CN205313013U - A slip table operating system for matrimony vine picking mechanism - Google Patents

Abstract

Aiming at the problems existing in the prior art, the utility model provides a sliding table lifting system used for wolfberry picking mechanism. Described slide table lifting system comprises slide table 1 and lift table, and described lift table is connected with frame by slide table 1; Described slide table 1 includes slide table main body, slide block 1, stepping motor, driving gear and driven Rack; the main body of the slide table is fixed on the frame, and the inner two sides of the main body of the slide table are embedded with driven racks. connect. A stepping motor and a driving gear are fixedly arranged on the slider 1, and the driving gear is fixed on the shaft of the stepping motor, and the driving gear and the driven rack are staggered; the lateral force strain of the slide table is increased, It not only ensures that the lifting system of the slide table will not shake due to the heavy load, but also provides stable lifting power.

Description

Sliding table lifting system for wolfberry picking mechanism

technical field

The utility model belongs to the field of agricultural machinery, and in particular relates to an auxiliary mechanism of a crop or fruit picking device, in particular to a sliding table lifting system for a wolfberry picking device.

Background technique

Lycium barbarum is not only a traditional precious Chinese herbal medicine, but also a nutritional tonic. According to official statistics, in Gansu alone in 2012, the output of wolfberry reached 35,000 tons. Due to the characteristics of high water content and delicate peel of wolfberry fruit when ripe, it is easy to damage when collecting; if damage occurs, it will not only affect its appearance and color, but also reduce its medicinal value. Therefore, it is necessary to adopt a flexible collection method to pick off the wolfberry fruit together with the fruit handle. Due to the complexity of wolfberry growth and the unstructured farmland environment, simple hand-held wolfberry pickers, picking heads and vibrating pickers are currently used in production.

Invention patent application 201010272425 discloses a "hand-held goji berry picking machine", which still requires the participation of picking personnel and is very limited in improving the automation of goji berry picking. Simultaneously, this equipment is to pick a bunch of wolfberry branches, and it is very easy to pick immature wolfberry together, which is very unfavorable for improving the quality and output of wolfberry. Invention patent 201320182557.2 discloses a "elevating fruit picking machine". The lifting device in the picking machine includes a bottom plate arranged on the frame, and at least two sets of oil cylinders are set in the center of the bottom plate and nested. The telescopic oil cylinder in the sleeve is used to manipulate the lifting console of the telescopic oil cylinder, and the lifting brackets are arranged on both sides of the bottom plate. The problems of this picking machine are: (1) the lifting device is not very flexible, it can only be lifted up and down, and the direction needs to be adjusted by adjusting the direction of the whole implement; (2) hydraulic pressure is used for lifting, and the overall lifting device is too large and inflexible to use ,high cost.

Invention patent 201310308031.9 discloses a wolfberry picking machine, which includes a transmission mechanism and a main frame body. Through the multi-point evenly distributed shaking type automatic picking mechanism, the picking efficiency is greatly improved, and only mature fruits are harvested during the operation without damage. Damage to immature fruit. But the machine still needs manual operation, and the efficiency is not ideal.

Invention patent 201310193713.X discloses a "mobile rotary lifting platform for picking agricultural products", which includes a traveling mechanism, a rotating mechanism, a lifting platform, a control system, a rotating frame, a main shaft, a bearing group, and a bearing seat Plate pack, gear set and rotary drive motor. The existing problems of this lifting platform: (1) the rotation is used as the base, and the lifting is used as the upper working area, resulting in a large distance between the rotating base and the heavy object, and centrifugal force will be generated during the rotation, which will cause the platform to be unstable; (2) the rotation Gear transmission is adopted, and the indexing precision of the worktable is low; (3) The lifting mechanism adopts linear guide rail, and the load capacity is low.

To sum up, in the prior art, to use machine vision and picking manipulators to pick wolfberry fruit, it is necessary to move the whole set of machines to the front of the wolfberry branches; since the visual range of the machine vision system is very limited, the longitudinal direction of the picking machine can be adjusted. The viewing and pickable areas are greatly limited, that is, the picking of goji berries at different heights in the same area requires frequent movement of the machine, which is not conducive to improving the picking efficiency; The viewing angle of the system is limited, and it is very easy for the lowest and highest images to be missed.

Utility model content

Aiming at the problems existing in the prior art, the utility model provides a sliding table lifting system used for wolfberry picking mechanism.

The technical solution of the present utility model is: a wolfberry picking device equipped with a distributed machine vision system, including a frame and a control system, a drive system, a power supply system, a high-level visual system, a low-level visual system, a visual lifting system, Wolfberry picking manipulator and branch positioning manipulator; the high position vision system is connected with the frame through the vision lifting system. The movement of the vision lifting system can drive the movement of the high-level vision system, thereby collecting high-level images. The wolfberry picking device also includes a sliding table lifting system arranged on the frame, the low-position vision system, the visual lifting system, the wolfberry picking manipulator and the branch positioning manipulator are all set on the sliding table lifting system through the electric turntable, and then connected with the machine frame connected.

The movement of the sliding platform lifting system can drive the movement of the entire electric turntable, high-position vision system, low-position vision system, vision lifting system, wolfberry picking manipulator and branch positioning manipulator. The control system is respectively connected with the sliding table lifting system, the visual lifting system, the electric turntable, the medlar picking machine manipulator, and the branch positioning manipulator through the drive system. Described slide table lifting system comprises slide table 1 and lift table, and described lift table is connected with frame by slide table 1; Described slide table 1 includes slide table main body, slide block 1, stepper motor, driving gear and driven Rack; the main body of the sliding table is fixed on the frame, and the inner two sides of the main body of the sliding table are embedded with driven racks. connect. A stepping motor and a driving gear are fixedly arranged on the slider 1, and the driving gear is fixed on the shaft of the stepping motor, and the driving gear and the driven rack are staggered; the lateral force strain of the slide table is increased, It not only ensures that the lifting system of the slide table will not shake due to the heavy load, but also provides stable lifting power. Wherein, two driven racks are embedded on both sides of the main body of the sliding table; the number of the driving gears is 3; the lifting platform is a square platform.

Wherein, the electric turntable includes a turntable, a disc body, a bearing, a coupling and a servo motor; the disc body and the servo motor are arranged on a square table, the turntable is connected to the disc body through a bearing, and the servo motor Connected to the disc body through a coupling.

Wherein, the visual lifting system includes a lifting guide rail, a slide table II, a slide block II, an L-shaped corner code, a lead screw, a shaft coupling and a stepping motor; the slide table II is threadedly connected to the lead screw through its internal nut And move along the lifting guide rail, the L-shaped corner code is fixedly connected with the slide table II through the slider II; the stepping motor is connected with the lead screw through a coupling. The high-position vision system includes a camera I and a pulley biaxial light bar slide table I; the pulley biaxial light bar slide table I includes a slide table body I, a biaxial light bar I, a pulley bearing I and a slide block I; The base of the camera I is connected with the slide block I and the pulley biaxial light bar slide table I, and the slide table body I is connected with the slide block II of the visual lifting system through the L-shaped corner code I. Both sides inside described slide table body 1 are provided with biaxial light bar 1, and pulley bearing 1 is fixed on the slide table slider 1 by internal bearing, and slide table slide block 1 is installed on the slide table body 1. The utility model intelligently recognizes the images collected by the high-level vision system and the low-level vision system, which can prevent picking hands from picking immature wolfberry fruits, thereby improving the quality of wolfberry picking and ensuring the output of wolfberry.

Wherein, the wolfberry picking device also includes a "line" positioning rod, and the positioning rod includes a front positioning rod and a rear positioning rod; the front positioning rod and the rear positioning rod are symmetrically arranged on the two sides of the turntable side. The vision lifting system is fixed on the end of the rear positioning rod, and the head end of the rear positioning rod is fixed on the edge of the turntable; the low position vision system is fixed on the end of the front positioning rod, and the front positioning rod The head end is fixed on the edge of the turntable. The low position vision system and the vision lifting system are arranged on the same axis of the turntable. The low-position vision system includes a camera II and a two-axis light bar slide table II with pulleys; the two-axis light bar slide table II with pulleys includes a slide body II, a two-axis light bar II, a pulley bearing II, a slide block II and Composed of L-shaped corner code II; the base of the camera II is directly connected to the slide body II, and the slide body II is connected to the front positioning rod through the L-shaped corner code II; both sides inside the slide body II A double-axis light rod II is provided, and the pulley bearing II is fixed on the sliding block II of the sliding table through an internal bearing, and the sliding block II of the sliding table is installed on the main body II of the sliding table.

Preferably, one side of the slide block I is provided with a set screw I, and one side of the slide block II is provided with a set screw II; the set screw I is used to fix and limit the sliding The movement of the slide block I; the set screw II is used to fix and limit the movement of the slide block II.

Preferably, the wolfberry picking manipulator and the branch positioning manipulator each include a set of six-degree-of-freedom manipulators. A "line" fixing plate is provided on the rotary platform, and the "line" fixing plate is perpendicular to the "line" positioning rod. The wolfberry picking machine manipulator and the branch positioning manipulator are provided with two ends of a "line" fixing plate.

The control system includes a TMS320F28335 controller, a relay system, a signal input conditioning circuit and a signal output conditioning circuit; the drive system includes a sliding platform lifting system driver, a visual lifting system driver, an electric turntable driver, a wolfberry picking machine manipulator driver, and branch positioning Manipulator driver; the power system includes a lithium iron phosphate battery and a voltage stabilizing circuit. The control system, drive system and power supply system are all installed in the control cabinet; the control cabinet is fixed on the frame. The TMS320F28335 controller is connected to the relay system, the signal input conditioning circuit, and the signal output conditioning circuit respectively; the relay system is connected to the fruit collection mechanism, and the signal input conditioning circuit is connected to the external laser sensor matrix; the signal output conditioning circuit is connected to the drive system. circuit connection.

The beneficial effects of the utility model are:

(1) The motion of described visual lifting system can drive the motion of high-position visual system, thereby gathers the image of middle and high place; It greatly expands the image acquisition range, expands the working field of view of the machine, and greatly alleviates the problem of the limited range of machine vision and manipulator picking work of the Qi picking machine in the narrow field.

(2) Since the center point of the wolfberry picking manipulator and the branch positioning manipulator, the high-position vision system and the low-position vision system are on the same axis, and the high-position vision system and the low-position vision system, the wolfberry picking manipulator and the branch positioning manipulator are always synchronized; thus making the four The coordinate position in image processing is relatively fixed, which makes the coordinate transformation problem in image processing easier, and then the accuracy of wolfberry picking has nothing to do with the accuracy of the electric turntable motor, ensuring the accuracy of picking.

Description of drawings

Fig. 1 is one of structural representation of the utility model;

Fig. 2 is the second structural representation of the utility model;

Fig. 3 is the third structural representation of the utility model;

Fig. 4 is the fourth structural representation of the utility model;

Fig. 5 is the structural representation of the middle and high position visual system of the utility model;

Fig. 6 is a schematic structural view of the vision lifting system in the utility model;

Fig. 7 is a structural schematic diagram of the sliding platform lifting system in the utility model;

Fig. 8 is a structural schematic diagram of the sliding table lifting system installed with electric turntable and positioning rod in the utility model;

Fig. 9 is a schematic structural view of the electric turntable in the utility model;

Fig. 10 is the structural representation of control cabinet in the utility model;

Among them: 1: Lycium barbarum picking manipulator; 2: Branch positioning manipulator; 3: Control cabinet;

4: Control system; 4-1: TMS320F28335 controller; 4-2: Relay system; 4-3: Signal input conditioning circuit; 4-4 Signal output conditioning circuit:

5: Drive system; 5-1: Slide table lifting system driver; 5-2: Visual lifting system driver; 5-3: Electric turntable driver; 5-4: Wolfberry picking machine manipulator driver; 5-5: Branch positioning manipulator driver ;

6: Power supply system; 6-1: Lithium iron phosphate battery; 6-2: Regulator circuit;

7: High-level vision system; 7-1: Camera I; 7-2: Pulley double-axis light bar slide table I; 7-2a: Slide table body I; 7-2b: Double-axis light bar I; 7-2c: Pulley Bearing I; 7-2d: slide block I; 7-2e: set screw I;

8: Low position vision system; 8-2a: Slider body II; 8-2f: L-shaped corner code II;

9: Slider lifting system; 9-1: Slider I; 9-2: Square table; 9-1a: Slider body; 9-1b: Slider I; 9-1c: Stepping motor; 9-1d: Driving gear; 9-1e: driven rack;

10: Visual lifting system; 10-1: Lifting guide rail; 10-2: Slider II; 10-3: Slider II; 10-4: L-shaped corner code I; 10-5: Lead screw; 10-6: Coupling; 10-7: stepper motor;

11: Electric turntable; 11-1: Rotary table; 11-2: Disc body; 11-3: Bearing; 11-4: Coupling; 11-5: Servo motor; 11-6: Fixed plate;

12: Rack;

13: positioning rod; 13-1: front positioning rod; 13-2: rear positioning rod.

detailed description

Below in conjunction with accompanying drawing, the utility model is described further.

Example 1:

A wolfberry picking device with a distributed machine vision system includes a frame 12 and a control system 4, a drive system 5, a power supply system 6, a high-level vision system 7, a low-level vision system 8, and a visual lifting system 10 arranged on the frame 12. Lycium barbarum picking manipulator 1, branch positioning manipulator 2. The high position vision system 7 is connected with the frame 12 through the vision lifting system 10 . The control system 4 , drive system 5 and power supply system 6 are all installed in the control cabinet 3 , and the control cabinet 3 is fixed on the frame 12 . The control system 4 includes a TMS320F28335 controller 4-1, a relay system 4-2, a signal input conditioning circuit 4-3 and a signal output conditioning circuit 4-4. The TMS320F28335 controller 4-1 is connected with the relay system 4-2, the signal input conditioning circuit 4-3, and the signal output conditioning circuit 4-4 respectively; the relay system 4-1 is connected with the fruit collection mechanism, and the signal input conditioning circuit 4 -3 is connected to the external laser sensor matrix; the signal output conditioning circuit 4-4 is connected to the circuit of the drive system 5. The drive system 5 includes a sliding platform lifting system driver 5-1, a visual lifting system driver 5-2, an electric turntable driver 5-3, a wolfberry picking machine manipulator driver 5-4, and a branch positioning manipulator driver 5-5; The system 6 includes a lithium iron phosphate battery 6-1 and a voltage stabilizing circuit 6-2.

The visual lifting system 10 includes a lifting guide rail 10-1, a slide table II10-2, a slider II10-3, an L-shaped corner code 10-4, a lead screw 10-5, a coupling 10-6 and a stepping motor 10 -7. The slide table II10-2 is movably connected with the lead screw 10-5 and moves along the lifting guide rail 10-1, and the L-shaped corner code 10-4 is fixedly connected with the slide table II10-2 through the slide block II10-3; The stepping motor 10-7 is connected with the leading screw 10-5 through a coupling 10-6.

The wolfberry picking device also includes a sliding table lifting system 9 arranged on the frame 12, the low-position vision system 8, the visual lifting system 10, the wolfberry picking manipulator 1 and the branch positioning manipulator 2 are all arranged on the sliding table through the electric turntable 11. On the lifting system 9, and then connected with the frame 12. The control system 4 is connected to the sliding table lifting system 9, the visual lifting system 10, the electric turntable 11, the medlar picking machine manipulator 1, and the branch positioning manipulator 2 through the drive system 5 respectively. The slide table lifting system 9 includes a slide table 19-1 and a square table 9-2, and the square table 9-2 is connected with the frame 12 through the slide table 19-1. The slide table I9-1 includes a slide table main body 9-1a, a slide block I9-1b, a stepping motor 9-1c, a driving gear 9-1d and a driven rack 9-1e. The main body of the sliding table 9-1a is fixed on the frame 12, two driven racks 9-1e are embedded on both sides of the main body of the sliding table 9-1a, and the main body of the sliding table 9-1a is provided with The slide block I9-1b is connected with the square table 9-2 through the slide block I9-1b. Stepping motor 9-1c and 3 driving gears 9-1d are fixedly arranged on the described slide block 19-1b, and described 3 driving gears 9-1d are fixed on the axle of stepping motor 9-1c, and described 3 The driving gear 9-1d is in staggered mesh with the driven rack 9-1e.

Example 2:

Different from Embodiment 1, the electric turntable 11 includes a turntable 11-1, a disk body 11-2, a bearing 11-3, a shaft coupling 11-4 and a servo motor 11-5. The disc body 11-2 and the servo motor 11-5 are arranged on the square table top 9-2, the rotary table 11-1 is connected with the disc body 11-2 through the bearing 11-3, and the servo motor 11-5 is connected through the The shaft coupling 11-4 is connected with the disc body 11-2.

The wolfberry picking device also includes a positioning rod 13, and the positioning rod 13 includes a front positioning rod 13-1 and a rear positioning rod 13-2. The visual lifting system 7 is fixed on the end of the rear positioning rod 13-2, and the head end of the rear positioning rod 13-2 is fixed on the edge of the turntable 11-1. The low position vision system 8 is fixed on the end of the front positioning rod 13-1, and the head end of the front positioning rod 13-1 is fixed on the edge of the turn table 11-1. The low position vision system 8 and the vision lifting system 10 are arranged on the same axis of the turntable 11-1.

Example 3:

The difference from Embodiment 2 is that the high-position vision system 7 includes a camera I7-1 and a pulley two-axis smooth bar slide I7-2. The pulley biaxial light bar slide table I7-2 includes a slide table body I7-2a, a biaxial light bar I7-2b, a pulley bearing I7-2c and a slide table slider I7-2d. The base of the camera I7-1 is connected to the sliding table slider I7-2d and the pulley biaxial light bar sliding table I7-2, and the sliding table body I7-2a is connected to the visual lifting system 10 through the L-shaped corner code I10-4 The slider II10-3 is connected; the two sides of the slider body I7-2a are provided with a double-axis light bar I7-2b, and the pulley bearing I7-2c is fixed on the slider I7-2d of the slider through an internal bearing, and the slider The slider I7-2d is installed on the slide body I7-2a.

The low-position vision system 8 includes a camera II and a pulley biaxial light bar slide II; Composed of block II and L-shaped corner code II8-2f. The base of the camera II is directly connected to the slide body II8-2a, and the slide body II8-2a is connected to the front positioning rod 13-1 through the L-shaped corner code II8-2f; the slide body II8- Two-axis light bars II are arranged on both sides of the inside of 2a, and the pulley bearing II is fixed on the sliding block II of the sliding table through the internal bearing, and the sliding block II of the sliding table is installed on the sliding table body II8-2a.

Example 4:

The difference from Embodiment 3 is that a set screw I7-2e is provided on one side of the slide block I7-2d of the slide table, and a set screw II is provided on one side of the slide block II of the slide table. The set screw I7-2e is used to fix and limit the movement of the slide block I7-2d; the set screw II is used to fix and limit the movement of the slide block II.

Example 5:

Different from Example 3, the wolfberry picking manipulator 1 and the branch positioning manipulator 2 each include a set of six-degree-of-freedom manipulators. A "line" fixed plate 11-6 is provided on the turntable, and the "line" fixed plate 11-6 is perpendicular to the "line" positioning rod 13. The wolfberry picking machine manipulator 1 and the branch positioning manipulator 2 are provided with two ends of a "line" fixing plate 11-6.

Claims (4)

1. for the slide unit jacking system of medlar-picking machine structure, described slide unit jacking system (9) includes slide unit I (9-1) and lifting platform, and described lifting platform is connected with the frame (12) of picking mechanism by slide unit I (9-1);It is characterized in that: described slide unit I (9-1) includes slide unit main body (9-1a), slide block I (9-1b), motor (9-1c), driving gear (9-1d) and driven tooth bar (9-1e); Described slide unit main body (9-1a) is fixed in frame (12), and the inside of described slide unit main body (9-1a) is embedded with driven tooth bar (9-1e); Described slide unit main body (9-1a) is provided with slide block I (9-1b), and is connected with lifting platform by slide block I (9-1b); Described slide block I (9-1b) is fixedly installed motor (9-1c) and driving gear (9-1d), described driving gear (9-1d) is fixed on the axle of motor (9-1c), and described driving gear (9-1d) is staggered with driven tooth bar (9-1e) and engages.

2. the slide unit jacking system for medlar-picking machine structure according to claim 1, it is characterised in that: the both sides, inside of described slide unit main body (9-1a) are embedded with two driven tooth bars (9-1e); The quantity of described driving gear (9-1d) is 3; Described lifting platform is square mesa (9-2).

3. the slide unit jacking system for medlar-picking machine structure according to claim 1 and 2, it is characterized in that: described slide unit jacking system (9) is provided with electric turntable (11), described electric turntable (11) includes rotation platform (11-1), disk body (11-2), bearing (11-3), shaft coupling (11-4) and servomotor (11-5); Described disk body (11-2) and servomotor (11-5) are arranged on lifting platform, described rotation platform (11-1) is connected by bearing (11-3) and disk body (11-2), and described servomotor (11-5) is connected with disk body (11-2) by shaft coupling (11-4).

4. the slide unit jacking system for medlar-picking machine structure according to claim 3, it is characterised in that: described rotation platform (11-1) is provided with mutually perpendicular " yi word pattern " fixing plate (16) and " yi word pattern " positions bar (13); Described location bar (13) includes preposition location bar (13-1) and rearmounted location bar (13-2); One end of described preposition location bar (13-1) and rearmounted location bar (13-2) is fixed on the edge of rotation platform (11-1).