CN208079863U - A kind of strawberry picking machine imitating human hand type - Google Patents
A kind of strawberry picking machine imitating human hand type Download PDFInfo
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- CN208079863U CN208079863U CN201820434578.1U CN201820434578U CN208079863U CN 208079863 U CN208079863 U CN 208079863U CN 201820434578 U CN201820434578 U CN 201820434578U CN 208079863 U CN208079863 U CN 208079863U
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- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 101
- 235000011363 Fragaria x ananassa Nutrition 0.000 title claims abstract description 101
- 240000009088 Fragaria x ananassa Species 0.000 title 1
- 241000220223 Fragaria Species 0.000 claims abstract description 101
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 27
- 239000011148 porous material Substances 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000007704 transition Effects 0.000 claims description 7
- 235000021012 strawberries Nutrition 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000028245 fruit abscission Effects 0.000 description 2
- 230000005070 ripening Effects 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 235000021028 berry Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000012858 resilient material Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a kind of strawberries imitating human hand type to pick machine, including gantry support, horizontal slider, vertical bar, vertical sliding block, positioning navigation device, strawberry picker and collector for fruits.Strawberry picker includes upper links, lower link and picking hook；Upper slider, upper links, picking hook, lower link and lower slider form a four-bar mechanism；It picks hook and is equipped with opening, arc groove and spherical pore；The top middle portion in picking hook is arranged in opening, and one end of arc groove and opening in communication, the other end of arc groove are connected with spherical pore；Collector for fruits is located at the underface of picking hook, and positioning navigation device includes binocular camera, DGPS receivers and antenna.The utility model is using gantry support as carrier, by image information feedback target strawberry and after being accurately positioned, so that the rotation of picking hook is taken strawberry in turn by servo motor drive link mechanism and is put into strawberry collection device.
Description
Technical field
The utility model is related to technical field of agricultural machinery, especially a kind of strawberry imitating human hand type picks machine.
Background technology
Recently as the popularization of strawberry picking plantation, we constantly expand cultivated strawberry area.China is generally in greenhouse
Middle progress ridge culture cultivated strawberry, strawberry harvest are generally completely dependent on manually, and labor intensity is big, and efficiency is low, has both wasted a large amount of manpowers,
More time is wasted again.Therefore, it reduces labor intensity, reduces labour cost, become the most important thing of strawberry picking.
Based on this, domestic and foreign scholars develop strawberry picking machine, and are planted for high-level cultivating and ridge culture
Training strawberry picking has certain achievement in research.However, existing strawberry picking machine has following deficiency when in use：
1：Existing strawberry picking machine mostly makes fruit abscission in the method for cutting stem, but due to strawberry soft and succulency,
Stem, which can touch other fruit surfaces, when collecting fruit makes it be destroyed, and seriously affects strawberry quality.
2：Existing large-scale picking machine is for when picking strawberry both at home and abroad, it is big there are extruding force the problems such as, and big face
When product picking, it is also easy to destroy strawberry.Thus, these machines are not only valuable but also cannot efficiently pick strawberry.
3：The strawberry furrow of China's ridge planting is narrow, and fruit hanging position is short, some are existing relatively large both at home and abroad
Complexity picking machine can not be applied under this working environment.
Utility model content
The technical problems to be solved in the utility model is in view of the above shortcomings of the prior art, and to provide a kind of imitation human hand
The strawberry of type picks machine, and the strawberry of the imitation human hand type picks machine using gantry support as carrier, fed back by image information
Target strawberry and after being accurately positioned by servo motor drive link mechanism and then makes the rotation of picking hook take strawberry to be put into grass
Certain kind of berries collection device.In addition, the utility model is simple in structure, it is cheap.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of strawberry imitating human hand type picks machine, including gantry support, horizontal slider, vertical bar, vertical sliding block, fixed
Position navigation device, strawberry picker and collector for fruits.
The quantity of gantry support is equal with the quantity on strawberry ridge, and length direction of the gantry support along strawberry ridge is set up, one
Strawberry ridge corresponds to a gantry support.
Each gantry support includes being located at the horizontal guide rail laid above strawberry ridge and along strawberry ridge length direction；It is horizontal
Sliding block is slidably connected with horizontal guide rail, and the top of vertical bar is fixedly connected with horizontal slider.
Vertical sliding block sliding sleeve is mounted in the periphery of vertical bar, and can be lifted along the short transverse of vertical bar.
It is provided with the upper slider movement guide groove being mutually parallel on one side of vertical sliding block and lower slider movement is led
Slot, and the length direction of upper slider movement guide groove and the length direction on strawberry ridge are perpendicular；Upper slider moves sliding in guide groove
It is dynamic to be connected with upper slider, slidably connect lower slider in lower slider movement guide groove.
Strawberry picker includes upper links, lower link and picking hook；One end of upper links and upper slider
It is fixedly connected, the top of the other end and picking hook of upper links is hinged；One end of lower link is fixed with lower slider
The bottom end of connection, the other end and picking hook of lower link is hinged；Upper slider, upper links, picking hook, lower part connect
Bar and lower slider form a four-bar mechanism.
It is provided with opening, arc groove and spherical pore on picking hook；The top middle portion in picking hook, arc is arranged in opening
The other end of one end of slot and opening in communication, arc groove is connected with spherical pore, and the width of arc groove is more than the diameter of stem end,
But less than the diameter of spherical pore.
Collector for fruits is located at the underface of picking hook, and is connected with vertical slider bottom by connecting rod.
Positioning navigation device includes binocular camera, DGPS receivers and antenna；Binocular camera setting is towards strawberry
On the vertical sliding block of ridge side, DGPS receivers and antenna are arranged on vertical sliding block.
Further include the industrial personal computer being arranged on vertical sliding block, industrial personal computer is connected with positioning navigation device.
It is connected by arc-shaped transition frame between two neighboring gantry support, is provided on arc-shaped transition frame and horizontal guide rail
The arc-shaped guide rail being connected.
Horizontal slider is driven along the horizontal sliding of horizontal guide rail by horizontal slider servo motor, horizontal slider servo motor
It is connected with industrial personal computer.
The sliding that upper slider moves guide groove along upper slider is driven by upper slider servo motor, and lower slider is under
The sliding of portion's sliding motion guide groove is driven by lower slider servo motor, upper slider servo motor and lower slider servo electricity
Machine is connected with industrial personal computer.
The sliding of vertical sliding block vertically bar is driven by vertical slider servo motor, vertical slider servo motor and industry control
Machine is connected.
The internal face of spherical pore and the internal face of collector for fruits are both provided with elastomeric layer.
The utility model has the advantages that：
1. existing strawberry picking machine mostly makes fruit abscission in the method for cutting stem, when collecting fruit, stem can touch it
His fruit surface, is destroyed.The utility model fully imitates artificial Softening, is rotated and is gripped by Mechanical course machinery hand
Strawberry is picked, and the quality of picking fruit is substantially increased.
2. it can realize that horizontal, vertical, three directions of depth precise navigation campaign, end pick hook in motor
It can rotate under adjusting and adjust angle, strawberry can be accurately positioned and grip under image information feedback device auxiliary,
Realize the accurate picking of fruit.
3. since the gantry support on each ridge can connect, strawberry picking robot can in upper continuous moving,
To realize the continuous picking of ridge culture strawberry.
Description of the drawings
Fig. 1 shows a kind of structural schematic diagram for the strawberry picking machine imitating human hand type of the utility model.
Fig. 2 shows vertical bar and the connection diagram of horizontal slider.
Fig. 3 shows the structural schematic diagram of vertical sliding block and picker.
Fig. 4 shows the structural schematic diagram of upper slider.
Fig. 5 shows the connection diagram of upper links and upper slider.
Fig. 6 shows the structural schematic diagram of lower link.
Fig. 7 shows gantry support and upper rail schematic diagram.
Fig. 8 shows structural schematic diagram when picking hook picking strawberry.
Fig. 9 shows the side view of picking hook picking strawberry.
Figure 10 shows the connection diagram of the gantry support on two neighboring ridge.
Have in figure：1 is gantry support, and 2 be attaching nut, and 3 be vertical bar, and 4 be vertical sliding block, and 5 be upper slider, and 6 are
Lower slider, 7 be picking hook, and 71 be opening；72 be arc groove；73 be spherical pore；8 be upper links, and 9 watch for vertical sliding block
Motor is taken, 10 be upper slider servo motor, and 11 be industrial personal computer, and 12 be collector for fruits, and 13 be binocular camera, under 14 are
Portion's slider servo motor, 15 move guide groove for upper slider, and 16 move guide groove for lower slider, and 17 be connecting rod, and 18 be level
Slider servo motor, 19 be horizontal slider, and 20 be horizontal guide rail；21 be arc-shaped transition frame；30 be strawberry；31 be strawberry fruit；
32 be strawberry stem end.
Specific implementation mode
The utility model is described in further detail with specific better embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of strawberry imitating human hand type picks machine, including it is gantry support 1, horizontal slider 19, vertical
Bar 3, vertical sliding block 4, positioning navigation device, strawberry picker, industrial personal computer 11 and collector for fruits 12.
The quantity of gantry support is equal with the quantity on strawberry ridge, and length direction of the gantry support along strawberry ridge is set up, one
Strawberry ridge corresponds to a gantry support.
Further preferably, it is connected by arc-shaped transition frame 21 between two neighboring gantry support, as shown in Figure 10, arc
The arc-shaped guide rail being connected with horizontal guide rail is provided in transition frame.In this way, the gantry support on each ridge can connect,
Strawberry picking robot can be in upper continuous moving, to realize the continuous picking of ridge culture strawberry.
As shown in fig. 7, each gantry support includes being located at the water laid above strawberry ridge and along strawberry ridge length direction
Level gauge 20；Horizontal slider is slidably connected with horizontal guide rail, and horizontal slider is preferably slided by level along the horizontal sliding of horizontal guide rail
Block servo motor 18 is driven, and horizontal slider servo motor is connected with industrial personal computer.
As shown in Fig. 2, the top of vertical bar is preferably fixedly connected by attaching nut 2 with horizontal slider, to form one
A entirety.
Vertical sliding block sliding sleeve is mounted in the periphery of vertical bar, and can be lifted along the short transverse of vertical bar.It is vertical sliding
The sliding of block vertically bar is preferably driven by vertical slider servo motor 9, and vertical slider servo motor is connected with industrial personal computer.
As shown in figure 3, being provided with the upper slider movement guide groove 15 being mutually parallel on a side of vertical sliding block under
Portion's slide block movement guide groove 16, and the length direction of upper slider movement guide groove and the length direction on strawberry ridge are perpendicular.
Upper slider 5 as shown in Figure 4 is slidably connected in upper slider movement guide groove, upper slider is transported along upper slider
The sliding of dynamic guide groove is preferably by 10 driven of upper slider servo motor
Lower slider 6 is slidably connected in lower slider movement guide groove, lower slider moves the cunning of guide groove along lower slide
Shifting is preferably driven by lower slider servo motor 14.
Upper slider servo motor and lower slider servo motor are connected with industrial personal computer.
Strawberry picker includes upper links 8, lower link and picking hook 7.
As shown in figure 5, one end of upper links is fixedly connected with upper slider, the other end and the picking hook of upper links
Top be hinged.
As shown in fig. 6, one end of lower link is fixedly connected with lower slider, the other end and the picking hook of lower link
Bottom end be hinged.
Above-mentioned upper slider, upper links, picking hook, lower link and lower slider form a four-bar mechanism.
As shown in Figure 8 and Figure 9, it picks on hook and is provided with opening 71, arc groove 72 and spherical pore 73；Opening setting is being adopted
The top middle portion of decoupling device pawl, one end of arc groove and opening in communication, the other end of arc groove are connected with spherical pore, arc groove
Width be more than stem end diameter, but less than spherical pore diameter.Above-mentioned arc groove is from top（Namely head end）Toward middle part groove width
It is tapered to slotless, and spherical pore is cast in the end of arc groove（Namely bottom end）.
Collector for fruits is located at the underface of picking hook, and is connected with vertical slider bottom by connecting rod 17.
Positioning navigation device is connected with industrial personal computer, positioning navigation device include binocular camera 13, DGPS receivers and
Antenna；Binocular camera is arranged on the vertical sliding block towards strawberry ridge side, and DGPS receivers and antenna setting are vertically being slided
On block.
The input terminal of DGPS receivers connects antenna, and the output end of DGPS receivers is connected with industrial personal computer.Work as binocular camera shooting
When machine 13 is detected before mobile platform without ripe strawberry, robot system is navigated mode using DGPS.When binocular camera 13 is examined
It measures before mobile platform when having ripe strawberry, it is flat that Algorithms of Robots Navigation System by preceding binocular camera 13 detects strawberry relative movement
Platform location information, industrial personal computer carries out picking path planning according to information above, and then completes picking process.After picking, machine
Device people's navigation system switchs to DGPS navigation modes.
Further, the internal face of above-mentioned spherical pore and the internal face of collector for fruits are preferably provided with resilient material
Layer.
A kind of strawberry picking method imitating human hand type, includes the following steps.
Step 1, horizontal slider horizontal sliding：Under the driving of horizontal slider servo motor, horizontal slider is along gantry support
On horizontal guide rail sliding.
Step 2, Strawberry ripening degree identifies：During step 1 horizontal slider horizontal sliding, binocular camera collection surface
To strawberry ridge image, and strawberry ridge image is passed into industrial personal computer, industrial personal computer by the strawberry ridge image of reception strawberry with
The ripe strawberry image of storage carries out comparison comparison, to carry out the identification of Strawberry ripening degree.
Step 3, ripe strawberry position positioning：In step 2, after being judged as that strawberry is ripe, industrial personal computer combination DGPS is carried
The location information of confession carries out position positioning to ripe strawberry, and calculates the barycenter of each ripe strawberry fruit under world coordinate system
Coordinate value.
Step 4, ripe strawberry picking：Assuming that the length of picking hook is a, industrial personal computer will be picked by adjusting vertical sliding block
The top of hook moves on to that horizontal and vertical direction is concordant with the barycenter of strawberry fruit, the barycenter of longitudinal direction and strawberry fruit away from
From the position for a；Then picking hook be rotated under the control of upper links and lower link, by strawberry stem end from
The opening of picking hook enters and is introduced in arc groove, and then, strawberry fruit progresses into spherical pore, with rotary motion
Progress, strawberry fruit and strawberry stem end are detached from.
Step 5, strawberry is collected：Under the control of upper slider servo motor and lower slider servo motor, hook is picked
Reversion, is gently left strawberry fruit into collector for fruits using inertia.
Step 6, strawberry repeats to pick：It picks hook to reset, be picked next time.
Preferred embodiments of the present invention described in detail above, still, the utility model are not limited to above-mentioned reality
Apply the detail in mode, in the range of the technology design of the utility model, can to the technical solution of the utility model into
The a variety of equivalents of row, these equivalents belong to the scope of protection of the utility model.
Claims (7)
1. a kind of strawberry imitating human hand type picks machine, it is characterised in that：Including gantry support, horizontal slider, vertical bar, erect
To sliding block, positioning navigation device, strawberry picker and collector for fruits；
The quantity of gantry support is equal with the quantity on strawberry ridge, and length direction of the gantry support along strawberry ridge is set up, a strawberry
Ridge corresponds to a gantry support；
Each gantry support includes being located at the horizontal guide rail laid above strawberry ridge and along strawberry ridge length direction；Horizontal slider
It is slidably connected with horizontal guide rail, the top of vertical bar is fixedly connected with horizontal slider；
Vertical sliding block sliding sleeve is mounted in the periphery of vertical bar, and can be lifted along the short transverse of vertical bar；
The upper slider movement guide groove being mutually parallel and lower slider movement guide groove are provided on one side of vertical sliding block, and
The length direction and the length direction on strawberry ridge of upper slider movement guide groove are perpendicular；It is slidably connected in upper slider movement guide groove
There is upper slider, lower slider is slidably connected in lower slider movement guide groove；
Strawberry picker includes upper links, lower link and picking hook；One end of upper links is fixed with upper slider
The top of connection, the other end and picking hook of upper links is hinged；One end of lower link is fixedly connected with lower slider,
The other end of lower link and the bottom end of picking hook are hinged；Upper slider, upper links, picking hook, lower link and
Lower slider forms a four-bar mechanism；
It is provided with opening, arc groove and spherical pore on picking hook；The top middle portion in picking hook is arranged in opening, arc groove
The other end of one end and opening in communication, arc groove is connected with spherical pore, and the width of arc groove is more than the diameter of stem end, but small
In the diameter of spherical pore；
Collector for fruits is located at the underface of picking hook, and is connected with vertical slider bottom by connecting rod；
Positioning navigation device includes binocular camera, DGPS receivers and antenna；Binocular camera setting is towards strawberry ridge one
On the vertical sliding block of side, DGPS receivers and antenna are arranged on vertical sliding block.
2. the strawberry according to claim 1 for imitating human hand type picks machine, it is characterised in that：Further include being arranged vertical
Industrial personal computer on sliding block, industrial personal computer are connected with positioning navigation device.
3. the strawberry according to claim 1 for imitating human hand type picks machine, it is characterised in that：Two neighboring gantry support
Between be connected by arc-shaped transition frame, the arc-shaped guide rail being connected with horizontal guide rail is provided on arc-shaped transition frame.
4. the strawberry according to claim 2 for imitating human hand type picks machine, it is characterised in that：Horizontal slider is led along level
The horizontal sliding of rail is driven by horizontal slider servo motor, and horizontal slider servo motor is connected with industrial personal computer.
5. the strawberry according to claim 2 for imitating human hand type picks machine, it is characterised in that：Upper slider is slided along top
The sliding of block movement guide groove is driven by upper slider servo motor, and lower slider moves the sliding of guide groove under along lower slide
Portion's slider servo motor is driven, and upper slider servo motor and lower slider servo motor are connected with industrial personal computer.
6. the strawberry according to claim 2 for imitating human hand type picks machine, it is characterised in that：Vertical sliding block vertically bar
Sliding driven by vertical slider servo motor, vertical slider servo motor is connected with industrial personal computer.
7. the strawberry according to claim 1 for imitating human hand type picks machine, it is characterised in that：The internal face of spherical pore with
And the internal face of collector for fruits is both provided with elastomeric layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820434578.1U CN208079863U (en) | 2018-03-29 | 2018-03-29 | A kind of strawberry picking machine imitating human hand type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820434578.1U CN208079863U (en) | 2018-03-29 | 2018-03-29 | A kind of strawberry picking machine imitating human hand type |
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| Publication Number | Publication Date |
|---|---|
| CN208079863U true CN208079863U (en) | 2018-11-13 |
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| CN201820434578.1U Active CN208079863U (en) | 2018-03-29 | 2018-03-29 | A kind of strawberry picking machine imitating human hand type |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108323325A (en) * | 2018-03-29 | 2018-07-27 | 南京师范大学 | A kind of strawberry picking machine and picking method imitating human hand type |
| CN109392462A (en) * | 2018-12-18 | 2019-03-01 | 北方民族大学 | Pick the robot and method of day lily |
-
2018
- 2018-03-29 CN CN201820434578.1U patent/CN208079863U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108323325A (en) * | 2018-03-29 | 2018-07-27 | 南京师范大学 | A kind of strawberry picking machine and picking method imitating human hand type |
| CN108323325B (en) * | 2018-03-29 | 2023-09-12 | 南京师范大学 | Strawberry picking machine simulating human hands and picking method |
| CN109392462A (en) * | 2018-12-18 | 2019-03-01 | 北方民族大学 | Pick the robot and method of day lily |
| CN109392462B (en) * | 2018-12-18 | 2023-11-17 | 北方民族大学 | Robot and method for picking daylily |
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