CN209043242U - One kind is around multi-faceted Rosa roxburghii Tratt detection system - Google Patents
One kind is around multi-faceted Rosa roxburghii Tratt detection system Download PDFInfo
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- CN209043242U CN209043242U CN201822220066.8U CN201822220066U CN209043242U CN 209043242 U CN209043242 U CN 209043242U CN 201822220066 U CN201822220066 U CN 201822220066U CN 209043242 U CN209043242 U CN 209043242U
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- lead screw
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Abstract
The utility model discloses one kind around multi-faceted Rosa roxburghii Tratt detection system, comprising: pedestal；Swivel becket winding apparatus, including support rod, the support rod bottom end are rotatably connected on the pedestal；Horizontally moving device, when Y-axis driving motor drives Y-axis lead screw positive and negative rotation, Y-axis mobile station is moved forward and backward along Y-axis lead screw；Vertical shift device, when Z axis lead screw Z axis driving motor drives Z axis lead screw positive and negative rotation, Z axis movable block is along Z axis lead screw lifting moving；Electric platform is provided on Z axis movable block；Industrial camera, for measuring the horizontal position coordinate of Rosa roxburghii Tratt；Binocular stereo vision camera, for measuring distance of the Rosa roxburghii Tratt away from camera；The utility model is suitable for different operating conditions, is acquired in Various Complex spatial position to Rosa roxburghii Tratt image, can accurately measure the position of Rosa roxburghii Tratt, provides foundation for the automation picking of Rosa roxburghii Tratt.
Description
Technical field
The utility model relates to one kind around multi-faceted Rosa roxburghii Tratt detection system, belong to Rosa roxburghii Tratt detection technique field.
Background technique
Rosa roxburghii Tratt be the perennial machaka rosa roxburghii of rosaceae fruit also known as mountain king fruit, siberian rose, Fo Langguo, thatch pears,
Oblonga, alias thorn pineapple send the spring to return, pierce sour pear, nine-headed bird, Wen Xianguo, are the nutrition treasure fruits of healthcare, are a kind of dilute
Some fruits.In the automation picking of Rosa roxburghii Tratt, conventional machinery picks arm to carry out the picking of Rosa roxburghii Tratt, but in picking, and one
As need to identify the specific location of Rosa roxburghii Tratt in advance, since the space layout of Rosa roxburghii Tratt is different, if without can flexibly be moved in space
Mobile device, it will be difficult to recognize the specific location of Rosa roxburghii Tratt.
Utility model content
Technical problem to be solved by the utility model is: providing one kind around multi-faceted Rosa roxburghii Tratt detection system, it is suitable for not
Same operating condition, is acquired Rosa roxburghii Tratt image in Various Complex spatial position, with overcome the deficiencies in the prior art.
The technical solution of the utility model is: one kind is around multi-faceted Rosa roxburghii Tratt detection system, comprising:
Pedestal；
Swivel becket winding apparatus is arranged on the pedestal comprising support rod, the support rod bottom end are rotatably connected on institute
It states on pedestal, is connected with lateral monitor station in the upper end of the support rod；
Horizontally moving device, setting is on the lateral monitor station comprising Y-axis lead screw, Y-axis mobile station and Y-axis driving
Motor, the Y-axis mobile station are cooperatively connected on the Y-axis lead screw by screw hole thereon, and the Y-axis lead screw is described to follow
Y-axis driving motor is rotatablely connected the Y-axis driving motor, when the Y-axis driving motor drives the Y-axis lead screw positive and negative rotation,
The Y-axis mobile station is moved forward and backward along the Y-axis lead screw；
Vertical shift device is arranged below the Y-axis mobile station comprising Z axis lead screw, Z axis movable block and Z axis driving
Motor, the Z axis movable block are cooperatively connected on the Z axis lead screw by screw hole thereon, and the Z axis lead screw is described to follow
Z axis driving motor is rotatablely connected the Z axis driving motor, when the Z axis driving motor drives the Z axis lead screw positive and negative rotation,
The Z axis movable block is provided with electric platform on the Z axis movable block along the Z axis lead screw lifting moving；
Industrial camera is arranged on the electric platform, for measuring the horizontal position coordinate of Rosa roxburghii Tratt；
Binocular stereo vision camera is arranged on the electric platform, for measuring distance of the Rosa roxburghii Tratt away from camera.
The support rod bottom end is to follow rotary electric machine to be pivotally attached to the output shaft of rotary electric machine.
The support rod includes first hydraulic cylinder and the first hydraulic stem, and first hydraulic cylinder drives and moves down on the first hydraulic stem
It is dynamic.
The transverse direction monitor station includes tilting bar and horizon bar, and tilting bar one end is rotatably connected on the upper end of support rod, separately
One end and horizon bar are rigidly connected, and second hydraulic cylinder and the second hydraulic stem, institute are provided between the tilting bar and support rod
The top that support rod is arranged in second hydraulic cylinder is stated, and the second hydraulic stem is hinged on the lower part of tilting bar, the second hydraulic cylinder
Drive the second hydraulic stem flexible, so that tilting bar be driven to swing.
It further include controller and computer；
The control of the rotary electric machine, Y-axis driving motor, Z axis driving motor, first hydraulic cylinder, second hydraulic cylinder and holder
End processed is electrically connected with the controller, the signal output port of the signal input port of the controller and the computer
Communication connection, the controller control the rotary electric machine, Y-axis driving motor and Z axis according to the instruction from the computer
The driving of the rotation of driving motor, first hydraulic cylinder and second hydraulic cylinder and the position of holder are adjusted.
The lateral monitor station bottom is provided with connecting plate, is removably connected on connecting plate parallel with Y-axis lead screw
Two support shafts, there are two load-bearing rings, two support shafts to be threaded through described two load-bearing rings for tool in the Y-axis mobile station
It is interior.
The two piece gag lever posts parallel with Z axis lead screw are removably connected in Y-axis mobile station bottom, the Z axis is mobile
There are two limit holes, two gag lever posts to be threaded through in described two limit holes for tool on block, connects in the bottom end of two gag lever posts
It is connected to baffle.
The base bottom is provided with traveling wheel.
The pedestal is vehicle.
The beneficial effects of the utility model are: the utility model can realize that the entirety of lateral monitor station is moved up by hydraulic cylinder
Or decline, industrial camera and binocular stereo vision camera can be completed in Z axis by control Z axis driving motor and Y-axis driving motor
With the movement of Y direction, it can realize that the rotation of lateral monitor station detects by rotary electric machine, the position of camera is realized by holder
Fine tuning, and then industrial camera and binocular stereo vision camera can be realized in any adjusting of spatial position and precisely focus and complete
Shooting.The utility model is suitable for different operating conditions, is acquired in Various Complex spatial position to Rosa roxburghii Tratt image, can be accurate
The position of Rosa roxburghii Tratt is measured, provides foundation for the automation picking of Rosa roxburghii Tratt.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of Y-axis mobile station；
Fig. 3 is the structural schematic diagram of Z axis movable block；
Fig. 4 is the control structure figure of this system；
In figure: 1 pedestal, 2 first hydraulic cylinders, 3 first hydraulic stems, 4 tilting bars, 5 horizon bars, 6 circular gears, 7 sliding tooths
Wheel, 8 rotary electric machines, 9 connecting plates, 10 Y-axis driving motors, 11 Y-axis lead screws, 12 support shafts, 13 Y-axis mobile stations, 14 Z axis drive
Dynamic motor, 15 Z axis lead screws, 16 gag lever posts, 17 Z axis movable blocks, 18 electric platforms, 19 industrial cameras, 20 binocular stereo visions
Camera, 21 baffles, 22 second hydraulic cylinders, 23 second hydraulic stems, 24 load-bearing rings, 25 limit holes.
Specific embodiment
With reference to the accompanying drawing and utility model is described further in specific embodiment:
Please refer to figs. 1 to 4, according to the utility model one kind around multi-faceted Rosa roxburghii Tratt detection system, comprising:
Pedestal 1 is provided with traveling wheel or pedestal 1 as vehicle in 1 bottom of pedestal.
Swivel becket winding apparatus is arranged on pedestal 1 comprising support rod, the support rod bottom end are rotatably connected on pedestal 1
On, lateral monitor station is connected in the upper end of support rod.Preferably, support rod bottom end is to follow rotary electric machine 8 to be pivotally attached to
The output shaft of rotary electric machine 8.For example, support rod bottom end is connected with circular gear 6, and circular gear 6 and driving 7 company of engagement of gear
It connects, drives the output axis connection of gear 7 and rotary electric machine 8, the rotation of support rod is driven by rotary electric machine 8, realizes support rod
Swivel becket around.Preferably, support rod includes first hydraulic cylinder 2 and the first hydraulic stem 3, and first hydraulic cylinder 2 drives the first hydraulic stem 3
It moves up and down, wherein first hydraulic cylinder 2 is arranged on pedestal 1, and the first hydraulic stem 3 is arranged on top, passes through first hydraulic cylinder 2
Movement, it can be achieved that lateral monitor station moves up or declines.
Lateral monitor station includes tilting bar 4 and horizon bar 5, and 4 one end of tilting bar is rotatably connected on the upper end of support rod, another
End is rigidly connected with horizon bar 5, and second hydraulic cylinder 22 and the second hydraulic stem 23 are provided between tilting bar 4 and support rod, the
The top of support rod is arranged in two hydraulic cylinders 22, and the second hydraulic stem 23 is hinged on the middle pars infrasegmentalis of tilting bar 4, passes through the second liquid
It is flexible that cylinder pressure 22 drives the second hydraulic stem 23, to drive tilting bar 4 to swing, for adjusting the pitch angle tune of lateral monitor station
Section.
The lower part of horizon bar 5 is arranged in horizontally moving device comprising Y-axis lead screw 11, Y-axis mobile station 13 and Y-axis driving
Motor 10, Y-axis mobile station 13 are cooperatively connected on Y-axis lead screw 11 by screw hole thereon, and Y-axis lead screw 11 states Y-axis drive to follow
Dynamic motor 10 is rotatablely connected Y-axis driving motor 10, and when Y-axis driving motor 10 drives 11 positive and negative rotation of Y-axis lead screw, Y-axis is moved
Dynamic platform 13 is moved forward and backward along Y-axis lead screw 11.Specifically, it has been fixedly disposed connecting plate 9 in lateral monitor station bottom, in connecting plate
The two piece support shafts 12 parallel with Y-axis lead screw 11 are removably connected on 9, load-bearing ring 24 there are two tools in Y-axis mobile station 13, two
Root support shaft 12 is threaded through in two load-bearing rings 24, on the one hand can so be limited the rotation of Y-axis mobile station 13, be made Y-axis lead screw 11
It is converted into the movement of Y-axis mobile station 13, on the other hand can also play the role of guiding, improves the steady of Y-axis mobile station 13
Property and reliability.
Vertical shift device is arranged below Y-axis mobile station 13 comprising Z axis lead screw 15, Z axis movable block 17 and Z axis drive
Dynamic motor 14, Z axis movable block 17 are cooperatively connected on Z axis lead screw 15 by screw hole thereon, and Z axis lead screw 15 is to follow Z axis to drive
Dynamic motor 14 is rotatablely connected Z axis driving motor 14, when Z axis driving motor 14 drives 15 positive and negative rotation of Z axis lead screw, Z axis movable block
17 along 15 lifting moving of Z axis lead screw.Specifically, two parallel with Z axis lead screw 15 are removably connected in 13 bottom of Y-axis mobile station
Root gag lever post 16, there are two limit holes 25 for tool on Z axis movable block, and two gag lever posts 16 are threaded through in two limit holes 25, two
The bottom end of root gag lever post 16 is connected with baffle 21.The rotation of Z axis movable block on the one hand can be so limited, the rotation of Z axis lead screw 15 is made
It is converted into moving up and down for Z axis movable block 17, on the other hand can also play the role of guiding, improves the stationarity of Z axis movable block
And reliability.
Electric platform 18 is provided on Z axis movable block 17；By industrial camera 19, it is arranged on electric platform 18, is used for
Measure the horizontal position coordinate of Rosa roxburghii Tratt；By binocular stereo vision camera 20 be arranged on electric platform 18, for measure Rosa roxburghii Tratt away from
The distance of camera.
Preferably, rotary electric machine 8, Y-axis driving motor 10, Z axis driving motor 14, first hydraulic cylinder 2, second hydraulic cylinder 22
It is electrically connected with controller with the control terminal of electric platform 18, the signal input port of controller and the signal of computer export
Port communication connection, controller control rotary electric machine 8, Y-axis driving motor 10 and Z axis driving according to the instruction from computer
The rotation of motor 14, the driving of first hydraulic cylinder 2 and second hydraulic cylinder 22 and the position of holder 18 are adjusted, to realize phase
The position of machine is adjusted.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is only limited to these instructions.For the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard
To belong to the protection scope of the utility model.
Claims (9)
1. one kind is around multi-faceted Rosa roxburghii Tratt detection system characterized by comprising
Pedestal (1)；
Swivel becket winding apparatus is arranged on the pedestal (1) comprising support rod, the support rod bottom end are rotatably connected on institute
It states on pedestal (1), is connected with lateral monitor station in the upper end of the support rod；
Horizontally moving device, setting is on the lateral monitor station comprising Y-axis lead screw (11), Y-axis mobile station (13) and Y-axis
Driving motor (10), the Y-axis mobile station (13) are cooperatively connected on the Y-axis lead screw (11) by screw hole thereon, the Y
Axial filament thick stick (11) is to follow the Y-axis driving motor (10) to be rotatablely connected the Y-axis driving motor (10), the Y-axis driving electricity
When machine (10) drives Y-axis lead screw (11) positive and negative rotation, the Y-axis mobile station (13) is moved before and after the Y-axis lead screw (11)
It is dynamic；
Vertical shift device, setting is below the Y-axis mobile station (13) comprising Z axis lead screw (15), Z axis movable block (17)
With Z axis driving motor (14), the Z axis movable block (17) is cooperatively connected on the Z axis lead screw (15) by screw hole thereon,
To follow the Z axis driving motor (14) to be rotatablely connected the Z axis driving motor (14), the Z axis drives the Z axis lead screw (15)
When dynamic motor (14) drive Z axis lead screw (15) positive and negative rotation, the Z axis movable block (17) rises along the Z axis lead screw (15)
Drop movement, is provided with electric platform (18) on the Z axis movable block (17)；
Industrial camera (19) is arranged on the electric platform (18), for measuring the horizontal position coordinate of Rosa roxburghii Tratt；
Binocular stereo vision camera (20) is arranged on the electric platform (18), for measuring distance of the Rosa roxburghii Tratt away from camera.
2. according to claim 1 around multi-faceted Rosa roxburghii Tratt detection system, it is characterised in that: the support rod bottom end with
The output shaft of rotary electric machine (8) is pivotally attached to rotary electric machine (8).
3. according to claim 2 around multi-faceted Rosa roxburghii Tratt detection system, it is characterised in that: the support rod includes first
Hydraulic cylinder (2) and the first hydraulic stem (3), first hydraulic cylinder (2) driving the first hydraulic stem (3) move up and down.
4. according to claim 3 around multi-faceted Rosa roxburghii Tratt detection system, it is characterised in that: the transverse direction monitor station includes
Tilting bar (4) and horizon bar (5), tilting bar (4) one end are rotatably connected on the upper end of support rod, and the other end and horizon bar (5) are rigid
Property connection, be provided with second hydraulic cylinder (22) and the second hydraulic stem (23) between the tilting bar (4) and support rod, described the
Two hydraulic cylinders (22) are arranged in the top of support rod, and the second hydraulic stem (23) is hinged on the lower part of tilting bar (4), and described second
It is flexible that hydraulic cylinder (22) drives the second hydraulic stem (23), so that tilting bar (4) be driven to swing.
5. according to claim 4 around multi-faceted Rosa roxburghii Tratt detection system, it is characterised in that: further include controller and calculating
Machine；
The rotary electric machine (8), Y-axis driving motor (10), Z axis driving motor (14), first hydraulic cylinder (2), second hydraulic cylinder
(22) it is electrically connected with the controller with the control terminal of holder (18), the signal input port of the controller and the meter
The signal output port of calculation machine communicates to connect, and the controller controls the rotation electricity according to the instruction from the computer
The rotation of machine (8), Y-axis driving motor (10) and Z axis driving motor (14), first hydraulic cylinder (2) and second hydraulic cylinder (22)
The position of driving and holder (18) is adjusted.
6. according to claim 1 around multi-faceted Rosa roxburghii Tratt detection system, it is characterised in that: at the lateral monitor station bottom
Portion is provided with connecting plate (9), and the two piece support shafts (12) parallel with Y-axis lead screw (11) are removably connected on connecting plate (9),
There are two load-bearing ring (24), two support shafts (12) to be threaded through described two load-bearing rings for tool on the Y-axis mobile station (13)
(24) in.
7. according to claim 1 around multi-faceted Rosa roxburghii Tratt detection system, it is characterised in that: in the Y-axis mobile station
(13) bottom is removably connected with the two piece gag lever posts (16) parallel with Z axis lead screw (15), on the Z axis movable block there are two tools
Limit hole (25), two gag lever posts (16) are threaded through in described two limit holes (25), at the bottom of two gag lever posts (16)
End is connected with baffle (21).
8. according to claim 1 around multi-faceted Rosa roxburghii Tratt detection system, it is characterised in that: in the pedestal (1) bottom
It is provided with traveling wheel.
9. according to claim 1 around multi-faceted Rosa roxburghii Tratt detection system, it is characterised in that: the pedestal (1) is vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822220066.8U CN209043242U (en) | 2018-12-27 | 2018-12-27 | One kind is around multi-faceted Rosa roxburghii Tratt detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822220066.8U CN209043242U (en) | 2018-12-27 | 2018-12-27 | One kind is around multi-faceted Rosa roxburghii Tratt detection system |
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| Publication Number | Publication Date |
|---|---|
| CN209043242U true CN209043242U (en) | 2019-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822220066.8U Active CN209043242U (en) | 2018-12-27 | 2018-12-27 | One kind is around multi-faceted Rosa roxburghii Tratt detection system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109458932A (en) * | 2018-12-27 | 2019-03-12 | 贵州大学 | One kind is around multi-faceted Rosa roxburghii Tratt detection system |
| CN113267128A (en) * | 2021-05-31 | 2021-08-17 | 西南石油大学 | Binocular vision automatic side slope displacement monitoring method |
-
2018
- 2018-12-27 CN CN201822220066.8U patent/CN209043242U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109458932A (en) * | 2018-12-27 | 2019-03-12 | 贵州大学 | One kind is around multi-faceted Rosa roxburghii Tratt detection system |
| CN113267128A (en) * | 2021-05-31 | 2021-08-17 | 西南石油大学 | Binocular vision automatic side slope displacement monitoring method |
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