table 9-2 is connected with the frame 12 through the slide table I 9-1. The slide table I 9-1 includes a slide table main body 9-1a, a slider I 9-1b, a stepping motor 9-1c, a driving gear 9-1d and a driven rack 9-1e. The main body of the sliding table 9-1a is fixed on the frame 12, two driven racks 9-1e are embedded on both sides of the main body of the sliding table 9-1a, and the main body of the sliding table 9-1a is provided with The slide block 1 9-1b is connected with the square table 9-2 through the slide block 1 9-1b. Stepping motor 9-1c and 3 driving gears 9-1d are fixedly arranged on the described slide block 19-1b, and described 3 driving gears 9-1d are fixed on the axle of stepping motor 9-1c, and described 3 The driving gear 9-1d is in staggered mesh with the driven rack 9-1e.

Example 2:

Different from Embodiment 1, the electric turntable 11 includes a turntable 11-1, a disk body 11-2, a bearing 11-3, a shaft coupling 11-4 and a servo motor 11-5. The disc body 11-2 and the servo motor 11-5 are arranged on the square table top 9-2, the rotary table 11-1 is connected with the disc body 11-2 through the bearing 11-3, and the servo motor 11-5 is connected through the The shaft coupling 11-4 is connected with the disc body 11-2.

The wolfberry picking device also includes a positioning rod 13, and the positioning rod 13 includes a front positioning rod 13-1 and a rear positioning rod 13-2. The visual lifting system 7 is fixed on the end of the rear positioning rod 13-2, and the head end of the rear positioning rod 13-2 is fixed on the edge of the turntable 11-1. The low position vision system 8 is fixed on the end of the front positioning rod 13-1, and the head end of the front positioning rod 13-1 is fixed on the edge of the turn table 11-1. The low position vision system 8 and the vision lifting system 10 are arranged on the same axis of the turntable 11-1.

Example 3:

The difference from Embodiment 2 is that the high-position vision system 7 includes a camera I 7-1 and a pulley two-axis smooth bar slide I7-2. The pulley double-axis light bar slide table I 7-2 includes a slide table body I 7-2a, a double-axis light bar I 7-2b, a pulley bearing I 7-2c and a slide table slider I 7-2d. The base of the camera I 7-1 is connected with the slide block I 7-2d and the pulley biaxial light bar slide I 7-2, and the slide body I 7-2a is connected by the L-shaped corner code I 10-4 It is connected with the slider II 10-3 of the visual lifting system 10; the two sides of the slide body I 7-2a are provided with a double-axis light bar I 7-2b, and the pulley bearing I 7-2c is fixed on the slide through an internal bearing On the slide block I 7-2d, the slide table slide block I 7-2d is installed on the slide table body I 7-2a.

The low position vision system 8 includes a camera II 8-1 and a two-axis light bar slide table II 8-2; the two-axis light bar slide table II includes a slide body II 8-2a, a two-axis light bar II, It consists of pulley bearing II, slide block II and L-shaped corner code II 8-2f. The base of the camera II is directly connected to the slide body II 8-2a, and the slide body II 8-2a is connected to the front positioning rod 13-1 through the L-shaped corner code II 8-2f; the slide Both sides of the main body II 8-2a are provided with two-axis light bars II, and the pulley bearing II is fixed on the sliding block II of the sliding table through internal bearings, and the sliding block II of the sliding table is installed on the main body II 8-2a of the sliding table.

Example 4:

The difference from Embodiment 3 is that a set screw I 7-2e is provided on one side of the slide block I 7-2d of the slide table, and a set screw II is provided on one side of the slide block II of the slide table. The set screw I 7-2e is used to fix and limit the movement of the slide block I 7-2d; the set screw II is used to fix and limit the movement of the slide block II.

Example 5:

Different from Example 3, the wolfberry picking manipulator 1 and the branch positioning manipulator 2 each include a set of six-degree-of-freedom manipulators. A "line" fixed plate 11-6 is provided on the turntable, and the "line" fixed plate 11-6 is perpendicular to the "line" positioning rod 13. The wolfberry picking machine manipulator 1 and the branch positioning manipulator 2 are provided with two ends of a "line" fixing plate 11-6.

Embodiment 6:

Different from Embodiment 1, the wolfberry picking head is an adjustable pair of roller gap surrounding type wolfberry picking head, including a picking head housing 14 and a main roller 18 arranged inside the picking head housing 14, a transmission system 16 and Secondary roller 19. The main rollers 18 include a forward-rotating main roller 18-1 and a counter-rotating main roller 18-2, and the forward-rotating main roller 18-1 and the counter-rotating main roller 18-2 rotate in opposite directions. The auxiliary rollers include a forward rotating auxiliary roller 19-1 and a counter-rotating auxiliary roller 19-2, and the forward rotating auxiliary roller 19-1 and the counter-rotating auxiliary roller 19-2 rotate in opposite directions. The positive rotation auxiliary roller 19-1 is arranged above the normal rotation main roller 18-1, and the reverse rotation auxiliary roller 19-2 is arranged above the reverse rotation main roller 18-2. Both the main roller 18 and the auxiliary roller 19 are made up of rubber rollers and rubber teeth arranged on the rubber rollers.

The transmission system is arranged in the transmission box 15 located at the front end of the picking head housing 14, and the transmission box 15 includes a transmission box housing 15-1 and a transmission transition shaft bearing 15-2. The driving system 6 also includes a steering gear driver 6-7 and a transmission system driver 6-8. The driving system 6 drives the rotation of the main roller 18 and the auxiliary roller 19 through the transmission system 16 to realize the picking of Chinese wolfberry.

The transmission system includes a quincunx elastic coupling 16-1, a first transmission shaft 16-2, a forward transmission device 16-3 that provides power to the forward rotation auxiliary roller 19-1 and the forward rotation main roller 18-1, Reverse drive 16-4 powering counter-rotating secondary roller 19-2 and counter-rotating primary roller 18-2. The first transmission shaft 16-2 is installed on the bearing on the transmission case housing 15-1. The forward transmission device 16-3 includes a forward rotation worm 16-3a, a second transmission shaft I 16-3b, a forward rotation turbine 16-3c, a first-stage transmission pulley I 16-3e, and a transmission transition shaft I 16-3f , the second stage transmission pulley I 16-3g, the third transmission shaft I 16-3h; the reverse transmission device 16-4 includes a reverse rotation worm 16-4a, the second transmission shaft II 16-4b, a reverse rotation turbine 16 -4c, the first stage transmission pulley II 16-4e, the transmission transition shaft II 16-4f, the second stage transmission pulley II 16-4g, the third transmission shaft II16-4h.

The connection mode of the transmission system is as follows: one end of the plum blossom elastic coupling 16-1 is connected to the output shaft of the external motor, and the other end is connected to the first transmission shaft 16-2; the positive rotation worm 16-3a And the anti-rotating worm 16-4a is fixedly arranged on the first transmission shaft 16-2.

A forward-rotating worm gear 16-3c engaged with the forward-rotating worm 16-3a is arranged directly above the forward-rotating worm 16-3a, and the forward-rotating turbine 16-3c is arranged on the second transmission shaft I 16-3b. The driving pulley Ia 16-3e-1 of the first stage transmission pulley I 16-3e is installed on the second transmission shaft I 16-3b, and the driven pulley IIa 16-4e-4 is installed on the transmission transition shaft I 16-3f superior. The driving pulley Ib 16-3g-1 of the second stage transmission pulley I16-3g is installed on the transmission transition shaft I 16-3f, and the driven pulley Ib 16-3g-4 is installed on the third transmission shaft I 16-3h. The normal rotating main roller 18-1 is installed on the second transmission shaft I 16-3b, and the normal rotating secondary roller 19-1 is installed on the third transmission shaft I 16-3h.

A reverse-rotation worm gear 16-4c meshing with the reverse-rotation worm gear 16-4a is arranged directly above the reverse-rotation worm gear 16-4a, and the reverse-rotation worm gear 16-4c is arranged on the second transmission shaft II 16-4b. The driving pulley IIa 16-4e-1 of the first stage transmission pulley II 16-3e is installed on the second transmission shaft II 16-4b, and the driven pulley IIa 16-4e-4 is installed on the transmission transition shaft II 16-4f superior. The driving pulley IIb 16-4g-1 of the second transmission pulley II 16-4g is installed on the transmission transition shaft II 16-4f, and the driven pulley IIb 16-4g-4 is installed on the third transmission shaft II 16-4h. The reverse main roller 18-2 is installed on the second transmission shaft II 16-4b, and the forward rotation auxiliary roller 19-2 is installed on the third transmission shaft II 16-4h.

Embodiment 7:

The difference from Embodiment 6 is that the forward transmission device 16-3 further includes a key I 16-3d, and the forward rotation turbine 16-3c is mounted on the second transmission shaft I 6-3b through the key I 16-3d . The reverse transmission 6-5 also includes a key II 16-4d, through which the anti-rotating turbine wheel 16-4c is mounted on the second transmission shaft II 16-4b.

Embodiment 8:

Different from Embodiment 6, the adjustable pair of roller gap surrounding type wolfberry picking head also includes an opening and closing opening 20, and the opening and closing opening 20 includes an opening and closing opening main body 20-1, an auxiliary roller bearing 20-2, and a steering gear 20-3 And convex pin 20-4, described steering gear 20-3 is arranged on the rear end of picking head housing 14. One end of the opening and closing mouth body 20-1 is installed on the picking head housing 14 through the convex pin 20-4, and then connected with the steering wheel 20-3c of the steering gear 20-3. The other end of the opening and closing body 20-1 is connected with the auxiliary roller bearing 20-2. The auxiliary roller bearing 20-2 is a bearing of the third transmission shaft I 16-3h and the third transmission shaft II 16-4h.

Embodiment 9:

Different from Embodiment 6, the picking head housing 14 includes a picking head housing main body 14-1, a protective shell 14-2 and a main roller gap adjusting device 14-3. The main roller gap adjusting device 14-3 includes a bearing seat 14-3a, a bearing 14-3b and a gap adjusting screw 14-3c. The bearing 14-3b is mounted on the front and rear walls of the picking head housing 14 through a bearing seat 14-3a, and the bearing seat 14-3a is provided with a threaded hole matched with the clearance adjusting screw 14-3c. The gap adjusting screw 14-3c passes through the threaded hole and contacts the bearing 14-3b. The protective shell 14-2 is installed on the rear wall of the picking head housing 14, and is used to protect the main roller bearing 14-3b and the steering gear 20-3 to work normally. The bearing 14-3b is the bearing of the second transmission shaft I 16-3b and the second transmission shaft II 16-4b.

Example 10:

Different from Embodiment 6, a spring tensioning device 17 is installed in the first-stage transmission pulley I 16-3e and the first-stage transmission pulley II 16-4e. The spring tensioning device 17 includes a belt pressing piece 17-1, a spring 17-2 and a spring seat 17-3. One end of the spring 17-2 is connected to the corresponding belt through the belt pressing piece 17-1, and the other end of the spring 17-2 is connected to the spring seat 17-3. The spring seat 17 - 3 is installed on the front wall of the picking head housing 14 .

Example 11:

The difference from Example 1 is that the fruit collection device is an anti-blocking isolated wolfberry automatic collection device, including a collection device, a power device and a storage device; the power device is connected to the collection device, and then connected to the storage device. The collection device includes a collection funnel 24 and a collection hose 25 , and the collection hose 25 is provided with a three-way interface 26 and an anti-blocking electric valve 21 . The collection hose 25 includes an upper collection hose 25-1, a middle collection hose 25-2 and a lower collection hose 25-3. Wherein, the power device is a fan 23, and the storage device is a fruit collection box 28; the fan 23 is connected to the collection hose 25, and then connected to the fruit collection box 28. The control system 4 is connected to the fan 23 and the anti-blocking electric valve 21 respectively. The fan 23 is placed on the frame 12 through the fan backing plate 12-4, and the anti-blocking electric valve 21 is placed on the frame 12 through the electric valve backing plate 12-5.

The anti-blocking electric valve 21 includes an electric valve body 21-1, a fruit inlet 21-2, a fruit outlet 21-3 and a valve plate 21-4; the valve plate 21-4 is arranged between the fruit inlet 21-2 and the fruit On the pipeline between outlet 21-3. The valve plate 21-4 is a circular plate matched with the pipeline; a circular valve plate frame 21-5 is arranged outside the circumference of the valve plate 21-4, and a circular valve plate frame 21-5 is arranged on the valve plate frame 21-5. Multiple round holes. The anti-blocking electric valve 21 also includes a retractable connecting rod 21-5b, and the retractable connecting rod 21-5b passes through the circular hole. The end of the retractable connecting rod 21-5b facing the valve plate 21-4 is connected to the valve plate 21-4 through the valve plate spring 21-5a, so as to realize the adjustment of the length of the retractable connecting rod 21-5b as the diameter of the pipeline changes. The valve plate 21-4 is a solid plate, and a stepping motor is arranged in the electric valve body 21-1, and the stepping motor is used to control the switch of the valve plate 21-4.

The upper end of the upper collection hose 25-1 is connected to the lower end of the collection funnel 24, the lower end of the upper collection hose 25-1 is connected to the first end interface 26-1 of the tee interface 26, and the middle collection hose 25-2 The upper end of the upper end is connected with the third end interface 26-3 of the three-way interface 26, and the lower end of the central collection hose 25-2 is connected with the fruit inlet 21-2 of the anti-blocking electric valve 21; the fruit outlet of the anti-blocking electric valve 21 21-3 is connected to the fruit collection device through the lower collecting hose 25-3; the second end interface 26-2 of the three-way interface 26 is connected to the fan 23 through the air inlet hose 23-2.

Example 12:

Different from Embodiment 11, the second end interface 26-2 of the tee interface 26 is provided with an anti-blocking isolating bolt 22 inside, and the anti-blocking isolating bolt 22 is a cylindrical structure that penetrates up and down inside, including an isolating The bolt housing 22-1 and the roller 22-2 and the wind deflector 22-4 arranged inside the isolation bolt housing 22-1. The rollers 22 - 2 are evenly arranged at one end of the blocking-proof isolating bolt 22 , and the wind deflector 22 - 4 is arranged at the other end of the blocking-proof isolating bolt 22 . The gap between the adjacent rollers 22-2 is smaller than the diameter of the fruit, and the rollers 22-2 and the wind deflectors 22-4 are arranged in parallel. The roller 22-2 is provided with a rotating shaft inside, and the roller 22-2 is connected to the rotating shaft in rotation; the roller 22-2 is connected to the bearing 22-5 through the rotating shaft, and then connected to the isolation bolt housing 22-1 . Two fan wheels 22-3 are also arranged on the rotating shaft, and the two fan wheels 22-3 are arranged on both sides of the roller 22-2 on the rotating shaft. One end of the anti-blocking isolating bolt 22 close to the wind deflector 22-4 is connected to the fan, and one end of the anti-blocking isolating bolt 22 close to the roller 22-2 is connected to the pipeline of the fruit picking device. The outer diameter of the anti-blocking isolating bolt 22 is slightly larger than the inner diameter of the tee interface 26, and the isolating bolt housing 22-1 is provided with a cut-off groove, and the cut-off groove is vertically arranged with the roller 22-2.

Example 13:

Different from Embodiment 11, the valve plate 21-4 is a mesh plate, and the aperture of the mesh is smaller than the size of the wolfberry fruit. The inside of the collection hose 25 is provided with a buffer device 27, and the buffer device 27 includes a plurality of sponge damping strips 27-1 fixed on the inner wall of the collection hose 25. The length direction of the tube 25 is provided on the inner wall of the collecting hose 25 .

Example 14:

Different from Embodiment 12, the valve plate 21-4 is a mesh plate, and the aperture of the mesh is smaller than the size of the wolfberry fruit. The inside of the collection hose 25 is provided with a buffer device 27, and the buffer device 27 includes a plurality of sponge damping strips 27-1 fixed on the inner wall of the collection hose 25. The length direction of the tube 25 is provided on the inner wall of the collecting hose 25 .

Claims (10)

1. INTELLIGENT IDENTIFICATION matrimony vine picker, including frame (12) and be arranged in frame (12) power-supply system, control system System, drive system, NI Vision Builder for Automated Inspection, medlar-picking machine tool hand (1), branch positioning mechanical arm (2), matrimony vine picking head and fruit Paid acquisition means；The control system is positioned by drive system and NI Vision Builder for Automated Inspection, medlar-picking machine tool hand (1), branch Manipulator (2), matrimony vine picking head and collector for fruits are respectively connected with；The NI Vision Builder for Automated Inspection includes high-order vision system (7), low level vision system (8) and vision jacking system (10)；The high-order vision system (7) passes through vision jacking system (10) It is connected with frame (12)；It is characterized in that：The NI Vision Builder for Automated Inspection also includes the slide unit lifting system being arranged in frame (12) Unite (9), the low level vision system (8), vision jacking system (10), medlar-picking machine tool hand (1) and branch positioning mechanical Hand (2) is arranged on slide unit jacking system (9) by electric turntable (11), and then is connected with frame (12)；The control system System passes through drive system and slide unit jacking system (9), vision jacking system (10), electric turntable (11), medlar-picking machine machinery Hand (1), branch positioning mechanical arm (2) are respectively connected with；The slide unit jacking system (9) includes slide unit I (9-1) and square mesa (9-2), the square mesa (9-2) is connected by slide unit I (9-1) with frame (12)；The slide unit I (9-1) includes slide unit master Body (9-1a), sliding block I (9-1b), stepper motor (9-1c), driving gear (9-1d) and driven rack (9-1e)；The slide unit master Body (9-1a) is fixed in frame (12), and the inside both sides of the slide unit main body (9-1a) are embedded with two driven racks (9-1e), The slide unit main body (9-1a) is provided with sliding block I (9-1b), and is connected by sliding block I (9-1b) with square mesa (9-2)；It is described Stepper motor (9-1c) and 3-5 driving gear (9-1d) are fixedly installed on sliding block I (9-1b), the driving gear (9-1d) is solid On the axle for being scheduled on stepper motor (9-1c), the driving gear (9-1d) is staggered with driven rack (9-1e) engages.

2. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 1, it is characterised in that：The electric turntable (11) includes Revolve platform (11-1), disk body (11-2), bearing (11-3), shaft coupling (11-4) and servomotor (11-5)；The disk body (11-2) It is arranged on servomotor (11-5) in square mesa (9-2), the rotation platform (11-1) passes through bearing (11-3) and disk body (11- 2) connect, the servomotor (11-5) is connected by shaft coupling (11-4) with disk body (11-2)；The vision jacking system (10) riser guide (10-1), slide unit II (10-2), sliding block II (10-3), L-type corner brace (10-4), leading screw (10-5), connection are included Axle device (10-6) and stepper motor (10-7)；The slide unit II (10-2) and leading screw (10-5) are movably connected and along riser guide (10-1) is moved, and the L-type corner brace (10-4) is fixedly connected by sliding block II (10-3) with slide unit II (10-2)；The stepping electricity Machine (10-7) is connected by shaft coupling (10-6) with leading screw (10-5).

3. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 1 or 2, it is characterised in that：The high-order vision system (7) camera I (7-1) and pulley twin shaft feed rod slide unit I (7-2) is included；The pulley twin shaft feed rod slide unit I (7-2) includes slide unit Body I (7-2a), twin shaft feed rod I (7-2b), pulley bearings I (7-2c) and slide unit sliding block I (7-2d)；The camera I (7-1) Base passes through L by slide unit sliding block I (7-2d) and pulley twin shaft feed rod slide unit I (7-2) connections, the slide unit body I (7-2a) Type corner brace I (10-4) is connected with the sliding block II (10-3) of vision jacking system (10)；The slide unit body I (7-2a) internal two Side is provided with twin shaft feed rod I (7-2b), and pulley bearings I (7-2c) is fixed on slide unit sliding block I (7-2d) by internal bearings, sliding Platform sliding block I (7-2d) is arranged on slide unit body I (7-2a)；The low level vision system (8) includes camera II (8-1) and pulley Twin shaft feed rod slide unit II (8-2)；The pulley twin shaft feed rod slide unit II includes slide unit body II (8-2a), twin shaft feed rod II, cunning Wheel bearing II, slide unit sliding block II and L-type corner brace II (8-2f) compositions；The base of the camera II is directly and slide unit body II (8- 2a) connect, the slide unit body II (8-2a) is connected in preposition locating rod (13-1) by L-type corner brace II (8-2f)；It is described The internal both sides of slide unit body II (8-2a) are provided with twin shaft feed rod II, pulley bearings II and are fixed on slide unit sliding block by internal bearings On II, slide unit sliding block II is arranged on slide unit body II (8-2a)；The NI Vision Builder for Automated Inspection also includes laser sensor (29) The laser sensing matrix of composition.

4. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 1, it is characterised in that：The matrimony vine picker is also wrapped Locating rod (13) is included, the locating rod (13) includes preposition locating rod (13-1) and rearmounted locating rod (13-2)；The vision liter Drop system (10) is fixed on rearmounted locating rod (13-2) end, and the head end of the rearmounted locating rod (13-2) is fixed on rotation platform The edge of (11-1)；The low level vision system (8) is fixed on preposition locating rod (13-1) end, the preposition locating rod The head end of (13-1) is fixed on rotation platform (11-1) edge；The low level vision system (8) is arranged on vision jacking system (10) On the same axis for revolving platform (11-1), the medlar-picking machine tool hand (1) and branch positioning mechanical arm (2) respectively include a set of six certainly By degree manipulator；The medlar-picking machine manipulator (1) and branch positioning mechanical arm (2) are placed side by side in rotation platform (11-1) On heart axis.

5. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 1, it is characterised in that：The matrimony vine picking head includes adopting Pluck casing (14) and be arranged on harvesting casing (14-1) internal main roller wheel (18), transmission system (16) and deputy roller wheel (19)；The main roller wheel (18) includes rotating forward main roller wheel (18-1) and reversion main roller wheel (18-2), the rotating forward main roller wheel (18- 1) rotated in opposite directions with reversion main roller wheel (18-2)；The deputy roller wheel includes rotating forward deputy roller wheel (19-1) and reversion deputy roller wheel (19- 2), the rotating forward deputy roller wheel (19-1) and reversion deputy roller wheel (19-2) are rotated in opposite directions；The rotating forward deputy roller wheel (19-1) is arranged on The top of main roller wheel (18-1) is rotated forward, the reversion deputy roller wheel (19-2) is arranged on the top of reversion main roller wheel (18-2)；It is described Drive system drives the rotation of main roller wheel (18) and deputy roller wheel (19) to realize the harvesting of matrimony vine by transmission system (16).

6. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 5, it is characterised in that：The transmission system includes plum blossom Yielding coupling (16-1), the first power transmission shaft (16-2), to rotate forward deputy roller wheel (19-1) and rotate forward main roller wheel (18-1) provide move The positive transmission device (16-3) of power, the reverse drive to reversion deputy roller wheel (19-2) and reversion main roller wheel (18-2) offer power Device (16-4)；

The positive transmission device (16-3) includes dextrorotation worm screw (16-3a), second driving shaft I (16-3b), dextrorotation turbine (16- 3c), first order driving pulley I (16-3e), transmission transition axis I (16-3f), second level driving pulley I (16-3g), the 3rd Power transmission shaft I (16-3h)；The reverse transmission (16-4) includes derotation worm screw (16-4a), second driving shaft II (16- 4b), derotation turbine (16-4c), first order driving pulley II (16-4e), transmission transition axis II (16-4f), second level transmission Belt pulley II (16-4g), the 3rd power transmission shaft II (16-4h)；

The connected mode of the transmission system is：One end of the plum blossom yielding coupling (16-1) and external motor output shaft phase Connection, the other end is connected with the first power transmission shaft (16-2)；The dextrorotation worm screw (16-3a) and derotation worm screw (16-4a) are fixed It is arranged on the first power transmission shaft (16-2)；

The top of the dextrorotation worm screw (16-3a) sets the dextrorotation turbine (16-3c) engaged, the dextrorotation turbine (16- 3c) it is arranged on second driving shaft I (16-3b)；Drive pulley Ia (the 16- of the first order driving pulley I (16-3e) 3e-1) it is arranged on second driving shaft I (16-3b), driven pulley Ia (16-4e-4) is arranged on transmission transition axis I (16-3f) On；Second level driving pulley I (16-3g) drive pulley Ib (16-3g-1) is arranged on transmission transition axis I (16-3f), Driven pulley Ib (16-3g-4) is installed on the 3rd power transmission shaft I (16-3h)；The rotating forward main roller wheel (18-1) is arranged on second On power transmission shaft I (16-3b), the rotating forward deputy roller wheel (19-1) is arranged on the 3rd power transmission shaft I (16-3h)；

The top of the derotation worm screw (16-4a) sets the derotation turbine (16-4c) engaged, the derotation turbine (16- 4c) it is arranged on second driving shaft II (16-4b)；The drive pulley IIa of the first order driving pulley II (16-4e) (16-4e-1) is arranged on second driving shaft II (16-4b), and driven pulley IIa (16-4e-4) is arranged on transmission transition axis II On (16-4f)；Second driving pulley II (16-4g) drive pulley IIb (16-4g-1) is arranged on transmission transition axis II On (16-4f), driven pulley IIb (16-4g-4) is arranged on the 3rd power transmission shaft II (16-4h)；Reversion main roller wheel (the 18- 2) it is arranged on second driving shaft II (16-4b), the rotating forward deputy roller wheel (19-1) is arranged on the 3rd power transmission shaft II (16-4h) On.

7. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 6, it is characterised in that：Also include hole (20), institute Stating hole (20) includes hole main body (20-1), deputy roller wheel bearing (20-2), steering wheel (20-3) and protruding pin (20-4), described Steering wheel (20-3) is arranged on the rear end of harvesting casing (14)；One end of the hole main body (20-1) passes through protruding pin (20-4) On harvesting casing (14), and then it is connected with the steering wheel (20-3c) of steering wheel (20-3)；The hole main body (20-1) The other end be connected with deputy roller wheel bearing (20-2)；The deputy roller wheel bearing (20-2) is the 3rd power transmission shaft I (16-3h) and the 3rd Power transmission shaft II (16-4h) bearing；The first order driving pulley I (16-3e) and first order driving pulley II (16-4e) In be respectively mounted spring take-up (17)；The spring take-up (17) includes belt tabletting (17-1), spring (17-2) With spring base (17-3)；One end of the spring (17-2) is connected by belt tabletting (17-1) with each self-corresponding belt, institute The other end for stating spring (17-2) is connected with spring base (17-3)；The spring base (17-3) is arranged on harvesting casing (14) On antetheca.

8. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 6, it is characterised in that：Harvesting casing (14) bag Include picking head housing body (14-1), protecting crust (14-2) and main roller wheel slack adjuster (14-3)；The main roller wheel gap Adjusting means (14-3) includes bearing block (14-3a), bearing (14-3b) and gap adjustment screws (14-3c)；The bearing (14-3b) is arranged on by bearing block (14-3a) on the front and rear wall of harvesting casing (14), is set on the bearing block (14-3a) There is the screwed hole matched with gap adjustment screws (14-3c)；The gap adjustment screws (14-3c) pass through the screwed hole and bearing (14-3b) is contacted；The protecting crust (14-2) is arranged on the rear wall of harvesting casing (14), for protecting home roll wheel bearing (14-3b) and steering wheel (20-3) normal work, the bearing (14-3b) is second driving shaft I (16-3b) and second driving shaft II The bearing of (16-4b)；The transmission system is arranged in plucking in the transmission case (15) of casing (14) front end, the transmission Case (15) includes mechanism housing (15-1), transmission transition axle bearing (15-2)；Described the first power transmission shaft (16-2) is arranged on On bearing on mechanism housing (15-1).

9. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 1, it is characterised in that：The collector for fruits includes Collection device, power set and storage device；The power set are connected with collection device, and then are connected with storage device；Institute Collection device is stated including collection funnel (24) and flexible pipe (25) is collected；Set on collection flexible pipe (25) three-way interface (26) and Block-proof type motor-driven valve (21), it is described collection flexible pipe (25) include upper collection flexible pipe (25-1), middle part collect flexible pipe (25-2) and Collective low flexible pipe (25-3)；The block-proof type motor-driven valve (21) includes electronic valve body (21-1), fruit entrance (21-2), fruit Real outlet (21-3) and valve plate (21-4)；The valve plate (21-4) be arranged on fruit entrance (21-2) and fruit outlet (21-3) it Between pipeline on；The valve plate (21-4) is the circular slab matched with pipeline；The periphery of the valve plate (21-4) is set Circular valve plate frame (21-5), the valve plate frame (21-5) is provided with multiple circular holes；The block-proof type motor-driven valve (21) also includes Connecting rod (21-5b) is shunk, the contraction connecting rod (21-5b) runs through circular hole；The connecting rod (21-5b) that shrinks is towards valve plate (21-4) One end be connected by valve plate spring (21-5a) with valve plate (21-4), realize shrink connecting rod (21-5b) with pipeline varying aperture Length adjustment；The upper end of the upper collection flexible pipe (25-1) is connected with the lower end of collection funnel (24), and the upper collection is soft The lower end of pipe (25-1) is connected with the first end interface (26-1) of three-way interface (26), and the upper of flexible pipe (25-2) is collected at the middle part End is connected with the 3rd end interface (26-3) of three-way interface (26), and lower end and the block-proof type electricity of flexible pipe (25-2) are collected in the middle part The fruit entrance (21-2) of dynamic valve (21) is connected, and the fruit outlet (21-3) of the block-proof type motor-driven valve (21) passes through collective low Flexible pipe (25-3) is connected with collection fruit device；The second end interface (26-2) of the three-way interface (26) passes through air inlet flexible pipe (23- 2) it is connected with blower fan (23).

10. INTELLIGENT IDENTIFICATION matrimony vine picker according to claim 9, it is characterised in that：The three-way interface (26) Provided with anti-blocking isolation bolt (22) inside second end interface (26-2), the anti-blocking isolation bolt (22) is the cylinder run through above and below inside Shape structure, including the roller (22-2) and wind direction isolating bolt housing (22-1) and be arranged on inside isolation bolt housing (22-1) are led Flow plate (22-4)；The roller (22-2) is uniformly arranged on one end of anti-blocking isolation bolt (22), the wind deflector (22-4) It is arranged on anti-blocking isolation bolt (22) other end；Gap between the adjacent roller (22-2) is less than the diameter of fruit, the roller Sub (22-2) and the wind deflector (22-4) parallel arrangement；Rotating shaft, the roller are provided with inside the roller (22-2) (22-2) is connected between rotating shaft to rotate；The roller (22-2) is connected by rotating shaft with bearing (22-5), and then with isolating Bolt housing (22-1) is connected；Fan wheel (22-3) is additionally provided with the rotating shaft；The anti-blocking isolation bolt (22) is close to wind direction water conservancy diversion One end of plate (22-4) is connected with blower fan, and the anti-blocking isolation bolt (22) is close to one end of roller (22-2) and the pipe of picker Road is connected；The inside for collecting flexible pipe (25) is provided with buffer unit (27), and the buffer unit (27) includes multiple be fixed on Collect the sponge shock absorption strip (27-1) of flexible pipe (25) inwall, length side of the sponge shock absorption strip (27-1) along collection flexible pipe (25) The inwall for collecting flexible pipe (25) to being arranged on.