CN109673263A - A kind of rectangular co-ordinate safflower picking robot - Google Patents
A kind of rectangular co-ordinate safflower picking robot Download PDFInfo
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- CN109673263A CN109673263A CN201910177893.XA CN201910177893A CN109673263A CN 109673263 A CN109673263 A CN 109673263A CN 201910177893 A CN201910177893 A CN 201910177893A CN 109673263 A CN109673263 A CN 109673263A
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- safflower
- ordinate
- rectangular
- rack
- slide unit
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- 244000020518 Carthamus tinctorius Species 0.000 title claims abstract description 55
- 235000003255 Carthamus tinctorius Nutrition 0.000 title claims abstract description 51
- 239000012636 effector Substances 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 210000001520 comb Anatomy 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
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Abstract
The present invention relates to a kind of rectangular co-ordinate safflower picking robots, including rack, running gear, image collecting device, rectangular co-ordinate picker, safflower collection device, it is characterized in that running gear is installed on front end of rack and rear end, image collecting device is installed on immediately below rack, rectangular co-ordinate picker is installed in rack empty slot, safflower collection device is installed on rack rear, it is an object of the invention to can replace manually picking safflower, it realizes do mechanization operation, has many advantages, such as to improve production efficiency, reduce labor intensity, save production cost and human resources.
Description
Technical field
The present invention relates to a kind of rectangular co-ordinate safflower picking robots, and the present invention relates to a kind of safflower picking robots, fit
For picking the safflower filament of phase in full bloom, belong to agricultural machinery harvest field.
Background technique
Safflower is a kind of very high crop of economic value, and increasingly vigorous with safflower demand in the market, cultivated area is not
It is disconnected to expand.Safflower picking at present relies primarily on manually to complete to pick, and safflower picks large labor intensity, and picking efficiency is low, no
Picking will will cause the waste of filigree in time, constrain the development of safflower industry, therefore it is red to be badly in need of development automated machine picking
Filigree is spent to improve picking efficiency.
Summary of the invention
The object of the present invention is to provide a kind of safety, the safflower picking robot of mechanization.
The present invention relates to a kind of rectangular co-ordinate safflower picking robot, including rack, running gear, image collecting device,
Rectangular co-ordinate picker, safflower collection device, it is characterised in that running gear is installed on front end of rack and rear end, Image Acquisition
Device is installed on immediately below rack, and rectangular co-ordinate picker is installed in rack empty slot, and safflower collection device is installed on rack
Rear.
The running gear includes wheel carrier, wheel, is cooperatively connected between wheel and wheel carrier by shaft, and wheel carrier is installed on
Rear is symmetrically installed each two in front of rack, forms the running gear of straddle-type.
The image collecting device mainly includes binocular camera, is installed on immediately below rack and is installed on rectangular co-ordinate
Safflower plant is irradiated to realize from surface in front of picker, is not interfered with rectangular co-ordinate picker.
The rectangular co-ordinate picker is held including longitudinal ball screw slide unit I, transverse ball lead screw slide unit II, end
Row device, transverse ball lead screw slide unit II are mounted in rack empty slot, and longitudinal ball screw slide unit I passes through sliding block and lateral ball wire
II right-angled intersection of bar slide unit connects, and end effector is connected to longitudinal I end of ball screw slide unit.
The ball screw slide unit using standard ball screw rod slide unit include servo motor, shaft coupling, screw rod, sliding block,
Guide rail I and guide rail II.
The end effector includes bracket, cylinder, fixing pipe, collects floral tube, end cap sliding slot, finger and tapered wall, Gu
Determine pipe to be fixed on bracket, collection floral tube is socketed in fixing pipe, and cylinder is bolted on bracket, the connection of the cylinder other end
Above end cap, end cap and tapered wall are bolted to connection into an entirety, and movement is formed between tapered wall and fixing pipe
Pair, fixing pipe lower part open up 3 between hole and adjacent holes into 120 °, and corresponding 3 sliding slot adjacent angulars of tapered wall are also 120 °, and 3
The idler wheel of a finger one end is stuck in the other end in sliding slot and is put in fixing pipe by the hole in fixing pipe, finger protrusion and fixing pipe
Between spring be installed carry out compressed reset to it, installed between 3 two adjacent fingers of finger at 120 °.
A kind of rectangular co-ordinate safflower picking robot, it is characterised in that the safflower collection device includes safflower
Collection port collects flower room, blower and blower motor, and safflower collection port is connected by rubber tube with the collection floral tube of end effector, collects
It spends interior equipped with sieve, prevents safflower filament from entering blower.
The course of work of the invention is as follows:
Safflower picking robot straddles above safflower plant, and running gear drives robot to move forward, image collecting device
After obtaining safflower filament three dimensional space coordinate, it is solid that robot control system control rectangular co-ordinate picker movement enters filigree
In fixed pipe and reaches picking point position (wherein longitudinal ball screw slide unit I, which is realized, moves up and down, and transverse ball lead screw slide unit II is real
Existing side-to-side movement).Subsequent safflower collection device blower motor movement blower, which starts running and adsorbs filigree, combs it.With
End effector cylinder movement afterwards, drive tapered wall moves upwards while squeezing finger is clamped three fingers to filigree.With
Longitudinal ball screw slide unit I, which moves upwards, afterwards drives end effector integrally to move upwards to safflower filament progress drawing picking.
Subsequent filigree enters collection by rubber tube under the action of blower adsorption capacity and spends interior, completes the collection to safflower filament, thus
Complete the entire picking process to safflower filament.
The present invention can replace manually picking, realize do mechanization operation, and with improving, production efficiency, reduction hand labor are strong
Degree saves the advantages that production cost and human resources.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is side structure schematic diagram of the present invention.
Fig. 3 is end effector structures schematic diagram of the present invention.
Fig. 4 is end effector axonometric schematic diagram of the present invention.
Fig. 5 is end effector finger schematic diagram of the present invention.
Fig. 6 is ball screw slide unit schematic diagram of the present invention
Fig. 7 is that the present invention collects flower room schematic diagram
As shown in the figure: 1 is rack, and 2 be wheel carrier, and 3 be wheel, and 4 be safflower collection port, and 5 is collect flower room, and 6 be blower, and 7 be blower
Motor, 8 be longitudinal ball screw slide unit I, and 9 be transverse ball lead screw slide unit II, and 10 be end effector, and 11 be binocular camera shooting
Machine, 12 be bracket, and 13 be cylinder, and 14 be fixing pipe, and 15 be collection floral tube, and 16 be end cap, and 17 be sliding slot, and 18 be finger, and 19 are, 20
For 21 are, 22 are, 23 be Fingers body, and 24 is prominent for finger, and 25 be servo motor, and 26 be shaft coupling, and 27 be screw rod, and 28 are
Sliding block, 29 be guide rail I, and 30 be guide rail II, and 31 be sieve.
Specific embodiment
Embodiment 1:
Referring to Fig.1, shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, the present invention relates to a kind of rectangular co-ordinate safflower picking robot,
Including rack, running gear, image collecting device, rectangular co-ordinate picker, safflower collection device, it is characterised in that walking dress
It sets and is installed on front end of rack and rear end, image collecting device is installed on immediately below rack, and rectangular co-ordinate picker is installed on machine
In aerial slot, safflower collection device is installed on rack rear.
Embodiment 2:
This example is the difference from embodiment 1 is that the running gear includes wheel carrier, wheel, by turning between wheel and wheel carrier
Axis is cooperatively connected, and wheel carrier is installed on rear in front of rack and is symmetrically installed each two, forms the running gear of straddle-type.
Embodiment 3:
This example is installed on rack the difference from embodiment 1 is that the image collecting device mainly includes binocular camera
Underface is simultaneously installed in front of rectangular co-ordinate picker to realize from surface irradiation safflower plant, is not adopted with rectangular co-ordinate
Device and picking interference.
Embodiment 4:
This example is the difference from embodiment 1 is that the rectangular co-ordinate picker includes longitudinal ball screw slide unit I, transverse direction
Ball screw slide unit II, end effector, transverse ball lead screw slide unit II are mounted in rack empty slot, longitudinal ball screw slide unit
I is connected by sliding block and II right-angled intersection of transverse ball lead screw slide unit, and end effector is connected to longitudinal I end of ball screw slide unit
End.
Embodiment 5:
It includes servo electricity that the difference of this example and embodiment 4, which is that the ball screw slide unit uses standard ball screw rod slide unit,
Machine, shaft coupling, screw rod, sliding block, guide rail I and guide rail II.
Embodiment 6:
The difference of this example and embodiment 4 is that the end effector includes bracket, cylinder, fixing pipe, collection floral tube, end cap
Sliding slot, finger and tapered wall, fixing pipe are fixed on bracket, and collection floral tube is socketed in fixing pipe, and cylinder is bolted on
On bracket, the cylinder other end is connected to above end cap, and end cap and tapered wall are bolted to connection into an entirety, tapered wall
Prismatic pair is formed between fixing pipe, fixing pipe lower part opens up 3 between hole and adjacent holes into 120 °, corresponds to 3 cunnings of tapered wall
Slot adjacent angular is also 120 °, and the idler wheel of 3 finger one end is stuck in sliding slot the other end and puts in fixation by the hole in fixing pipe
In pipe, finger is prominent to be equipped with spring between fixing pipe and carries out compressed reset to it, between 3 two adjacent fingers of finger
It is installed at 120 °.
Embodiment 7:
This example is the difference from embodiment 1 is that a kind of rectangular co-ordinate safflower picking robot, it is characterised in that described
Safflower collection device include safflower collection port, collect flower room, blower and blower motor, safflower collection port passes through rubber tube and end
The collection floral tube of actuator connects, and collection spends interior equipped with sieve, prevents safflower filament from entering blower.
Claims (7)
1. a kind of rectangular co-ordinate safflower picking robot, including rack (1), running gear, image collecting device, rectangular co-ordinate are adopted
Device and picking, safflower collection device, it is characterised in that running gear is installed on rack (1) front and rear end, image collecting device peace
Loaded on immediately below rack (1), rectangular co-ordinate picker is installed in rack (1) empty slot, and safflower collection device is installed on rack
(1) rear.
2. a kind of rectangular co-ordinate safflower picking robot according to claim 1, it is characterised in that the running gear
Including wheel carrier (2), wheel (3), it is cooperatively connected between wheel (3) and wheel carrier (2) by shaft, before wheel carrier is installed on rack (1)
Side and rear are symmetrically installed each two, form the running gear of straddle-type.
3. a kind of rectangular co-ordinate safflower picking robot according to claim 1, it is characterised in that the Image Acquisition
Device mainly includes binocular camera (11), be installed on immediately below rack (1) and be installed in front of rectangular co-ordinate picker with
It realizes from surface and irradiates safflower plant, do not interfere with rectangular co-ordinate picker.
4. a kind of rectangular co-ordinate safflower picking robot according to claim 1, it is characterised in that the rectangular co-ordinate
Picker includes longitudinal ball screw slide unit I (8), transverse ball lead screw slide unit II (9), end effector (10), is laterally rolled
Ballscrew slide unit II is mounted in rack (1) empty slot, and longitudinal ball screw slide unit I (8) passes through sliding block (28) and lateral ball wire
Bar slide unit II (9) right-angled intersection connects, and end effector (10) is connected to longitudinal ball screw slide unit I (8) end.
5. a kind of rectangular co-ordinate safflower picking robot according to claim 4, it is characterised in that the ball screw
Slide unit includes servo motor (25), shaft coupling (26), screw rod (27) sliding block (28), guide rail I using standard ball screw rod slide unit
(29) and guide rail II (30).
6. a kind of rectangular co-ordinate safflower picking robot according to claim 4, it is characterised in that the end executes
Device includes bracket (12), cylinder (13), fixing pipe (14), collection floral tube (15), end cap (16) sliding slot (17), finger (18) and taper
Wall (19), fixing pipe (14) are fixed on bracket (12), and collection floral tube (15) is socketed on fixing pipe (14), and cylinder (13) passes through spiral shell
Bolt is fixed on bracket (12), and cylinder (13) other end is connected to above end cap (16), and end cap (16) and tapered wall (19) pass through
Bolt is fixedly connected into an entirety, and prismatic pair is formed between tapered wall (19) and fixing pipe (14), and fixing pipe lower part opens up 3
At 120 ° between hole and adjacent holes, corresponding 3 sliding slot adjacent angulars of tapered wall are also 120 °, the idler wheel (22) of 3 finger one end
It is stuck in sliding slot (17) the interior other end to put in fixing pipe (14) by the hole on fixing pipe (14), finger prominent (24) and fixing pipe
(14) spring is installed between and carries out compressed reset to it, is installed between 3 two adjacent fingers of finger at 120 °.
7. a kind of rectangular co-ordinate safflower picking robot according to claim 1, it is characterised in that the safflower is collected
Device includes safflower collection port (4), collects and room (5), blower (6) and blower motor (7), safflower collection port (4) is spent to pass through rubber tube
It is connected with the collection floral tube (15) of end effector, collects flower room (5) and be provided with sieve (31), prevent safflower filament from entering blower (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910177893.XA CN109673263A (en) | 2019-03-10 | 2019-03-10 | A kind of rectangular co-ordinate safflower picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910177893.XA CN109673263A (en) | 2019-03-10 | 2019-03-10 | A kind of rectangular co-ordinate safflower picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109673263A true CN109673263A (en) | 2019-04-26 |
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ID=66184327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910177893.XA Pending CN109673263A (en) | 2019-03-10 | 2019-03-10 | A kind of rectangular co-ordinate safflower picking robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111296072A (en) * | 2020-04-17 | 2020-06-19 | 石河子大学 | Three-degree-of-freedom truss type safflower picking device |
| CN111955166A (en) * | 2020-09-23 | 2020-11-20 | 福州大学 | Unmanned picking and transporting intelligent agricultural robot and working method thereof |
| CN111955165A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Self-propelled full-coverage multi-target safflower filament picking robot |
| CN112121922A (en) * | 2020-10-14 | 2020-12-25 | 郑州知风电气科技有限公司 | Dandelion seed collection system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1762787A1 (en) * | 1989-12-04 | 1992-09-23 | Д.А.Серков, И.Н.Фатеев и Е.А.Силаева | Pneumatic cotton harvester |
| CN105993387A (en) * | 2016-08-03 | 2016-10-12 | 扬州市邗江德昌塑料厂 | Intelligent tea picking robot and tea picking method thereof |
| CN106973631A (en) * | 2017-04-27 | 2017-07-25 | 中国人民解放军防空兵学院 | One kind automation picker system |
| CN206932686U (en) * | 2017-04-28 | 2018-01-30 | 赵沭橙 | A kind of new picking paw |
| CN209768251U (en) * | 2019-03-10 | 2019-12-13 | 石河子大学 | Rectangular coordinate safflower picking robot |
-
2019
- 2019-03-10 CN CN201910177893.XA patent/CN109673263A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1762787A1 (en) * | 1989-12-04 | 1992-09-23 | Д.А.Серков, И.Н.Фатеев и Е.А.Силаева | Pneumatic cotton harvester |
| CN105993387A (en) * | 2016-08-03 | 2016-10-12 | 扬州市邗江德昌塑料厂 | Intelligent tea picking robot and tea picking method thereof |
| CN106973631A (en) * | 2017-04-27 | 2017-07-25 | 中国人民解放军防空兵学院 | One kind automation picker system |
| CN206932686U (en) * | 2017-04-28 | 2018-01-30 | 赵沭橙 | A kind of new picking paw |
| CN209768251U (en) * | 2019-03-10 | 2019-12-13 | 石河子大学 | Rectangular coordinate safflower picking robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111296072A (en) * | 2020-04-17 | 2020-06-19 | 石河子大学 | Three-degree-of-freedom truss type safflower picking device |
| CN111296072B (en) * | 2020-04-17 | 2024-07-23 | 石河子大学 | Three-degree-of-freedom truss type safflower picking device |
| CN111955165A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Self-propelled full-coverage multi-target safflower filament picking robot |
| CN111955165B (en) * | 2020-08-31 | 2022-04-19 | 新疆农业大学 | Self-propelled full-coverage multi-target safflower filament picking robot |
| CN111955166A (en) * | 2020-09-23 | 2020-11-20 | 福州大学 | Unmanned picking and transporting intelligent agricultural robot and working method thereof |
| CN112121922A (en) * | 2020-10-14 | 2020-12-25 | 郑州知风电气科技有限公司 | Dandelion seed collection system |
| CN112121922B (en) * | 2020-10-14 | 2024-05-14 | 郑州知风电气科技有限公司 | Dandelion seed collection system |
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