CN207070638U - A kind of small-sized eggplant harvesting robotic - Google Patents
A kind of small-sized eggplant harvesting robotic Download PDFInfo
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- CN207070638U CN207070638U CN201720698184.2U CN201720698184U CN207070638U CN 207070638 U CN207070638 U CN 207070638U CN 201720698184 U CN201720698184 U CN 201720698184U CN 207070638 U CN207070638 U CN 207070638U
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Abstract
The utility model discloses a kind of small-sized eggplant harvesting robotic, including pedestal, distribution box, control cabinet and storing bin, the distribution box is provided with the middle part of the impact faces, the distribution box side is provided with the control cabinet, display screen is provided with the control cabinet, the display screen side is provided with control button, and the control button side is provided with power switch.Beneficial effect is：The present apparatus is provided with the counting device of counter and display screen composition, passes through rolling counters forward and the eggplant quantity plucked by display screen real-time display, it is not necessary to manually counts, it is accurate to reduce workload and the statistical result of worker, not error-prone.
Description
Technical field
Picking robot field is the utility model is related to, is specifically related to a kind of small-sized eggplant harvesting robotic.
Background technology
With the development and application of new Agriculture Production Modes and new technology, agricultural robot is progressively marched toward the agricultural production main force
The ranks of army.Important kind of the picking robot as agricultural robot, there is very big development potentiality.Currently, foreign agriculture
Robot is quickly grown, and domestic like product follows up rapidly, has achieved initial success, and eggplant harvesting robotic is wherein
One kind, traditional eggplant harvesting robotic is not provided with counting device, it is impossible to the eggplant quantity that real-time statistics have been plucked,
Generally require manually to count, statistical efficiency is low and easily malfunctions, it is therefore desirable to a kind of small-sized eggplant harvesting robotic.
Utility model content
The purpose of this utility model is that to solve the above problems and provides a kind of small-sized eggplant harvesting robotic.
The utility model is achieved through the following technical solutions above-mentioned purpose：
A kind of small-sized eggplant harvesting robotic, including pedestal, distribution box, control cabinet and storing bin, in the impact faces
Portion is provided with the distribution box, and the distribution box side is provided with the control cabinet, and display screen, institute are provided with the control cabinet
State display screen side and be provided with control button, the control button side is provided with power switch, set inside the control cabinet
There is control main frame, counter is provided with the control main frame, another side of distribution box is provided with the storing bin, described
Motor is provided below in pedestal, and crawler belt prismatic pair is provided with the motor, driving box is provided with above the distribution box,
Mechanical arm is provided with above the driving box, the driving box side is provided with connecting rod, and the mechanical arm side sets colored
Sensor, the mechanical arm end set have clamper.
In said structure, when needing to use device, the storing bin is placed on the pedestal by user, is made afterwards
User is powered by pressing the power switch by device, sends work order by the control button, work order is with electricity
The form of signal passes to the control main frame by wire, and the control main frame passes through work order as electronic signals
Wire passes to the motor, and the electric motor operation drives the crawler belt prismatic pair action, the crawler belt prismatic pair action
Driving device is moved, while work order is passed to the color by wire as electronic signals and passed by the control main frame
Sensor, the color sensor work is used for obtaining the colouring information in environment in real time, when the characteristic color information for finding eggplant
When, work order is triggered, work order passes to the clamper, the clamper action by wire as electronic signals
Eggplant is gathered in and clamped, while work order is passed to the driving by the control main frame by wire as electronic signals
Case, the driving box action drive the mechanical arm and connecting rod action that the clamper is moved on the storing bin
Side, flip-flop number instruction when movement stops, counting instruction and the counter is passed to by wire as electronic signals, it is described
Counter works count to unclamp to instruct simultaneously passes to the control main frame, the control by wire as electronic signals
Main frame will unclamp instruction and pass to the clamper by wire as electronic signals, and the clamper action is unclamped eggplant
It is put into the storing bin and deposits, the color sensor proceeds by next color characteristic identification afterwards, and the clamper enters
Row next time harvesting, so just complete to eggplant harvesting harvesting, while the counter by count information with the shape of electric signal
Formula passes to the control main frame by wire, and count information is passed through wire transmission by the control main frame as electronic signals
To the display screen and in real-time display above.
In order to further improve the use function of eggplant harvesting robotic, the distribution box is fixed by screws in the base
On seat, the control cabinet is fixed by screws on the pedestal, and the display screen is glued on the control cabinet.
In order to further improve the use function of eggplant harvesting robotic, the control button is embedded in the control cabinet
On, the power switch is fixed on the control cabinet by neck, and the control main frame is fixed on the control by neck
In case.
In order to further improve the use function of eggplant harvesting robotic, the counter is fixed on the control by neck
On main frame processed, the storing bin is fixed on the pedestal by neck, and the motor mechanically connects with the pedestal.
In order to further improve the use function of eggplant harvesting robotic, the crawler belt prismatic pair and motor machinery
Connection, the driving box are fixed by screws on the distribution box, and the mechanical arm mechanically connects with the driving box.
In order to further improve the use function of eggplant harvesting robotic, the connecting rod mechanically connects with the driving box,
The color sensor is fixed by screws on the mechanical arm, and the clamper mechanically connects with the mechanical arm.
It is the control main frame and the counter, described in order to further improve the use function of eggplant harvesting robotic
Distribution box, the motor, the driving box, the color sensor, the clamper, the display screen, the power supply are opened
Pass is connected with the control button by wire.
Beneficial effect is：The present apparatus is provided with the counting device of counter and display screen composition, passes through rolling counters forward
And the eggplant quantity plucked by display screen real-time display, it is not necessary to manually count, reduce the workload of worker
It is not error-prone and statistical result is accurate.
Brief description of the drawings
Fig. 1 is a kind of overall diagram of small-sized eggplant harvesting robotic of the utility model；
Fig. 2 is a kind of control cabinet interior view of small-sized eggplant harvesting robotic of the utility model.
Description of reference numerals is as follows：
1st, mechanical arm；2nd, control cabinet；3rd, display screen；4th, control button；5th, power switch；6th, pedestal；7th, motor；8th, carry out
Tape movement pair；9th, clamper；10th, color sensor；11st, connecting rod；12nd, driving box；13rd, storing bin；14th, distribution box；15th, count
Device；16th, control main frame.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings：
As Figure 1-Figure 2, a kind of small-sized eggplant harvesting robotic, including pedestal 6, distribution box 14, control cabinet 2 and storing
Storehouse 13, Middle face is provided with distribution box 14 on pedestal 6, and distribution box 14 is used for providing electric energy, distribution box for the consuming parts of device
14 sides are provided with control cabinet 2, and control cabinet 2 is used for installing control assembly, display screen 3 is provided with control cabinet 2, display screen 3 is used
Carry out the count information for the eggplant quantity that real-time display has been plucked, the side of display screen 3 is provided with control button 4, and control button 4 is used
To send work order, the side of control button 4 is provided with power switch 5, and power switch 5 is used for the energization situation of control device,
Control cabinet 2 is internally provided with control main frame 16, and control main frame 16 is the control centre of device, and counting is provided with control main frame 16
Device 15, counter 15 are used for the count information for the eggplant quantity that real-time statistics have been plucked, and 14 another side of distribution box is provided with
Storing bin 13, storing bin 13 are used for depositing the eggplant of harvesting, and motor 7 is provided below in pedestal 6, and motor 7 is used for driving shoe
Tape movement pair 8 is acted, and crawler belt prismatic pair 8 is provided with motor 7, and crawler belt prismatic pair 8 moves for driving device, distribution box 14
Driving box 12 is provided with above, and driving box 12 is used for driving mechanical arm 1 and connecting rod 11 acts, and driving box 12 is provided with machinery above
Arm 1, mechanical arm 1 are used for driving clamper 9 to move, and the side of driving box 12 is provided with connecting rod 11, and connecting rod 11 is used for driving clamper 9
Mobile, the side of mechanical arm 1 is provided with color sensor 10, and color sensor 10 is entered by identifying the characteristic color information of eggplant
Row positioning, the end set of mechanical arm 1 have clamper 9, and clamper 9 is used for carrying out harvesting clamping to eggplant.
In said structure, when needing to use device, storing bin 13 is placed on pedestal 6 by user, afterwards user
Allow device to be powered by pressing power switch 5, work order is sent by control button 4, work order is as electronic signals
Control main frame 16 is passed to by wire, control main frame 16 passes to work order electronic by wire as electronic signals
Machine 7, the work of motor 7 drive crawler belt prismatic pair 8 to act, and crawler belt prismatic pair 8 acts driving device movement, while control main frame 16
Work order is passed into color sensor 10 by wire as electronic signals, the work of color sensor 10 is used for obtaining in real time
The colouring information in environment is taken, when finding the characteristic color information of eggplant, triggers work order, work order is with electric signal
Form passes to clamper 9 by wire, and clamper 9 is acted to gather in eggplant and clamped, while control main frame 16 is by work order
Driving box 12 is passed to by wire as electronic signals, driving box 12 acts driving mechanical arm 1 and the action of connecting rod 11 will folder
Holder 9 is moved to the top of storing bin 13, flip-flop number instruction when movement stops, counting instruction and passes through wire as electronic signals
Counter 15 is passed to, the job count of counter 15 will unclamp instruction and passes to control by wire as electronic signals simultaneously
Main frame 16, control main frame 16 pass to clamper 9 by wire as electronic signals by instruction is unclamped, and clamper 9 acts pine
Open eggplant being put into storing bin 13 and deposit, color sensor 10 proceeds by next color characteristic identification afterwards, and clamper 9 enters
Row next time harvesting, so just complete to eggplant harvesting harvesting, unison counter 15 by count information as electronic signals
Control main frame 16 is passed to by wire, control main frame 16 is by the count information for the eggplant quantity plucked with the shape of electric signal
Formula passes to display screen 3 and in real-time display above by wire.
In order to further improve the use function of eggplant harvesting robotic, distribution box 14 is fixed by screws on pedestal 6,
Control cabinet 2 is fixed by screws on pedestal 6, and display screen 3 is glued on control cabinet 2, and control button 4 is embedded on control cabinet 2,
Power switch 5 is fixed on control cabinet 2 by neck, and control main frame 16 is fixed in control cabinet 2 by neck, and counter 15 is logical
Cross neck to be fixed in control main frame 16, storing bin 13 is fixed on pedestal 6 by neck, and motor 7 connects with the machinery of pedestal 6
Connect, crawler belt prismatic pair 8 is mechanically connected with motor 7, and driving box 12 is fixed by screws on distribution box 14, and mechanical arm 1 is with driving
Dynamic case 12 is mechanically connected, and connecting rod 11 is mechanically connected with driving box 12, and color sensor 10 is fixed by screws on mechanical arm 1,
Clamper 9 mechanically connects with mechanical arm 1, control main frame 16 and counter 15, distribution box 14, motor 7, driving box 12, color
Sensor 10, clamper 9, display screen 3, power switch 5 are connected with control button 4 by wire.
General principle, principal character and advantage of the present utility model has been shown and described above.The technical staff of the industry
It should be appreciated that the utility model is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification is originally
The principle of utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model also has various change
And improvement, these changes and improvements are both fallen within claimed the scope of the utility model.The utility model requires protection scope
Defined by appended claims and its effect thing.
Claims (7)
- A kind of 1. small-sized eggplant harvesting robotic, it is characterised in that：Including pedestal, distribution box, control cabinet and storing bin, the base Middle face is provided with the distribution box on seat, and the distribution box side is provided with the control cabinet, is provided with the control cabinet Display screen, the display screen side are provided with control button, and the control button side is provided with power switch, the control cabinet Control main frame is internally provided with, counter is provided with the control main frame, another side of distribution box is provided with the storage Motor is provided below in thing storehouse, the pedestal, and crawler belt prismatic pair is provided with the motor, is set above the distribution box There is driving box, mechanical arm is provided with above the driving box, the driving box side is provided with connecting rod, and the mechanical arm side is set Color sensor is equipped with, the mechanical arm end set has clamper.
- A kind of 2. small-sized eggplant harvesting robotic according to claim 1, it is characterised in that：The distribution box passes through screw It is fixed on the pedestal, the control cabinet is fixed by screws on the pedestal, and the display screen is glued to the control On case.
- A kind of 3. small-sized eggplant harvesting robotic according to claim 1, it is characterised in that：The control button is embedded in On the control cabinet, the power switch is fixed on the control cabinet by neck, and the control main frame is fixed by neck In the control cabinet.
- A kind of 4. small-sized eggplant harvesting robotic according to claim 1, it is characterised in that：The counter passes through neck It is fixed in the control main frame, the storing bin is fixed on the pedestal by neck, the motor and the pedestal Mechanically connect.
- A kind of 5. small-sized eggplant harvesting robotic according to claim 1, it is characterised in that：The crawler belt prismatic pair and institute Motor mechanical connection is stated, the driving box is fixed by screws on the distribution box, the mechanical arm and the driving box Mechanically connect.
- A kind of 6. small-sized eggplant harvesting robotic according to claim 1, it is characterised in that：The connecting rod and the driving Case is mechanically connected, and the color sensor is fixed by screws on the mechanical arm, the clamper and the mechanical arm machine Tool connects.
- A kind of 7. small-sized eggplant harvesting robotic according to claim 1, it is characterised in that：The control main frame with it is described Counter, the distribution box, the motor, the driving box, the color sensor, the clamper, the display screen, The power switch is connected with the control button by wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201720698184.2U CN207070638U (en) | 2017-06-15 | 2017-06-15 | A kind of small-sized eggplant harvesting robotic |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720698184.2U CN207070638U (en) | 2017-06-15 | 2017-06-15 | A kind of small-sized eggplant harvesting robotic |
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| CN207070638U true CN207070638U (en) | 2018-03-06 |
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| CN108527307A (en) * | 2018-04-18 | 2018-09-14 | 赵子宁 | A kind of eggplant picking robot based on image recognition |
| US10162362B2 (en) | 2016-08-29 | 2018-12-25 | PerceptIn, Inc. | Fault tolerance to provide robust tracking for autonomous positional awareness |
| US10192113B1 (en) | 2017-07-05 | 2019-01-29 | PerceptIn, Inc. | Quadocular sensor design in autonomous platforms |
| US10354396B1 (en) | 2016-08-29 | 2019-07-16 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US10366508B1 (en) | 2016-08-29 | 2019-07-30 | Perceptin Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US10395117B1 (en) | 2016-08-29 | 2019-08-27 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US10402663B1 (en) | 2016-08-29 | 2019-09-03 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous mapping |
| US10410328B1 (en) | 2016-08-29 | 2019-09-10 | Perceptin Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US10423832B1 (en) | 2016-08-29 | 2019-09-24 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US10437252B1 (en) | 2017-09-08 | 2019-10-08 | Perceptln Shenzhen Limited | High-precision multi-layer visual and semantic map for autonomous driving |
| US10453213B2 (en) | 2016-08-29 | 2019-10-22 | Trifo, Inc. | Mapping optimization in autonomous and non-autonomous platforms |
| US10496104B1 (en) | 2017-07-05 | 2019-12-03 | Perceptin Shenzhen Limited | Positional awareness with quadocular sensor in autonomous platforms |
| US10571926B1 (en) | 2016-08-29 | 2020-02-25 | Trifo, Inc. | Autonomous platform guidance systems with auxiliary sensors and obstacle avoidance |
| US10571925B1 (en) | 2016-08-29 | 2020-02-25 | Trifo, Inc. | Autonomous platform guidance systems with auxiliary sensors and task planning |
| US10794710B1 (en) | 2017-09-08 | 2020-10-06 | Perceptin Shenzhen Limited | High-precision multi-layer visual and semantic map by autonomous units |
| US11314262B2 (en) | 2016-08-29 | 2022-04-26 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
| US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
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- 2017-06-15 CN CN201720698184.2U patent/CN207070638U/en active Active
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| US10571926B1 (en) | 2016-08-29 | 2020-02-25 | Trifo, Inc. | Autonomous platform guidance systems with auxiliary sensors and obstacle avoidance |
| US10354396B1 (en) | 2016-08-29 | 2019-07-16 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US10366508B1 (en) | 2016-08-29 | 2019-07-30 | Perceptin Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US11948369B2 (en) | 2016-08-29 | 2024-04-02 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous mapping |
| US10402663B1 (en) | 2016-08-29 | 2019-09-03 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous mapping |
| US10410328B1 (en) | 2016-08-29 | 2019-09-10 | Perceptin Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US10423832B1 (en) | 2016-08-29 | 2019-09-24 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US10571925B1 (en) | 2016-08-29 | 2020-02-25 | Trifo, Inc. | Autonomous platform guidance systems with auxiliary sensors and task planning |
| US10453213B2 (en) | 2016-08-29 | 2019-10-22 | Trifo, Inc. | Mapping optimization in autonomous and non-autonomous platforms |
| US10496103B2 (en) | 2016-08-29 | 2019-12-03 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
| US11842500B2 (en) | 2016-08-29 | 2023-12-12 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
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| US10162362B2 (en) | 2016-08-29 | 2018-12-25 | PerceptIn, Inc. | Fault tolerance to provide robust tracking for autonomous positional awareness |
| US10395117B1 (en) | 2016-08-29 | 2019-08-27 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
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| US10929690B1 (en) | 2016-08-29 | 2021-02-23 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous mapping |
| US10943361B2 (en) | 2016-08-29 | 2021-03-09 | Trifo, Inc. | Mapping optimization in autonomous and non-autonomous platforms |
| US10983527B2 (en) | 2016-08-29 | 2021-04-20 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
| US11314262B2 (en) | 2016-08-29 | 2022-04-26 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
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| US11398096B2 (en) | 2016-08-29 | 2022-07-26 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous mapping |
| US11501527B2 (en) | 2016-08-29 | 2022-11-15 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US10496104B1 (en) | 2017-07-05 | 2019-12-03 | Perceptin Shenzhen Limited | Positional awareness with quadocular sensor in autonomous platforms |
| US10192113B1 (en) | 2017-07-05 | 2019-01-29 | PerceptIn, Inc. | Quadocular sensor design in autonomous platforms |
| US10794710B1 (en) | 2017-09-08 | 2020-10-06 | Perceptin Shenzhen Limited | High-precision multi-layer visual and semantic map by autonomous units |
| US10437252B1 (en) | 2017-09-08 | 2019-10-08 | Perceptln Shenzhen Limited | High-precision multi-layer visual and semantic map for autonomous driving |
| CN108527307A (en) * | 2018-04-18 | 2018-09-14 | 赵子宁 | A kind of eggplant picking robot based on image recognition |
| US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
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