CN115623915A

CN115623915A - Wisdom big-arch shelter tomato harvesting equipment

Info

Publication number: CN115623915A
Application number: CN202211327602.9A
Authority: CN
Inventors: 李忠珍
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2023-01-20

Abstract

The invention discloses an intelligent greenhouse tomato picking device, which relates to the technical field of intelligent agricultural picking machinery and comprises the following components: fuselage, running gear, arm one, arm two and image acquisition device, wherein running gear fixes terminal surface under the fuselage, fuselage bilateral symmetry distributes there are arm one and arm two, just arm one can independently accomplish the operation with arm two, and the fuselage upper end is rotated and is provided with flexible post, be fixed with image acquisition device on the output of flexible post for the discernment location of tomato fruit, fruit stalk, leaf stalk and leaf stalk, one side of fuselage advancing direction is fixed with week vanning chassis, installs the turnover case on the week vanning chassis, and the control system accessible of tomato harvesting equipment selects arm one and arm two's motion state will pick the object and deliver to the turnover case that is located week vanning chassis.

Description

Wisdom big-arch shelter tomato harvesting equipment

Technical Field

The invention relates to the technical field of intelligent agricultural picking machinery, in particular to intelligent greenhouse tomato picking equipment.

Background

Tomatoes are one of the fruits and vegetables well received by people in daily life, so the planting and market demands of tomatoes are in an increasing stage. Harvesting of fruits and vegetables is an important link of agricultural production, but at present, tomatoes are mainly harvested manually in China, so that the harvesting efficiency is low, the harvesting cost is high, and the harvesting period of the tomatoes is influenced. Meanwhile, the existing picking equipment mainly aims at picking of single tomatoes, the processing of bad tomatoes and dead stems of dead leaves is relatively less, the shielding of the leaves of the tomatoes in the picking process also has certain influence on the picking of the tomatoes, and the requirement on an image recognition component is higher under the condition.

Therefore, there is a need to provide an intelligent greenhouse tomato picking device to solve the above problems in the background art.

Disclosure of Invention

In order to achieve the purpose, the invention provides the following technical scheme: an equipment is picked to wisdom big-arch shelter tomato includes: fuselage, running gear, arm one, arm two and image acquisition device, wherein, running gear fixes terminal surface under the fuselage, fuselage bilateral symmetry distributes there are arm one and arm two, just arm one can independently accomplish the operation with arm two, the fuselage upper end is rotated and is provided with flexible post, be fixed with image acquisition device on the output of flexible post, one side of fuselage advancing direction is fixed with week vanning chassis, install the turnover case on the week vanning chassis.

Further, preferably, the first mechanical arm and the second mechanical arm are the same in structure and comprise six mechanical arms;

the first mechanical arm comprises: the mechanical knife is fixed at the output end of the six-axis mechanical arm;

the second mechanical arm comprises: and the mechanical claw is fixed at the output end of the other six-axis mechanical arm.

Further, preferably, the mechanical knife includes: the automatic tomato stem shearing machine comprises a round table, a middle shaft, a sliding block and a knife, wherein the round table is fixed at the output end of a six-shaft mechanical arm, an automatic telescopic rod is installed inside the output end of the six-shaft mechanical arm, the output end of the automatic telescopic rod is fixed with the middle shaft, the middle shaft is slidably arranged in the round table, the sliding block is fixed at one end, away from the automatic telescopic rod, of the middle shaft, the sliding block is movably connected with the knife in a shaft mode, the knife is opened and closed through axial sliding of the sliding block, and the knife comprises an upper cutting edge and a lower cutting edge and is used for shearing and clamping tomato stems.

Further, preferably, the upper blade is configured as a sharp blade structure, the lower blade is configured as a flat blade structure with a flat surface, and the lower blade is axially slidably disposed on the blade body by a spring.

Further, preferably, the gripper includes: pneumatic rotary mechanism, pneumatic shaft, claw frame and blow gun, wherein, pneumatic rotary mechanism installs the output at six arms, just the output internally mounted of six arms has automatic telescopic link, the output of automatic telescopic link is fixed with pneumatic shaft, pneumatic shaft slidable sets up in the pneumatic rotary mechanism, pneumatic shaft is configured into hollow structure, just pneumatic rotary mechanism keeps away from one side of six arms articulates through the connection piece has a plurality of claw sword, the claw sword is configured into soft material, just automatic telescopic link's output central point puts and is fixed with the blow gun, the blow gun is configured into soft silica gel material.

Further, as preferred, be equipped with the visual identification subassembly on the image acquisition device, the visual identification subassembly with set up in the control system of fuselage links to each other, control system with arm one links to each other with arm two.

Further, as preferred, image acquisition device is configured into two, and all with the output of flexible post links to each other, can realize image acquisition device's reciprocating, flexible post is through fixing the step motor of fuselage inside rotates.

Further, preferably, the turnover box chassis is configured in two, including: the movable connecting piece, the bottom frame and the cylinder reciprocating mechanism are symmetrically fixed on one side of the machine body, the bottom frame is arranged on the movable connecting piece in a sliding mode through the double-end connecting piece, the cylinder reciprocating mechanism is fixed between the movable connecting piece, and the output end of the cylinder reciprocating mechanism is fixedly connected with the bottom frame and used for driving the bottom frame to slide on the movable connecting piece.

Compared with the prior art, the invention provides an intelligent greenhouse tomato picking device, which has the following beneficial effects:

in the embodiment of the invention, the tomato picking equipment adopts two different picking mechanisms and is matched with the multi-degree-of-freedom mechanical arm, so that the precise distance can be adjusted and controlled, meanwhile, the damaged tomatoes and dead leaves and dead stems can be conveniently recovered, and the picking efficiency is improved. When the fruits are blocked by the blades, the visual identification assembly is difficult to detect, and the maturity and quality of the tomatoes cannot be identified.

Drawings

FIG. 1 is a schematic diagram of an overall structure of an intelligent greenhouse tomato picking device;

FIG. 2 is a schematic structural diagram of a first mechanical arm in the intelligent greenhouse tomato picking device;

FIG. 3 is a schematic structural diagram of a second mechanical arm in the tomato picking apparatus of the smart greenhouse;

FIG. 4 is a schematic view of a mechanical blade of the first robotic arm of FIG. 2;

FIG. 5 is a schematic view of the knife of the mechanical knife of FIG. 4;

FIG. 6 is a schematic structural view of a second gripper of the second robot arm of FIG. 3;

FIG. 7 is a schematic view of a telescopic column in an intelligent greenhouse tomato picking apparatus;

FIG. 8 is a schematic structural view of a bottom frame of a turnover box in the intelligent greenhouse tomato picking device;

in the figure: 1. a body; 2. a machine top cover; 3. a traveling mechanism; 4. a first mechanical arm; 41. a mechanical knife; 411. a circular truncated cone; 412. a middle shaft; 413. a slider; 414. a knife; 4141. an upper blade; 4142. a lower blade; 5. a mechanical arm II; 51. a gripper; 511. a pneumatic rotating mechanism; 512. a pneumatic shaft; 513. connecting sheets; 514. a claw frame; 515. a claw blade; 516. a blowing nozzle; 6. a telescopic column; 7. an image acquisition device; 8. a bottom frame of the turnover box; 81. a chassis; 82. a double-ended connector; 83. a movable connecting sheet; 84. a cylinder reciprocating mechanism; 9. a turnover box; 10. a stepper motor.

Detailed Description

Referring to fig. 1 to 8, in an embodiment of the present invention, an intelligent greenhouse tomato picking apparatus includes: fuselage 1, running gear 3, first arm 4, second arm 5 and image acquisition device 7, wherein, running gear 3 fixes terminal surface under

fuselage

1, 1 bilateral symmetry of fuselage distributes and has first arm 4 and second arm 5, just first arm 4 can independently accomplish the operation with second arm 5, realizes picking the location wantonly in the automobile body direction of motion, 1 upper end of fuselage rotates and is provided with flexible post 6, be fixed with image acquisition device 7 on the output of flexible post 6, one side of 1 advancing direction of fuselage is fixed with week vanning chassis 8, install turnover case 9 on the week vanning chassis 8, and then tomato harvesting equipment accessible first arm 4 and arm 5 deliver to the turnover case 9 that is located on week vanning chassis 8 with the tomato.

In this embodiment, as shown in fig. 2 and 3, the first robot arm 4 and the second robot arm 5 have the same structure, and the first robot arm 4 and the second robot arm 5 have the same structure and both include six-axis robot arms;

the mechanical arm 4 comprises: the mechanical knife 41 is fixed at the output end of the six-axis mechanical arm, and the closing of the mechanical knife 41 can be controlled through the stretching and the retracting of an automatic telescopic rod on the six-axis mechanical arm, so that the acting force on the tomato stalks can be controlled;

the second robot arm 5 includes: the gripper 51 is fixed at the output end of the six-axis mechanical arm, and the gripper 51 can clamp the tomatoes by changing the extension and retraction of an automatic telescopic rod on the six-axis mechanical arm.

In this embodiment, as shown in fig. 4, the mechanical knife 41 includes: the automatic telescopic cutting device comprises a circular truncated cone 411, a middle shaft 412, a sliding block 413 and a knife 414, wherein the circular truncated cone 411 is fixed at the output end of the six-axis mechanical arm, an automatic telescopic rod is installed inside the output end of the six-axis mechanical arm, the middle shaft 412 is fixed at the output end of the automatic telescopic rod, the middle shaft 412 is arranged in the circular truncated cone in a sliding mode, the sliding block 413 is fixed at one end, far away from the automatic telescopic rod, of the middle shaft 412, the sliding block 413 is movably connected with the knife 414 in a shaft mode, the knife 414 can be opened and closed through axial sliding of the sliding block 413, in the working process, the axial movement of the middle shaft 412 can be controlled through stretching of the automatic telescopic rod, the opening and closing of the knife 414 are controlled, the limiting function is achieved, and the knife 414 comprises an upper knife edge 4141 and a lower knife edge 4142 and is used for shearing and clamping broken tomato fruit stalks and withered tomato stalks.

In a preferred embodiment, as shown in fig. 5, the upper blade 4141 is configured as a sharp blade structure, the lower blade 4142 is configured as a flat blade structure with a flat surface, and the lower blade 4142 is axially slidably disposed on the blade body of the blade 414 through a spring, when the blade 414 is closed, the upper blade 4141 cuts off the broken tomato stalks and dead stems, and the spring at the lower end of the lower blade 4142 is axially shortened by the reaction force of the tomato stalks, and the lower blade 4142 clamps the cut tomato stalks and dead stems, and can be used for collecting the broken tomato and dead stems.

In this embodiment, as shown in fig. 6, the gripper 51 includes: the tomato leaf picking machine comprises a pneumatic rotating mechanism 511, a pneumatic shaft 512, a claw frame 514 and a blowing nozzle 516, wherein the pneumatic rotating mechanism 511 is installed at the output end of a six-shaft mechanical arm, an automatic telescopic rod is installed inside the output end of the six-shaft mechanical arm, the pneumatic shaft 512 is fixed at the output end of the automatic telescopic rod, the pneumatic shaft 512 is slidably arranged in the pneumatic rotating mechanism 511, the claw frame 514 can be closed by changing the telescopic extension of the pneumatic shaft 512, the pneumatic rotating mechanism 511 can control the circular motion of the claw frame 514, the pneumatic shaft 512 is configured into a hollow structure, one side of the pneumatic rotating mechanism 511, which is far away from the six-shaft mechanical arm, is hinged with a plurality of claw blades 515 through a connecting sheet 513, the claw blades 515 are configured into a soft material, so that the tomato leaf picking machine is beneficial for protecting tomatoes when the tomatoes are clamped by the mechanical claws 51, the blowing nozzle 516 is fixed at the center of the output end of the automatic telescopic rod, the blowing nozzle 516 is configured into a soft silica gel material, that when the tomato leaves are picked up during image recognition, the tomato leaf picking machine can continuously pick up tomato leaves through the pneumatic telescopic rod 512, and the tomato leaf picking machine can continuously pick up tomato leaf picking machine, and the tomato leaf picking machine can be carried out tomato leaf picking machine.

In this embodiment, the image acquisition device 7 is provided with a visual identification component, the visual identification component is connected with a control system arranged on the machine body 1, and the control system is connected with the first mechanical arm 4 and the second mechanical arm 5.

As a preferred embodiment, the image acquisition devices 7 are configured to be two, and are both connected to the output end of the telescopic column 6, so that the up-and-down movement of the image acquisition device 7 can be realized, the telescopic column 6 rotates through the stepping motor 10 fixed inside the machine body 1, the circumferential rotation of the image acquisition mechanism 7 is realized through the rotating speed of the stepping motor 10, when the image acquisition device 7 does not work, the telescopic column 6 is in the initial contraction position, the camera automatically turns over, and the lens of the image acquisition device 7 faces the bottom of the top end of the telescopic column 6, which is beneficial to protecting the lens of the image acquisition device 7.

In this embodiment, as shown in fig. 8, the turnover box chassis 8 is configured to be two, and includes: but movable connection piece 81 symmetry is fixed fuselage 1 one side, chassis 83 is in through double-end connecting piece 82 slidable setting on the movable connection piece 81, and two be fixed with the cylinder between the movable connection piece 81 and come and go the mechanism 84, the cylinder come and go the output of mechanism 84 with chassis 83 is fixed continuous for drive it slides on movable connection piece 81, is favorable to the operating condition of control system upper and lower chassis of judgement.

When concrete implementation, tomato harvesting equipment is in the operation of tomato interline, and image acquisition device 7 feeds back the image information who gathers in control system, and control system accessible judges the maturity of fruit or the start and stop of running gear 3 is controlled to dead leaf and dead stalk position, and when control system controlled the start and stop of running gear 3 through judging the maturity of fruit: when the fruits are shielded by the leaves, the blowing nozzles 516 on the second mechanical arm 5 are started to blow away the shielding, so that the surface quality, stems, fruits and fruit stems of the tomatoes are detected, the control system marks the fruits which are qualified for picking, when the control system judges that the fruits which are unqualified for picking exist, the mechanical knife 41 on the second mechanical arm 4 is started to pick the fruits, and the tomatoes are placed in the upper layer of the turnover box 9; when the control system judges that qualified fruits are picked, the mechanical claws 51 and the blowing nozzles 516 on the mechanical arm II 5 are started, the blowing nozzles 516 are used for blowing away the tomato leaves, so that the mechanical claws 51 are prevented from simultaneously clamping the tomatoes and the tomato leaves, then picking is carried out, and the tomatoes are placed in the turnover box 9 on the lower layer; when the control system controls the running mechanism 3 to start and stop by judging the position of the dead leaves and the dead stalks, the mechanical knife 41 on the mechanical arm II 4 is started to cut off the leaf stalks (or the leaf stalks connecting the tomato leaves to the main stems), the cutting precision is kept at 3CM +/-1 CM, the storage of the dead leaves and the dead stalks in the transfer box 9 is facilitated, when the image acquisition device 7 detects that the loaded objects are flush with the peripheral edge of the transfer box 9, the bottom frame of the transfer box is withdrawn, the camera of the image acquisition device 7 keeps consistent with the retreating direction, the tomato picking device retreats and automatically returns, meanwhile, the transfer box 9 is manually unloaded, the dead tomatoes and the dead stalks are filled in a methane tank, and clean energy is obtained.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.

Claims

1. The utility model provides an equipment is picked to wisdom big-arch shelter tomato which characterized in that: the method comprises the following steps: fuselage (1), running gear (3), arm (4), two (5) of arm and image acquisition device (7), wherein, running gear (3) are fixed terminal surface under fuselage (1), fuselage (1) bilateral symmetry distributes and has arm (4) and arm (5), just arm (4) can independently accomplish the operation with arm (5), fuselage (1) upper end is rotated and is provided with flexible post (6), be fixed with image acquisition device (7) on the output of flexible post (6), one side of fuselage (1) advancing direction is fixed with week vanning chassis (8), install turnover case (9) on week vanning chassis (8).

2. The intelligent greenhouse tomato harvesting apparatus of claim 1, wherein: the first mechanical arm (4) and the second mechanical arm (5) are partially identical in structure and comprise six mechanical arms;

the first mechanical arm (4) further comprises: the mechanical knife (41), the mechanical knife (41) is fixed at the output end of a six-axis mechanical arm;

the second mechanical arm (5) further comprises: and the mechanical claw (51), wherein the mechanical claw (51) is fixed at the output end of the other six-axis mechanical arm.

3. The intelligent greenhouse tomato picking apparatus as claimed in claim 2, wherein: the mechanical knife (41) comprises: the automatic cutting device comprises a circular table (411), a middle shaft (412), a sliding block (413) and a knife (414), wherein the circular table (411) is fixed at the output end of the six-shaft mechanical arm, an automatic telescopic rod is installed inside the output end of the six-shaft mechanical arm, the middle shaft (412) is fixed at the output end of the automatic telescopic rod, the middle shaft (412) is arranged in the circular table in a sliding mode, the sliding block (413) is fixed at one end, away from the automatic telescopic rod, of the middle shaft (412), the knife (414) is movably connected with the sliding block (413) in a shaft mode, the knife (414) is opened and closed through axial sliding of the sliding block (413), and the knife (413) comprises an upper cutting edge (4141) and a lower cutting edge (4142).

4. The intelligent greenhouse tomato harvesting apparatus of claim 3, wherein: the upper cutting edge (4141) is configured as a sharp edge structure, the lower cutting edge (4142) is configured as a flat surface structure, and the lower cutting edge (4142) is axially slidably disposed on the blade (414) body by a spring.

5. The intelligent greenhouse tomato picking apparatus as claimed in claim 2, wherein: the gripper (51) comprises: pneumatic rotary mechanism (511), pneumatic shaft (512), claw frame (514) and blow gun (516), wherein, pneumatic rotary mechanism (511) are installed at the output of six-axis arm, just the output internally mounted of six-axis arm has automatic telescopic link, the output of automatic telescopic link is fixed with pneumatic shaft (512), pneumatic shaft (512) slidable sets up in pneumatic rotary mechanism (511), pneumatic shaft (512) are configured into hollow structure, just pneumatic rotary mechanism (511) are kept away from one side of six-axis arm articulates through connection piece (513) has a plurality of claw sword (515), claw sword (515) are configured into soft material, just the output central point of automatic telescopic link puts and is fixed with blow gun (516), blow gun (516) are configured into soft silica gel material.

6. The intelligent greenhouse tomato harvesting apparatus of claim 1, wherein: the image acquisition device (7) is provided with a visual identification assembly, the visual identification assembly is connected with a control system arranged on the machine body (1), and the control system is connected with the first mechanical arm (4) and the second mechanical arm (5).

7. The intelligent greenhouse tomato harvesting apparatus of claim 6, wherein: the image acquisition devices (7) are arranged in two modes and are connected with the output end of the telescopic column (6), so that the image acquisition devices (7) can move up and down, and the telescopic column (6) rotates through the stepping motor (10) fixed inside the machine body (1).

8. The intelligent greenhouse tomato picking equipment as claimed in claim 1, wherein: the turnaround chassis (8) is configured in two, including: but movable connection piece (81), chassis (83) and cylinder come and go mechanism (85), wherein, but movable connection piece (81) symmetry is fixed fuselage (1) one side, chassis (83) are in through double-end connecting piece (82) slidable setting but on movable connection piece (81), and two be fixed with the cylinder between movable connection piece (81) and come and go mechanism (84), the cylinder come and go the output of mechanism (84) with chassis (83) are fixed continuous for drive it slides on movable connection piece (81).