CN113079825A - Automatic fruit and vegetable picking machine based on three-coordinate mechanical arm - Google Patents
Automatic fruit and vegetable picking machine based on three-coordinate mechanical arm Download PDFInfo
- Publication number
- CN113079825A CN113079825A CN202110428002.0A CN202110428002A CN113079825A CN 113079825 A CN113079825 A CN 113079825A CN 202110428002 A CN202110428002 A CN 202110428002A CN 113079825 A CN113079825 A CN 113079825A
- Authority
- CN
- China
- Prior art keywords
- mounting plate
- push rod
- fixedly arranged
- plate
- guide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a fruit and vegetable automatic picking machine based on a three-coordinate mechanical arm, which is high in automation degree and picking efficiency. The automatic fruit and vegetable picking machine based on the three-coordinate mechanical arm comprises a walking platform (100), 4 three-coordinate mechanical arms (200), 4 execution tail ends (300) and 2 transportation and collection devices (400); the four-coordinate walking robot is characterized in that the 4 three-coordinate mechanical arms (200) are circumferentially and uniformly distributed and fixed on the walking platform (100), an execution tail end (300) is arranged on each three-coordinate mechanical arm (200), a transportation and collection device (400) is arranged on each of the two adjacent three-coordinate mechanical arms (200), and each transportation and collection device (400) is fixed on the walking platform (100).
Description
Technical Field
The invention belongs to the technical field of intelligent agricultural machinery, and particularly relates to an automatic fruit and vegetable picking machine based on a three-coordinate mechanical arm.
Background
In the production of fruits and vegetables in China, manual picking is still adopted in large quantity, so that the picking efficiency is low, the labor intensity of personnel is high, and the picking cost is too high for a large-scale planting base.
In order to solve the problems of low efficiency and high labor cost of manual picking of fruits and vegetables, a large amount of middle-sized fruit and vegetable picking equipment is provided.
The Chinese patent application for invention 'a fruit picking robot based on a rectangular coordinate type mechanical arm' (application number: 202011100614.9, published: 2021.1.22) discloses a fruit picking robot, which comprises a frame, a driving system, an industrial personal computer, a rectangular coordinate type mechanical arm, an image recognition system, an end effector and the like. The fruit picking machine has the advantages that the target fruits are picked in a positioning mode through plane rectangular coordinates, corresponding X, Y, Z-axis coordinates are calculated by projecting fruit images in corresponding areas, and then the rectangular coordinate type mechanical arm is used for picking the fruits, so that the degree of freedom of the mechanical arm is reduced, a picking path of the mechanical arm is simpler and more convenient, and further, a program algorithm for automatically picking the fruits is simple and stable. Through reasonable design rectangular coordinate formula arm for the robot can adapt to more and pick the task, and then makes picking procedure algorithm more compatible robot. And the robot is provided with a GPS navigation system, can realize full autonomous navigation and travel when working in an orchard, realizes full-automatic fruit picking operation, and has the advantages of high working efficiency, simple structure and convenient maintenance and assembly. Due to the lack of a corresponding collecting device, the fruit picking robot has the problems of incomplete structure and incomplete functions.
For another example, the chinese invention patent application "an intelligent fruit picking robot" (application No. 202011411527.X, published: 2021.3.26) discloses a fruit picking robot, comprising: the base, the underarm, the upper arm, the holder, image acquisition device and controlling means, wherein the base is fixed on running gear, it is articulated through first rotation axis driving motor between one side of underarm and the underarm support, the underarm support passes through rotation mechanism and sets up in the base, the opposite side of underarm is articulated through one side of second rotation axis driving motor and upper arm, the opposite side of upper arm is provided with the holder, the holder includes centre gripping finger and centre gripping finger control mechanism, control mechanism and first rotation axis driving motor, second rotation axis driving motor and centre gripping finger control mechanism electricity are connected. As the maturity of the fruits and vegetables to be picked needs to be judged at first, and then the ripe fruits and vegetables are dragged, the ripe fruits and vegetables are distinguished from the unripe fruits and vegetables, and then the fruits and vegetables can be picked, the fruit picking robot has the problems of complicated execution steps and low efficiency.
In summary, the prior art has the following problems: the complete automation of fruit and vegetable picking cannot be finished due to the lack of a complete working module; the picking steps are complicated, and the efficiency is low.
Disclosure of Invention
The invention aims to provide a fruit and vegetable automatic picking machine based on a three-coordinate mechanical arm, which is high in automation degree and picking efficiency.
The technical solution for realizing the purpose of the invention is as follows:
an automatic fruit and vegetable picking machine based on three-coordinate mechanical arms comprises a walking platform 100, 4 three-coordinate mechanical arms 200, 4 execution terminals 300 and 2 transportation and collection devices 400;
the 4 three-coordinate mechanical arms 200 are circumferentially and uniformly distributed and fixed on the walking platform 100, each three-coordinate mechanical arm 200 is provided with an execution tail end 300, two adjacent three-coordinate mechanical arms 200 are respectively provided with a transportation and collection device 400, and each transportation and collection device 400 is fixed on the walking platform 100.
Compared with the prior art, the invention has the following remarkable advantages:
1. the automation degree is high: pneumatic scissors cut fruit vegetables and drop to fruit vegetables collection claw, transportation collection device promotes the end effector bottom plate through fourth electric putter and rotates, make fruit vegetables landing to the transportation pipeline on the fruit vegetables collection claw, the fruit vegetables pass through transportation pipeline landing to the input port of flood dragon mechanism lower extreme, the third motor drives flood dragon mechanism helical blade and rotates, make fruit vegetables drop to the collection case from flood dragon mechanism upper end delivery outlet, accomplish and pick, the integration of collection has been realized picking, moreover, the steam generator is complete in structure, the function is complete, can realize walking in the fruit vegetables are picked, pick, the full automation of collecting process, artificial participation has been reduced.
2. Picking efficiency is high: the execution tail end identifies fruits and vegetables which can be picked through a camera; the first pneumatic shear support is pushed to slide in the sliding groove through a fifth electric push rod, so that the forward and backward movement of the pneumatic shears is realized; the gear transmission part is driven by the second motor, so that the second pneumatic shear support is driven to rotate, the shearing angle of the pneumatic shear is adjusted, the operation range of the machine is expanded, and the picking efficiency is improved. .
3. The positioning is accurate: the three-coordinate mechanical arm drives the execution tail end to move vertically, horizontally and in the front-back direction through the first electric push rod, the second electric push rod and the third electric push rod, the cost is low, and the positioning is accurate.
The invention is described in further detail below with reference to the figures and the detailed description.
Drawings
Fig. 1 is a schematic overall structure diagram of the automatic fruit and vegetable picking machine based on a three-coordinate mechanical arm.
Fig. 2 is a schematic structural diagram of the walking platform in fig. 1.
Fig. 3 is a schematic structural diagram of the three-coordinate robot arm in fig. 1.
Fig. 4 is a schematic diagram of the structure of the execution terminal in fig. 1.
Fig. 5 is another perspective view of fig. 4.
Fig. 6 is a schematic structural view of the transportation and collection device in fig. 1.
Fig. 7 is another perspective view of fig. 6.
In the figure: a walking platform 100, a three-coordinate mechanical arm 200, an execution terminal 300, a transportation and collection device 400,
a crawler wheel structure 101, a chain wheel transmission structure 102, a first motor 103, a bottom plate 104, a support frame 105, a top plate 106, a power supply box 107, a diesel engine 108, a control box 109,
a first electric push rod mounting plate 201, a first electric push rod 202, a first guide rail mounting plate 203, a first guide rail 204, a first push rod guide plate 205, a first driven plate 206, a first driven rod 207, a first floating joint 208, a second guide rail mounting plate 209, a second electric push rod mounting plate 210, a second electric push rod 211, a second guide rail 212, a second push rod guide plate 213, a second driven plate 214, a second driven rod 215, a second floating joint 216, a third electric push rod mounting plate 217, a third electric push rod 218, a third guide rail mounting plate 219, a third guide rail 220, a third push rod guide plate 221, a third driven plate 222, a third driven rod 223, a connecting block 224, an actuating end mounting base 225,
the end effector 301, the end effector bracket 302, the camera mounting plate 303, the welding part 304, the camera 305, the fourth electric push rod mounting plate 306, the fourth electric push rod 307, the hinge block 308, the end effector base plate 309, the fruit and vegetable collecting claw 310, the fifth electric push rod 311, the chute 312, the first pneumatic shear bracket 313, the second motor 314, the gear transmission part 315, the second pneumatic shear bracket 316 and the pneumatic shear 317,
the flood dragon comprises a transport pipeline 401, a flood dragon mechanism mounting plate 402, a third motor mounting plate 403, a third motor 404, a flood dragon mechanism 405, a fixing flange mounting plate 406, a fixing flange 407 and a collection box 408.
Detailed Description
As shown in fig. 1, the automatic fruit and vegetable picking machine based on three-coordinate mechanical arms of the present invention comprises a walking platform 100, 4 three-coordinate mechanical arms 200, 4 execution terminals 300 and 2 transportation and collection devices 400;
the 4 three-coordinate mechanical arms 200 are circumferentially and uniformly distributed and fixed on the walking platform 100, each three-coordinate mechanical arm 200 is provided with an execution tail end 300, two adjacent three-coordinate mechanical arms 200 are respectively provided with a transportation and collection device 400, and each transportation and collection device 400 is fixed on the walking platform 100.
As shown in fig. 2, the walking platform 100 includes a top plate 106, a power box 107, a diesel engine 108, a control box 109, two crawler wheel structures 101, two sprocket wheel transmission structures 102, two first motors 103, two bottom plates 104, and two support frames 105, which are symmetrically arranged;
the top plate 106 is horizontally arranged, the left end and the right end of the top plate are respectively fixedly connected with the upper ends of vertically arranged support frames 105, the lower end of each support frame 105 is respectively fixedly connected with a bottom plate 104, each bottom plate 104 is respectively fixedly connected with a crawler wheel structure 101, each bottom plate 104 is respectively and fixedly provided with a first motor 103, the output shaft of each first motor 103 is connected with one end of a chain wheel transmission structure 102, and the other end of the chain wheel transmission structure 102 is connected with the input shaft of the crawler wheel structure 101;
the power supply box 107, the diesel engine 108 and the control box 109 are respectively and fixedly arranged on the top plate 106.
As shown in fig. 3, the three-coordinate robot 200 includes a first electric push rod mounting plate 201, a first electric push rod 202, a first guide rail mounting plate 203, a first guide rail 204, a first push rod guide plate 205, a first driven plate 206, a first driven rod 207, a first floating joint 208, a second guide rail mounting plate 209, a second electric push rod mounting plate 210, a second electric push rod 211, a second guide rail 212, a second push rod guide plate 213, a second driven plate 214, a second driven rod 215, a second floating joint 216, a third electric push rod mounting plate 217, a third electric push rod 218, a third guide rail mounting plate 219, a third guide rail 220, a third push rod guide plate 221, a third driven plate 222, a third driven rod 223, a connecting block 224, and an execution end mounting base 225;
the first guide rail mounting plate 203 and the first guide rail 204 are fixedly arranged on the support frame 105;
the first electric push rod 202 is fixedly arranged on the first electric push rod mounting plate 201, one end of the first guide rail mounting plate 203 is fixedly arranged on the first electric push rod mounting plate 201, the first guide rail 204 is fixedly arranged on the first guide rail mounting plate 203, the first push rod guide plate 205 is fixedly arranged at the other end of the first guide rail mounting plate 203, the first driven plate 206 is respectively connected with the first electric push rod 202 and the first driven rod 207, the first driven rod 207 is in sliding connection with the first push rod guide plate 205, the first floating joint 208 is fixedly arranged on the first driven rod 207, the second guide rail mounting plate 209 is fixedly connected with the first floating joint 208 and is in sliding connection with the first guide rail 204, the second electric push rod mounting plate 210 is fixedly arranged at one end of the second guide rail mounting plate 209, and the second electric push rod 211 is fixedly arranged on the second electric push rod mounting plate 210, the second guide rail 212 is fixedly arranged on the second guide rail mounting plate 209, the second push rod guide plate 213 is fixedly arranged at the other end of the second guide rail mounting plate 209, the second driven plate 214 is respectively connected with the second electric push rod 211 and the second driven rod 215, the second driven rod 215 is slidably connected with the second push rod guide plate 213, the second floating joint 216 is fixedly arranged on the second driven rod 215, the third guide rail mounting plate 219 is fixedly connected with the second floating joint 216, the third electric push rod mounting plate 217 is fixedly arranged at one end of the third guide rail mounting plate 219, the third electric push rod 218 is fixedly arranged on the third electric push rod mounting plate 217, the third guide rail 220 is fixedly arranged on the third guide rail mounting plate 219, and the third push rod guide plate 221 is fixedly arranged at the other end of the third guide rail mounting plate 219, the third driven plate 222 is connected to the third electric push rod 218 and the third driven rod 223 respectively, the third driven rod 223 is connected to the third push rod guide plate 221 in a sliding manner, the connecting block 224 is fixedly arranged on the third driven rod 223, the actuating end mounting seat 225 is fixedly connected to the third driven rod 223 through the connecting block 224, and the actuating end mounting seat 225 is connected to the third guide rail 220 in a sliding manner.
As shown in fig. 4 and 5, the execution end 300 includes an end effector 301, an end effector support 302, a camera mounting plate 303, a welding part 304, a camera 305, a fourth electric push rod mounting plate 306, a fourth electric push rod 307, a hinge block 308, an end effector base plate 309, a fruit and vegetable collecting claw 310, a fifth electric push rod 311, a chute 312, a first pneumatic scissors support 313, a second motor 314, a gear transmission part 315, a second pneumatic scissors support 316 and pneumatic scissors 317;
the end effector mounting plate 301 is fixedly disposed on the actuator end mounting base 225, the end effector frame 302 is fixedly disposed on the end effector mounting plate 301, the camera mounting plate 303 is fixedly disposed on the end effector frame 302, the camera 305 is welded to the camera mounting plate 303 by the welding member 304, the fourth electric push rod mounting plate 306 is fixedly disposed on the end effector frame 302, the fourth electric push rod 307 is fixedly disposed on the fourth electric push rod mounting plate 306, the hinge block 308 is fixedly disposed on the end effector base plate 309 and hinged to the fourth electric push rod 307, the end effector base plate 309 is hinged to the end effector frame 302, the fruit and vegetable collecting claw 310 is fixedly disposed on the end effector base plate 309, and the fifth electric push rod 311 is fixedly disposed on the end effector frame 302, the first pneumatic shear support 313 is connected with the end effector support 302 in a sliding mode through the sliding groove 312, the first pneumatic shear support 313 is connected with the fifth electric push rod 311 through a bolt, the second pneumatic shear support 316 is connected with the other end of the first pneumatic shear support 313 through a thread, the second motor 314 is fixedly arranged at the front end of the first pneumatic shear support 313, the gear transmission component 315 is fixedly arranged at one end of the second motor 314 and one end of the second pneumatic shear support 316, and the pneumatic shears 317 are fixedly arranged on the second pneumatic shear support 316.
As shown in fig. 6 and 7, the transportation and collection device 400 includes a transportation pipeline 401, a flood dragon mechanism mounting plate 402, a third motor mounting plate 403, a third motor 404, a flood dragon mechanism 405, a fixed flange mounting plate 406, a fixed flange 407 and a collection box 408;
flood dragon mechanism mounting panel 402 is fixed to be set up on the bottom plate 104, the fixed setting of third motor mounting panel 403 is in the lower extreme of flood dragon mechanism mounting panel 402, the fixed setting of third motor 404 is in on the third motor mounting panel 403, flood dragon mechanism 405 is fixed to be set up on the flood dragon mechanism mounting panel 402, transport pipe 401 one end with end effector bottom plate 309 links to each other, one end with flood dragon mechanism 405 lower extreme entry links to each other, mounting flange mounting panel 406 is fixed to be set up on the roof 106, mounting flange 407 is fixed to be set up be used for fixing on the mounting flange mounting panel 406 flood dragon mechanism 405, collecting box 408 is fixed to be set up on the roof 106, and with flood dragon mechanism 405 upper end export links to each other.
The working process of the automatic fruit and vegetable picking machine based on the three-coordinate mechanical arm is as follows:
(10) moving across rows: the first motor 103 drives the walking platform 100 to move so that the picking machine moves across a plurality of rows of fruit trees,
(20) picking fruits and vegetables and positioning: the camera 305 identifies image data of the fruit or vegetable to be picked to locate the picking position,
(30) fruit and vegetable shearing: based on the image data, the three-coordinate mechanical arm 200 and the execution terminal 300 move the pneumatic scissors 317 to the fruit and vegetable picking position, the pneumatic scissors 317 execute the shearing action, the fruit and vegetable falls to the fruit and vegetable collection claw 310,
(40) fruit collection: fourth electric putter 307 promotes end effector bottom plate 309 rotates, makes the fruit vegetables landing on the fruit vegetables collection claw 310 extremely in the transportation pipeline 401, the fruit vegetables pass through transportation pipeline 401 landing extremely flood dragon mechanism 405 lower extreme input port, through third motor 404 drives flood dragon mechanism 405 helical blade rotates, makes the fruit vegetables follow flood dragon mechanism 405 lower extreme transports to the upper end delivery outlet, then drops extremely in the collecting box 408, accomplish the collection.
The automatic fruit and vegetable picking machine based on the three-coordinate mechanical arm structurally comprises a walking platform, the three-coordinate mechanical arm, an execution tail end and a transportation and collection device, and the walking platform, the three-coordinate mechanical arm, the execution tail end and the transportation and collection device are integrally distributed symmetrically. The three-coordinate mechanical arm drives the execution tail end to move vertically, horizontally and in the front-back direction through the first electric push rod, the second electric push rod and the third electric push rod, the cost is low, and the positioning is accurate. The execution tail end identifies fruits and vegetables which can be picked through a camera; the first pneumatic shear support is pushed to slide in the sliding groove through a fifth electric push rod, so that the forward and backward movement of the pneumatic shears is realized; the gear transmission part is driven by the second motor, so that the second pneumatic shear support is driven to rotate, the shearing angle of the pneumatic shear is adjusted, the operation range of the machine is expanded, and the picking efficiency is improved. Pneumatic scissors cut the fruit vegetables and drop to fruit vegetables collection claw, and transportation collection device promotes the end effector bottom plate through fourth electric putter and rotates, makes the fruit vegetables landing on the fruit vegetables collection claw to the transportation pipeline in, the fruit vegetables pass through transportation pipeline landing to the input port of flood dragon mechanism lower extreme, and the third motor drives flood dragon mechanism helical blade and rotates, makes the fruit vegetables drop to the collection case from flood dragon mechanism upper end delivery outlet, accomplishes and picks, has realized picking and has collected the integration. The fruit and vegetable picking machine is compact in structure and clear in principle, can realize continuous picking of fruits and vegetables, and further improves the working efficiency.
Claims (5)
1. The utility model provides an automatic picking machine of fruit vegetables based on three-coordinate mechanical arm which characterized in that:
the three-dimensional robot comprises a walking platform (100), 4 three-dimensional mechanical arms (200), 4 execution tail ends (300) and 2 transportation and collection devices (400);
the four-coordinate walking robot is characterized in that the 4 three-coordinate mechanical arms (200) are circumferentially and uniformly distributed and fixed on the walking platform (100), an execution tail end (300) is arranged on each three-coordinate mechanical arm (200), a transportation and collection device (400) is arranged on each of the two adjacent three-coordinate mechanical arms (200), and each transportation and collection device (400) is fixed on the walking platform (100).
2. The automatic fruit and vegetable picking machine according to claim 1, characterized in that:
the walking platform (100) comprises a top plate (106), a power supply box (107), a diesel engine (108), a control box (109), two crawler wheel structures (101), two chain wheel transmission structures (102), two first motors (103), two bottom plates (104) and two support frames (105), wherein the crawler wheel structures, the two chain wheel transmission structures, the two first motors (103), the two bottom plates and the two support frames are symmetrically arranged;
the top plate (106) is horizontally arranged, the left end and the right end of the top plate are respectively fixedly connected with the upper ends of vertically arranged support frames (105), the lower end of each support frame (105) is respectively fixedly connected with a bottom plate (104), each bottom plate (104) is respectively fixedly connected with a crawler wheel structure (101), each bottom plate (104) is fixedly provided with a first motor (103), the output shaft of each first motor (103) is connected with one end of a chain wheel transmission structure (102), and the other end of each chain wheel transmission structure (102) is connected with the input shaft of the crawler wheel structure (101);
the power supply box (107), the diesel engine (108) and the control box (109) are respectively and fixedly arranged on the top plate (106).
3. The automatic fruit and vegetable picking machine according to claim 2, characterized in that:
the three-coordinate mechanical arm (200) comprises a first electric push rod mounting plate (201), a first electric push rod (202), a first guide rail mounting plate (203), a first guide rail (204), a first push rod guide plate (205), a first driven plate (206), a first driven rod (207), a first floating joint (208), a second guide rail mounting plate (209), a second electric push rod mounting plate (210), a second electric push rod (211) and a second guide rail (212), the device comprises a second push rod guide plate (213), a second driven plate (214), a second driven rod (215), a second floating joint (216), a third electric push rod mounting plate (217), a third electric push rod (218), a third guide rail mounting plate (219), a third guide rail (220), a third push rod guide plate (221), a third driven plate (222), a third driven rod (223), a connecting block (224) and an execution tail end mounting seat (225);
the first guide rail mounting plate (203) and the first guide rail (204) are fixedly arranged on the support frame (105);
the first electric push rod (202) is fixedly arranged on the first electric push rod mounting plate (201), one end of the first guide rail mounting plate (203) is fixedly arranged on the first electric push rod mounting plate (201), the first guide rail (204) is fixedly arranged on the first guide rail mounting plate (203), the first push rod guide plate (205) is fixedly arranged at the other end of the first guide rail mounting plate (203), the first driven plate (206) is respectively connected with the first electric push rod (202) and the first driven rod (207), the first driven rod (207) is in sliding connection with the first push rod guide plate (205), the first floating joint (208) is fixedly arranged on the first driven rod (207), the second guide rail mounting plate (209) is fixedly connected with the first floating joint (208) and is in sliding connection with the first guide rail (204), the second electric push rod mounting plate (210) is fixedly arranged at one end of the second guide rail mounting plate (209), the second electric push rod (211) is fixedly arranged on the second electric push rod mounting plate (210), the second guide rail (212) is fixedly arranged on the second guide rail mounting plate (209), the second push rod guide plate (213) is fixedly arranged at the other end of the second guide rail mounting plate (209), the second driven plate (214) is respectively connected with the second electric push rod (211) and the second driven rod (215), the second driven rod (215) is in sliding connection with the second push rod guide plate (213), the second floating joint (216) is fixedly arranged on the second driven rod (215), the third guide rail mounting plate (219) is fixedly connected with the second floating joint (216), and the third push rod electric mounting plate (217) is fixedly arranged at one end of the third guide rail mounting plate (219), third electric putter (218) fixed the setting on third electric putter mounting panel (217), third guide rail (220) fixed the setting on third guide rail mounting panel (219), third push rod deflector (221) fixed the setting at the other end of third guide rail mounting panel (219), third driven plate (222) respectively with third electric putter (218) and third driven rod (223) link to each other, third driven rod (223) with third push rod deflector (221) sliding connection, connecting block (224) fixed the setting on third driven rod (223), carry out end mount pad (225) through connecting block (224) with third driven rod (223) fixed connection, carry out end mount pad (225) with third guide rail (220) sliding connection.
4. The automatic fruit and vegetable picking machine according to claim 3, characterized in that:
the execution tail end (300) comprises an end effector (301), an end effector support (302), a camera mounting plate (303), a welding piece (304), a camera (305), a fourth electric push rod mounting plate (306), a fourth electric push rod (307), a hinge block (308), an end effector base plate (309), a fruit and vegetable collecting claw (310), a fifth electric push rod (311), a sliding groove (312), a first pneumatic shear support (313), a second motor (314), a gear transmission component (315), a second pneumatic shear support (316) and a pneumatic shear (317);
the end effector mounting plate (301) is fixedly arranged on the execution end mounting base (225), the end effector support (302) is fixedly arranged on the end effector mounting plate (301), the camera mounting plate (303) is fixedly arranged on the end effector support (302), the camera (305) is welded on the camera mounting plate (303) through the welding part (304), the fourth electric push rod mounting plate (306) is fixedly arranged on the end effector support (302), the fourth electric push rod (307) is fixedly arranged on the fourth electric push rod mounting plate (306), the hinge block (308) is fixedly arranged on the end effector base plate (309) and hinged with the fourth electric push rod (307), and the end effector base plate (309) is hinged with the end effector support (302), the fruit and vegetable collecting claw (310) is fixedly arranged on the bottom plate (309) of the end effector, the fifth electric push rod (311) is fixedly arranged on the end effector bracket (302), the first pneumatic shear support (313) is connected with the end effector support (302) in a sliding way through the sliding groove (312), the first pneumatic shear bracket (313) is connected with the fifth electric push rod (311) through a bolt, the second pneumatic shear support (316) is connected with the other end of the first pneumatic shear support (313) through threads, the second motor (314) is fixedly arranged at the front end of the first pneumatic shear bracket (313), the gear transmission part (315) is fixedly arranged on one end of the second motor (314) and one end of the second pneumatic shear support (316), the pneumatic shears (317) are fixedly arranged on the second pneumatic shear support (316).
5. The automatic fruit and vegetable picking machine according to claim 4, characterized in that:
the transportation and collection device (400) comprises a transportation pipeline (401), a flood dragon mechanism mounting plate (402), a third motor mounting plate (403), a third motor (404), a flood dragon mechanism (405), a fixed flange mounting plate (406), a fixed flange (407) and a collection box (408);
the flood dragon mechanism mounting plate (402) is fixedly arranged on the bottom plate (104), the third motor mounting plate (403) is fixedly arranged at the lower end of the flood dragon mechanism mounting plate (402), the third motor (404) is fixedly arranged on the third motor mounting plate (403), the flood dragon mechanism (405) is fixedly arranged on the flood dragon mechanism mounting plate (402), one end of the conveying pipeline (401) is connected with the end effector bottom plate (309), the other end of the conveying pipeline is connected with an inlet at the lower end of the flood dragon mechanism (405), the fixed flange mounting plate (406) is fixedly arranged on the top plate (106), the fixing flange (407) is fixedly arranged on the fixing flange mounting plate (406) to fix the flood dragon mechanism (405), the collecting box (408) is fixedly arranged on the top plate (106) and is connected with an outlet at the upper end of the flood dragon mechanism (405).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110428002.0A CN113079825A (en) | 2021-04-21 | 2021-04-21 | Automatic fruit and vegetable picking machine based on three-coordinate mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110428002.0A CN113079825A (en) | 2021-04-21 | 2021-04-21 | Automatic fruit and vegetable picking machine based on three-coordinate mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113079825A true CN113079825A (en) | 2021-07-09 |
Family
ID=76679458
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110428002.0A Pending CN113079825A (en) | 2021-04-21 | 2021-04-21 | Automatic fruit and vegetable picking machine based on three-coordinate mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113079825A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113348868A (en) * | 2021-07-18 | 2021-09-07 | 扬州大学 | Self-propelled variable-ground-clearance solanaceous vegetable picking machine |
-
2021
- 2021-04-21 CN CN202110428002.0A patent/CN113079825A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113348868A (en) * | 2021-07-18 | 2021-09-07 | 扬州大学 | Self-propelled variable-ground-clearance solanaceous vegetable picking machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207573956U (en) | A kind of orchard puma manipulator picker based on man-machine collaboration | |
| CN107486834B (en) | Greenhouse crop growth inspection robot | |
| CN111758397B (en) | Intelligent pepper picking device based on visual identification | |
| CN110614622A (en) | Intelligent fruit picking robot and implementation method thereof | |
| CN113119139A (en) | Fruit and vegetable picking machine based on six-degree-of-freedom mechanical arm | |
| CN109792888B (en) | Double-arm apple picking trapezoid grading collection robot and picking grading operation method thereof | |
| CN106358590A (en) | Self-propelled tea picking device | |
| CN109479522A (en) | A kind of fruit picking robot and its picking method | |
| CN114679963B (en) | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method | |
| CN110744570A (en) | Pineapple picking machine and picking method thereof | |
| CN104584780A (en) | Flexible manipulator for detecting fruit maturity and harvesting | |
| CN113079825A (en) | Automatic fruit and vegetable picking machine based on three-coordinate mechanical arm | |
| CN112640650A (en) | Negative pressure-based tomato picking machine and working method thereof | |
| CN214902270U (en) | Automatic fruit and vegetable picking machine based on three-coordinate mechanical arm | |
| CN117643224A (en) | Tea picking device and tea picking method based on unmanned aerial vehicle module scheduling | |
| CN206283862U (en) | A kind of apple harvester | |
| CN209749190U (en) | trapezoidal grading collection robot for picking apples with two arms | |
| CN209314338U (en) | Pick the robot of day lily | |
| CN108476732B (en) | Quasi-spherical fruit picking device based on steering wheel control | |
| CN116257081A (en) | Unmanned aerial vehicle and ground unmanned aerial vehicle cooperation emasculation operation system | |
| CN216960814U (en) | Automatic external device of picking of pineapple | |
| CN113396697B (en) | Multi-terminal tomato picking mechanical arm in series-parallel connection and picking method thereof | |
| CN214686579U (en) | Fruit and vegetable picking machine based on six-degree-of-freedom mechanical arm | |
| CN204498793U (en) | A kind of flexible manipulator for detecting fruit maturity and harvesting | |
| CN207235488U (en) | A kind of grape picker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |