CN112690095A - Accurate harvesting device of crops - Google Patents
Accurate harvesting device of crops Download PDFInfo
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- CN112690095A CN112690095A CN202011571907.5A CN202011571907A CN112690095A CN 112690095 A CN112690095 A CN 112690095A CN 202011571907 A CN202011571907 A CN 202011571907A CN 112690095 A CN112690095 A CN 112690095A
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- picking
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a crop precise picking device.A translational driving mechanism, a push plate correcting mechanism, a vertical moving mechanism and a picking and accommodating mechanism which are respectively connected with a controller are arranged on a fixed support, the controller is connected with a visual detector, and the controller determines the position information and the inclination state of an object to be picked according to the image information of the object to be picked acquired by the visual detector, so as to output corresponding control instructions to the translational driving mechanism, the vertical moving mechanism, the picking and accommodating mechanism and the push plate correcting mechanism; the translational driving mechanism is used for driving the picking and containing mechanism connected with the vertical moving mechanism to move horizontally; the vertical moving mechanism is used for driving the picking and containing mechanism to vertically move; the picking and accommodating mechanism is used for opening, closing and shearing the object to be picked; the push plate correction mechanism is used for pushing and straightening the inclined crops. Compared with the prior art, the invention can realize the purposes of comprehensive, reliable and accurate picking and can reduce the picking loss.
Description
Technical Field
The invention relates to the technical field of automatic mechanical picking, in particular to an accurate picking device for crops.
Background
With the development of agricultural automation, numerous automatic mechanical picking devices have been developed at present, most of the harvesting parts of the existing mechanical picking devices adopt large-area cutting structures to improve the harvesting efficiency, but the existing mechanical picking devices are difficult to accurately pick small crops (such as tea leaves, economic flowers and other high-price crops) when picking the small crops, and on the other hand, the picking objects are easy to fall off when picking the small crops, so that the picking loss is large.
In addition, because crops grow and mostly have the phototaxis characteristic for crops take place the incline easily and empty, if adopt current mechanical picking equipment to pick crops, often can not pick all crops in its peripheral scope comprehensively, lead to picking the results lower, are difficult to satisfy the picking demand.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a crop precise picking device which can simultaneously carry out precise picking and collection on smaller crops and can achieve the aim of comprehensively and reliably picking.
The purpose of the invention can be realized by the following technical scheme: a crop accurate picking device comprises a fixed support, wherein a translation driving mechanism and a push plate correcting mechanism capable of being pushed out and retracted are mounted on the fixed support, the translation driving mechanism is connected with a vertical moving mechanism, a picking storage mechanism is mounted at the bottom of the vertical moving mechanism, the translation driving mechanism, the vertical moving mechanism, the picking storage mechanism and the push plate correcting mechanism are all connected to a controller, the controller is connected with a vision detector, the vision detector is used for collecting image information of a to-be-picked object, and the controller is used for determining position information and an inclination state of the to-be-picked object according to the image information of the to-be-picked object, so that corresponding control instructions are output to the translation driving mechanism, the vertical moving mechanism, the picking storage mechanism and the push plate correcting mechanism;
the translation driving mechanism is used for driving the vertical moving mechanism to horizontally move according to a control instruction of the controller, so that the picking and containing mechanism is driven to horizontally move;
the vertical moving mechanism is used for driving the picking and accommodating mechanism to vertically move according to a control instruction of the controller;
the picking and accommodating mechanism completes opening, closing and shearing actions according to a control instruction of the controller;
and the push plate correcting mechanism is used for pushing and straightening the inclined crops according to the control instruction of the controller.
Further, translation actuating mechanism includes guide rail and linear electric motor, linear electric motor is connected with the controller, install the portable supporting part that is used for connecting vertical movement mechanism on the guide rail, the supporting part is connected with linear electric motor, linear electric motor makes the supporting part take place horizontal migration on the guide rail after getting electric work according to the control command of controller to drive vertical movement mechanism and take place horizontal migration along the guide rail.
Further, the vertical moving mechanism comprises a vertical guide rod capable of moving up and down, the vertical guide rod is connected with the supporting block, the picking and containing mechanism is installed at the bottom of the vertical guide rod, the vertical guide rod is further connected with a driving motor, the driving motor is connected with the controller, and the driving motor enables the vertical guide rod to move up and down after the driving motor works according to a control instruction of the controller, so that the picking and containing mechanism is driven to move up and down.
Further, the supporting part includes two sliders with guide rail frictional contact, is provided with the crossbeam on two sliders, perpendicular guide arm joint is between two sliders.
Further, pick receiving mechanism and include the base of being connected with perpendicular guide arm bottom, working cylinder is installed to the below of base, working cylinder's push rod articulates there is two execution arms that intercrossing set up, and the grab bucket is accomodate to two fixedly connected with respectively of the bottom of executing the arm, and two are accomodate the relative setting of grab bucket, the lower part edge of accomodating the grab bucket is installed cutting blade, working cylinder is connected with the controller, and according to the instruction of controller, working cylinder work makes the push rod release or retract, makes the cross angle between two execution arms change to drive two and accomodate the grab bucket and part or fold, accomplish the shearing action that opens and shuts.
Furthermore, a guide rod connector is installed on the push rod, the guide rod connector is movably connected with two rotating connecting rods, and the two rotating connecting rods are respectively connected to the top ends of the two execution arms through hinges.
Furthermore, the two ends of the bottom of the base are connected with the top of the manipulator support, the bottom of the manipulator support is connected with the track support, and the hinge is movably arranged on the track support.
Furthermore, a waist-shaped groove is formed in the track support, a limiting pin used for limiting the intersection angle between the two execution arms is arranged on the hinge, and the limiting pin is movably arranged in the waist-shaped groove.
Further, the push plate straightening mechanism is arranged at a position facing the root of the crop or the branch of the crop.
Furthermore, a rotating motor and a transmission mechanism are installed between the translation driving mechanism and the fixed support, the rotating motor is connected with the controller, and the rotating motor drives the whole translation driving mechanism to rotate around the fixed support through the transmission mechanism, so that crops in a wider range can be picked.
Compared with the prior art, the invention has the following advantages:
firstly, the invention arranges a translation driving mechanism and a push plate correcting mechanism on a fixed bracket, the translation driving mechanism is connected with a vertical moving mechanism, a picking and accommodating mechanism is arranged at the bottom of the vertical moving mechanism, and is combined with a visual detector and a controller, the visual detector is used for collecting image information of an object to be picked, the controller is used for determining the position information and the inclination state of the object to be picked, thereby the controller can respectively output control instructions to the translation driving mechanism, the vertical moving mechanism, the picking and accommodating mechanism and the push plate correcting mechanism, so that the picking and accommodating mechanism can horizontally and vertically move to reach the position corresponding to the object to be picked and complete the opening, closing and shearing actions, the aim of accurate picking is realized, in addition, the push plate correcting mechanism can push and align the inclined crops according to the control instructions of the controller, so that the picking and accommodating mechanism can pick crops in the peripheral range comprehensively, thereby improving the picking and harvesting.
In addition, the hinge is arranged on the track support through a limiting pin, so that the executing arm can be controlled to open and close accurately and controllably, the cutting blade of the picking and accommodating mechanism can be ensured to cut smaller crops accurately, and the picking accuracy is further ensured.
In the picking and accommodating mechanism, the accommodating grab bucket is oppositely arranged at the tail end of the actuating arm, and the cutting blade is arranged at the lower edge of the accommodating grab bucket, so that the cut and picked crops can be directly collected in the accommodating grab bucket, the phenomenon that picked objects fall off after cutting is avoided, and the picking loss is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a front view of the picking mechanism of the present invention;
FIG. 3 is a schematic view of the picking mechanism of the present invention in a closed configuration;
FIG. 4 is a schematic view of the picking and storing mechanism of the present invention shown in an open configuration;
the notation in the figure is: 1. picking and accommodating mechanism, 2, vertical movement mechanism, 3, driving motor, 4, crossbeam, 5, slider, 6, linear electric motor, 7, guide rail, 8, fixed bolster, 9, push pedal correction mechanism, 11, accomodate the grab bucket, 12, cutting blade, 13, execution arm, 14, track support, 15, rotation connecting rod, 16, guide rod connector, 17, working cylinder, 18, manipulator support.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
As shown in fig. 1, an accurate crop picking device comprises a fixed support 8, a translational driving mechanism and a push plate correcting mechanism 9 capable of being pushed out and retracted are mounted on the fixed support 8, the push plate correcting mechanism 9 is arranged at a position facing to roots or branches of crops, the translational driving mechanism is connected with a vertical moving mechanism 2, a picking and accommodating mechanism 1 is mounted at the bottom of the vertical moving mechanism 2, wherein the translational driving mechanism comprises a guide rail 7 and a linear motor 6, a movable supporting part used for connecting the vertical moving mechanism 2 is mounted on the guide rail 7, the supporting part is connected with the linear motor 6, and the linear motor 6 enables the supporting part to horizontally move on the guide rail 7 after being electrified to work, so that the vertical moving mechanism 2 is driven to horizontally move along the guide rail 7;
the vertical moving mechanism 2 comprises a vertical guide rod capable of moving up and down, the vertical guide rod is connected with a supporting block, the supporting part comprises two sliding blocks 5 in friction contact with a guide rail 7, cross beams 4 are arranged on the two sliding blocks 5, the vertical guide rod is clamped between the two sliding blocks 5, the picking and containing mechanism 1 is arranged at the bottom of the vertical guide rod, the vertical guide rod is also connected with a driving motor 3, and the driving motor enables the vertical guide rod to move up and down after the driving motor works by electrifying, so that the picking and containing mechanism 1 is driven to move up and;
as shown in fig. 2, the picking and accommodating mechanism 1 includes a base connected to the bottom of a vertical guide rod, a working cylinder 17 is installed below the base, a push rod of the working cylinder 17 is hinged with two execution arms 13 which are arranged to cross each other, the bottom ends of the two execution arms 13 are respectively and fixedly connected with an accommodating grab bucket 11, the two accommodating grab buckets 11 are arranged to face each other, a cutting blade 12 is installed at the lower edge of the accommodating grab bucket 11, the working cylinder 17 is operated to push out or retract the push rod, so that the cross angle between the two execution arms 13 is changed, thereby driving the two accommodating grab buckets 11 to be separated or folded, and completing the opening and closing shearing actions, specifically, a guide rod connector 16 is installed on the push rod, the guide rod connector 16 is movably connected with two rotating connecting rods 15, and the two rotating connecting rods 15 are;
the bottom both ends of base are connected with the top of manipulator support 18, connect through track support 14 between the bottom of manipulator support 18, have seted up waist type groove on the track support 14, are provided with the spacer pin that is used for injecing the cross angle between two executive arms 13 on the hinge, and the spacer pin is movably installed in waist type groove.
In practical application, a linear motor 6 in the translation driving mechanism, a driving motor 3 in the vertical moving mechanism 2, a working cylinder 7 in the picking and accommodating mechanism 1 and a push plate correcting mechanism 9 are all connected to a controller, the controller is connected with a visual detector, the visual detector is used for collecting image information of an object to be picked, the controller determines position information and an inclined state of the object to be picked according to the image information of the object to be picked, and accordingly corresponding control instructions are output to the translation driving mechanism, the vertical moving mechanism 2, the picking and accommodating mechanism 1 and the push plate correcting mechanism 9;
the translation driving mechanism is used for driving the vertical moving mechanism 2 to horizontally move according to a control instruction of the controller, so that the picking and containing mechanism 1 is driven to horizontally move;
the vertical moving mechanism 2 is used for driving the picking and accommodating mechanism 1 to vertically move according to a control instruction of the controller;
through horizontal movement and vertical movement, the picking and accommodating mechanism 1 can move to a position corresponding to a to-be-picked object, so that the accuracy of subsequent picking is ensured;
the picking and accommodating mechanism 1 finishes opening, closing and shearing actions according to a control instruction of the controller, and achieves the purposes of accurately picking and collecting picked objects;
the push plate correcting mechanism 9 is used for pushing and straightening the inclined crops according to the control instruction of the controller, so that the purpose of comprehensively and reliably picking the crops in the peripheral range is achieved.
The specific working process of the invention is as follows: under the control of the vision detector and the controller, the picking and accommodating mechanism 1 moves to the position right above the crops to be picked, at the moment, as shown in fig. 3, the push rod of the working cylinder 17 is not pushed out, and when the push rod is at the initial position, the two groups of execution arms 13 with the accommodating grab bucket 11 and the cutting blade 12 are in a closed state. When picking is required to be performed, the working cylinder 17 is operated to push out the push rod, and the two cutting blades 12 installed below the storage grab bucket 11 are opened (as shown in fig. 4) under the transmission work of the two sets of rotating connecting rods 15 and the performing arm 13. The driving motor 3 starts to work, controls the vertical moving mechanism 2 to descend, and drives the picking and accommodating mechanism 1 to descend to a proper position. The working cylinder 17 works again to withdraw the push rod, under the transmission work of the two groups of rotating connecting rods 15 and the execution arm 13, the two groups of cutting blades 12 arranged below the storage grab bucket 11 are folded to cut off the crops, and the fallen crops enter the two groups of folded storage grab buckets 11.
When the picking and accommodating mechanism 1 needs to pick crops growing at the edge position and having a certain inclination, the push plate correction mechanism 9 starts to work and push out, so that plant branches are pushed, and the crops growing on the branches are placed at right positions.
In addition, in order to further realize comprehensive picking and expand the picking range, a rotating motor and a transmission mechanism can be arranged between the translation driving mechanism and the fixed support 8, the rotating motor is connected with the controller, and the rotating motor drives the whole translation driving mechanism to rotate around the fixed support 8 through the transmission mechanism, so that crops in a larger range can be picked;
in order to further ensure the reliable collection of the picked crops, the appearance of the storage grab bucket 11 can be improved, so that the gap is smaller when the storage grab bucket 11 is folded, and the picked crops are prevented from leaking from the gap.
In summary, the invention provides a crop precise picking device, which can enable a picking and accommodating mechanism to accurately move above a to-be-picked object, and integrate a cutting and accommodating function into the picking and accommodating mechanism, so that the purpose of comprehensive and precise picking can be achieved, meanwhile, the picking object can be conveniently collected, the picking loss can be reduced, in addition, by designing a push plate correction mechanism, plant branches are pushed by the push plate correction mechanism, the inclined crops are righted, the picking comprehensiveness can be ensured, and the picking harvest can be improved.
Claims (10)
1. The utility model provides an accurate harvesting device of crops, its characterized in that, includes fixed bolster (8), install translation actuating mechanism and push pedal correctional agency (9) that can release to withdraw on fixed bolster (8), translation actuating mechanism is connected with vertical migration mechanism (2), picking receiving mechanism (1) is installed to the bottom of vertical migration mechanism (2), translation actuating mechanism, vertical migration mechanism (2), picking receiving mechanism (1) and push pedal correctional agency (9) all are connected to the controller, the controller is connected with the vision detector, the vision detector is used for gathering the image information of treating the harvesting thing, the controller is according to the image information of treating the harvesting thing to confirm the position information and the tilt state of treating the harvesting thing, thereby output corresponding control command for translation actuating mechanism, vertical migration mechanism (2), A picking and accommodating mechanism (1) and a push plate correcting mechanism (9);
the translation driving mechanism is used for driving the vertical moving mechanism (2) to horizontally move according to a control instruction of the controller, so that the picking and containing mechanism (1) is driven to horizontally move;
the vertical moving mechanism (2) is used for driving the picking and containing mechanism (1) to vertically move according to a control command of the controller;
the picking and accommodating mechanism (1) completes opening, closing and shearing actions according to a control instruction of the controller;
and the push plate correcting mechanism (9) is used for pushing and straightening the inclined crops according to the control instruction of the controller.
2. The accurate harvesting device of crops according to claim 1, characterized in that, the translation actuating mechanism includes guide rail (7) and linear electric motor (6), linear electric motor (6) is connected with the controller, install the portable supporting part that is used for connecting vertical movement mechanism (2) on guide rail (7), the supporting part is connected with linear electric motor (6), linear electric motor (6) makes the supporting part take place horizontal migration on guide rail (7) after getting electric work according to the control command of controller to drive vertical movement mechanism (2) to take place horizontal migration along guide rail (7).
3. The accurate harvesting device of crops according to claim 2, characterized in that the vertical moving mechanism (2) comprises a vertical guide rod which can move up and down, the vertical guide rod is connected with the supporting block, the bottom of the vertical guide rod is provided with the harvesting mechanism (1), the vertical guide rod is further connected with a driving motor (3), the driving motor (3) is connected with the controller, and the driving motor (3) enables the vertical guide rod to move up and down after being electrified according to the control command of the controller, so that the harvesting mechanism (1) is driven to move up and down.
4. The precise crop picking device according to claim 3, characterized in that the support part comprises two sliding blocks (5) in frictional contact with the guide rail (7), the two sliding blocks (5) are provided with a cross beam (4), and the vertical guide rod is clamped between the two sliding blocks (5).
5. A crop precision picking device according to claim 3, characterised in that the picking receiving mechanism (1) comprises a base connected to the bottom of a vertical guide, a working cylinder (17) is arranged below the base, a push rod of the working cylinder (17) is hinged with two execution arms (13) which are arranged in a cross way, the bottom ends of the two execution arms (13) are respectively and fixedly connected with a storage grab bucket (11), the two storage grab buckets (11) are arranged oppositely, a cutting blade (12) is arranged at the lower edge of the receiving grab bucket (11), the working cylinder (17) is connected with a controller, according to the instruction of the controller, the working cylinder (17) works to push out or retract the push rod, so that the cross angle between the two executing arms (13) is changed, thereby driving the two storage grab buckets (11) to be separated or folded to complete the opening and closing shearing action.
6. The precise crop picking device according to claim 5, characterized in that the guide rod connector (16) is mounted on the push rod, the guide rod connector (16) is movably connected with two rotating connecting rods (15), and the two rotating connecting rods (15) are respectively connected to the top ends of the two executing arms (13) through hinges.
7. The precise crop picking device according to claim 6, characterized in that the two ends of the bottom of the base are connected with the top of the manipulator support (18), the bottom of the manipulator support (18) is connected with the top of the manipulator support through a rail support (14), and the hinge is movably mounted on the rail support (14).
8. The precise crop picking device according to claim 7, characterized in that the track support (14) is provided with a waist-shaped groove, the hinge is provided with a limit pin for limiting the crossing angle between the two actuating arms (13), and the limit pin is movably arranged in the waist-shaped groove.
9. An accurate harvesting device according to claim 1 wherein the push plate leveling mechanism (9) is located facing the crop roots or branches.
10. The accurate harvesting device of crops according to claim 1, characterized in that, a rotating motor and a transmission mechanism are installed between the translational driving mechanism and the fixed support (8), the rotating motor is connected with the controller, and the rotating motor drives the whole translational driving mechanism to rotate around the fixed support (8) through the transmission mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011571907.5A CN112690095B (en) | 2020-12-27 | 2020-12-27 | Accurate device of picking of crops |
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| CN202011571907.5A CN112690095B (en) | 2020-12-27 | 2020-12-27 | Accurate device of picking of crops |
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| CN112690095A true CN112690095A (en) | 2021-04-23 |
| CN112690095B CN112690095B (en) | 2023-08-25 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113250257A (en) * | 2021-06-10 | 2021-08-13 | 江苏创威电子有限公司 | Deep foundation pit excavating device with opening-closing type excavating head |
| CN114271118A (en) * | 2021-12-27 | 2022-04-05 | 广州极飞科技股份有限公司 | Array type crop processing device, crop processing equipment and crop processing method |
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| CN113250257A (en) * | 2021-06-10 | 2021-08-13 | 江苏创威电子有限公司 | Deep foundation pit excavating device with opening-closing type excavating head |
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| CN112690095B (en) | 2023-08-25 |
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