CN115623922A - Intelligent automatic harvesting device for multi-category crops - Google Patents
Intelligent automatic harvesting device for multi-category crops Download PDFInfo
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- CN115623922A CN115623922A CN202211314207.7A CN202211314207A CN115623922A CN 115623922 A CN115623922 A CN 115623922A CN 202211314207 A CN202211314207 A CN 202211314207A CN 115623922 A CN115623922 A CN 115623922A
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- vehicle body
- motor
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- fixed
- rotating
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention provides an intelligent automatic harvesting device for multi-class crops. The intelligent automatic multi-class crop picking device comprises a vehicle body; a travel structure comprising a chassis; a power structure comprising a battery pack and a controller; a sensing structure; the harvesting structure comprises a fixed cylinder, a bearing, a rotating column, a rotating gear, a rotating motor, a transmission gear, a base, a large arm, a primary motor, a small arm and a secondary motor; the grabbing structure comprises a rotary knob motor, a connecting rod and a manipulator; the sorting structure comprises a bracket, a conveying motor, a conveying belt, a material pushing cylinder and a push plate; the storage structure comprises a non-defective product storage box, a buffer spring, a supporting plate, a bottom plate, a sliding groove and a pulley. The intelligent automatic harvesting device for the multi-class crops has the advantages of high economy, high flexibility and high efficiency.
Description
Technical Field
The invention relates to the technical field of crop picking, in particular to an intelligent automatic picking device for multi-class crops.
Background
In the actual crop harvesting, taking the category of fruits as an example, the specific methods for harvesting different fruits are different, but the two types of mechanical harvesting and manual harvesting are mainly used at present. The fruits used for processing can be manually harvested or mechanically harvested, but most of the fruits used for storage and transportation are manually harvested.
At present, the mechanical fruit harvesting has two major disadvantages: firstly, the problems of damage to trunks and branches, falling of leaves and the like can be caused; secondly, mechanical injuries (mechanical abrasion, stabbing injury, pressure injury, squeezing injury, falling injury and other injuries) with different degrees can be caused, a convenient door is opened for invaders of germs, so that fruits are rotten, the good fruit rate during storage is reduced, and the storage period of the fruits is shortened.
The manual harvesting not only can greatly reduce the damage to fruits and fruit trees, but also can harvest fruits with different maturity in batches, store or process in batches to ensure the consistency of the fruit quality, but the manual harvesting is low in efficiency and long in construction period, and the harvesting task can be completed only by spending a large amount of manpower and cost.
Therefore, there is a need to provide a new intelligent automatic harvesting device for multi-class crops to solve the above technical problems.
Disclosure of Invention
In order to solve the technical problems, the invention provides an intelligent automatic harvesting device for multi-class crops, which has high economy, high flexibility and high efficiency.
The invention provides an intelligent automatic harvesting device for multi-class crops, which comprises: a vehicle body; the travelling structure is fixed at the bottom of the vehicle body and comprises a chassis which is fixed at the bottom of the vehicle body; the power structure is arranged inside the chassis and comprises a battery pack and a controller, the battery pack is arranged inside the chassis, the controller is fixed on the bottom surface of the vehicle body, and the controller is electrically connected with the battery pack; the sensing structure is arranged on the side walls of the front ends of the vehicle body and the chassis; the harvesting structure is fixed inside the vehicle body and comprises a fixed cylinder, a bearing, a rotating column, a rotating gear, a rotating motor, a transmission gear, a base, a large arm, a first-stage motor, a small arm and a second-stage motor, wherein the top surface of the fixed cylinder is fixed on the top surface inside the vehicle body, the bearing is installed inside the fixed cylinder, the rotating column is respectively and rotatably connected with the fixed cylinder and the bearing, the rotating gear is fixed at the bottom end of the rotating column, the rotating motor is installed on the side wall of the fixed cylinder, the transmission gear is rotatably connected with the rotating motor, the transmission gear is meshed with the rotating gear, the base is fixed on the top surface of the rotating column and rotatably connected with the top surface of the vehicle body, the bottom end of the large arm is rotatably connected with the top surface of the base through the first-stage motor, and the bottom end of the small arm is rotatably connected with the top end of the large arm through the second-stage motor; the grabbing structure is arranged inside the top end of the small arm and comprises a knob motor, a connecting rod and a manipulator, the knob motor is arranged inside the top end of the small arm, the connecting rod penetrates through the top end of the small arm and is rotatably connected with the knob motor, and the manipulator is arranged on the top end of the connecting rod; the recording structure is arranged on the top surface of the rear end of the vehicle body; the sorting structure is fixed inside the vehicle body and comprises a support, a conveying motor, a conveying belt, a material pushing cylinder and a push plate, wherein the bottom end of the support is fixed on the bottom surface inside the vehicle body, the conveying motor is mounted on the side wall of the top of the support, the conveying belt is rotatably connected to the top surface of the support, the conveying motor is rotatably connected with the conveying belt, the material pushing cylinder is mounted on the other side wall of the top of the support, the push plate is slidably connected with the material pushing cylinder, and the push plate is slidably connected to the top surface of the conveying belt; the storage structure is connected to the inside of the vehicle body in a sliding mode and comprises a non-defective storage box, a buffer spring, a supporting plate, a bottom plate, a sliding groove and a pulley, the non-defective storage box is connected to the inside of the vehicle body in a sliding mode and is connected to the inside of the vehicle body in a sliding mode, the bottom end of the buffer spring is installed to the bottom face of the inside bottom face of the vehicle body in an equidistant mode, the bottom face of the supporting plate is installed to the top end of the buffer spring in a plurality of modes, the supporting plate is connected to the inside of the non-defective storage box in a sliding mode, the bottom face of the chassis is connected to the top face of the supporting plate in a clamping mode, the sliding groove is formed in the inner side wall of the non-defective storage box, the pulleys are fixed to the two sides of the bottom plate in a symmetrical mode respectively, and the pulleys are connected to the inside of the sliding groove in a sliding mode.
Preferably, the structure of marcing still includes even axle, travelling wheel, bracing piece, steamboat and track, two even axisymmetric runs through the chassis around both ends and with the chassis is rotated and is connected, four the travelling wheel corresponds respectively to be fixed in two the both ends of even axle, it is a plurality of the bracing piece symmetry is fixed in the bottom surface both sides on chassis, it is a plurality of the steamboat corresponds to rotate and connects in every the bottom of bracing piece, the track respectively with the travelling wheel with the steamboat rotates and is connected.
Preferably, the power structure further comprises a chassis and an engine, the chassis is fixed inside the rear end of the chassis, the connecting shaft at the rear end penetrates through the chassis and is rotatably connected with the chassis, the engine is mounted inside the chassis, and the engine is meshed with the connecting shaft at the rear end.
Preferably, the perception structure includes light, distance sensor, leading camera, infrared sensor and marchs and make a video recording, and is two sets of the light symmetry install in the front end lateral wall of automobile body, distance sensor leading camera with infrared sensor equidistance respectively install in the front end lateral wall of automobile body, march make a video recording install in the front end lateral wall on chassis.
Preferably, the grabbing structure further comprises a protection pad, a pressure sensor and a sensing device, the protection pad is fixed on the inner side of the manipulator, the pressure sensor is installed on the inner side of the manipulator, and the sensing device is installed inside the manipulator.
Preferably, the recording structure includes a protection bin, a sliding plate, a display and a cover plate, the protection bin is arranged on the top surface of the rear end of the vehicle body, the sliding plate is connected to the inside of the protection bin in a sliding manner, the display is arranged on the top surface of the sliding plate, the bottom end of the cover plate is rotatably connected to the side wall of the rear end of the vehicle body, and the top end of the cover plate is connected to the side wall of the rear end of the vehicle body in a clamping manner.
Preferably, the classification structure further comprises a buffer hopper and image collectors, the buffer hopper is connected to the side wall of the top of the support in a clamping mode, the defective product storage box is located below the buffer hopper, and the three image collectors are fixed to the top surfaces of the supports on the two sides of the conveyor belt respectively.
Preferably, it is still including a location section of thick bamboo, support column and pressure relief spring, a plurality of to accomodate the structure a location section of thick bamboo is fixed in respectively the inside bottom surface of automobile body, and is a plurality of the support column corresponds sliding connection respectively in a plurality of the inside of a location section of thick bamboo, just non-defective products containing box with the bottom surface four corners of substandard product containing box corresponds respectively four of conflicting the top surface of support column, and is a plurality of pressure relief spring corresponds respectively to overlap in a plurality of the outer wall of a location section of thick bamboo, just pressure relief spring's top and bottom are contradicted respectively the top surface of support column with the inside bottom surface of automobile body.
Compared with the related art, the intelligent automatic harvesting device for the multi-class crops, provided by the invention, has the following beneficial effects:
the invention provides an intelligent automatic harvesting device for multi-class crops, which realizes the purpose of accurately and efficiently harvesting crops and fruits by the cooperative coordination of a sensing structure, a harvesting structure and a grabbing structure, and ensures that the mechanical arm grabs the crops and fruits of different types can accurately control the force in real time by utilizing the cooperative coordination of a protection pad on the inner side of the mechanical arm and a pressure sensor, so that the mechanical arm avoids crushing the fruits and ensures the integrity of the fruits; unqualified crop fruits are removed through the classification structure, classification is carried out, and economic benefits are fully improved; through inside the setting of yields containing box buffer spring the layer board with can be gliding from top to bottom the bottom plate accomplishes steadily to accept and follows the crops fruit that rolls on the conveyer belt, the at utmost protects the fruit, avoids taking place the condition such as breaking. This has the advantages of high economy, high flexibility and high efficiency.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent automatic harvesting device for multi-class crops according to a preferred embodiment of the present invention;
FIG. 2 is a schematic structural view of the front view overall cross section shown in FIG. 1;
FIG. 3 is an enlarged schematic view of the portion A shown in FIG. 1;
FIG. 4 is an enlarged view of the portion B shown in FIG. 2;
FIG. 5 is an enlarged schematic view of the portion C shown in FIG. 2;
fig. 6 is a schematic diagram of the harvesting structure and grasping structure shown in fig. 2;
fig. 7 is a schematic structural diagram of the sorting structure shown in fig. 2.
Reference numbers in the figures: 1. a vehicle body, 2, a traveling structure, 21, a chassis, 22, a connecting shaft, 23, a traveling wheel, 24, a support rod, 25, a small wheel, 26, a crawler belt, 3, a power structure, 31, a battery pack, 32, a controller, 33, a case, 34, an engine, 4, a sensing structure, 41, a lighting lamp, 42, a distance sensor, 43, a front camera, 44, an infrared sensor, 45, a traveling camera, 5, a harvesting structure, 51, a fixed cylinder, 52, a bearing, 53, a rotating column, 54, a rotating gear, 55, a rotating motor, 56, a transmission gear, 57, a base, 58, a big arm, 59, a primary motor, 59a small arm, 59b, a secondary motor, 6 and a grabbing structure, 61, a knob motor, 62, a connecting rod, 63, a manipulator, 64, a protection pad, 65, a pressure sensor, 66, a sensing device, 7, a recording structure, 71, a protection bin, 72, a sliding plate, 73, a display, 74, a cover plate, 8, a classification structure, 81, a bracket, 82, a conveying motor, 83, a conveying belt, 84, a material pushing cylinder, 85, a pushing plate, 86, a buffer bucket, 87, an image collector, 9, a storage structure, 91, a non-defective product storage box, 92, a defective product storage box, 93, a buffer spring, 94, a supporting plate, 95, a bottom plate, 96, a sliding groove, 97, a pulley, 98, a positioning cylinder, 99, a supporting column, 99a and a pressure reducing spring.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6 and fig. 7 in combination, wherein fig. 1 is a schematic structural diagram of a preferred embodiment of an intelligent automatic harvesting apparatus for multi-class crops according to the present invention; FIG. 2 is a schematic structural view of the front view overall section shown in FIG. 1; FIG. 3 is an enlarged schematic view of the portion A shown in FIG. 1; FIG. 4 is an enlarged view of the portion B shown in FIG. 2; FIG. 5 is an enlarged schematic view of the section C shown in FIG. 2; fig. 6 is a schematic diagram of the harvesting structure and grasping structure shown in fig. 2; fig. 7 is a schematic structural diagram of the sorting structure shown in fig. 2. The automatic device of plucking of multiclass crops intelligence includes: a vehicle body 1; the travelling structure 2 is fixed at the bottom of the vehicle body 1, the travelling structure 2 comprises a chassis 21, and the chassis 21 is fixed at the bottom of the vehicle body 1; the power structure 3 is installed inside the chassis 21, the power structure 3 includes a battery pack 31 and a controller 32, the battery pack 31 is installed inside the chassis 21, the controller 32 is fixed on the bottom surface of the vehicle body 1, and the controller 32 is electrically connected with the battery pack 31; the sensing structure 4 is mounted on the front end side walls of the vehicle body 1 and the chassis 21; the harvesting structure 5 is fixed inside the vehicle body 1, the harvesting structure 5 comprises a fixed cylinder 51, a bearing 52, a rotating column 53, a rotating gear 54, a rotating motor 55, a transmission gear 56, a base 57, a large arm 58, a primary motor 59, a small arm 59a and a secondary motor 59b, the top surface of the fixed cylinder 51 is fixed on the top surface of the inside of the vehicle body 1, the bearing 52 is installed inside the fixed cylinder 51, the rotating column 53 is respectively and rotatably connected with the fixed cylinder 51 and the inside of the bearing 52, the rotating gear 54 is fixed at the bottom end of the rotating column 53, the rotating motor 55 is installed on the side wall of the fixed cylinder 51, the transmission gear 56 is rotatably connected with the rotating motor 55, the transmission gear 56 is meshed with the rotating gear 54, the base 57 is fixed on the top surface of the rotating column 53, the base 57 is rotatably connected with the top surface of the vehicle body 1, the bottom end of the large arm 58 is rotatably connected with the top surface of the base 57 through the primary motor 59, and the bottom end of the small arm 59a is rotatably connected with the top end of the large arm 58 through the secondary motor 59 b; the grabbing structure 6 is installed inside the top end of the small arm 59a, the grabbing structure 6 comprises a knob motor 61, a connecting rod 62 and a manipulator 63, the knob motor 61 is installed inside the top end of the small arm 59a, the connecting rod 62 penetrates through the top end of the small arm 59a and is rotatably connected with the knob motor 61, and the manipulator 63 is installed on the top end of the connecting rod 62; the recording structure 7 is arranged on the top surface of the rear end of the vehicle body 1; the sorting structure 8 is fixed inside the vehicle body 1, the sorting structure 8 comprises a support 81, a conveying motor 82, a conveying belt 83, a material pushing cylinder 84 and a push plate 85, the bottom end of the support 81 is fixed on the bottom surface inside the vehicle body 1, the conveying motor 82 is installed on the side wall of the top of the support 81, the conveying belt 83 is rotatably connected to the top surface of the support 81, the conveying motor 82 is rotatably connected with the conveying belt 83, the material pushing cylinder 84 is installed on the other side wall of the top of the support 81, the push plate 85 is slidably connected with the material pushing cylinder 84, and the push plate 85 is slidably connected to the top surface of the conveying belt 83; storage structure 9, storage structure 9 sliding connection in the inside of automobile body 1, storage structure 9 includes non-defective products containing box 91, substandard product containing box 92, buffer spring 93, layer board 94, bottom plate 95, spout 96 and pulley 97, non-defective products containing box 91 sliding connection in the inside of automobile body 1, substandard product containing box 92 sliding connection in the inside of automobile body 1, it is a plurality of the bottom equidistance of buffer spring 93 install in the inside bottom surface of automobile body 1, the bottom surface of layer board 94 install in a plurality of the top of buffer spring 93, just layer board 94 sliding connection in the inside of non-defective products containing box 91, bottom plate 95 sliding connection in the inside of non-defective products containing box 91, just the bottom surface block of chassis 21 connect in the top surface of layer board 94, spout 96 locates the inside wall of non-defective products containing box 91, a plurality of pulley 97 symmetry respectively is fixed in the both sides of bottom plate 95, just pulley 97 sliding connection in the inside of spout 96.
In a specific implementation process, as shown in fig. 1 and fig. 2, the traveling structure 2 further includes connecting shafts 22, traveling wheels 23, supporting rods 24, small wheels 25, and crawlers 26, the two connecting shafts 22 symmetrically penetrate through the front and rear ends of the chassis 21 and are rotatably connected with the chassis 21, the four traveling wheels 23 are correspondingly fixed at two ends of the two connecting shafts 22, the supporting rods 24 are symmetrically fixed at two sides of the bottom surface of the chassis 21, the small wheels 25 are correspondingly rotatably connected to the bottom end of each supporting rod 24, and the crawlers 26 are rotatably connected with the traveling wheels 23 and the small wheels 25, respectively. The motor 34 drives the advancing structure 2 to operate, so that the whole equipment is driven to move randomly, and the purpose of picking fruits is achieved.
In a specific implementation process, as shown in fig. 2, the power structure 3 further includes a case 33 and an engine 34, the case 33 is fixed inside the rear end of the chassis 21, the connecting shaft 22 at the rear end penetrates through the case 33 and is rotatably connected therewith, the engine 34 is installed inside the case 33, and the engine 34 is engaged with the connecting shaft 22 at the rear end. The engine 34 works to drive the connecting shaft 22 at the rear end of the vehicle body 1 to rotate, so that the crawler belt 26 is driven to rotate through the travelling wheel 23, the whole device is driven to move randomly, and the purpose of picking fruits is achieved.
In a specific implementation process, as shown in fig. 1, the sensing structure 4 includes an illumination lamp 41, a distance sensor 42, a front camera 43, an infrared sensor 44 and a traveling camera 45, two sets of the illumination lamps 41 are symmetrically installed on the front end side wall of the vehicle body 1, the distance sensor 42, the front camera 43 and the infrared sensor 44 are respectively installed on the front end side wall of the vehicle body 1 at equal intervals, and the traveling camera 45 is installed on the front end side wall of the chassis 21. The illuminating lamp 41 can illuminate the space in front of the equipment, and helps the front camera 43 and the travelling camera 45 to more clearly and accurately acquire front images, so that the equipment plans an optimal advancing route; the front camera 43 is used for collecting images of crops, and the infrared sensor 44 and the distance sensor 42 assist the front camera 43 together, so that the device is helped to accurately judge the specific positions and distances of the crops; the travelling camera 45 is used for acquiring clear images of the ground in front, so that the equipment is helped to avoid obstacles in time and plan an optimal travelling route.
In a specific implementation process, as shown in fig. 1, 2, 3 and 6, the grasping structure 6 further includes a protection pad 64, a pressure sensor 65 and a sensing device 66, the protection pad 64 is fixed on the inner side of the robot 63, the pressure sensor 65 is installed on the inner side of the robot 63, and the sensing device 66 is installed inside the robot 63. The protection pad 64 is made of soft and fluffy foam, has certain shock absorption and pressure resistance capabilities, avoids the mechanical arm 63 from being damaged by clamping and scratching fruits, and is matched with the pressure sensor, so that the mechanical arm 63 can accurately control the force when grabbing different types of agricultural fruits, avoid crushing the fruits and ensure the quality of the fruits; the sensing device 66 is used for judging the distance between the manipulator 63 and the fruit and judging the size of the fruit in real time of picking the fruit, thereby controlling the manipulator 63 to timely collect the clamping jaws and the collection degree, accurately controlling the manipulator 63 to the maximum extent and preventing the manipulator 63 from mistakenly touching the fruit or damaging the fruit by clamping.
In a specific implementation process, as shown in fig. 2, the recording structure 7 includes a protection cabin 71, a sliding plate 72, a display 73, and a cover plate 74, where the protection cabin 71 is disposed on a top surface of a rear end of the vehicle body 1, the sliding plate 72 is slidably connected inside the protection cabin 71, the display 73 is mounted on the top surface of the sliding plate 72, a bottom end of the cover plate 74 is rotatably connected to a side wall of the rear end of the vehicle body 1, and a top end of the cover plate 74 is connected to the side wall of the rear end of the vehicle body 1 in a snap-fit manner. The recording structure 7 is used for storing the operation data of relevant devices and the statistical data related to fruits when the equipment works, and displaying the operation data and the statistical data on the display, and operators can issue correct instructions after making humanized judgment by using the data.
In a specific implementation process, as shown in fig. 2 and 7, the sorting structure 8 further includes a buffer bucket 86 and image collectors 87, the buffer bucket 86 is connected to a top side wall of the bracket 81 in a clamping manner, the defective product storage box 92 is located below the buffer bucket 86, and the three image collectors 87 are respectively fixed to top surfaces of the brackets 81 on two sides of the conveyor belt 83. The buffer hopper 86 is used for protecting unqualified fruits from falling and being damaged in the process that the unqualified fruits fall into the defective product containing box 92, so that secondary damage is avoided; the image collector 87 is used for collecting the fruit image on the surface of the conveyor belt 83, so as to identify and judge whether the fruit is qualified or not, and then the next action is carried out.
In a specific implementation process, as shown in fig. 2 and fig. 5, the storage structure 9 further includes a plurality of positioning cylinders 98, a plurality of supporting columns 99 and pressure reducing springs 99a, the plurality of positioning cylinders 98 are respectively fixed on the inner bottom surface of the vehicle body 1, the plurality of supporting columns 99 are respectively and correspondingly slidably connected to the insides of the plurality of positioning cylinders 98, four corners of the bottom surfaces of the good product storage box 91 and the defective product storage box 92 respectively and correspondingly abut against the top surfaces of the four supporting columns 99, the plurality of pressure reducing springs 99a are respectively and correspondingly sleeved on the outer walls of the plurality of positioning cylinders 98, and top ends and bottom ends of the pressure reducing springs 99a respectively abut against the top surfaces of the supporting columns 99 and the inner bottom surface of the vehicle body 1. The device plays a damping role, and when the equipment jolts, the vibration of the good product containing box 91 and the defective product containing box 92 can be effectively reduced, so that internal fruits are protected, and damage is avoided.
The working principle of the intelligent automatic harvesting device for the multi-class crops provided by the invention is as follows:
when the device is started, the device to be automatically sensed 66 measures and obtains the information of the surrounding environment, evaluates the surrounding environment and starts to work under the proper working environment. Firstly, the controller 32 starts the engine 34 inside the chassis 33, the engine 34 drives the traveling wheels 23 at both ends to rotate through the connecting shaft 22 at the rear end of the vehicle body 1, the traveling wheels 23 at the rear end drive the crawler 26 to roll, the small wheels 25 inside the engine, the traveling wheels 23 at the front end of the vehicle body 1 and the connecting shaft 22 synchronously rotate, the crawler 26 drives the device to move, the traveling camera 45 acquires ground road conditions in the traveling direction of the device, the processor processes and judges the optimal traveling route and timely avoids obstacles, the front camera 43 acquires images of crops, and the infrared sensor 44 and the distance sensor 42 jointly assist the front camera 43 to help the device accurately judge the specific positions and distances of the crops; after the device moves to a proper position near the crop to be harvested and stops moving, the controller 32 starts the rotating motor 55, the primary motor 59 and the secondary motor 59b, and continuously acquires the position information of the crop fruit through the sensing device 66 in the manipulator 63, the rotating motor 55 drives the rotating column 53 to rotate in the bearing 52 and the fixed cylinder 51 through the meshing connection between the transmission gear 56 and the rotating gear 54, the rotating column 53 drives the base 57 to rotate, the base 57 drives the large arm 58 to rotate horizontally, meanwhile, the primary motor 59 drives the bottom end of the large arm 58 to rotate vertically on the top surface of the base 57, the secondary motor 59b drives the bottom end of the small arm 59a to rotate vertically on the top end of the large arm 58, and the rotating motor 55, the primary motor 59 and the secondary motor 59b work in coordination with each other to adjust the overall spatial posture of the harvesting structure 5, so that the grasping structure 6 can reach an accurate harvesting position; then the manipulator 63 hydraulic device works, the manipulator 63 clamping jaws contract to firmly clamp crop fruits, in the harvesting process, the protective pad 64 made of soft and fluffy foam isolates the fruits from being in direct contact with the manipulator 63, the manipulator 63 is prevented from scratching and damaging the fruits, and meanwhile, the pressure sensor 65 controls the clamping force of the manipulator 63, so that the manipulator 63 can accurately control the clamping force when grabbing the crop fruits in real time, the fruits are prevented from being damaged by pressing, and the quality of the fruits is ensured; then the knob motor is started, the mechanical arm 63 is driven to rotate through the connecting rod 62, so that the crop fruits are separated from the trunk, and compared with the mode that the crop fruits are picked through actions such as pulling property and the like, the mode that the damage to the fruits and the trunk is minimum can effectively protect the safety of the crop fruits and fruit trees; then the harvesting structure 5 and the grabbing structure 6 move integrally and coordinately, crop fruits are placed on the conveyor belt 83 on the top surface of the vehicle body 1, then the harvesting structure 5 and the grabbing structure 6 move again to restore to the initial position, meanwhile, the controller 32 controls the device to move again according to the mode, the next target is processed intelligently, and the device integrally starts to move to the next target and works repeatedly. After the crop fruits are placed on the conveyor belt 83, the image collector 87 collects and judges whether the crop fruits are qualified, if the crop fruits are qualified, the conveying motor 82 is started to drive the conveyor belt 83 to rotate, and the conveyor belt 83 conveys the fruits into the good product containing box 91; initially, when no fruit is in the good product containing box 91, the buffer spring 93 is of a natural length, and the supporting plate 94 and the bottom plate 95 are both positioned on the top surface of the good product containing box 91, so that qualified fruits falling from the conveyor belt 83 can stably roll onto the bottom plate 95, and the condition of fruit breakage and the like cannot occur; if the image collector 87 judges that the fruits are unqualified, the material pushing cylinder 84 is started, the push plate 85 slides out of the material pushing cylinder 84, the unqualified fruits are pushed into the buffer hopper 86 and enter the defective product containing box 92 from the buffer hopper 86, and the push plate 85 returns to the material pushing cylinder 84 again after the unqualified fruits are finished. As the amount of the agricultural fruits on the bottom plate 95 increases, the weight of the agricultural fruits increases, the buffer spring 93 is shortened, the pallet 94 and the bottom plate 95 descend by a certain distance, the pulley 97 slides in the chute 96, and the qualified fruits rolling down from the conveyor belt 83 can still smoothly roll down on the bottom plate 95 after the bottom plate 95 descends by a certain distance because the qualified fruits with a certain height are stacked on the top surface of the bottom plate 95. When the good product storage box 91 or the defective product storage box 92 is filled with the fruits of crops, a prompt is sent, and the device stops harvesting until an operator pulls up the good product storage box 91 or the defective product storage box 92 to take out the good product storage box 91 or the defective product storage box 92 from the interior of the vehicle body 1, and at this time, the supporting plate 94 is separated from the bottom plate 95. Subsequently, the good product storage box 91 or the defective product storage box 92 is newly installed, the bottom surface of the bottom plate 95 in the good product storage box 91 again abuts against the top surface of the pallet 94, and the buffer spring 93, the pallet 94 and the bottom plate 95 return to the initial positions. When the device shakes due to bumping or the like in the traveling process, the pressure reducing spring 99a at the bottom of the good product containing box 91 or the defective product containing box 92 can stretch out and draw back, so that the supporting column 99 slides up and down in the positioning cylinder 98, the shaking of the good product containing box 91 and the defective product containing box 92 is reduced, internal fruits are protected, and damage is avoided. An operator opens the cover plate 74, the bottom end of the cover plate 74 rotates around the side wall of the rear end of the vehicle body 1, the sliding plate 72 is pulled, the sliding plate 72 drives the display 73 to slide out of the protection bin 71, and the operator can call data to issue a correct instruction after making humanized judgment by reading operation data of relevant structures, statistical data relevant to different crops and fruits and the like in the display 73 during working. The device has the advantages of high economy, high flexibility and high efficiency.
Compared with the related art, the intelligent automatic harvesting device for the multi-class crops, provided by the invention, has the following beneficial effects:
the invention provides an intelligent automatic harvesting device for multi-class crops, which realizes the purpose of accurately and efficiently harvesting crops and fruits by the cooperative coordination of a sensing structure 4, a harvesting structure 5 and a grabbing structure 6, and ensures that the mechanical arm 63 grabs the crops and fruits of different types and can accurately control the force in real time by utilizing the cooperation of a protection pad 64 on the inner side of the mechanical arm 62 and a pressure sensor 65, so that the fruits are prevented from being crushed, and the integrity of the fruits is ensured; unqualified crop fruits are removed through the classification structure 8, classification is carried out, and economic benefits are fully improved; through be in inside the setting of non-defective products containing box 91 buffer spring 93 layer board 94 with can be gliding from top to bottom plate 95 accomplishes steadily to accept the follow the crops fruit that rolls off on the conveyer belt 83, the condition such as breakage is avoided taking place to the at utmost protection fruit. This has the advantages of high economy, high flexibility and high efficiency.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (8)
1. The utility model provides a device is plucked to automatic of multiclass crops intelligence which characterized in that includes:
a vehicle body (1);
the travelling structure (2), the travelling structure (2) is fixed at the bottom of the vehicle body (1), the travelling structure (2) comprises a chassis (21), and the chassis (21) is fixed at the bottom of the vehicle body (1);
the power structure (3) is mounted inside the chassis (21), the power structure (3) comprises a battery pack (31) and a controller (32), the battery pack (31) is mounted inside the chassis (21), the controller (32) is fixed on the bottom surface of the vehicle body (1), and the controller (32) is electrically connected with the battery pack (31);
the sensing structure (4) is mounted on the front end side walls of the vehicle body (1) and the chassis (21);
a harvesting structure (5), the harvesting structure (5) is fixed in the interior of the vehicle body (1), the harvesting structure (5) comprises a fixed cylinder (51), a bearing (52), a rotating column (53), a rotating gear (54), a rotating motor (55), a transmission gear (56), a base (57), a large arm (58), a first-stage motor (59), a small arm (59 a) and a second-stage motor (59 b), the top surface of the fixed cylinder (51) is fixed on the inner top surface of the vehicle body (1), the bearing (52) is installed in the inner portion of the fixed cylinder (51), the rotating column (53) is respectively connected with the fixed cylinder (51) and the bearing (52) in a rotating manner, the rotating gear (54) is fixed at the bottom end of the rotating column (53), the rotating motor (55) is installed on the side wall of the fixed cylinder (51), the transmission gear (56) is rotatably connected with the rotating motor (55), the transmission gear (56) is meshed with the rotating gear (54), the base (57) is fixed on the top surface of the rotating column (53), and the base (57) is connected with the large arm (58) of the rotating motor (59), the bottom end of the small arm (59 a) is rotatably connected with the top end of the large arm (58) through the secondary motor (59 b);
the grabbing structure (6) is installed inside the top end of the small arm (59 a), the grabbing structure (6) comprises a knob motor (61), a connecting rod (62) and a manipulator (63), the knob motor (61) is installed inside the top end of the small arm (59 a), the connecting rod (62) penetrates through the top end of the small arm (59 a) and is in rotating connection with the knob motor (61), and the manipulator (63) is installed at the top end of the connecting rod (62);
the recording structure (7) is arranged on the top surface of the rear end of the vehicle body (1);
the sorting structure (8) is fixed inside the vehicle body (1), the sorting structure (8) comprises a support (81), a conveying motor (82), a conveying belt (83), a material pushing cylinder (84) and a push plate (85), the bottom end of the support (81) is fixed on the bottom surface inside the vehicle body (1), the conveying motor (82) is installed on the side wall of the top of the support (81), the conveying belt (83) is rotatably connected to the top surface of the support (81), the conveying motor (82) is rotatably connected with the conveying belt (83), the material pushing cylinder (84) is installed on the other side wall of the top of the support (81), the push plate (85) is slidably connected with the material pushing cylinder (84), and the push plate (85) is slidably connected to the top surface of the conveying belt (83);
containing structure (9), containing structure (9) sliding connection in the inside of automobile body (1), containing structure (9) include non-defective products containing box (91), substandard product containing box (92), buffer spring (93), layer board (94), bottom plate (95), spout (96) and pulley (97), non-defective products containing box (91) sliding connection in the inside of automobile body (1), substandard product containing box (92) sliding connection in the inside of automobile body (1), a plurality of the bottom equidistance of buffer spring (93) install in the inside bottom surface of automobile body (1), the bottom surface of layer board (94) install in a plurality of the top of buffer spring (93), just layer board (94) sliding connection in the inside of non-defective products containing box (91), bottom plate (95) sliding connection in the inside of non-defective products containing box (91), just the bottom surface of chassis (21) connect in the top surface of layer board (94), spout (96) are located the inside wall of non-defective products containing box (91), a plurality of pulley (97) connect in bottom plate (95) symmetry respectively in the inside spout (96) and the both sides of pulley (97).
2. The intelligent automatic harvesting device for multi-class crops according to claim 1, wherein the travelling structure (2) further comprises connecting shafts (22), travelling wheels (23), supporting rods (24), small wheels (25) and caterpillar bands (26), two of the connecting shafts (22) symmetrically penetrate through the front end and the rear end of the chassis (21) and are rotatably connected with the chassis (21), four of the travelling wheels (23) are correspondingly fixed at the two ends of the two connecting shafts (22), a plurality of the supporting rods (24) are symmetrically fixed at the two sides of the bottom surface of the chassis (21), a plurality of the small wheels (25) are correspondingly rotatably connected with the bottom end of each of the supporting rods (24), and the caterpillar bands (26) are rotatably connected with the travelling wheels (23) and the small wheels (25) respectively.
3. The intelligent automatic multi-class crop harvesting device according to claim 2, wherein the power structure (3) further comprises a chassis (33) and a motor (34), the chassis (33) is fixed inside the rear end of the chassis (21), the connecting shaft (22) at the rear end penetrates through the chassis (33) and is rotatably connected with the chassis (21), the motor (34) is installed inside the chassis (33), and the motor (34) is engaged with the connecting shaft (22) at the rear end.
4. The intelligent automatic multi-class crop picking and placing device according to claim 1, wherein the sensing structure (4) comprises illuminating lamps (41), a distance sensor (42), a front camera (43), an infrared sensor (44) and a travelling camera (45), two groups of the illuminating lamps (41) are symmetrically installed on the front side wall of the vehicle body (1), the distance sensor (42), the front camera (43) and the infrared sensor (44) are respectively installed on the front side wall of the vehicle body (1) at equal intervals, and the travelling camera (45) is installed on the front side wall of the chassis (21).
5. The intelligent and automatic multi-class crop picking device according to claim 1, characterized in that the gripping structure (6) further comprises a protective mat (64), a pressure sensor (65) and a sensing device (66), the protective mat (64) is fixed to the inner side of the manipulator (63), the pressure sensor (65) is mounted to the inner side of the manipulator (63), and the sensing device (66) is mounted to the inside of the manipulator (63).
6. The intelligent automatic multi-class crop picking device according to claim 1, wherein the recording structure (7) comprises a protection bin (71), a sliding plate (72), a display (73) and a cover plate (74), the protection bin (71) is arranged on the top surface of the rear end of the vehicle body (1), the sliding plate (72) is slidably connected inside the protection bin (71), the display (73) is arranged on the top surface of the sliding plate (72), the bottom end of the cover plate (74) is rotatably connected with the side wall of the rear end of the vehicle body (1), and the top end of the cover plate (74) is connected with the side wall of the rear end of the vehicle body (1) in a clamping manner.
7. The intelligent automatic multi-class crop picking and storing device according to claim 1, characterized in that the sorting structure (8) further comprises a buffer bucket (86) and image collectors (87), the buffer bucket (86) is connected to the top side wall of the bracket (81) in a clamping manner, the defective product storage box (92) is located below the buffer bucket (86), and the three image collectors (87) are respectively fixed to the top surfaces of the brackets (81) on two sides of the conveyor belt (83).
8. The intelligent automatic multi-class crop picking device according to claim 1, wherein the picking structure (9) further comprises positioning cylinders (98), supporting columns (99) and pressure reducing springs (99 a), a plurality of the positioning cylinders (98) are respectively fixed on the inner bottom surface of the vehicle body (1), a plurality of the supporting columns (99) are respectively and correspondingly slidably connected inside the positioning cylinders (98), four corners of the bottom surfaces of the good product containing box (91) and the defective product containing box (92) are respectively and correspondingly abutted against the top surfaces of the four supporting columns (99), a plurality of the pressure reducing springs (99 a) are respectively and correspondingly sleeved on the outer walls of the positioning cylinders (98), and the top ends and the bottom ends of the pressure reducing springs (99 a) are respectively abutted against the top surfaces of the supporting columns (99) and the inner bottom surface of the vehicle body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211314207.7A CN115623922A (en) | 2022-10-25 | 2022-10-25 | Intelligent automatic harvesting device for multi-category crops |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211314207.7A CN115623922A (en) | 2022-10-25 | 2022-10-25 | Intelligent automatic harvesting device for multi-category crops |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115623922A true CN115623922A (en) | 2023-01-20 |
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ID=84907033
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211314207.7A Withdrawn CN115623922A (en) | 2022-10-25 | 2022-10-25 | Intelligent automatic harvesting device for multi-category crops |
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| Country | Link |
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| CN (1) | CN115623922A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116806552A (en) * | 2023-08-30 | 2023-09-29 | 中苏科技股份有限公司 | Intelligent obstacle-avoiding picking robot capable of accurately picking |
-
2022
- 2022-10-25 CN CN202211314207.7A patent/CN115623922A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116806552A (en) * | 2023-08-30 | 2023-09-29 | 中苏科技股份有限公司 | Intelligent obstacle-avoiding picking robot capable of accurately picking |
| CN116806552B (en) * | 2023-08-30 | 2023-11-21 | 中苏科技股份有限公司 | Intelligent obstacle-avoiding picking robot capable of accurately picking |
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Application publication date: 20230120 |