CN211482025U - Fruit and vegetable picking and screening robot - Google Patents
Fruit and vegetable picking and screening robot Download PDFInfo
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- CN211482025U CN211482025U CN201922010917.0U CN201922010917U CN211482025U CN 211482025 U CN211482025 U CN 211482025U CN 201922010917 U CN201922010917 U CN 201922010917U CN 211482025 U CN211482025 U CN 211482025U
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Abstract
The utility model provides a fruit and vegetable picking and screening robot, which comprises a frame; the traveling device is arranged at the bottom of the rack; the recognition picking device is arranged on one side of the top of the rack; screening device sets up frame top opposite side just is located picking cleft hand subassembly's below, including transmission band mechanism and hierarchical screening mechanism, hierarchical screening mechanism slope sets up transmission band mechanism's output bottom. The frame is driven by the traveling mechanism to rotate in situ and move forwards or backwards, the fruits and vegetables to be picked are identified and detected by the identification picking device, picking is carried out after feature matching is realized, the fruits and vegetables are sorted, screened and collected by the screening device, the picking robot with higher intelligent degree of picking and screening sorting collection is realized, the automation degree is high, and the working time and the complexity of subsequent manual workers are greatly reduced; compact structure and strong practicability.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to screening robot is picked to fruit vegetables.
Background
In the aspect of current fruit vegetables are picked, mainly rely on a large amount of manpowers to hold the mode that the scissors was picked and the manpower is with the help of supplementary mode of picking such as ladder, and the part adopts automatic picking ware, needs to pick with the help of the mode of flexible pipeline transmission. The picking mode is low in efficiency, and the requirement of actual efficient picking operation cannot be met. Current picking robot adopts the diversified complex construction of multi-angle, and the accuracy of influence control often only possesses the picking function and does not possess the screening function moreover, needs to filter through the manual work, classifies the fruit vegetables inconsistent in size, and it is not high to have degree of automation, and follow-up work load is great, defects such as efficiency is lower.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that solve lies in overcoming the fruit vegetables among the prior art and picking screening robot and do not possess the autofilter function, leads to degree of automation not high, and follow-up work load is great, efficiency lower grade defect.
Therefore, the utility model provides a screening robot is picked to fruit vegetables, include:
a frame;
the traveling device is arranged at the bottom of the rack and drives the rack to rotate and move;
the recognition picking device is arranged on one side of the top of the rack and comprises a control unit, a recognition unit and a picking claw component, the recognition unit is connected with the input end of the control unit, the picking claw component is connected with the output end of the control unit, and the control unit receives data information input by the recognition unit and controls the picking claw component to carry out picking action;
screening device sets up frame top opposite side just is located picking cleft hand subassembly's below, including transmission band mechanism and hierarchical screening mechanism, hierarchical screening mechanism slope sets up transmission band mechanism's output bottom.
Optionally, the fruit and vegetable picking and screening robot comprises a walking device
The motor-driven crawler wheel structure is arranged at the bottom of the rack and positioned on one side of the recognition and picking device;
and the universal wheel is arranged at one side of the screening device at the bottom of the frame.
Optionally, the fruit and vegetable picking and screening robot comprises a picking claw assembly
The mechanical arm is a six-degree-of-freedom mechanical arm and can be rotatably arranged at the top of the rack;
and the mechanical arm is arranged at the tail end of the mechanical arm and is controlled by the control unit to carry out picking action.
Optionally, the fruit and vegetable picking and screening robot comprises an identification unit
The camera device is fixedly arranged on the manipulator, is connected with the input end of the control unit and is used for collecting the images of the fruits and vegetables to be picked;
and the sensor module is fixedly arranged on the manipulator, is connected with the input end of the control unit and is used for identifying and detecting the fruits and vegetables to be picked and feeding identification and detection information back to the control unit.
Optionally, the fruit and vegetable picking and screening robot further comprises a screening device
The base frame is arranged on the rack in a sliding manner;
the conveying belt mechanism comprises a conveying belt and a first driving mechanism which is arranged on the base frame and used for driving the conveying belt to rotate, and an inlet is formed between the output tail end of the conveying belt and the base frame;
the graded screening mechanism is obliquely arranged at the bottom of the inlet and comprises a guide groove plate and a plurality of guide grooves which are arranged on the guide groove plate, are arranged at intervals along the width direction of the guide groove plate, extend along the length direction of the guide groove plate and are sunken downwards, and a plurality of diameter correction openings with gradually increased diameters are sequentially formed in each guide groove along the direction close to the inlet and far away from the inlet;
and the plurality of fruit receiving mechanisms are arranged at the bottom of the diameter correcting port in a one-to-one correspondence manner.
Optionally, the fruit and vegetable picking and screening robot, the screening device further comprises an angle adjusting mechanism, the angle adjusting mechanism comprises
The two adjusting columns are oppositely arranged on two sides of one end, far away from the inlet, of the guide groove plate and extend outwards in a protruding mode along the width direction of the guide groove plate; the two adjusting columns are oppositely arranged on two sides of one end, far away from the inlet, of the guide groove plate and extend outwards in a protruding mode along the width direction of the guide groove plate; and
the two adjusting plates are oppositely arranged on two sides of one end, far away from the inlet, of the base frame, and arc-shaped adjusting grooves which face the side where the inlet is located, are bent and are in one-to-one corresponding sliding connection with the adjusting columns are formed in the adjusting plates.
Optionally, the fruit and vegetable picking and screening robot further comprises
The lifting device can be vertically and fixedly arranged on the rack in a lifting way, and the recognition picking device is fixedly arranged on the lifting device.
Optionally, the fruit and vegetable picking and screening robot, the lifting device comprises
A lifting platform;
the second driving assembly drives the lifting platform to lift, the second driving assembly comprises a rack arranged at the bottom of the lifting platform, at least one second driving gear meshed with the rack and a second driving mechanism connected with the second driving gear, and a slot for accommodating the lifting of the rack is formed in the rack;
the lifting rod assembly comprises two lifting rods which are respectively fixedly connected with the lifting platform and the rack and are mutually sleeved.
Optionally, the fruit and vegetable picking and screening robot further comprises
And the buffer device is a buffer spring sleeved on the lifting rod assembly.
Optionally, the fruit and vegetable picking and screening robot further comprises a power supply device, the power supply device comprises a solar cell panel and a storage battery, and the storage battery is connected with the solar cell panel through a lead;
the walking device, the recognition picking device and the screening device are electrically connected with the power supply device.
The utility model discloses technical scheme has following advantage:
1. the utility model provides a fruit and vegetable picking and screening robot, which comprises a frame;
the traveling device is arranged at the bottom of the rack and drives the rack to rotate and move;
the recognition picking device is arranged on one side of the top of the rack and comprises a control unit, a recognition unit and a picking claw component, the recognition unit is connected with the input end of the control unit, the picking claw component is connected with the output end of the control unit, and the control unit receives data information input by the recognition unit and controls the picking claw component to carry out picking action;
screening device sets up frame top opposite side just is located picking cleft hand subassembly's below, including transmission band mechanism and hierarchical screening mechanism, hierarchical screening mechanism slope sets up transmission band mechanism's output bottom.
The fruit and vegetable picking and screening robot with the structure drives the frame to rotate in situ and move forward or backward through the traveling mechanism, the fruit and vegetable to be picked are identified and detected through the identification and picking device, the picking is carried out after the characteristic matching is realized, the fruit and vegetable are sorted, screened and collected through the screening device, the picking robot with higher intelligent degree of picking and screening sorting collection is realized, the automation degree is high, and the working time and the complexity of subsequent manual workers are greatly reduced; the grading screening mechanism is obliquely arranged, so that the fruits and vegetables can roll automatically; compact structure and strong practicability.
2. The utility model provides a pair of screening robot is picked to fruit vegetables, running gear include motor drive's crawler wheel structure and universal wheel structure, and through strong adaptability's crawler wheel structure and the nimble cooperation of universal wheel, through the output torque of motor, realize the rotation of whole frame original place different angles, realize nimble operation in narrow and small space.
3. The utility model provides a pair of screening robot is picked to fruit vegetables adopts camera device to gather the image of waiting to pick fruit vegetables, adopts sensor module discernment to detect the shape and the colour characteristic of waiting to pick fruit vegetables, realizes the characteristic matching, picks through the all-round free rotation of six degrees of freedom arms of the control unit control.
4. The utility model provides a pair of screening robot is picked to fruit vegetables, sieving mechanism include transmission band mechanism and classified screening mechanism, and classified screening mechanism includes the guide way board and sets up guide way and school footpath mouth on the guide way board, and the slope of guide way board sets up in the output bottom of transmission band mechanism, rolls along the guide way through the action of gravity and realizes through school footpath mouth that fruit vegetables carry out screening classified collection step by step according to individual size.
5. The utility model provides a pair of screening robot is picked to fruit vegetables still includes elevating gear, and elevating gear includes elevating platform, gear and drive gear, through rack and pinion meshing drive mechanism, realizes that the elevating platform goes up and down in vertical direction, highly adjusts the discernment device of picking to adapt to the fruit vegetables demand of co-altitude not, the suitability is strong, and lift adjustment is simple and convenient.
6. The utility model provides a pair of screening robot is picked to fruit vegetables still includes buffer, can effectively protect elevating system and frame through buffer's setting, avoids elevating system to cause the collision damage with the frame at the decline in-process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a front view structural diagram of a fruit and vegetable picking and screening robot in an embodiment of the present invention;
fig. 2 is a schematic side view of a fruit and vegetable picking and screening robot according to an embodiment of the present invention;
fig. 3 is another schematic side view of the fruit and vegetable picking and screening robot according to the embodiment of the present invention;
fig. 4 is a partial enlarged structural view of a lifting device and a buffering device of the fruit and vegetable picking and screening robot in the embodiment of the present invention;
fig. 5 is a schematic structural view of an identification picking device of the fruit and vegetable picking and screening robot in the embodiment of the present invention;
fig. 6 is a schematic structural diagram of a screening device of a fruit and vegetable picking and screening robot in an embodiment of the present invention (first driving mechanism is omitted).
Description of reference numerals:
10-a frame;
20-a walking device; 21-crawler wheel structure; 22-universal wheels;
30-identifying a picking device; 31-a robotic arm; 310-a mounting frame; 32-a manipulator; 33-an image pickup device;
40-a screening device; 41-a base frame; 42-a conveyor belt mechanism; 421-a conveying belt; 422-a first drive mechanism; 423-driven roller; 43-an inlet; 44-guide channel plate; 45-a diameter correcting port; 46-a slide rail; 47-an adjusting plate; 48-arc regulating groove; 49-a conditioning column;
50-a lifting device; 51-a lifting platform; 52-a second drive assembly; 521-a second drive shaft; 522-a second drive gear; 53-a rack;
60-a buffer device;
70-solar panel; 71-fixing frame.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
A fruit and vegetable picking and screening robot of the present embodiment, as shown in fig. 1 to 6, comprises a frame 10, a traveling device 20, an identification picking device 30, a screening device 40, a lifting device 50, a buffering device 60 and a power supply device (not shown), wherein the frame 10 is in a flat plate shape, and the traveling device 20 is arranged at the bottom of the frame 10 and is used for driving the frame 10 to rotate in place and move forward or backward; the recognition picking device 30 is arranged on one side of the top of the frame 10, and comprises a control unit (not shown), a recognition unit and a picking claw assembly, wherein the recognition unit is electrically connected with the input end of the control unit, the picking claw assembly is electrically connected with the output end of the control unit, and the control unit receives feedback information of the recognition unit and controls the picking claw assembly to perform picking action; the screening device 40 is arranged on the other side of the top of the frame 10, which is the right side shown in fig. 1, and is positioned below the recognition and picking device 30, and the screening device 40 is arranged for performing size classification and collection on picked fruits and vegetables; the lifting device 50 is vertically arranged on the rack 10 in a lifting manner, the recognition picking device 30 is fixedly arranged on the lifting device 50 and used for adjusting the height of the recognition picking device to adapt to fruits and vegetables at different height positions, and the lifting device 50 is also provided with a buffer device 60 which is used for playing a buffer protection role when the lifting device 50 descends, so that collision damage between the lifting device 50 and the rack 10 is reduced; the power supply device comprises a solar cell panel 70 and a storage battery (not shown), is electrically connected with the walking device 20, the recognition picking device 30, the screening device 40 and the lifting device 50, and is used for supplying power to the walking device 20, the recognition picking device 30, the screening device 40 and the lifting device 50. The utility model discloses a screening robot is picked to fruit vegetables has main control system, and main control system is used for the action of independent control running gear 20, discernment harvesting device 30, sieving mechanism 40 and elevating gear 50.
As for the traveling device 20, as shown in fig. 1, the traveling device includes a motor (not shown) driven crawler wheel structure 21 and a universal wheel 22, where the crawler wheel structure 21 includes four crawler wheel structures 21, each of the four crawler wheel structures 21 is grouped in pairs, and two groups of the four crawler wheel structures 21 are arranged at intervals from left to right, each group includes two crawler wheel structures arranged in tandem, similar to the arrangement manner of the wheels of the automobile, the four crawler wheel structures 21 are fixedly installed at the bottom of the frame 10 (left side as shown in fig. 1) through an installation plate (not shown) fixed at the bottom of the frame 10, and each crawler wheel structure 21 is arranged in a substantially triangular shape. Through the steady output torque of motor, realize the motion of crawler wheel structure 21 in different angles in situ, the concrete structure does not do the special restriction and description, is current common crawler wheel structure, not the utility model discloses an invention point. The universal wheel 22 is disposed at the bottom of the frame 10 (i.e. at the right side as shown in fig. 1), and the structure of the universal wheel 22 is also a common universal wheel structure in the prior art, which is not the invention point of the present invention and is not described and limited in detail herein. For the work of running gear 20, by power supply unit provides power, through the control of wireless remote controller, for example the control of six current wireless remote controller transmission and receiving modules, do not do detailed description and limit specifically, for prior art, not the invention's the point. The utility model realizes flexible operation in narrow space through the cooperation of the track wheel structure 21 with strong adaptability and the flexible universal wheel 22; the traveling device 20 rotates in situ, a regular track is formed by taking the center of the crawler wheel structure 21 as the center of a circle and the distance between the universal wheel 22 and the crawler wheel structure 21 as the radius, and the traveling device 20 operates in situ at different angles by the output torque of the motor on the crawler wheel structure 21.
For the picking claw hand assembly, as shown in fig. 1 to 3 and 5, the picking claw hand assembly comprises a mechanical arm 31 and a mechanical arm 32, wherein the mechanical arm 31 is an existing six-degree-of-freedom mechanical arm, and comprises six steering engines (not shown), the mechanical arm 31 is controlled to rotate in all directions by the drive of the six steering engines, the specific structure is not described and limited in detail, and the picking claw hand assembly is an existing conventional six-degree-of-freedom mechanical arm and is not the invention point of the present invention; the robot arm 32 is fixed to the end of the robot arm 31, that is, the right end as viewed in fig. 3, and the robot arm 32 is driven by a control unit (not shown) to simulate a picking motion by a human hand; picking claw hand subassembly is fixed on elevating platform 51 through mounting bracket 310, for example as shown in fig. 3 and 5, mounting bracket 310 includes the first mounting bracket that the lower extreme is the I-shaped and the second mounting bracket that is the style of calligraphy of upper end, first mounting bracket and second mounting bracket fixed connection, and the lower extreme and the second mounting bracket fixed connection of arm 31, first mounting bracket and elevating platform 51 fixed connection.
For the recognition unit (not shown), including the sensor module and the camera device 33, disposed above the manipulator 32, the camera device 33 is a conventional camera head, used for collecting images of fruits and vegetables to be picked, and connected with the control unit, and the specific structure and working principle are not described and limited in detail herein, which is prior art and is not the invention point of the present invention; the sensor module comprises a color sensor and a photoelectric sensor, the specific structure and the working principle are not detailed, and the sensor module is electrically connected with the control unit and used for identifying and detecting the shape and the color characteristics of fruits and vegetables to be picked and feeding back information to the control unit to realize characteristic matching; corresponding data are collected through the sensor module and the camera device 33, visual all-directional picking is achieved, and the control unit can be selected from but not limited to a Freescale MC9S12XS128 single chip microcomputer. Before picking, the image information of fruits and vegetables to be picked is acquired by the camera device 33 and the sensor module and fed back to the control unit, the images of the fruits and vegetables are obtained through processing of the control unit, and after feature matching is realized by identifying the shape and color features of the fruits and vegetables, the control unit plans a picking sequence and drives the mechanical arm 31 and the mechanical arm 32 to move to carry out picking action.
As shown in fig. 2 to 3 and 6, the screening device 40 includes a base frame 41, a conveying belt mechanism 42, a grading screening mechanism, a fruit receiving mechanism (not shown), an angle adjusting mechanism and a slide rail 46, wherein the base frame 41 is a frame-shaped structure with an open top and three open sides and the other closed side, the base frame 41 is slidably disposed on the rack 10, for example, two slide rails 46 are disposed on the rack 10 at intervals and parallel to the length direction of the rack 10, a chute (not shown) structure matched with the slide rails 46 is disposed at the bottom of the base frame 41, so that the base frame 41 is slidably disposed at the upper ends of the slide rails 46, and the distance between the screening device and the identification picking device 30 in the horizontal direction can be adjusted by the arrangement of the slide rails 46, so as to perform adaptive adjustment according to the extending length of the mechanical arm 31; the conveying belt mechanism 42 is arranged at the top of the base frame 41 and close to the identification picking device 30, and comprises a conveying belt 421 and a first driving mechanism 422 for driving the conveying belt 421 to rotate, the first driving shaft (not shown) of the first driving mechanism 422 is provided with a driving roller (not shown), one end of the conveying belt 421 is arranged on the driving roller, the other end of the conveying belt 421 is arranged on a driven roller 423, the driven roller 423 is in transmission connection with the driving roller through the conveying belt 421, and an inlet 43 is arranged between the driven roller 423 and the base frame 41 and used for guiding picked fruits and vegetables to a guide groove plate 44 for screening and classification; the screening mechanism comprises a guide groove plate 44 and guide grooves (not shown) which are arranged along the width direction of the guide groove plate 44, namely the front-back direction shown in fig. 2 at intervals, extend along the length direction of the guide groove plate 44, namely, are sunken downwards along the left-right direction shown in fig. 2, and the guide grooves are arranged to be beneficial for dividing fruits and vegetables entering from the inlet 43 into a plurality of sorting lines without causing fruit and vegetable accumulation; the number of the guide grooves, such as three, four, five and the like, is selected and designed according to the width of the guide groove plate, and the sectional area of each guide groove is arc-shaped; a spacing protrusion (not shown) is formed between adjacent guide grooves; the guide groove plate 44 is obliquely arranged at the bottom of the inlet 43, one end close to the inlet 43 is rotatably, such as hinged, arranged on the base frame 41, and the end far away from the inlet 43 is slidably arranged on the base frame 41 up and down; a plurality of diameter correcting ports 45 with different apertures and gradually increasing apertures, such as three, four, five and the like, are sequentially arranged in each guide groove along the length direction of the guide groove plate 44, namely from the direction close to the inlet 43 to the direction far from the inlet 43, namely from top to bottom, wherein the diameter correcting ports 45 are gradually increased from small to large, and the corresponding diameter correcting ports in each guide groove have the same size; the method comprises the following steps that firstly, smaller fruits and vegetables can pass through the uppermost small-aperture diameter-correcting port 45 and fall into a fruit receiving mechanism (not shown) at the bottom of the diameter-correcting port 45 to be packed and collected, then, the larger fruits and vegetables continue to roll downwards along a guide groove to the lower large-aperture diameter-correcting port 45, the larger fruits and vegetables continue to roll downwards along the guide groove to the lower-end diameter-correcting port 45, the aperture size of each diameter-correcting port 45 is not described and limited, and the selection design can be carried out according to the general size conditions of the fruits and vegetables on the market; for the shape of the reducing ports 45 such as, but not limited to, circular; the bottom of each diameter-correcting opening 45 is provided with a fruit receiving mechanism, such as a fruit receiving disc or a fruit receiving bag, in a one-to-one correspondence manner; for the angle adjusting mechanism, two oppositely disposed adjusting columns 49 and two oppositely disposed adjusting plates 47 are included, the adjusting columns 49 are disposed on both sides (i.e., front and rear sides as viewed in fig. 2) of one end (i.e., left end as viewed in fig. 2) of the guide channel plate 44 away from the inlet 43, and are protruded forward and backward along the width direction of the guide groove plate 44, respectively, and adjustment plates 47 are fixedly provided at both front and rear sides of the base frame 41 away from the inlet 43, specifically, as shown in fig. 2 and 3, the adjustment plates 47 have a substantially triangular shape, an arc-shaped adjusting groove 48 which is bent and extended from top to bottom and is bent towards the side of the inlet 43 is arranged on the adjusting plate, the guide groove plates 44 are correspondingly matched with the arc-shaped adjusting groove 48 one by one through an adjusting column 49, an angle scale (not shown) is also arranged on the outer side of the arc-shaped adjusting groove 48 of the adjusting plate 47, the inclination angle of the guide groove plate 44 is adjusted by shifting the position of the adjusting column 49 in the arc-shaped adjusting groove 48; for the arrangement of the included angle between the guide groove plate 44 and the horizontal direction, for convenience of description and distinction, the included angle is set to be alpha, the value range of alpha is more than 0 degree and less than 45 degrees, alpha is preferably more than 12.95 degrees according to the force balance condition, and the damage rate of fruits and vegetables can be greatly reduced. Alternatively, a slide rail 46 may be fixedly disposed at the bottom of the base frame 41, and a slide groove (not shown) structure corresponding to the slide rail 46 disposed at the bottom of the base frame 41 may be disposed on the rack 10.
As shown in fig. 1 to 3 and 4, the lifting device 50 includes a lifting platform 51, a rack 53, a second driving assembly 52 and a lifting column mechanism, wherein the lifting platform 51 is plate-shaped, is parallel to the rack 10 and is disposed at the top of the rack 10, the recognition and picking device 30 is fixedly mounted on the upper end surface of the lifting platform 51 through a mounting frame 310, vertical racks 53 protruding toward the rack 10 are disposed on two sides of the lower end surface of the lifting platform 51, i.e., on the left and right sides as shown in fig. 2 and 3, a slot (not shown) is disposed on the rack 10 corresponding to the rack 53, the rack 53 can be retracted into or extended out of the rack 10 through the slot, and teeth are disposed on the front and rear ends of the rack 53; the two second driving assemblies 52 are respectively arranged at the left side and the right side of the lifting platform 51 and fixed on the frame 10, each second driving assembly 52 comprises a second driving mechanism, a second driving shaft 521 positioned at the output end of the second driving mechanism and a second driving gear 522 arranged on the second driving shaft 521, the two second driving shafts 521 are arranged in parallel in tandem, the second driving gear 522 is arranged on the second driving shaft 521 at the position corresponding to the rack 53, and the second driving gear 522 is constantly meshed with the rack 53; the two second driving gears 522 rotate in opposite directions, and synchronously drive the rack 53 to move up and down along the vertical direction, so as to drive the lifting platform 51 to lift; the four lifting column mechanisms are respectively arranged at four angular positions at the bottom of the lifting platform 51, and each lifting column mechanism comprises lifting columns which are respectively fixed with the lifting platform 51 and the machine frame 10 and are mutually sleeved. A buffer device 60, such as a tubular buffer spring, is sleeved on the outer side of the lifting column mechanism, and the structure can also be similar to a buffer structure on an existing motorcycle or a hydraulic buffer on an automobile, and the specific structure is not described and limited in detail. Alternatively, only one second driving assembly 52 may be provided, and correspondingly, only one second driving shaft 521 and only one second driving gear 522 may be provided, and the rack 53 is driven to move up and down in the vertical direction by engagement of the one second driving gear 522 and the rack 53. The second driving shaft 521 is not particularly limited and described, such as an optical axis.
For the power supply device, including the solar cell panel 70 and the storage battery (not shown), the solar cell panel 70 is obliquely disposed on the left side of the upper end surface of the lifting platform 51 as shown in fig. 3 through the fixing frame 71, the setting of the inclination angle is not described and limited in detail, and may be 30 °, 45 °, 60 °, and so on, and the installation manner of the solar cell panel 70 and the fixing frame 71 may adopt an articulated manner, so as to facilitate the adjustment of the angle of the solar cell panel 70, and is not limited specifically, and is not the invention of the present invention. The solar panel 70 is connected to the storage battery through a wire (not shown), the storage battery is charged through the solar panel 70, the storage battery is a 12V storage battery commonly used in the prior art, the structure and the working principle of the storage battery are not described and limited herein, and the invention is not the invention point of the present invention. Optionally, the utility model discloses still be equipped with backup battery, backup battery also can pass through the wire with solar cell panel 70 and be connected.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (10)
1. The utility model provides a screening robot is picked to fruit vegetables which characterized in that includes:
a frame (10);
the walking device (20) is arranged at the bottom of the rack (10) and drives the rack (10) to rotate and move;
the recognition picking device (30) is arranged on one side of the top of the rack (10) and comprises a control unit, a recognition unit and a picking claw assembly, the recognition unit is connected with the input end of the control unit, the picking claw assembly is connected with the output end of the control unit, and the control unit receives data information input by the recognition unit and controls the picking claw assembly to pick;
screening device (40), set up frame (10) top opposite side and be located picking claw hand subassembly's below, including transmission band mechanism (42) and hierarchical screening mechanism, hierarchical screening mechanism slope sets up the output bottom of transmission band mechanism (42).
2. The fruit and vegetable picking and screening robot as claimed in claim 1, wherein the walking device (20) comprises
The motor-driven crawler wheel structure (21) is arranged at the bottom of the rack (10) and is positioned at one side of the recognition and picking device (30);
and the universal wheel (22) is arranged at the bottom of the frame (10) and is positioned at one side of the screening device (40).
3. The fruit and vegetable picking and screening robot of claim 1, wherein the picking claw assembly comprises
The mechanical arm (31) is a six-degree-of-freedom mechanical arm and is mounted at the top of the rack (10);
and the mechanical arm (32) is arranged at the tail end of the mechanical arm (31) and is controlled by the control unit to carry out picking action.
4. The fruit and vegetable picking and screening robot according to claim 3, wherein the identification unit comprises
The camera device (33) is fixedly arranged on the manipulator (32), is connected with the input end of the control unit and is used for collecting the images of the fruits and vegetables to be picked;
and the sensor module is fixedly arranged on the manipulator (32), is connected with the input end of the control unit and is used for identifying and detecting fruits and vegetables to be picked and feeding identification and detection information back to the control unit.
5. The fruit and vegetable picking and screening robot as claimed in claim 1, wherein the screening device (40) further comprises
A base frame (41) slidably disposed on the frame (10);
the conveying belt mechanism (42) is arranged on the top of the base frame (41) and comprises a conveying belt (421) and a first driving mechanism (422) which is arranged on the base frame (41) and is used for driving the conveying belt (421) to rotate, and an inlet (43) is formed between the output tail end of the conveying belt (421) and the base frame (41);
the graded screening mechanism is obliquely arranged at the bottom of the inlet (43), the graded screening mechanism comprises a guide groove plate (44) and a plurality of guide grooves which are arranged on the guide groove plate (44), are arranged at intervals along the width direction of the guide groove plate (44), extend along the length direction of the guide groove plate (44) and are sunken downwards, and a plurality of diameter correcting openings (45) with gradually increasing diameters are sequentially formed in each guide groove along the direction close to the inlet (43) and far away from the inlet (43);
and the plurality of fruit receiving mechanisms are arranged at the bottom of the diameter correcting port (45) in a one-to-one correspondence manner.
6. The fruit and vegetable picking and screening robot as claimed in claim 5, characterized in that the screening device (40) further comprises an angle adjusting mechanism, the angle adjusting mechanism comprises two adjusting columns (49) which are oppositely arranged on two sides of one end of the guide groove plate (44) far away from the inlet (43) and are extended outwards in a protruding manner along the width direction of the guide groove plate (44); and
the two adjusting plates (47) are oppositely arranged on two sides of one end, far away from the inlet (43), of the base frame (41), and arc-shaped adjusting grooves (48) which are bent towards the side where the inlet (43) is located and are in one-to-one corresponding sliding connection with the adjusting columns (49) are formed in the adjusting plates (47).
7. The fruit and vegetable picking and screening robot according to any one of claims 1 to 6, further comprising
The lifting device (50) can be vertically and vertically fixed on the rack (10) in a lifting mode, and the recognition and picking device (30) is fixedly installed on the lifting device (50).
8. The fruit and vegetable picking and screening robot according to claim 7, wherein the lifting device (50) comprises
An elevating table (51);
the second driving assembly (52) drives the lifting platform (51) to lift, the second driving assembly (52) comprises a rack (53) arranged at the bottom of the lifting platform (51), at least one second driving gear (522) meshed with the rack (53) and a second driving mechanism connected with the second driving gear (522), and a slot for accommodating the rack (53) to lift is formed in the rack (10);
the lifting rod assembly comprises two lifting rods which are respectively fixedly connected with the lifting platform (51) and the rack (10) and are mutually sleeved.
9. The fruit and vegetable picking and screening robot according to claim 8, further comprising
The buffer device (60) is a buffer spring sleeved on the lifting rod assembly.
10. The fruit and vegetable picking and screening robot according to claim 1, further comprising
The power supply device comprises a solar panel (70) and a storage battery, and the storage battery is connected with the solar panel (70) through a lead;
the walking device (20), the identification picking device (30) and the screening device (40) are electrically connected with the power supply device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112684799A (en) * | 2020-12-23 | 2021-04-20 | 嘉兴学院 | Fruit and vegetable picking robot with built-in positioning function and driving positioning method |
| CN112871748A (en) * | 2021-01-14 | 2021-06-01 | 重庆三峡学院 | Intelligent fruit and vegetable picking and sorting robot |
| CN113287421A (en) * | 2021-07-02 | 2021-08-24 | 王小平 | Intelligent tea leaf collector |
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2019
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112684799A (en) * | 2020-12-23 | 2021-04-20 | 嘉兴学院 | Fruit and vegetable picking robot with built-in positioning function and driving positioning method |
| CN112684799B (en) * | 2020-12-23 | 2023-06-13 | 嘉兴学院 | Fruit and vegetable picking robot with built-in positioning function |
| CN112871748A (en) * | 2021-01-14 | 2021-06-01 | 重庆三峡学院 | Intelligent fruit and vegetable picking and sorting robot |
| CN113287421A (en) * | 2021-07-02 | 2021-08-24 | 王小平 | Intelligent tea leaf collector |
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