CN208708184U - Automatic sorting apple picking robot - Google Patents
Automatic sorting apple picking robot Download PDFInfo
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- CN208708184U CN208708184U CN201821166649.0U CN201821166649U CN208708184U CN 208708184 U CN208708184 U CN 208708184U CN 201821166649 U CN201821166649 U CN 201821166649U CN 208708184 U CN208708184 U CN 208708184U
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- picking
- apple
- sorting
- cutting edge
- weighing apparatus
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Abstract
A kind of automatic sorting apple picking robot, including crawler-type mobile mechanism and the picking mechanism being arranged in the crawler-type mobile mechanism, controller and image recognition mechanism, the picking mechanism is using spherical cutting edge device for picking, the spherical shape cutting edge device for picking includes two hemispherical cutting edge knives, described two hemispherical cutting edge knives close up shearing carpopodium by the promotion of device for picking driving motor to realize picking, the figure identification mechanism includes that binocular camera is used to identify apple position, while also identifying road information；The robot further includes mechanism for sorting, and the mechanism for sorting includes weighing apparatus, sorting mechanical arm and charging box, and apple after picking is put into weighing apparatus by the picking mechanism, and apple in weighing apparatus point is put into the charging box by the sorter mechanical arm.The utility model can well adapt to various farmland road conditions, will not damage to apple in picking, while the utility model can carry out sorting automatically and greatly reduce hand labor.
Description
Technical field
The present invention relates to field of agricultural machinery more particularly to a kind of apple picking robots with optimization sorting system.
Background technique
China is the largest fruit in the world producing country and the largest fruit in the world country of consumption.Fruit picking operation is water
Fruit produces a most laborious, most time-consuming link, the labour that need to be put into chain and accounts for 40% or so of entire production process.Picking
Operation is complex for industrial operation, and the degree of automation is also very low, at present China be essentially all by hand into
Row.On the whole, due to the diversity of the randomness of picking object, complexity and working environment, at present either it is domestic still
Picking robot on overseas market still without technology maturation, universalness application occurs.In addition, being filled at present for the classification of apple
Case, which is sold, also nearly all to be manually performed, the season that numerous orchard workers to apple list, and is carried out by the way of hired laborer manually
Classification, one side worker differentiate size, maturity and the quality quality of apple by naked-eye observation, and there are biggish errors；
Still further aspect takes time and effort, sorting efficiency is low.Although corresponding Sorting Technique has been developed at present, due to picking fruit
While want bulk sale, it is contemplated that the problems such as fresh preservation, cannot all be applied, if can by automatic picked technology with point
Technological incorporation is picked, allows two procedures while carrying out, then very big convenience will be brought to apple-picking.
Utility model content
In order to solve the above problem, the purpose of the invention patent is to provide a set of by crawler travel, by mechanical arm into
Row picking and the picking robot independently sorted using the realization of platform mechanism for sorting.
To achieve the above object, technical solution used by the invention patent is:
A kind of automatic sorting apple picking robot, including crawler-type mobile mechanism and setting are in the crawler-type mobile
Picking mechanism, controller and image recognition mechanism in mechanism, which is characterized in that the picking mechanism includes Picker arm and ball
Shape cutting edge device for picking, the spherical shape cutting edge device for picking include two hemispherical cutting edge knives, device for picking support frame, device for picking driving electricity
Machine and rotary shaft, described two hemispherical cutting edge knives are symmetrically mounted on device for picking support frame, the device for picking support frame two
Side is equipped with device for picking driving motor, pushes described two hemispherical cutting edge knives to close up by the device for picking driving motor and cuts
It cuts, the Picker arm receives the controller signals and is sent to the device for picking driving motor, the device for picking support frame peace
In the rotary shaft, the rotary shaft is mounted in the Picker arm；
Described image identification mechanism includes binocular camera and camera support column, and the binocular camera identifies apple position
It sets, while also identifying road information；
The robot further includes mechanism for sorting, and the mechanism for sorting includes weighing apparatus, sorts mechanical arm and charging box,
The sorting mechanical arm includes that sorting is grabbed, and apple after picking is put into weighing apparatus by the picking mechanism, and the sorting is grabbed and will be weighed
Apple point is put into the charging box in device.
Further, the binocular camera is all made of varifocal camera.
Further, the binocular camera lower in the vertical direction can rotate, and slewing area is 30 °.
Further, the sorting is grabbed using flexible joint.
Further, silica gel material liner is provided in described two hemispherical cutting edge knives.
The beneficial effects of the utility model are as follows:
(1) the mobile of the utility model uses crawler travel, can increase robot to operating environment such as farmland and orchard
Adaptability, by work influence to be minimized caused by operating environment.
(2) picking working portion has linked robotic arm manipulation system and picture position acquisition system, generallys use more at present
Manual hand manipulation compare, greatly improve picking efficiency and liberated labour.Innovative spherical cutting edge device for picking, benefit
Carpopodium is cut off with hemispherical cutting edge knife, avoids the mechanical damage caused by fruit in picking process.
(2) sorting and vanning of apple are realized by mechanism for sorting.Independently of picking mechanism, sorting is greatly improved
Efficiency.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram
Fig. 2 is the mechanical other structural schematic diagram of sorting in the utility model
Fig. 3 is image recognition mechanism schematic diagram in the utility model
Fig. 4 is spherical cutting edge device for picking structural schematic diagram in the utility model
In figure: 1 Picker arm, 101 rotating bases one, 2 spherical cutting edge device for picking, 201 hemispherical cutting edge knives, 202 device for picking
Driving motor, 203 device for picking support frames, 204 rotary shafts, 205 connectors, 3 weighing apparatus, 4 sorting mechanical arms, 401 sortings are grabbed,
402 linking arms, 403 rotating bases two, 5 image recognition mechanisms, 501 binocular cameras, 502 protection shells, 503 camera branch
Dagger, 6 workbench, 7 pedrail mechanisms, 8 charging boxes, 9 controllers
Specific embodiment
The utility model is described further below in conjunction with attached drawing.
Such as Fig. 1, automatic sorting apple picking robot, including crawler-type mobile mechanism and setting are moved in the crawler type
Picking mechanism, controller 9 and image recognition mechanism 5 on motivation structure, the crawler-type mobile mechanism includes workbench 6 and crawler belt
Mechanism 7, the pedrail mechanism 7 are distributed in 6 two sides of workbench, are the executing mechanism of the picking robot, the work
Picking mechanism, controller 9 and the image recognition mechanism 5 and a set of mechanism for sorting are provided on platform 6.
The picking mechanism includes that Picker arm 1, spherical cutting edge device for picking 2 and rotating base 1, the Picker arm 1 are pacified
On the rotating base 101,360 ° of rotations can be carried out with the rotating base 1.The spherical shape cutting edge device for picking 2 is pacified
Mounted in the end of the Picker arm 1.
The mechanism for sorting includes weighing apparatus 3, sorting mechanical arm 4 and charging box 8, and the weighing apparatus 3 is arranged described
The left side of workbench 6 weighs to the apple after picking by it, and 9 storage inside of controller has apple to classify
Weight parameter apple is classified, the right side of the weighing apparatus 3 is arranged in the sorting mechanical arm 4, and the charging box 8 divides
Cloth only depicts three charging boxes 8, it should be understood that attached around the weighing apparatus 3 and the sorting mechanical arm 4 as shown in figure 1
The quantity of charging box 8 can not be as the limitation to 8 quantity of charging box in the utility model in figure, can basis in actually picking
Need to set the different classifications of apple then to the corresponding increase and decrease of the quantity of charging box 8.It will after the picking mechanism picks apple
Apple is put into the weighing apparatus 3, and weighing apparatus 3 weigh to apple and weight data is transmitted to controller 9, controller 9
The sorting mechanical arm 4 is controlled after value parameter stored by comparing, and the apple in the weighing apparatus 3 is put into corresponding charging box 8
In.The location parameter of the charging box controller 8 is stored in the controller 9, and the charging box 8 of fixed position is convenient for point
It picks.
Such as Fig. 2, the sorting mechanical arm 4 includes that 401, linking arm 402 and rotating base 2 403, the rotation are grabbed in sorting
Turning pedestal 2 403 to be mounted on the workbench 6, described 402 one end of linking arm is mounted on the rotating base 2 403, and one
The connection sorting in end grabs 401, it is preferable that the sorting grabs 401 and prevents from scratching apple, the rotating base using flexible joint
2 403 can rotate 360 °.
Such as Fig. 3, described image identification mechanism 5 includes binocular camera 501, protection shell 502 and camera support column
503,501 shape of binocular camera is spherical structure, it is preferable that the binocular camera 6 can in the vertical direction lower turn
Dynamic, slewing area is 30 ° with more convenient observation apple present position.The binocular camera 501 is mounted on the camera branch
503 top of dagger, can carry out 360 ° of rotations at the top of the camera support column 503, and the protection shell 502 is arranged in institute
It states outside binocular camera 501, opening and closing movement can be carried out, the binocular camera 501 can be wrapped in when it closes up interior
It is protected from into water, the situations such as collide with and is occurred.Preferably, two cameras of the binocular camera 501 are adopted
It is realized when needing to carry out identification apple on a large scale and identify road conditions by zoom to wide-angle side with zoom camera；When
It is positioned when needing specifically to position some apple by zoom to focal length end, while two cameras are worked in coordination and can be carried out
More accurate positioning.After being positioned by the binocular camera 501, the controller 9 controls the picking robot and carries out
Movement in place, is then picked.
As shown in figure 4, the spherical shape cutting edge device for picking 2 include two hemispherical cutting edge knives 201, device for picking support frame 203,
Device for picking driving motor 202 and rotary shaft 204, described two hemispherical cutting edge knives 201 are symmetrically mounted on device for picking support frame
On 203, there are two device for picking driving motors 202 for 203 two sides of the device for picking support frame installation, drive electricity by the device for picking
Machine 202 pushes described two hemispherical cutting edge knives 201 to close up shearing carpopodium, is provided with rotation at the top of the device for picking support frame 203
Shaft 204, the rotary shaft 204 are connected by a connector 205 with the Picker arm 1.Preferably, described two hemisphericals
Cutting edge knife 201 is internally provided with soft silica gel material liner, prevents apple by wall gouge.
It should be appreciated that the utility model in addition to the picking that can be used for apple, can be also used for and apple form and growth
The picking of fruit as state class.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (5)
1. a kind of automatic sorting apple picking robot, including crawler-type mobile mechanism and setting are in the crawler-type mobile machine
Picking mechanism, controller and image recognition mechanism on structure, it is characterised in that: the picking mechanism includes Picker arm and spherical shape
Cutting edge device for picking, the spherical shape cutting edge device for picking includes two hemispherical cutting edge knives, device for picking support frame, device for picking driving motors
And rotary shaft, described two hemispherical cutting edge knives are symmetrically mounted on device for picking support frame, device for picking support frame two sides
Device for picking driving motor is installed, pushes described two hemispherical cutting edge knives to close up shearing by the device for picking driving motor,
The Picker arm receives the controller signals and is sent to the device for picking driving motor, and the device for picking support frame is mounted on
In the rotary shaft, the rotary shaft is mounted in the Picker arm；
Described image identification mechanism includes binocular camera and camera support column, and the binocular camera identifies apple position,
Road information is also identified simultaneously；
The robot further includes mechanism for sorting, and the mechanism for sorting includes weighing apparatus, sorts mechanical arm and charging box, described
Sorting mechanical arm includes that sorting is grabbed, and apple after picking is put into weighing apparatus by the picking mechanism, and the sorting is grabbed will be in weighing apparatus
Apple point is put into the charging box.
2. a kind of automatic sorting apple picking robot according to claim 1, it is characterised in that: the binocular camera
It is all made of varifocal camera.
3. a kind of automatic sorting apple picking robot according to claim 2, it is characterised in that: the binocular camera
It lower in the vertical direction can rotate, slewing area is 30 °.
4. a kind of automatic sorting apple picking robot according to claim 1, it is characterised in that: use is grabbed in the sorting
Flexible joint.
5. a kind of automatic sorting apple picking robot according to claim 1, it is characterised in that: described two hemisphericals
Silica gel material liner is provided in cutting edge knife.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821166649.0U CN208708184U (en) | 2018-07-23 | 2018-07-23 | Automatic sorting apple picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821166649.0U CN208708184U (en) | 2018-07-23 | 2018-07-23 | Automatic sorting apple picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208708184U true CN208708184U (en) | 2019-04-09 |
Family
ID=65974467
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821166649.0U Expired - Fee Related CN208708184U (en) | 2018-07-23 | 2018-07-23 | Automatic sorting apple picking robot |
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| CN (1) | CN208708184U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110802591A (en) * | 2019-11-04 | 2020-02-18 | 徐州康博智能控制仪表有限公司 | Grabbing recognition system |
| CN110941997A (en) * | 2019-11-04 | 2020-03-31 | 徐州康博智能控制仪表有限公司 | Grabbing identification method |
| CN111136035A (en) * | 2020-02-20 | 2020-05-12 | 福州市闽侯县扬贤工艺品有限公司 | Fruit sorting manipulator |
| CN112273046A (en) * | 2020-12-02 | 2021-01-29 | 陕西中建建乐智能机器人股份有限公司 | Tea leaf picking robot |
| CN112840852A (en) * | 2020-12-23 | 2021-05-28 | 何辉举 | Garden lifting device convenient to pick and picking method |
| CN113711714A (en) * | 2021-08-12 | 2021-11-30 | 江西省农业科学院农业工程研究所 | Vegetable seeding device based on binocular vision sensor |
| CN114375689A (en) * | 2022-02-08 | 2022-04-22 | 辽宁科技大学 | Target maturity judging and classified storage method for agricultural picking robot |
| CN114766207A (en) * | 2022-04-15 | 2022-07-22 | 杭州电子科技大学 | Machine vision-based Chinese cherry picking and sorting method |
| CN115067075A (en) * | 2022-06-02 | 2022-09-20 | 羲农智能科技(石家庄)有限公司 | Multifunctional picking equipment |
-
2018
- 2018-07-23 CN CN201821166649.0U patent/CN208708184U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110802591A (en) * | 2019-11-04 | 2020-02-18 | 徐州康博智能控制仪表有限公司 | Grabbing recognition system |
| CN110941997A (en) * | 2019-11-04 | 2020-03-31 | 徐州康博智能控制仪表有限公司 | Grabbing identification method |
| CN111136035A (en) * | 2020-02-20 | 2020-05-12 | 福州市闽侯县扬贤工艺品有限公司 | Fruit sorting manipulator |
| CN111136035B (en) * | 2020-02-20 | 2020-10-13 | 诸暨绿尚创意科技有限公司 | Fruit sorting manipulator |
| CN112273046A (en) * | 2020-12-02 | 2021-01-29 | 陕西中建建乐智能机器人股份有限公司 | Tea leaf picking robot |
| CN112840852A (en) * | 2020-12-23 | 2021-05-28 | 何辉举 | Garden lifting device convenient to pick and picking method |
| CN113711714A (en) * | 2021-08-12 | 2021-11-30 | 江西省农业科学院农业工程研究所 | Vegetable seeding device based on binocular vision sensor |
| CN114375689A (en) * | 2022-02-08 | 2022-04-22 | 辽宁科技大学 | Target maturity judging and classified storage method for agricultural picking robot |
| CN114375689B (en) * | 2022-02-08 | 2023-09-08 | 辽宁科技大学 | Target maturity judging and classifying storage method for agricultural picking robot |
| CN114766207A (en) * | 2022-04-15 | 2022-07-22 | 杭州电子科技大学 | Machine vision-based Chinese cherry picking and sorting method |
| CN115067075A (en) * | 2022-06-02 | 2022-09-20 | 羲农智能科技(石家庄)有限公司 | Multifunctional picking equipment |
| CN115067075B (en) * | 2022-06-02 | 2024-04-05 | 羲农智能科技(石家庄)有限公司 | Multifunctional picking equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190409 Termination date: 20200723 |
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| CF01 | Termination of patent right due to non-payment of annual fee |