CN115254747A - Day lily picking robot based on binocular vision detection - Google Patents
Day lily picking robot based on binocular vision detection Download PDFInfo
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- CN115254747A CN115254747A CN202210934779.9A CN202210934779A CN115254747A CN 115254747 A CN115254747 A CN 115254747A CN 202210934779 A CN202210934779 A CN 202210934779A CN 115254747 A CN115254747 A CN 115254747A
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- 241000756137 Hemerocallis Species 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 title claims abstract description 16
- 239000007788 liquid Substances 0.000 claims abstract description 89
- 238000004140 cleaning Methods 0.000 claims abstract description 60
- 238000007789 sealing Methods 0.000 claims abstract description 36
- 238000005406 washing Methods 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims description 23
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 2
- 239000000645 desinfectant Substances 0.000 abstract description 20
- 239000003599 detergent Substances 0.000 abstract description 19
- 230000000694 effects Effects 0.000 abstract description 5
- 230000000712 assembly Effects 0.000 abstract description 4
- 238000000429 assembly Methods 0.000 abstract description 4
- 238000004659 sterilization and disinfection Methods 0.000 abstract description 3
- 230000000903 blocking effect Effects 0.000 description 8
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 4
- 239000012634 fragment Substances 0.000 description 4
- 235000011389 fruit/vegetable juice Nutrition 0.000 description 4
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000249 desinfective effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 210000005224 forefinger Anatomy 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000002386 leaching Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/17—Combination with washing or cleaning means
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- Life Sciences & Earth Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Environmental Sciences (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention relates to the technical field of picking equipment, and discloses a day lily picking robot based on binocular vision detection, which comprises a robot body, wherein a cleaning mechanism is arranged on the robot body; the cleaning mechanism comprises a bearing frame, a cleaning pipe is arranged on the bearing frame, and leak grooves positioned at the upper side and the lower side are oppositely arranged in the cleaning pipe; a rotatable liquid containing pipe is sleeved outside the cleaning pipe, 4 liquid containing cavities are uniformly arranged in the liquid containing pipe, a plurality of first leakage holes are formed in the inner wall, close to the cleaning pipe, of each liquid containing cavity, corresponding to the leakage grooves, first sealing assemblies are arranged at the first leakage holes, second leakage holes are formed in the inner wall, far away from the cleaning pipe, of each liquid containing cavity, and second sealing assemblies are arranged at the second leakage holes; the liquid containing pipe is externally provided with a fixed pipe, and the outer wall of the fixed pipe positioned at the lower side is provided with a third leak hole corresponding to the second leak hole. Through above-mentioned structure for liquid containing pipe rotates and can realize carrying out drip washing, disinfection to the picker, can carry out reuse to detergent and disinfectant simultaneously, makes cleaning mechanism's clean effect better.
Description
Technical Field
The invention relates to the technical field of picking equipment, in particular to a day lily picking robot based on binocular vision detection.
Background
Because the nutritional value of the day lily is high and the crop economy is good, the day lily is planted more and more. For a long time, day lily picking is manual picking, and the nails of the forefinger and the thumb are pinched off, so that tender bud juice and broken foam are jammed in the nail seams, and certain harm is caused to the hands of workers.
With the growing scale of day lily, the demand of day lily picking cannot be met by manual picking, and at present, automatic picking of day lily by using a robot is started. Picking robots in the prior art generally comprise a navigation walking system, a target recognition and positioning system, a controller, a picking module, a power module and the like, for example, the navigation walking system disclosed in the patent number CN209314338U is adopted, and the navigation walking system is adopted to control the picking path of the daylily picking robot, so that the accurate and reliable positioning is ensured; the picking module is provided with a mechanical arm and a picking device, the mechanical arm in the prior art is a mechanical arm with multiple degrees of freedom, the picking device is a clamp disclosed in a patent number CN215301624U, a target recognition and positioning system is a binocular camera designed at the mechanical arm disclosed in the patent number CN215301624U, and the picking process of the picking robot is collected in real time through a visual sensor of the camera; information which accords with the target feature points is extracted, calibrated by a camera, processed by an image, matched in a three-dimensional mode and reconstructed in a three-dimensional mode to obtain parallax between the matched points of the image pair, three-dimensional coordinates of the feature points are obtained and fed back to a power supply module and power control equipment, the picking operation of the daylily is completed by controlling the height matching operation of a mechanical arm and a clamp, and the feasibility and the accuracy of the whole picking operation are guaranteed.
However, when the existing day lily picking robot moves in the field to pick day lily, the mechanical arm drives the picking device to move to the position where the day lily is to be picked, and the picking device inevitably collides with branches and leaves of the day lily in the period, so that the branches and leaves of the day lily are cut by the picking device, branch and leaf fragments, juice and the like are attached to the mechanical arm, and then the day lily picked by the picking device is easy to be attached with the branch and leaf fragments of the day lily, so that the day lily picked has impurities, and the quality of the day lily picked is affected, therefore, equipment for cleaning the mechanical arm of the day lily picking robot is urgently needed.
Disclosure of Invention
Aiming at the defect that better equipment for cleaning a manipulator of a daylily picking robot is absent in the prior art, the invention provides a daylily picking robot based on binocular vision detection.
In order to solve the above technical problems, the present invention is solved by the following technical solutions.
The daylily picking robot based on binocular vision detection comprises a robot body, wherein a cleaning mechanism for cleaning a picker is arranged on the robot body;
the cleaning mechanism comprises a bearing frame, a cleaning pipe for the picking device to extend into is arranged on the bearing frame, and leak grooves positioned at the upper side and the lower side are oppositely arranged in the cleaning pipe along the length direction of the cleaning pipe; a rotatable liquid containing pipe is sleeved outside the cleaning pipe, 4 liquid containing cavities are uniformly arranged in the liquid containing pipe, a plurality of first leakage holes are formed in the inner wall, close to the cleaning pipe, of each liquid containing cavity, corresponding to the leakage grooves, first sealing assemblies used for sealing the first leakage holes are arranged at the positions of the first leakage holes, second leakage holes are formed in the inner wall, far away from the cleaning pipe, of each liquid containing cavity, and second sealing assemblies used for sealing the second leakage holes are arranged at the positions of the second leakage holes; the liquid containing pipe is externally provided with a fixed pipe, and the outer wall of the fixed pipe positioned at the lower side is provided with a third leak hole corresponding to the second leak hole.
Through the structure in the invention, the liquid containing pipe rotates to realize the leaching and disinfection of the picker, and meanwhile, the washing agent and the disinfectant can be repeatedly utilized, so that the cleaning effect of the cleaning mechanism is better.
Preferably, the first sealing assembly comprises a first sleeve which is arranged at the first leakage hole in a threaded manner, a first installation cavity with two open ends is arranged in the first sleeve, a first plug cover is arranged on the upper end of the first installation cavity in a threaded manner, and liquid inlet holes in the liquid containing cavity are uniformly distributed in the first sleeve along the circumferential direction of the first sleeve; the lower end of the first piston column extends out of a first telescopic first piston column through a first spring in the first mounting cavity, the upper end of the first piston column is provided with a mounting column penetrating through a first blocking cover, the upper end of the mounting column is provided with a first positioning nut used for positioning the first piston column, a first annular cavity is arranged on the peripheral side face of the first piston column corresponding to the liquid inlet hole, the lower side wall of the first annular cavity is provided with a first flow passage communicated with the lower end of the first piston column, the peripheral side face of the first piston column penetrating through the first blocking cover is provided with a second annular cavity, the lower end part of the first piston column is provided with a first air passage communicated with the second annular cavity, and the first blocking cover is provided with a second air passage communicated with the second annular cavity.
Through the structure in the invention, the first sealing assembly can be opened when the liquid containing pipe rotates and is opposite to the leakage groove, so that the liquid contained in the liquid containing pipe can flow out or in, and when the liquid containing pipe rotates and leaves the leakage groove, the first sealing assembly can seal, and the liquid contained in the liquid containing cavity is preferably prevented from flowing out.
Preferably, the second sealing assembly comprises a second sleeve which is arranged at the second leakage hole in a threaded manner, a second mounting cavity with two open ends is arranged in the second sleeve, a second blanking cover is arranged at the upper end of the second mounting cavity in a threaded manner, and liquid outlet holes in the liquid containing cavity are uniformly distributed outside the second sleeve along the circumferential direction of the second sleeve; a second piston column with the lower end capable of extending into a third leakage hole is arranged in the second mounting cavity through a second spring, a first mounting rod penetrating through the second blanking cover is arranged at the upper end of the second piston column, a second positioning nut used for positioning the second piston column is arranged at the upper end of the first mounting rod, a third mounting cavity with a downward opening is arranged in the second piston column, a first through hole opposite to the liquid outlet hole is formed in the third mounting cavity, a third piston column with the lower end extending out of the second piston column is arranged in the third mounting cavity through a third spring, a second mounting rod extending out of the second piston column is arranged at the upper end of the third piston column, a third positioning nut used for positioning the third piston column is arranged at the upper end of the second mounting rod, a second flow channel with an opening at the lower end is arranged in the third piston column, and a second through hole opposite to the corresponding first through hole is formed in the second flow channel; and a jacking assembly used for driving the third piston column to move into the third mounting cavity is arranged in the third leak hole.
Through the structure in the invention, the second sealing assembly can seal the second leakage hole when the liquid containing pipe rotates, and the influence on the use of the cleaning mechanism caused by the leakage of the liquid contained in the liquid containing cavity is avoided.
As preferred, jacking subassembly includes that the screw thread locates the third sleeve in the third small opening, be equipped with the cavity that supplies the second piston post to stretch into in the third sleeve, be equipped with lower extreme open-ended gasbag installation cavity in the telescopic inner wall of third, the gasbag installation cavity is equipped with the spout of intercommunication cavity along its axial, be equipped with the first ring of slidable in the gasbag installation cavity, be equipped with the second ring that is located third piston post below department in the cavity, be provided with the connecting rod that passes corresponding spout between first ring and second ring, locate the gasbag that is used for driving first ring and goes up and down in the gasbag installation cavity.
Through the structure of the invention, the third piston column is driven to retract into the second piston column through air injection into the air bag, so that the second sealing assembly is preferably opened, and the liquid contained in the liquid containing cavity can be conveniently discharged or injected.
As preferred, be equipped with in the scavenge pipe and spread out the subassembly of drenching, spread out and drench the subassembly and locate the solid fixed ring of scavenge pipe both ends department including the screw thread, be equipped with the baffling board that is located upside small opening below department and is the type of falling V between the fixed ring, be equipped with the bushing that is located baffling board below department between the fixed ring, the bushing is used for carrying out comprehensive drip washing to the ware of picking.
Through the structure in the invention, the washing area can be increased better, and the washing effect of the washing mechanism on the picker is better.
Preferably, the bearing frame is provided with a mounting groove for mounting the cleaning tube, and the cleaning tube is mounted in the mounting groove through a fixing hoop, so that the cleaning tube is mounted better.
Preferably, both ends of holding liquid pipe are equipped with first gear, bear and be equipped with driving motor on the frame, be equipped with on driving motor's the output shaft with first gear matched with second gear, realize the rotation of holding liquid pipe better.
Preferably, fixed pipe includes half first pipe and the half second pipe, and half first pipe and the half pipe matched with lateral wall department of second outwards extend and form the installation department, pass through bolted connection between the installation department, realize the dismouting of fixed pipe outside flourishing liquid pipe better.
Drawings
Fig. 1 is a schematic diagram of a day lily picking robot based on binocular vision detection in embodiment 1;
FIG. 2 is a schematic view of a cleaning mechanism in embodiment 1;
FIG. 3 is a schematic sectional view of the cleaning mechanism in embodiment 1;
FIG. 4 is a schematic sectional view of the cleaning tube, the liquid containing tube and the fixing tube in example 1;
FIG. 5 is a schematic cross-sectional view of a first seal assembly of embodiment 1;
FIG. 6 is an enlarged view of portion A of FIG. 3;
FIG. 7 is a schematic half-section view of the jacking assembly of embodiment 1;
FIG. 8 is a schematic view of a spray assembly of example 1;
fig. 9 is a schematic view of the loading ledge in embodiment 1;
fig. 10 is a schematic view of a fixed pipe in example 1.
Detailed Description
For a further understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings and examples. It is to be understood that the examples are illustrative of the invention and not limiting.
Example 1
As shown in fig. 1, the present embodiment provides a day lily picking robot based on binocular vision detection, which includes a robot body 100, the robot body 100 has a mechanical arm 101, a picker 102 for picking day lily is mounted on the mechanical arm 101, and a cleaning mechanism 110 for cleaning the picker 102 is disposed on the robot body 100.
The robot body 100, the mechanical arm 101 and the picking device 102 in this embodiment are all constructed in the prior art, and therefore, are not described herein. In this embodiment, the mechanical arm 101 can drive the picking device 102 to extend into the cleaning mechanism 110, and the cleaning mechanism 110 can rinse, disinfect and clean the picking device 102, effectively rinse branch and leaf fragments and juice attached to the picking device 102, ensure the cleaning of the picking device 102, and avoid that the branch and leaf fragments and juice are stained on the picked day lily and then affect the quality of the picked day lily when continuously picking.
Referring to fig. 2 to 4, in the present embodiment, the cleaning mechanism 110 includes a carrier 200, a cleaning tube 210 for the picking device to extend into is mounted on the carrier 200, and the cleaning tube 210 is provided with two slots 411 at upper and lower sides along a length direction thereof; a rotatable liquid containing pipe 220 is sleeved outside the cleaning pipe 210, 4 liquid containing cavities 421 are uniformly arranged in the liquid containing pipe 220, a plurality of first leakage holes 422 are formed in the inner wall, close to the cleaning pipe 210, of each liquid containing cavity 421, corresponding to the leakage grooves 411, a first sealing assembly 310 for sealing the first leakage holes 422 is arranged at the positions of the first leakage holes 422, a second leakage hole 423 is formed in the inner wall, far away from the cleaning pipe 210, of each liquid containing cavity 421, and a second sealing assembly 320 for sealing the second leakage hole 423 is arranged at the position of the second leakage hole 423; the liquid containing pipe 220 is externally provided with a fixed pipe 230, and the outer wall of the fixed pipe at the lower side is provided with a third leakage hole 431 corresponding to the second leakage hole 423.
In practical use of the embodiment, the mechanical arm 101 drives the picking device 102 to extend into the cleaning pipe 210 from one end of the cleaning pipe 210, 2 adjacent liquid containing cavities 421 of the 4 liquid containing cavities 421 are used for containing detergent and disinfectant respectively, and when the liquid containing pipe 220 rotates, the first leaking holes 422 on the upper side and the lower side of the liquid containing cavities 421 can correspond to the leaking grooves 411 on the upper side and the lower side respectively, so that the detergent or the disinfectant on the upper side can leak out through the first leaking holes 422 on the upper side, washing of the picking device 102 in the cleaning pipe 210 is completed, and further washing or disinfection of the picking device 102 is completed; the washed detergent and disinfectant can flow into the corresponding liquid containing cavities 421 from the leakage grooves 411 on the lower side through the leakage holes 422 to be collected, so that the detergent and the disinfectant can be collected and recycled; by adopting the structure, the rotation of the liquid containing pipe 220 can complete the washing and disinfecting operations of the picker 102, and meanwhile, the detergent and the disinfectant can be used for multiple times along with the rotation of the liquid containing pipe 220, so that the cleaning effect of the cleaning mechanism 110 is better;
in the embodiment, the disinfectant adopts alcohol, the picked device is better disinfected by the alcohol washing detergent after being washed, and meanwhile, the residual alcohol on the picked device can be volatilized due to the volatility of the alcohol, so that the subsequent use of the picked device is ensured;
when the first sealing element 310 is arranged to be opposite to the corresponding leakage slot 411, the first leakage hole 422 can be preferably opened, so that the detergent and the disinfectant can flow in or out conveniently, and when the first sealing element 310 is dislocated from the corresponding leakage slot, the first sealing element 310 can seal the first leakage hole 422, so as to effectively prevent the detergent and the disinfectant from flowing out of the liquid containing cavity 421;
through the arrangement of the second sealing assembly 320 and the third leakage hole 431, the second sealing assembly 320 can seal the second leakage hole 423 in the rotation process of the liquid containing pipe 220, so that the detergent and the disinfectant are prevented from flowing out; when the second sealing member 320 faces the third leaking hole 431, the second sealing member 320 can be controlled to open or close, and then the detergent and the disinfectant in the liquid containing chamber 421 can be discharged through the third leaking hole 431 and can be added into the liquid containing chamber 421.
Referring to fig. 5, in the present embodiment, the first sealing assembly 310 includes a first sleeve 510 disposed at the first leakage hole 422 in a threaded manner, a first installation cavity 511 with two open ends is disposed in the first sleeve 510, a first blocking cover 520 is disposed at an upper end of the first installation cavity 511 in a threaded manner, and liquid inlet holes 512 disposed in the liquid containing cavity 421 are uniformly disposed outside the first sleeve 510 along a circumferential direction thereof; a first piston column 530 with the lower end extending out of the first sleeve 510 is arranged in the first mounting cavity 511 through a first spring 522, a mounting column 531 penetrating through the first blocking cover 520 is arranged at the upper end of the first piston column 530, a first positioning nut 532 used for positioning the first piston column 530 is arranged at the upper end of the mounting column 531, a first annular cavity 533 corresponding to the liquid inlet hole 512 is arranged on the peripheral side surface of the first piston column 530, a first flow passage 534 communicating with the lower end of the first piston column 530 is arranged on the lower side wall of the first annular cavity 533, a second annular cavity 535 is arranged on the peripheral side surface of the first piston column 530 penetrating through the first blocking cover 520, a first air passage 536 communicating with the second annular cavity 535 is arranged at the lower end of the first piston column 530, and a second air passage 521 communicating with the second annular cavity 535 is arranged on the first blocking cover 520.
In this embodiment, the first plug 520, the first spring 522 and the first positioning nut 532 are arranged to preferably realize the installation of the first piston rod 530 in the first sleeve 510; through the matching arrangement of the first spring 522 and the first positioning nut 532, when the first sleeve 510 is opposite to the corresponding leakage groove 411, the lower end of the first piston column 530 extends out of the first sleeve 510 to extend into the leakage groove 411, so that the first annular cavity 533 is opposite to the liquid inlet hole 512, the second annular cavity 535 is opposite to the second air passage 521 to realize the communication between the first air passage 536 and the second air passage 521, and further, outside air enters the liquid containing cavity 421 at the upper part from the first air passage 521 and enters the first annular cavity 533 from the liquid inlet hole 512 to flow out through the first flow passage 534, so that the picking device 102 is rinsed; the gas in the liquid containing cavity 421 located at the lower part can flow out through the first and second air passages 521, so that the washed detergent and disinfectant can enter the first annular cavity 533 from the first flow passage 534 and flow into the liquid containing cavity 421 via the liquid inlet 512, and the washed detergent and disinfectant are collected;
wherein, in order to preferably facilitate the flowing of the detergent and the disinfectant into the lower liquid containing chamber 421, a flow channel groove 537 communicating with the first flow channel 534 is disposed on the side surface at the lower end of the first piston post 530, preferably to facilitate the flowing of the detergent and the disinfectant;
the lower end of the first piston cylinder 530 is hemispherical, so that the liquid containing tube 220 can rotate to retract the first piston cylinder 530 into the first sleeve 510, and thus the first annular cavity 533 is preferably misaligned with the liquid inlet 512, and the second annular cavity 535 is preferably misaligned with the second air channel 521, so as to seal the first sealing assembly 310.
Referring to fig. 6, in this embodiment, the second sealing assembly 320 includes a second sleeve 610 screwed to the second leakage hole 423, a second mounting cavity 611 with two open ends is provided in the second sleeve 610, a second cap 620 is screwed to an upper end of the second mounting cavity 611, and liquid outlet holes 612 located in the liquid containing cavity 421 are uniformly distributed along a circumferential direction of the second sleeve 610; a second piston column 640 with a lower end capable of extending into the third leakage hole 431 is arranged in the second mounting cavity 611 through a second spring 630, a first mounting rod 641 penetrating through the second plug 620 is arranged at the upper end of the second piston column 640, a second positioning nut 642 for positioning the second piston column 640 is arranged at the upper end of the first mounting rod 641, a third mounting cavity 643 with a downward opening is arranged in the second piston column 640, a first through hole 644 opposite to the liquid outlet hole 612 is arranged on the third mounting cavity 643, a third piston column 660 with a lower end extending out of the second piston column 640 is arranged in the third mounting cavity 643 through a third spring 650, a second mounting rod extending out of the second piston column 640 is arranged at the upper end of the third piston column 660, a third positioning nut for positioning the third piston column 660 is arranged at the upper end of the second mounting rod, a second flow channel 661 with an opening at the lower end is arranged in the third piston column 660, and a second through hole 644 opposite to the corresponding first through hole is arranged on the second flow channel 661; a jacking assembly for driving the third piston 660 to move into the third installation cavity 643 is disposed in the third weep hole 431.
Through the structure of the present embodiment, when the liquid containing tube 220 rotates to drive the second sleeve 610 to face the third leaking hole 431, the second spring 630 and the second positioning nut 642 are engaged, so that the lower end of the second piston column 640 extends into the third leaking hole 431, and the liquid outlet 612 is correspondingly communicated with the first through hole 644, at this time, through the arrangement of the third spring 650 and the third positioning nut, the lower end of the third piston column 660 extends out of the second piston column 640, and the second through hole 662 is arranged in a staggered manner with the first through hole 644, so as to preferably realize the sealing of the second leaking hole 423 by the second blocking assembly 320;
wherein, the elastic force of the second spring 630 is greater than the elastic force of the third spring 650, which drives the third piston 660 to retract into the second piston 640 through the jacking assembly, so that the second through hole 662 is opposite to the first through hole 640, thereby preferably opening the second sealing assembly 320, and preferably discharging or injecting the detergent and the disinfectant in the liquid containing chamber 421;
when the liquid containing tube 220 rotates to drive the second sleeve 610 to rotate away from the third leaking hole 431, the third piston column 660 retracts into the second piston column 640, and simultaneously, the second piston column 640 retracts into the second sleeve 610, preferably, the first through hole 644 and the liquid outlet hole 612 are arranged in a staggered manner, so that the second sealing assembly 320 is preferably sealed, and the detergent or disinfectant in the liquid containing cavity 421 is effectively prevented from leaking out of the second leaking hole 422;
wherein, to preferably facilitate retraction of the second piston post 640 into the second sleeve 610, a rounded corner is provided at the lower end of the second piston post 640.
Referring to fig. 6 and 7, in this embodiment, the jacking assembly includes a third sleeve 670 disposed in the third weep hole 431 in a threaded manner, a cavity 671 into which the second piston pillar 640 extends is disposed in the third sleeve 670, an airbag mounting cavity 672 with an open lower end is disposed in an inner wall of the third sleeve 670, a chute 711 communicating with the cavity 671 is disposed in the airbag mounting cavity 672 along an axial direction of the airbag mounting cavity 672, a first slidable ring 720 is disposed in the airbag mounting cavity 672, a second ring 730 located below the third piston pillar 660 is disposed in the cavity 671, a connecting rod 721 passing through the corresponding chute is disposed between the first ring 720 and the second ring 730, and an airbag for driving the first ring 720 to ascend and descend is disposed in the airbag mounting cavity 672.
In this embodiment, through the arrangement of the air bag mounting cavity 672 and the sliding groove 711, the first circular ring 720 and the second circular ring 730 are preferably movably mounted in the third sleeve 670, so that they can move up and down along the sliding groove 711; its when in actual use, through to the gasbag in the gas injection, gasbag deformation can drive first ring 720 and shift up in gasbag installation cavity 672, and then drive second ring 720 and shift up to jacking third piston post 660 makes second seal assembly 320 open, and when stopping to the gasbag in the gas injection, third spring 650 promotes third piston post 660 and resets, realizes second seal assembly 320's sealed.
Referring to fig. 2 and 8, the shower assembly 300 is disposed in the cleaning pipe 210, the shower assembly 300 includes fixing rings 810 disposed at two ends of the cleaning pipe 210, a reverse V-shaped baffle 811 disposed below the upper-side drain chute 411 is disposed between the fixing rings 810, a drain 812 disposed below the baffle 811 is disposed between the fixing rings 810, and the drain 812 is used for washing the picking device completely.
Through the structure in the embodiment, the detergent and disinfectant flowing out from the upper first sealing assembly 310 can be deflected by the baffle plate 811, so that the detergent and disinfectant can be rapidly distributed on the drain plate 812, and the washing of the picking device 102 in the cleaning pipe 210 is performed through the leakage of the drain plate 812, so that the washing area is preferably increased, and the washing effect is better.
Referring to fig. 9, in the present embodiment, a mounting groove 911 for mounting the cleaning tube 210 is formed on the carrier 200, and the cleaning tube 210 is mounted in the mounting groove 911 by a fixing hoop 920, so that the mounting of the cleaning tube 210 on the carrier 200 is preferably realized.
As shown in fig. 2 and 9, the two end portions of the liquid containing tube 220 are provided with first gears 221, the bearing frame 200 is provided with a driving motor 201, and an output shaft of the driving motor 201 is provided with a second gear 912 matched with the first gears 221, so that the liquid containing tube 220 can rotate.
Referring to fig. 10, the fixing tube 230 includes a first half tube 1010 and a second half tube 1020, the side walls of the first half tube 1010 and the second half tube 1020 that are engaged with each other extend outward to form mounting portions, and the mounting portions are connected by bolts, so that the fixing tube 230 is preferably mounted outside the liquid containing tube 220.
In summary, the above description is only a preferred embodiment of the present invention, and all the equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.
Claims (8)
1. Day lily picking robot based on binocular vision detection, its characterized in that: comprises a robot body (100), wherein a cleaning mechanism (110) for cleaning a picker is arranged on the robot body (100);
the cleaning mechanism (110) comprises a bearing frame (200), a cleaning pipe (210) for the picking device to extend into is arranged on the bearing frame (200), and leak grooves (411) positioned at the upper side and the lower side are oppositely arranged in the cleaning pipe (210) along the length direction; a rotatable liquid containing pipe (220) is sleeved outside the cleaning pipe (210), 4 liquid containing cavities (421) are uniformly arranged in the liquid containing pipe (220), a plurality of first leakage holes (422) are formed in the inner wall, close to the cleaning pipe (210), of each liquid containing cavity (421) and correspond to the leakage grooves (411), a first sealing assembly (310) used for sealing the first leakage holes (422) is arranged at the first leakage holes (422), a second leakage hole (423) is formed in the inner wall, far away from the cleaning pipe (210), of each liquid containing cavity (421), and a second sealing assembly (320) used for sealing the second leakage hole (423) is arranged at the second leakage hole (423); a fixed pipe (230) is arranged outside the liquid containing pipe (220), and a third leak hole (431) is arranged on the outer wall of the fixed pipe, which is positioned at the lower side, and corresponds to the second leak hole (423).
2. The day lily picking robot based on binocular vision detection as claimed in claim 1, wherein: the first sealing assembly (310) comprises a first sleeve (510) which is arranged at a first leakage hole (422) in a threaded manner, a first mounting cavity (511) with two open ends is arranged in the first sleeve (510), a first blanking cover (520) is arranged at the upper end of the first mounting cavity (511) in a threaded manner, and liquid inlet holes (512) which are positioned in the liquid containing cavity (421) are uniformly distributed outside the first sleeve (510) along the circumferential direction of the first sleeve; a first piston column (530) with the lower end extending out of the first sleeve (510) is arranged in the first installation cavity (511) through a first spring (522), an installation column (531) penetrating through the first plug cover (520) is arranged at the upper end of the first piston column (530), a first positioning nut (532) used for positioning the first piston column (530) is arranged at the upper end of the installation column (531), a first annular cavity (533) is arranged on the peripheral side face of the first piston column (530) corresponding to the liquid inlet hole (512), a first flow passage (534) communicated with the lower end of the first piston column (530) is arranged on the lower side wall of the first annular cavity (533), a second annular cavity (535) is arranged on the peripheral side face of the first piston column (530) penetrating through the first plug cover (520), a first air passage (536) communicated with the second annular cavity (535) is arranged at the lower end of the first piston column (530), and a second air passage (521) communicated with the second annular cavity (535) is arranged on the first plug cover (520).
3. The day lily picking robot based on binocular vision detection as claimed in claim 1, wherein: the second sealing assembly (320) comprises a second sleeve (610) which is arranged at the second leak hole (423) in a threaded manner, a second mounting cavity (611) with two open ends is arranged in the second sleeve (610), a second plugging cover (620) is arranged at the upper end of the second mounting cavity (611) in a threaded manner, and liquid outlet holes (612) which are positioned in the liquid containing cavity (421) are uniformly distributed outside the second sleeve (610) along the circumferential direction of the second sleeve; a second piston column (640) with the lower end capable of extending into a third leak hole (431) is arranged in the second mounting cavity (611) through a second spring (630), a first mounting rod (641) penetrating through the second plug cover (620) is arranged at the upper end of the second piston column (640), a second positioning nut (642) used for positioning the second piston column (640) is arranged at the upper end of the first mounting rod (641), a third mounting cavity (643) with a downward opening is arranged in the second piston column (640), a first through hole (644) opposite to the liquid outlet hole (612) is arranged on the third mounting cavity (643), a third piston column (660) with the lower end extending out of the second piston column (640) is arranged in the third mounting cavity (643) through the third spring (650), a second mounting rod extending out of the second piston column (640) is arranged at the upper end of the third mounting rod, a third positioning nut (660) used for positioning the third piston column (643) is arranged at the upper end of the third mounting rod, a second through hole (661) corresponding to a second through hole (662) is arranged in the second mounting rod, and a second through hole (644) is arranged in the third positioning nut (660); a jacking assembly for driving the third piston column (660) to move into the third installation cavity (643) is arranged in the third leakage hole (431).
4. The day lily picking robot based on binocular vision detection as claimed in claim 3, wherein: jacking subassembly includes third sleeve (670) in third small opening (431) is located to the screw thread, be equipped with cavity (671) that confession second piston post (640) stretched into in third sleeve (670), be equipped with lower extreme open-ended gasbag installation cavity (672) in the inner wall of third sleeve (670), gasbag installation cavity (672) are equipped with spout (711) of intercommunication cavity (671) along its axial, be equipped with slidable first ring (720) in gasbag installation cavity (672), be equipped with second ring (730) that are located third piston post (660) below department in cavity (671), be provided with between first ring (720) and second ring (730) and pass connecting rod (721) of corresponding spout, be equipped with in gasbag installation cavity (672) and be used for driving the gasbag that first ring (720) go up and down.
5. The day lily picking robot based on binocular vision detection as claimed in claim 1, wherein: be equipped with in scavenge pipe (210) and stand and drench subassembly (300), stand and drench subassembly (300) and locate solid fixed ring (810) of scavenge pipe (210) both ends department including the screw thread, gu be equipped with between fixed ring (810) and be located upside small opening groove (411) below department and be baffling board (811) of type of falling V, gu be equipped with between fixed ring (810) and be located baffling board (812) of baffling board (811) below department, the baffling board (812) are used for carrying out comprehensive drip washing to the ware of picking.
6. The day lily picking robot based on binocular vision detection as claimed in claim 1, wherein: the bearing frame (200) is provided with a mounting groove (911) for mounting the cleaning pipe (210), and the cleaning pipe (210) is mounted in the mounting groove (911) through a fixing hoop (920).
7. The day lily picking robot based on binocular vision detection as claimed in claim 1, wherein: first gears (221) are arranged at two end parts of the liquid containing pipe (220), a driving motor (201) is arranged on the bearing frame (200), and a second gear (912) matched with the first gears (221) is arranged on an output shaft of the driving motor (201).
8. The day lily picking robot based on binocular vision detection as claimed in claim 1, wherein: fixed pipe (230) include first half pipe (1010) and second half pipe (1020), and first half pipe (1010) and second half pipe (1020) matched with lateral wall department outwards extend and form the installation department, pass through bolted connection between the installation department.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210934779.9A CN115254747A (en) | 2022-08-04 | 2022-08-04 | Day lily picking robot based on binocular vision detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210934779.9A CN115254747A (en) | 2022-08-04 | 2022-08-04 | Day lily picking robot based on binocular vision detection |
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| Publication Number | Publication Date |
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| CN115254747A true CN115254747A (en) | 2022-11-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210934779.9A Pending CN115254747A (en) | 2022-08-04 | 2022-08-04 | Day lily picking robot based on binocular vision detection |
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| CN (1) | CN115254747A (en) |
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| CN214282213U (en) * | 2021-01-26 | 2021-09-28 | 山西农业大学 | Day lily picking robot |
| CN215222628U (en) * | 2021-07-15 | 2021-12-17 | 深圳市信立德科技有限公司 | Intelligent touch welding robot for combining FPC (flexible printed circuit) and PCB (printed circuit board) |
| CN113910297A (en) * | 2021-10-21 | 2022-01-11 | 福州大学 | Automatic cleaning machine and cleaning method for ABB robot mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3857227A (en) * | 1973-01-31 | 1974-12-31 | B Rosenberg | Cutter head for picking fruit |
| EP2149435A1 (en) * | 2008-07-31 | 2010-02-03 | KUKA Roboter GmbH | Method for cleaning a manipulator with several members connected by joints |
| US20170000027A1 (en) * | 2015-07-02 | 2017-01-05 | Terence D. Hunt | Robotic harvester |
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| CN113910297A (en) * | 2021-10-21 | 2022-01-11 | 福州大学 | Automatic cleaning machine and cleaning method for ABB robot mechanical arm |
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