CN109168631A - It is a kind of can be with the automatic apple picking machine of automatic identification ripe apples degree - Google Patents
It is a kind of can be with the automatic apple picking machine of automatic identification ripe apples degree Download PDFInfo
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- CN109168631A CN109168631A CN201811100108.2A CN201811100108A CN109168631A CN 109168631 A CN109168631 A CN 109168631A CN 201811100108 A CN201811100108 A CN 201811100108A CN 109168631 A CN109168631 A CN 109168631A
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- mechanical arm
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
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Abstract
The invention discloses one kind can be with the automatic apple picking machine of automatic identification ripe apples degree, including chassis, the chassis side of resting on the ground, sensor mechanism is equipped with above the chassis, mechanical arm mechanism is equipped with above the chassis, mature discrimination picking mechanism is equipped with above the mechanical arm mechanism, mature distinguish is equipped with picking mechanism above picking mechanism, walking mechanism is equipped with below the chassis, controller and battery case are respectively equipped with above the chassis, the power input and battery case of the controller are electrically connected, the signal input part of the controller respectively with camera, Tansducer For Color Distiguishing is electrically connected, the signal output end of the controller respectively with vision stepper motor, mechanical arm stepper motor, one linear motor of mechanical arm, mechanical arm two stepping motor, flexible linear motor, topple over stepper motor, picking is known Other motor, picking frame mechanism, walking mechanism are electrically connected.The invention has the advantages that of simple structure and strong practicability.
Description
Technical field
The present invention relates to agriculture picking fields, especially a kind of to be picked with the automatic apple of automatic identification ripe apples degree
Machine.
Background technique
The machinery that traditional apple-picking uses can not identify ripe apples degree, and a large amount of immature apples is caused to be adopted together
It plucks, causes a large amount of waste.
Summary of the invention
The purpose of the present invention is to solve the above problems, and devising one kind can be with the automatic of automatic identification ripe apples degree
Apple picking.
Realize above-mentioned purpose the technical scheme is that, it is a kind of to be adopted with the automatic apple of automatic identification ripe apples degree
Off-hook, including chassis, the chassis side of resting on the ground, the chassis top are equipped with sensor mechanism, the sensor mechanism
By be located at chassis above be fixedly connected sensor heightening platform, be mounted on sensor heightening platform vision stepper motor pedestal,
The vision stepper motor that is mounted on vision stepper motor pedestal, the vision platform being mounted on vision stepper motor round end,
It is mounted on what the cameras of vision platform two sides collectively formed, is equipped with mechanical arm mechanism, the mechanical arm machine above the chassis
Structure is by being located at the mechanical arm stepper motor pedestal being fixedly connected above chassis, the machinery being mounted on mechanical arm stepper motor pedestal
Arm stepper motor, the mechanical arm support being fixedly connected with mechanical arm stepper motor round end, the machine being mounted on mechanical arm support
Tool arm support bearing, one axis of mechanical arm being inserted on mechanical arm bracket bearing, the mechanical arm being fixedly connected with one axis of mechanical arm
One, the one linear motor fixing end fixed frame of mechanical arm that is fixedly connected positioned at mechanical arm bracket side surface is mounted on mechanical arm one
The fixed end bearing of one linear motor of mechanical arm on linear motor fixing end fixed frame is inserted into one linear motor of mechanical arm and fixes
One linear motor fixing end axis of mechanical arm in end bearing, the mechanical arm being fixedly connected with one linear motor fixing end axis of mechanical arm
One linear motor, is sleeved on the one telescope motor telescopic end axis of mechanical arm being fixedly connected with one straight line motor flexible end of mechanical arm
Mechanical arm one on one telescope motor telescopic end axis of mechanical arm stretch end bearing, be fixedly connected with mechanical arm one and be sleeved on machinery
Arm one stretch in end bearing mechanical arm one straight line motor flexible end fixed frame, one axis of mechanical arm that is mounted on mechanical arm one
Two axis of mechanical arm that hold, is inserted on one bearing of mechanical arm, two power gear of mechanical arm being sleeved on two axis of mechanical arm and machine
Mechanical arm two that two axis of tool arm is fixedly connected, the two power stepper motor of mechanical arm being fixedly connected below mechanical arm two installation
Frame, the two power stepper motor of mechanical arm being mounted on two power stepper motor mounting rack of mechanical arm and two power teeth of mechanical arm
It takes turns the mechanical arm two stepping motor power gear for tightly engaging and being sleeved on two power stepper motor round end of mechanical arm, be located at
The flexible linear motor fixing end mounting rack that is fixedly connected above mechanical arm two is mounted on flexible linear motor fixing end mounting rack
On flexible linear motor, the flexible common structure of linear motor telescopic end mounting rack that is fixedly connected with flexible linear motor telescopic end
At, maturation discrimination picking mechanism is equipped with above the mechanical arm mechanism, the maturation distinguishes that picking mechanism is stretched directly by being located at
What line motor flexible end mounting rack side surface was fixedly connected topples over stepper motor, is mounted on the picking for toppling over stepper motor round end
Frame, the picking identification motor being mounted below picking frame, the color identification being fixedly connected with picking identification motor round end sense
Device frame, the Tansducer For Color Distiguishing being mounted on Tansducer For Color Distiguishing frame collectively form, the mature discrimination picking mechanism
Top is equipped with picking mechanism, and walking mechanism is equipped with below the chassis, is respectively equipped with controller and battery case above the chassis,
The power input and battery case of the controller are electrically connected, and the power output end of the controller is electric with vision stepping respectively
Machine, mechanical arm stepper motor, one linear motor of mechanical arm, mechanical arm two stepping motor, flexible linear motor, is toppled at camera
Stepper motor, picking identification motor, Tansducer For Color Distiguishing, picking frame mechanism, walking mechanism are electrically connected, the controller
Signal input part respectively with camera, Tansducer For Color Distiguishing be electrically connected, the signal output end of the controller respectively with view
Feel stepper motor, mechanical arm stepper motor, one linear motor of mechanical arm, mechanical arm two stepping motor, flexible linear motor, topple over
Stepper motor, picking identification motor, picking frame mechanism, walking mechanism are electrically connected.
The picking frame mechanism is by being located at the picking linear motor mounting rack being fixedly connected above picking frame, being mounted on picking
Picking linear motor on linear motor mounting rack, is located at picking at the picking knife being fixedly connected with picking linear motor telescopic end
Corresponding with picking cutter position picking, which comes directly towards, above frame collectively forms, the picking linear motor respectively with the electricity of controller
Source output terminal and signal output end are electrically connected.
, the walking mechanism by be located at chassis following four corners be fixedly connected walking stepper motor frame, be mounted on walking
Walking stepper motor on stepper motor frame, the traveling wheel being sleeved on walking stepper motor round end collectively form, described
Stepper motor of walking is electrically connected with the power output end of controller and signal output end respectively.
The battery inside battery is lithium battery.
Dustproof and waterproof shell is cased with outside the battery case.
The battery case possesses charge function.
The controller possesses reception of wireless signals sending function.
The controller possesses capacitance touch screen.
Dust-proof liquid-proof shell is cased with outside the controller.
The MCU model ARM series monolithic of the controller.
Using technical solution of the present invention production it is a kind of can with the automatic apple picking machine of automatic identification ripe apples degree,
Maturity can be precisely identified according to the color that apple is presented and be picked, greatly saved picking prematurity apple and made
At waste.
Detailed description of the invention
Fig. 1 is that one kind of the present invention can be with the structural representation of the automatic apple picking machine of automatic identification ripe apples degree
Figure；
Fig. 2 is the schematic diagram of sensor mechanism of the present invention；
Fig. 3 is the schematic diagram of mechanical arm mechanism of the present invention；
Fig. 4 is the mature schematic diagram for distinguishing picking mechanism of the present invention；
Fig. 5 is the schematic diagram of picking mechanism of the present invention；
In figure, 1, chassis；2, sensor heightening platform；3, vision stepper motor pedestal；4, vision stepper motor；5, vision platform；
6, camera；7, mechanical arm stepper motor pedestal；8, mechanical arm stepper motor；9, mechanical arm support；10, mechanical arm support shaft
It holds；11, one axis of mechanical arm；12, mechanical arm one；13, one linear motor fixing end fixed frame of mechanical arm；14, one straight line of mechanical arm
Motor fixes end bearing；15, one linear motor fixing end axis of mechanical arm；16, one linear motor of mechanical arm；17, mechanical arm one is stretched
Contracting motor flexible end axis；18, mechanical arm one stretches end bearing；19, one straight line motor flexible end fixed frame of mechanical arm；20, mechanical
One bearing of arm；21, two axis of mechanical arm；22, two power gear of mechanical arm；23, mechanical arm two；24, two power stepping electricity of mechanical arm
Machine mounting rack；25, two power stepper motor of mechanical arm；26, mechanical arm two stepping motor power gear；27, stretch linear motor
Fixing end mounting rack；28, stretch linear motor；29, stretch linear motor telescopic end mounting rack；30, topple over stepper motor；31,
Pick frame；32, picking identification motor；33, Tansducer For Color Distiguishing frame；34, Tansducer For Color Distiguishing；35, controller；36, electric
Pond box；37, linear motor mounting rack is picked；38, linear motor is picked；39, picking knife；40, picking top；41, walking stepping
Motor rack；42, walking stepper motor；43, traveling wheel.
Specific embodiment
The present invention is specifically described with reference to the accompanying drawing, as shown in Figs. 1-5, one kind can be with automatic identification ripe apples
The automatic apple picking machine of degree, including chassis 1,1 side of resting on the ground of chassis are equipped with sensor machine above the chassis 1
Structure, the sensor mechanism is by being located at the sensor heightening platform 2 being fixedly connected above chassis 1, being mounted on sensor heightening platform 2
Vision stepper motor pedestal 3, be mounted on vision stepper motor pedestal 3 vision stepper motor 4, be mounted on vision stepping electricity
What vision platform 5 on 4 round end of machine, the camera 6 for being mounted on 5 two sides of vision platform collectively formed, it is set above the chassis 1
There is mechanical arm mechanism, the mechanical arm mechanism is by being located at the mechanical arm stepper motor pedestal 7 being fixedly connected above chassis 1, installation
Mechanical arm stepper motor 8 on mechanical arm stepper motor pedestal 7, the machine being fixedly connected with 8 round end of mechanical arm stepper motor
Tool arm support 9, the mechanical arm bracket bearing 10 being mounted on mechanical arm support 9, the machine being inserted on mechanical arm bracket bearing 10
One axis 11 of tool arm, is fixedly connected positioned at mechanical 9 side surface of arm support the mechanical arm 1 being fixedly connected with one axis 11 of mechanical arm
One linear motor fixing end fixed frame 13 of mechanical arm, the mechanical arm being mounted on one linear motor fixing end fixed frame 13 of mechanical arm
One linear motor of mechanical arm that one linear motor is fixed end bearing 14, is inserted into the fixed end bearing 14 of one linear motor of mechanical arm
Fixing end axis 15, one linear motor 16 of mechanical arm and mechanical arm being fixedly connected with one linear motor fixing end axis 15 of mechanical arm
One telescope motor telescopic end axis 17 of mechanical arm that one linear motor, 16 telescopic end is fixedly connected is sleeved on one telescope motor of mechanical arm
Mechanical arm one on telescopic end axis 17 stretch end bearing 18, be fixedly connected with mechanical arm 1 and be sleeved on one telescopic end of mechanical arm
One straight line motor flexible end fixed frame 19 of mechanical arm on bearing 18, one bearing 20 of mechanical arm being mounted on mechanical arm 1,
Two axis 21 of mechanical arm being inserted on one bearing 20 of mechanical arm, two power gear of mechanical arm being sleeved on two axis 21 of mechanical arm
22, the mechanical arm 2 23 being fixedly connected with two axis 21 of mechanical arm, the mechanical arm two being fixedly connected below mechanical arm 2 23 move
Power stepper motor mounting rack 24, the two power stepper motor of mechanical arm being mounted on two power stepper motor mounting rack 24 of mechanical arm
25, the mechanical arm for tightly engaging and being sleeved on two power stepper motor of mechanical arm, 25 round end with two power gear 22 of mechanical arm
Two stepping motor power gear 26, the flexible linear motor fixing end mounting rack 27 being fixedly connected above mechanical arm 2 23,
The flexible linear motor 28 that is mounted on flexible linear motor fixing end mounting rack 27 is fixed with flexible 28 telescopic end of linear motor
What the flexible linear motor telescopic end mounting rack 29 of connection collectively formed, mature discrimination picking is equipped with above the mechanical arm mechanism
Mechanism, the mature discrimination picking mechanism are toppled over by what is be fixedly connected positioned at flexible 29 side surface of linear motor telescopic end mounting rack
Stepper motor 30 is mounted on the picking identification toppled over the picking frame 31 of 30 round end of stepper motor, be mounted on 31 lower section of picking frame
Motor 32, is mounted on color identification sensing at the Tansducer For Color Distiguishing frame 33 being fixedly connected with picking identification 32 round end of motor
What the Tansducer For Color Distiguishing 34 on device frame 33 collectively formed, mature distinguish is equipped with picking mechanism, institute above picking mechanism
It states and is equipped with walking mechanism below chassis 1, be respectively equipped with controller 35 and battery case 36 above the chassis 1, the controller
Power input and battery case are electrically connected, the power output end of the controller respectively with vision stepper motor, camera, machine
Tool arm stepper motor, mechanical arm two stepping motor, flexible linear motor, topples over stepper motor, picking at one linear motor of mechanical arm
Identify that motor, Tansducer For Color Distiguishing, picking frame mechanism, walking mechanism are electrically connected, the signal input part point of the controller
Not with camera, Tansducer For Color Distiguishing be electrically connected, the signal output end of the controller respectively with vision stepper motor, machine
Tool arm stepper motor, mechanical arm two stepping motor, flexible linear motor, topples over stepper motor, picking at one linear motor of mechanical arm
Identify that motor, picking frame mechanism, walking mechanism are electrically connected；The picking frame mechanism is fixedly connected by being located above picking frame 31
Picking linear motor mounting rack 37, the picking linear motor 38, straight with picking that is mounted on picking linear motor mounting rack 37
Picking knife 39 that 38 telescopic end of line motor is fixedly connected is located at the picking corresponding with 39 position of picking knife of 31 top of picking frame and pushes up
First 40 collectively form, and the picking linear motor is electrically connected with the power output end of controller and signal output end respectively；
The walking mechanism by be located at 1 following four corners of chassis be fixedly connected walking stepper motor frame 41, be mounted on walking stepping electricity
Walking stepper motor 42 in rack 41, the traveling wheel 43 being sleeved on walking 42 round end of stepper motor collectively form, institute
Walking stepper motor is stated to be electrically connected with the power output end of controller and signal output end respectively；The 36 inside electricity of battery case
Pond is lithium battery；Dustproof and waterproof shell is cased with outside the battery case 36；The battery case 36 possesses charge function；The control
Device 35 possesses reception of wireless signals sending function；The controller 35 possesses capacitance touch screen；It is cased with outside the controller 35
Dust-proof liquid-proof shell；The MCU model ARM series monolithic of the controller 35.
The characteristics of the present embodiment, is, including chassis, which is characterized in that the chassis side of resting on the ground, chassis top are equipped with
Sensor mechanism, sensor mechanism is by being located at the sensor heightening platform being fixedly connected above chassis, being mounted on sensor heightening platform
On vision stepper motor pedestal, be mounted on vision stepper motor pedestal vision stepper motor, be mounted on vision stepping electricity
What vision platform on machine round end, the camera for being mounted on vision platform two sides collectively formed, mechanical arm is equipped with above chassis
Mechanism, mechanical arm mechanism is by being located at the mechanical arm stepper motor pedestal being fixedly connected above chassis, being mounted on mechanical arm stepping electricity
Mechanical arm stepper motor on machine base, is mounted on machine at the mechanical arm support being fixedly connected with mechanical arm stepper motor round end
It is mechanical arm bracket bearing on tool arm support, one axis of mechanical arm being inserted on mechanical arm bracket bearing, solid with one axis of mechanical arm
Surely the mechanical arm one that connects, the one linear motor fixing end fixed frame of mechanical arm being fixedly connected positioned at mechanical arm bracket side surface,
The fixed end bearing of one linear motor of mechanical arm being mounted on one linear motor fixing end fixed frame of mechanical arm is inserted into mechanical arm
One linear motor fixing end axis of mechanical arm and one linear motor fixing end axis of mechanical arm in the fixed end bearing of one linear motor is solid
Surely one linear motor of mechanical arm connected, one telescope motor of mechanical arm being fixedly connected with one straight line motor flexible end of mechanical arm are stretched
Contracting end axis, the mechanical arm one being sleeved on one telescope motor telescopic end axis of mechanical arm stretch end bearing, with mechanical arm one is fixed connects
Connect and be sleeved on mechanical arm one stretch one straight line motor flexible end fixed frame of mechanical arm in end bearing, be mounted on mechanical arm one
One bearing of mechanical arm, two axis of mechanical arm being inserted on one bearing of mechanical arm, the mechanical arm two that is sleeved on two axis of mechanical arm
Power gear, the mechanical arm two being fixedly connected with two axis of mechanical arm, the mechanical arm two being fixedly connected below mechanical arm two are dynamic
Power stepper motor mounting rack, the two power stepper motor of mechanical arm being mounted on two power stepper motor mounting rack of mechanical arm, with
Two power gear of mechanical arm tightly engages and is sleeved on the mechanical arm two steppings electricity on two power stepper motor round end of mechanical arm
Motor-driven powershift gear, is mounted on flexible straight line at the flexible linear motor fixing end mounting rack being fixedly connected above mechanical arm two
Flexible linear motor on motor fixing end mounting rack, the flexible linear motor being fixedly connected with flexible linear motor telescopic end are stretched
Contracting end mounting rack collectively forms, and mature discrimination picking mechanism is equipped with above mechanical arm mechanism, and maturation distinguishes picking mechanism by position
Topple over stepper motor in what flexible linear motor telescopic end mounting rack side surface was fixedly connected, be mounted on and topple over stepper motor rotation
The picking frame at end, the picking identification motor being mounted below picking frame, the color being fixedly connected with picking identification motor round end
Identification sensor frame, the Tansducer For Color Distiguishing being mounted on Tansducer For Color Distiguishing frame collectively form, and maturation distinguishes picking
It is equipped with picking mechanism above mechanism, walking mechanism is equipped with below chassis, is respectively equipped with controller and battery case above chassis, is controlled
The power input of device and battery case are electrically connected, the power output end of controller respectively with vision stepper motor, camera, machine
Tool arm stepper motor, mechanical arm two stepping motor, flexible linear motor, topples over stepper motor, picking at one linear motor of mechanical arm
Identify motor, Tansducer For Color Distiguishing, picking frame mechanism, walking mechanism be electrically connected, the signal input part of controller respectively with
Camera, Tansducer For Color Distiguishing be electrically connected, the signal output end of controller respectively with vision stepper motor, mechanical arm stepping
Motor, mechanical arm two stepping motor, flexible linear motor, topples over stepper motor, picking identification electricity at one linear motor of mechanical arm
Machine, picking frame mechanism, walking mechanism are electrically connected.Maturity can be precisely identified according to the color that apple is presented and adopted
It plucks, has greatly saved waste caused by picking prematurity apple.
In the present embodiment, cell phone application activation equipment is opened, track route is set by touch screen, equipment passes through two
A camera identifies surrounding apple and judges distance, and maturation is distinguished that picking mechanism covers on the outside of apple by mechanical arm, is controlled
Tansducer For Color Distiguishing is detected apple color discrimination maturity around apple by picking identification motor, if transparent apple starting is adopted
It plucks linear motor to pick transparent apple, and is put into rear tracking collecting cart.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of them part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (10)
1. one kind can be with the automatic apple picking machine of automatic identification ripe apples degree, including chassis (1), which is characterized in that described
Chassis (1) side of resting on the ground, chassis (1) top are equipped with sensor mechanism, and the sensor mechanism is by being located at chassis (1)
Sensor heightening platform (2) that top is fixedly connected, the vision stepper motor pedestal (3) being mounted on sensor heightening platform (2), peace
Vision stepper motor (4) on vision stepper motor pedestal (3), the view being mounted on vision stepper motor (4) round end
What feel platform (5), the camera (6) for being mounted on vision platform (5) two sides collectively formed, machinery is equipped with above the chassis (1)
Arm mechanism, the mechanical arm mechanism is by being located at the mechanical arm stepper motor pedestal (7) being fixedly connected above chassis (1), being mounted on
Mechanical arm stepper motor (8) on mechanical arm stepper motor pedestal (7) is fixedly connected with mechanical arm stepper motor (8) round end
Mechanical arm support (9), be mounted on mechanical arm support (9) mechanical arm bracket bearing (10), be inserted into mechanical arm support shaft
It holds one axis of mechanical arm (11) on (10), the mechanical arm one (12) that is fixedly connected with one axis of mechanical arm (11), be located at mechanical arm branch
One linear motor fixing end fixed frame (13) of mechanical arm that frame (9) side surface is fixedly connected is mounted on one linear motor of mechanical arm
One linear motor of mechanical arm on fixing end fixed frame (13) fixed end bearing (14) is inserted into one linear motor of mechanical arm and fixes
One linear motor fixing end axis (15) of mechanical arm and one linear motor fixing end axis (15) of mechanical arm in end bearing (14) is fixed
One linear motor of mechanical arm (16) of connection, the mechanical arm one being fixedly connected with one linear motor of mechanical arm (16) telescopic end are flexible
Motor flexible end axis (17), the mechanical arm one being sleeved on one telescope motor telescopic end axis (17) of mechanical arm stretch end bearing
(18), one linear motor of mechanical arm that mechanical arm one stretches on end bearing (18) is fixedly connected with and is sleeved on mechanical arm one (12)
Telescopic end fixed frame (19), is inserted into one bearing of mechanical arm at one bearing of mechanical arm (20) being mounted on mechanical arm one (12)
(20) two axis of mechanical arm (21) on, two power gear of mechanical arm (22) being sleeved on two axis of mechanical arm (21) and mechanical arm
Mechanical arm two (23) that two axis (21) are fixedly connected is located at the two power stepping of mechanical arm being fixedly connected below mechanical arm two (23)
Motor mounting rack (24), the two power stepper motor of mechanical arm being mounted on two power stepper motor mounting rack (24) of mechanical arm
(25), it tightly engages and is sleeved on mechanical arm two power stepper motor (25) round end with two power gear of mechanical arm (22)
Mechanical arm two stepping motor power gear (26) is located at the flexible linear motor fixing end being fixedly connected above mechanical arm two (23)
Mounting rack (27), the flexible linear motor (28) being mounted on flexible linear motor fixing end mounting rack (27) and flexible straight line
What the flexible linear motor telescopic end mounting rack (29) that motor (28) telescopic end is fixedly connected collectively formed, the mechanical arm mechanism
Top is equipped with mature discrimination picking mechanism, and the mature discrimination picking mechanism is by being located at flexible linear motor telescopic end mounting rack
(29) what side surface was fixedly connected topples over stepper motor (30), is mounted on the picking frame for toppling over stepper motor (30) round end
(31), it is mounted on picking identification motor (32) below picking frame (31), is fixedly connected with picking identification motor (32) round end
Tansducer For Color Distiguishing frame (33), Tansducer For Color Distiguishing (34) common structure for being mounted on Tansducer For Color Distiguishing frame (33)
At, mature distinguish is equipped with picking mechanism above picking mechanism, be equipped with walking mechanism, the bottom below the chassis (1)
It is respectively equipped with controller (35) and battery case (36) above disk (1), the power input of the controller electrically connects with battery case
Connect, the power output end of the controller respectively with vision stepper motor, camera, mechanical arm stepper motor, mechanical arm always
Line motor, flexible linear motor, topples over stepper motor, picking identification motor, color identification sensing at mechanical arm two stepping motor
Device, picking frame mechanism, walking mechanism are electrically connected, and the signal input part of the controller is passed with camera, color identification respectively
Sensor be electrically connected, the signal output end of the controller respectively with vision stepper motor, mechanical arm stepper motor, mechanical arm one
Linear motor, mechanical arm two stepping motor, flexible linear motor, topple over stepper motor, picking identification motor, picking frame mechanism,
Walking mechanism is electrically connected.
2. one kind according to claim 1 can be existed with the automatic apple picking machine of automatic identification ripe apples degree, feature
In the picking frame mechanism is by being located at the picking linear motor mounting rack (37) being fixedly connected above picking frame (31), being mounted on
It picks the picking linear motor (38) on linear motor mounting rack (37), be fixedly connected with picking linear motor (38) telescopic end
Picking knife (39) is located at what picking top (40) corresponding with picking knife (39) position above picking frame (31) collectively formed,
The picking linear motor is electrically connected with the power output end of controller and signal output end respectively.
3. one kind according to claim 1 can be existed with the automatic apple picking machine of automatic identification ripe apples degree, feature
In, the walking mechanism by being located at walking stepper motor frame (41) that chassis (1) following four corners is fixedly connected, being mounted on walking
Walking stepper motor (42) on stepper motor frame (41), the traveling wheel (43) being sleeved on walking stepper motor (42) round end
It collectively forms, the walking stepper motor is electrically connected with the power output end of controller and signal output end respectively.
4. one kind according to claim 1 can be existed with the automatic apple picking machine of automatic identification ripe apples degree, feature
In battery case (36) internal cell is lithium battery.
5. one kind according to claim 1 can be existed with the automatic apple picking machine of automatic identification ripe apples degree, feature
In the battery case (36) is external to be cased with dustproof and waterproof shell.
6. one kind according to claim 1 can be existed with the automatic apple picking machine of automatic identification ripe apples degree, feature
In the battery case (36) possesses charge function.
7. one kind according to claim 1 can be existed with the automatic apple picking machine of automatic identification ripe apples degree, feature
In the controller (35) possesses reception of wireless signals sending function.
8. one kind according to claim 1 can be existed with the automatic apple picking machine of automatic identification ripe apples degree, feature
In the controller (35) possesses capacitance touch screen.
9. one kind according to claim 1 can be existed with the automatic apple picking machine of automatic identification ripe apples degree, feature
In the controller (35) is external to be cased with dust-proof liquid-proof shell.
10. one kind according to claim 1 can be existed with the automatic apple picking machine of automatic identification ripe apples degree, feature
In the MCU model ARM series monolithic of the controller (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811100108.2A CN109168631A (en) | 2018-09-20 | 2018-09-20 | It is a kind of can be with the automatic apple picking machine of automatic identification ripe apples degree |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811100108.2A CN109168631A (en) | 2018-09-20 | 2018-09-20 | It is a kind of can be with the automatic apple picking machine of automatic identification ripe apples degree |
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| CN109168631A true CN109168631A (en) | 2019-01-11 |
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| CN201811100108.2A Withdrawn CN109168631A (en) | 2018-09-20 | 2018-09-20 | It is a kind of can be with the automatic apple picking machine of automatic identification ripe apples degree |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111742710A (en) * | 2020-07-29 | 2020-10-09 | 山东交通学院 | Semi-automatic strawberry picking device and picking method |
| CN112715157A (en) * | 2020-12-29 | 2021-04-30 | 青岛科技大学 | Picking machine for intelligently collecting mature apples |
| CN113812265A (en) * | 2021-11-24 | 2021-12-21 | 杭州富阳锋拓机械有限公司 | Apple picking system based on Internet of things |
| CN113994814A (en) * | 2021-11-25 | 2022-02-01 | 陕西科技大学 | Intelligent fruit and vegetable picking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111742710A (en) * | 2020-07-29 | 2020-10-09 | 山东交通学院 | Semi-automatic strawberry picking device and picking method |
| CN112715157A (en) * | 2020-12-29 | 2021-04-30 | 青岛科技大学 | Picking machine for intelligently collecting mature apples |
| CN113812265A (en) * | 2021-11-24 | 2021-12-21 | 杭州富阳锋拓机械有限公司 | Apple picking system based on Internet of things |
| CN113812265B (en) * | 2021-11-24 | 2022-02-08 | 杭州富阳锋拓机械有限公司 | Apple picking system based on Internet of things |
| CN113994814A (en) * | 2021-11-25 | 2022-02-01 | 陕西科技大学 | Intelligent fruit and vegetable picking robot |
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Application publication date: 20190111 |