CN209527208U - A kind of strawberry picking machine - Google Patents
A kind of strawberry picking machine Download PDFInfo
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- CN209527208U CN209527208U CN201920052820.3U CN201920052820U CN209527208U CN 209527208 U CN209527208 U CN 209527208U CN 201920052820 U CN201920052820 U CN 201920052820U CN 209527208 U CN209527208 U CN 209527208U
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- strawberry
- mechanical arm
- workbench
- machine
- elevating mechanism
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- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 50
- 235000011363 Fragaria x ananassa Nutrition 0.000 title claims abstract description 50
- 240000009088 Fragaria x ananassa Species 0.000 title 1
- 241000220223 Fragaria Species 0.000 claims abstract description 50
- 241000219098 Parthenocissus Species 0.000 claims abstract description 13
- 230000003028 elevating effect Effects 0.000 claims abstract description 13
- 235000011034 Rubus glaucus Nutrition 0.000 claims description 7
- 244000235659 Rubus idaeus Species 0.000 claims description 7
- 235000009122 Rubus idaeus Nutrition 0.000 claims description 7
- 239000000853 adhesive Substances 0.000 claims description 3
- 230000001070 adhesive effect Effects 0.000 claims description 3
- 230000003137 locomotive effect Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims 1
- 230000005070 ripening Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000002420 orchard Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 238000005909 Fraise reaction Methods 0.000 description 1
- 206010050031 Muscle strain Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 235000021012 strawberries Nutrition 0.000 description 1
Abstract
A kind of strawberry picks machine, is equipped with workbench in front of creeper truck upper face, and upper face rear is connected support frame；Support frame collecting box fixedly connected below, support frame upper end Platform center position is connected camera, workbench is connect with planetary gear train, planetary gear train passes through motor driven, and be connected elevating mechanism on workbench, and elevating mechanism connects mechanical arm, mechanical arm front end is connected picker, picker transfers opening and is equipped with a horn mouth, and collecting pipe is connected below horn mouth, and collecting pipe connects collecting box.Remote-controlled machine runs to designated position, and camera carries out Image Acquisition to neighbouring strawberry and carries out analytic operation, estimates Strawberry ripening degree, such as meet picking condition, then it is positioned, after moving to suitable position according to positioning machine, workbench adjusts position, mechanical arm movement, and scissors opens, strawberry carpopodium is cut, strawberry, which falls, collects in hose, into collecting box, the machine realizes automation, replace manually, the amount of labour can be reduced, improved efficiency.
Description
Technical field
The utility model belongs to technical field of agricultural machinery, and in particular to a kind of strawberry picking machine.
Background technique
China is the most abundant country of strawberry wild resource in the world, starts with fraises des bois very early, at present China
Strawberry cultivating area ranked first in the world.The traditional cultivated strawberry mode in China be all based on the ridge planting of ground, but
It due to ground environment complexity, is easy to block strawberry, orchard worker is low always when being unfavorable for strawberry daylighting growth and picking, and picking
Head is bent over, therefore many orchard workers have suffered from lumbar muscle strain, and heavy harvesting labour also makes numerous orchard workers suffer untold misery.
With the development of science and technology, China gradually promotes the use of strawberry high-level cultivating technology, although overhead cultivated strawberry skill
The relatively traditional strawberry picking of art, can make moderate progress to above situation；But in actual production process, harvesting strawberry must be by fruit
It is real to be taken together with carpopodium, and cut off strawberry carpopodium with finger, it is still the sizable link of the amount of labour.Therefore it is badly in need of
Develop it is a kind of for high-level cultivating strawberry picking automation, intelligentized robotic equipment, Lai Tisheng strawberry picking efficiency,
Reduce the labor intensity of manual work.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the purpose of the utility model is to provide a kind of strawberries to pick machine, solution
Certainly prior art strawberry is in picking process, based on artificial, the problem of amount of labour is big, low efficiency.
To achieve the goals above, the technical solution adopted in the utility model is:
A kind of strawberry picking machine, including creeper truck, creeper truck upper face front are equipped with workbench, and upper face rear is connected
Support frame；Support frame collecting box fixedly connected below, support frame upper end Platform center position are connected camera, workbench and planetary gear train
It is connected by bearing, planetary gear train passes through motor driven, is connected on workbench through elevating mechanism, elevating mechanism passes through connection machine
Tool arm, mechanical arm front end are connected picker, and picker transfers opening and is equipped with a horn mouth, and connection is collected below horn mouth
Pipe, collecting pipe connect collecting box.
A kind of strawberry picking machine, hardware system module are carried out based on raspberry pie (Rasphberry Pi) 3B development platform
Design mainly includes controller module, power module, obstacle avoidance module, motor drive module, navigation positioning module and vision mould
Block etc..
It is described be connected to weld, being bolted, adhesive means connection.
The motor is fixed on the top of workbench, and the rotation of planetary gear train is driven by lead screw.
The elevating mechanism is driven by motor and lead screw, and lead screw is located at table core, uniform on lead screw outer periphery
Three fixed polished rods are distributed, lead screw connects lifting platform center, and three polished rods run through lifting platform.
The mechanical arm be can three-dimensional rotate mechanical arm, driven by motor internal.
The picker is made of cam, spring, scissors hand.
The camera is connected with control centre's raspberry pie, carries out Image Acquisition to the strawberry near machine.
The picker is controlled mechanical arm by the steering engine on mechanical arm and moved to the strawberry position of positioning, is then led to
The rotation of excess convexity wheel drives the scissors hand closure on mechanical arm, opens it once again by spring, completes picking movement.
The creeper truck is remote-controlled locomotive, has GPS positioning module, is controlled by raspberry pie.
The beneficial effects of the utility model are:
During picking strawberry, automation is realized, replace manually, reduce the amount of labour, improve efficiency, while vehicle body is adopted
With caterpillar structure, robot even running can be made, complicated landform operation is can be applied to, there is good practicability and popularization
Application value.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the utility model creeper truck structural schematic diagram；
Fig. 3 is utility model works platform structural representation Fig. 1；
Fig. 4 is the utility model picker structural schematic diagram.
Fig. 5 is the utility model picker structural representation Fig. 2.
Fig. 6 is the utility model control principle schematic diagram.
Wherein, 1 is creeper truck；2 be planetary gear train；3 be workbench；4 be elevating mechanism；5 be mechanical arm；6 be picking dress
It sets；7 be collection hose；8 be collecting box；9 be support frame；10 be camera；11 be horn mouth；12 be motor, and 13 be lead screw, 14
For polished rod.
Specific embodiment
The utility model is further discussed below below in conjunction with attached drawing.
As shown in Figure 1,2,3, 4, a kind of strawberry picks machine, including creeper truck 1, is equipped with work in front of 1 upper face of creeper truck
Make platform 3, upper face rear is connected support frame 9；The collecting box 8 fixedly connected below of support frame 9,9 upper end Platform center position of support frame are solid
Even camera 10, workbench 3 are connect with planetary gear train 2, and planetary gear train 2 passes through motor driven, are connected on workbench 3 and are passed through lifting
Mechanism 4, elevating mechanism 4 are connected picker 6 by connection mechanical arm 5,5 front end of mechanical arm, and the decentralization of picker 6 opening is set
There is a horn mouth 11, collecting pipe 7 is connected below horn mouth 11, collecting pipe 7 connects collecting box 8.
It is described be connected to weld, being bolted, adhesive means connection.
The motor drives the rotation of planetary gear train 2 after slowing down by synchronous belt.
For the elevating mechanism 4 by motor and screw drive, screw rod is located at table core, on screw rod outer periphery uniformly
Three fixed polished rods are distributed, screw flight connects lifting platform center, and three polished rods run through lifting platform.
The mechanical arm be can three-dimensional rotate mechanical arm, driven by motor internal.
The picker 6 is made of cam, spring, scissors hand.
The camera 9 connects control centre's raspberry pie, carries out strawberry image acquisition.
The picker 6 is rotated by cam, is driven scissors hand closure, is opened.
The creeper truck 1 is remote-controlled locomotive, has GPS positioning module, is controlled by raspberry pie.
The working principle of the utility model is:
It is adaptable since creeper truck runs smoothly, it is able to achieve moving freely in two-dimensional surface, can also be applied to multiple
Miscellaneous landform operation, so robot base uses crawler-type mobile.Motor drives turning for planetary gear after slowing down by synchronous belt
It is dynamic, realize the smooth rotation of workbench；The slow lifting of platform is realized using the rotation of screw rod simultaneously, and cooperates three fixed light
Bar come guarantee platform stablize lifting.The image warp that the top installation camera of robot can obtain strawberry image, and will acquire
It whether mature obtains after image procossing, mature strawberry is positioned；Equipped with picking mechanical arm, manipulator on workbench
Front end carries scissors and collects hose, can pick to the strawberry having good positioning；It is equipped with below the scissors of manipulator front end simultaneously
Hose is collected, the strawberry under picking can enter in the collection device of robot along picking hose.
Implementation steps:
Step S101: making robot run to designated position by mobile phone remote, and the camera on robot top is from turn
It is dynamic that Image Acquisition is carried out to neighbouring strawberry, and analyzed it using the method for deep learning, with preset strawberry
Mature color region compares, and estimates the maturity of strawberry, it is determined whether picks to it, if to be adopted
It plucks, then it is positioned.
Step S102: after moving to suitable position according to positioning robot, workbench according to obtained location information,
On motor rotation, while screw rod being driven to rotate together, platform moves up and down where making mechanical arm, and then mechanical arm makes correspondence
The adjustment such as lifting rotation, reach a suitable plucking height and and angle.
Step S103: according to obtained location information, mechanical arm movement moves to designated position, and scissors opens, and makes strawberry
Carpopodium is fallen into the range of scissors opening, and then scissor action, strawberry carpopodium is cut.
Step S104: after strawberry carpopodium is cut, strawberry is fallen in the collection hose immediately below scissors, and along collection hose
It enters in collection device, completes the picking to strawberry.
Step S105: then, camera continues to acquire information, and control robot carries out picking work.
Claims (9)
1. a kind of strawberry picks machine, including creeper truck (1), which is characterized in that be equipped with workbench in front of creeper truck (1) upper face
(3), upper face rear is connected support frame (9)；Support frame (9) collecting box fixedly connected below (8), support frame (9) upper end Platform center
Position is connected camera (10), and workbench (3) is connect with planetary gear train (2) by bearing, and planetary gear train (2) is driven by motor,
It is connected elevating mechanism (4) on workbench (3), is connected firmly mechanical arm (5) on elevating mechanism (4), mechanical arm (5) front end, which is connected, picks dress
It sets (6), picker (6) transfers opening and is equipped with a horn mouth (11), connects collecting pipe (7) below horn mouth (11), collects
Manage (7) connection collecting box (8).
2. a kind of strawberry according to claim 1 picks machine, which is characterized in that described being connected connects for welding, bolt
It connects, adhesive means connection.
3. a kind of strawberry according to claim 1 picks machine, which is characterized in that the motor is slowed down by synchronous belt
The rotation of planetary gear train (2) is driven afterwards, and wherein motor is loaded among collecting box at notch.
4. a kind of strawberry according to claim 1 picks machine, which is characterized in that the elevating mechanism (4) is by motor
(12) it is driven with lead screw (13), lead screw (13) is located at workbench (3) center, and three are uniformly distributed on lead screw (13) outer periphery admittedly
Determine polished rod (14), lead screw (13) connects elevating mechanism (4) center, and three polished rods (14) are through elevating mechanism (4) to workbench (3)
It is fixed.
5. a kind of strawberry according to claim 1 picks machine, which is characterized in that the mechanical arm is can three-dimensional
Mechanical arm is rotated, by internal servo driving.
6. a kind of strawberry according to claim 1 picks machine, which is characterized in that the picker (6) by cam,
Spring, scissors hand composition.
7. a kind of strawberry according to claim 1 picks machine, which is characterized in that in the camera (10) and control
Heart raspberry pie is connected, and fixes on the table.
8. a kind of strawberry according to claim 1 picks machine, which is characterized in that pass through the rudder on control mechanical arm first
Machine moves to control mechanical arm to strawberry position after positioning, is then rotated by cam, drives the scissors hand on mechanical arm
Closure, opens it once again by spring, completes picking movement.
9. a kind of strawberry according to claim 1 picks machine, which is characterized in that the creeper truck (1) is remote-controlled
Locomotive, have GPS positioning module, controlled by raspberry pie.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920052820.3U CN209527208U (en) | 2019-01-14 | 2019-01-14 | A kind of strawberry picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920052820.3U CN209527208U (en) | 2019-01-14 | 2019-01-14 | A kind of strawberry picking machine |
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| Publication Number | Publication Date |
|---|---|
| CN209527208U true CN209527208U (en) | 2019-10-25 |
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ID=68269571
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920052820.3U Expired - Fee Related CN209527208U (en) | 2019-01-14 | 2019-01-14 | A kind of strawberry picking machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110883571A (en) * | 2019-12-05 | 2020-03-17 | 陈春 | Synchronous pulley multislot parallel processing frock |
| CN111034465A (en) * | 2020-01-14 | 2020-04-21 | 邵志远 | Efficient apple picking robot |
| CN111684924A (en) * | 2020-06-23 | 2020-09-22 | 王孟超 | Strawberry picking robot based on raspberry group |
| CN112690090A (en) * | 2020-12-29 | 2021-04-23 | 华南农业大学 | Bidirectional sisal hemp harvester |
| CN112868382A (en) * | 2021-04-02 | 2021-06-01 | 一度智能科技(深圳)有限公司 | Agricultural robot's fruit picking arm |
-
2019
- 2019-01-14 CN CN201920052820.3U patent/CN209527208U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110883571A (en) * | 2019-12-05 | 2020-03-17 | 陈春 | Synchronous pulley multislot parallel processing frock |
| CN111034465A (en) * | 2020-01-14 | 2020-04-21 | 邵志远 | Efficient apple picking robot |
| CN111034465B (en) * | 2020-01-14 | 2021-05-18 | 芜湖挺优机电技术有限公司 | Apple picking robot |
| CN111684924A (en) * | 2020-06-23 | 2020-09-22 | 王孟超 | Strawberry picking robot based on raspberry group |
| CN112690090A (en) * | 2020-12-29 | 2021-04-23 | 华南农业大学 | Bidirectional sisal hemp harvester |
| CN112690090B (en) * | 2020-12-29 | 2022-02-18 | 华南农业大学 | Bidirectional sisal hemp harvester |
| CN112868382A (en) * | 2021-04-02 | 2021-06-01 | 一度智能科技(深圳)有限公司 | Agricultural robot's fruit picking arm |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191025 |
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| CF01 | Termination of patent right due to non-payment of annual fee |