CN212573595U - Automatic lotus seedpod picking machine based on standardized lotus field - Google Patents
Automatic lotus seedpod picking machine based on standardized lotus field Download PDFInfo
- Publication number
- CN212573595U CN212573595U CN202021068864.4U CN202021068864U CN212573595U CN 212573595 U CN212573595 U CN 212573595U CN 202021068864 U CN202021068864 U CN 202021068864U CN 212573595 U CN212573595 U CN 212573595U
- Authority
- CN
- China
- Prior art keywords
- lotus
- picking
- group
- conveying
- identification module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to an automatic lotus seedpod picking machine based on standardized lotus field, which comprises a fixed frame, a walking device, an identification module, a picking mechanism and a conveying and collecting device, wherein the walking device drives the whole fixed frame to move and comprises a steering motor group, a shock absorber and a hub motor; the identification module comprises an image acquisition module, an image processing module and a lotus seedpod identification module; the 3 groups of picking mechanisms pick the lotus seedpods according to positioning data sent by the image processing and lotus seedpod identification module, the picking mechanisms are fixed on the rack, comprise an X-axis sliding group and are driven by a gear rack mechanism, a Z-axis lifting group is mounted on the X-axis sliding group through a ball screw in a transmission manner, and a picking mechanical arm is fixed at the tail end of the Z-axis lifting group and comprises a large arm, a small arm and a clamping and shearing device; the conveying and collecting device comprises a conveying belt and a collecting basket. The device can automatically complete the work of identifying, positioning, picking, conveying and collecting the lotus seedpod.
Description
Technical Field
The utility model relates to the technical field of agricultural machinery, in particular to an automatic lotus seedpod picking machine based on a standardized lotus field and a picking method thereof.
Background
As a big agricultural country in China, the planting area of lotus seedpods is wide, and the demand of people for fresh lotus seeds is gradually increased as a food which has a plurality of effects of reducing blood pressure, regulating and tonifying spleen and stomach, tonifying kidney, clearing summer-heat and the like. However, the development of automated lotus seedpod picking machines in China is relatively laggard, the main picking mode is manual picking, and the lotus seedpods are not beneficial to one-time large-area harvesting due to different depths of lotus ponds, uneven distribution of the lotus seedpods, inconsistent maturation time, large area and the like, so that multiple times of manual harvesting are needed, the picking work is time-consuming and labor-consuming, and the labor cost is huge.
The relevant comparatively ripe machinery has not appeared on the market yet, the utility model provides a can be at the artificial machinery of picking the seedpod of lotus of the time division ground automation not that adds under the irradiant circumstances of portion, this kind of machinery can be at field autonomous movement, fix a position to the seedpod of the lotus discernment back through machine vision, carry out automatic the plucking through the arm according to positioning information, then transfer to transmission device on, collect in unison at last, realize the purpose of picking the seedpod of the lotus in standardized lotus field, such harvesting machine can increase substantially picking efficiency, the liberation labour is and improve the productivity.
SUMMERY OF THE UTILITY MODEL
For solving the weak point of above-mentioned prior art, the utility model provides an automatic seedpod of lotus picking machine and picking method based on standardized lotus field through higher intelligent, automation technology, to the discernment of standardized lotus field completion seedpod of lotus, pick and collect the operation.
The to-be-solved technical problem of the utility model is realized by adopting the following scheme:
an automated lotus seedpod picker based on a standardized lotus field, comprising: running gear, fixed frame, identification module, picking mechanism and transport collection device, wherein, running gear includes: the steering motor set drives the hub motor to rotate horizontally so as to change the moving direction of the whole machine and realize the conversion of the whole machine in different lotus fields, and the hub motor is connected to the traveling device through the damping unit and provides power for the linear movement of the whole machine in the fields; fixing a frame: it spans over the standardized lotus field; the identification module comprises an image acquisition module, an image processing module and a lotus seedpod identification module; the picking mechanism comprises an X-axis sliding group which is arranged on the fixed rack through a gear rack in a transmission way; the Z-axis lifting group is arranged on the X-axis sliding group through the transmission of a ball screw; the picking mechanical arm is fixed at the tail end of the Z-axis lifting group and comprises a large arm, a small arm and a clamping and shearing device; the conveying and collecting device comprises a conveying belt which is arranged on the fixed rack in parallel and a collecting basket which is arranged at the tail end of the conveying belt.
The fixed frame comprises a plurality of rectangular square tubes.
Preferably, the walking device comprises four sets of steering and driving systems which are respectively independent, each steering system comprises a driving motor and a steering gear box, and an output shaft of each steering gear box is connected to the damping unit.
The driving system is composed of a damping unit and a hub motor, wherein the damping unit is connected below the steering gear box, and the hub motor is connected to the damping unit.
The identification module comprises a binocular vision intelligent camera installed below the X-axis sliding group.
Preferably, the picking mechanism comprises: the X-axis sliding group is driven by a gear rack, is arranged on the rack in a manner of combining an I-steel wheel and an I-steel to realize horizontal sliding, and the Z-axis lifting group is restricted on the X-axis sliding group by a polished rod and a linear bearing and realizes the lifting motion of the Z-axis lifting group relative to the X-axis sliding group through the transmission of a ball screw and a ball screw nut.
Preferably, the picking mechanism further comprises a picking mechanical arm arranged at the tail end of the Z-axis lifting group, wherein the picking mechanical arm consists of a large arm, a small arm and a clamping and shearing device at the tail end of the mechanical arm, and is used as an execution mechanism to complete the lotus seedpod shearing and clamping action and convey the collected lotus seedpods to the conveying and collecting device.
The conveying and collecting device is installed in the fixed rack and consists of a conveying belt which is longitudinally conveyed and a collecting basket at the tail end of the conveying belt, and baffles are installed on two sides of the conveying belt to prevent the lotus seedpods from falling off from the conveying belt.
To sum up, the utility model discloses in relating to the theory, there are following innovation point and advantage in the mechanical structure design:
the fixed frame crossing the standardized lotus field improves the stability of the whole machine frame, prevents inclination, simultaneously improves the working space of the machine as much as possible, and the four-wheel drive structure and the steering structure designed for the whole machine can realize the purpose of automatic picking operation of the machine and meet the requirement of transferring in the field after the operation of the machine is finished, and the design of the part greatly improves the flexibility of the operation and transferring of the machine in the field. 3 groups of picking mechanisms which can respectively and independently operate are adopted, targets at any positions can be picked within a working size range, and the picking efficiency and the working range are greatly improved. Due to the fact that the special tail end clamping and shearing device is adopted in the design, the lotus seedpod can still be kept in a clamping state after being picked so as to be convenient to transport and collect.
The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the technical means of the present invention is implemented to the extent that those skilled in the art can implement the technical solutions according to the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable later, the following practical examples are given with reference to the detailed embodiments of the present invention.
Drawings
Fig. 1 is a schematic structural diagram of an automatic lotus seedpod picking machine based on a standardized lotus field according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a picking mechanism of a standardized lotus field-based automatic lotus seedpod picker according to an example of the present invention.
Fig. 3 is a schematic diagram of a picking arm of a standardized lotus field-based automated lotus seedpod picker according to an example of the present invention.
Fig. 4 is a schematic view of a traveling device of a standardized lotus field-based automatic lotus seedpod picker according to an example of the present invention.
Fig. 5 is a schematic view of a fixed frame of a standardized lotus field-based automatic lotus seedpod picker according to an example of the present invention.
Detailed Description
Detailed description of the inventionwhile specific embodiments of the present invention are shown in the drawings in greater detail, it is to be understood that the invention may be embodied in various forms and should not be limited to the examples set forth herein, which are provided for purposes of providing a more thorough understanding of the present invention and to fully convey the scope of the invention to those skilled in the art.
It should be noted that certain terms are used throughout the description and claims to refer to particular components. It should be understood by those skilled in the art that various terms may be used to distinguish one element from another, and the description and claims are not intended to distinguish one element from another, but rather, to distinguish one element from another, depending on the function and/or arrangement of the elements; in the following description, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The following description is of the preferred embodiment of the invention, and is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the invention as defined by the appended claims.
In order to facilitate understanding of the embodiments of the present invention, the following description will be further explained by taking specific embodiments as examples in conjunction with the accompanying drawings, and each of the drawings does not constitute a limitation of the embodiments of the present invention.
For better understanding, fig. 1 is a schematic structural diagram of a standardized lotus seedpod automatic picking machine according to an example of the present invention, and as shown in the figure, the standardized lotus seedpod automatic picking machine comprises fixed frames (38-42), a walking device (5), an identification module (12), a picking mechanism (4) and conveying and collecting devices (1, 2).
In one embodiment, see the running gear (5) of fig. 2: four groups of servo motors (33), a speed reducer (34), a steering gear set (35), a shock absorber (37) and a hub motor (36); the steering part consists of a servo motor (33), a speed reducer (34) and a steering gear set (35), is connected with a hub motor (36) through a damping unit consisting of two spring dampers (37), and realizes the movement of the whole machine through the driving force provided by the hub motor (36). The fixed frame (38-42) is built by taking two rectangular steel pipes (38) which are arranged in parallel and longitudinally, two I-shaped steel pipes (42), a rack (41), four transverse steel pipes (40) and four vertical steel pipes (39) as supporting legs.
In one embodiment, a binocular vision intelligent camera (12) used for collecting, identifying and positioning lotus seedpod targets is arranged right below an X-axis sliding group (14-18) and only slides horizontally along with the X-axis sliding group, when the targets appear in the visual field, a lotus seedpod target and the maturity of the lotus seedpod target are judged by adopting a deep learning method, and if the targets are suitable for picking, the position information of the lotus seedpods to be picked is fed back to a picking mechanism (4) for picking.
The picking mechanisms (4) of the device are provided with three groups, the distance between every two picking mechanisms and the picking range are controlled by a program, and the three groups of picking mechanisms simultaneously identify, position and pick the ripe lotus seedpods within the working range.
In one embodiment, the picking mechanism (4) shown in fig. 2 includes an X-axis slide group (14-18), a Z-axis lift group (7-11), and a picking robot arm (13). The X-axis sliding group (14-18) consists of a sliding frame (18), a servo motor (14), a speed reducer (16), a gear (15), an I-shaped steel wheel (17), a ball screw nut (11) and a linear bearing (10). The X-axis sliding group (14-18) drives the reducer (16) to rotate by the servo motor (14) arranged on the sliding frame (18), so that the driving gear (15) rotates, linear motion is realized through gear and rack transmission, and the rack (41) is arranged at the bottom of the I-shaped steel (42) on one side. The Z-axis lifting group (7-11) is driven by a servo motor (7) and is driven by a ball screw (8) and a screw nut (11) arranged on an X-axis sliding frame (18) to realize linear motion in the Z direction under the constraint of a polish rod and a linear bearing.
In one embodiment, see fig. 3 picking robot (13) comprises: big arm of arm: a servo motor (19), a speed reducer (20), a crossed tapered roller bearing (21) and a large arm shell (32); mechanical arm small arm: a servo motor (31), a small synchronous wheel (22), a large synchronous wheel (28), a synchronous belt (30), a crossed tapered roller bearing (23), a connecting shaft (29) and a small arm shell (24); clamping and shearing the device: an electric clamping jaw (25), a clamping and shearing group (26) and the like; during picking, the X-axis sliding group (14-18) is aligned to the lotus seedpod position, the Z-axis lifting group (7-11) is used for adjusting the picking height to enable the picking height of the picking mechanical arm to be proper, then the picking mechanical arm is used for finely adjusting the target picking position, the picking mechanical arm is clamped by the clamping device and then sheared, the clamping state is still kept after shearing, finally the mechanical arm big arm (32) rotates to the position above the conveying belt (1), the clamping jaw is loosened, the lotus seedpod falls into the conveying belt (1) and is transferred to the collecting basket (2), and operation is completed.
In one embodiment, see fig. 1, the collection device comprises: the device comprises a conveying belt device (1) and a collecting basket (2), wherein the conveying belt device (1) is installed on a fixed rack (38-42) and is conveyed towards the collecting basket (2) in a one-way mode, and the unified collecting work of the lotus seedpod fruits is realized.
According to another aspect of the present invention, a method for picking a lotus seedpod using the standardized lotus seedpod picker comprises:
in the first step (F1), the hub motor in the walking device provides driving force to move the fixed frame across the standardized lotus field,
in a second step (F2), the identification module collects, identifies and sends the position information of the lotus seedpods to be picked to the picking mechanism,
in the third step (F3), after the picking mechanism receives the position information of the lotus seedpod to be picked, the lotus seedpod is picked through multi-shaft linkage and the mechanical arm and the clamping and shearing mechanism at the tail end of the mechanical arm, and the picked lotus seedpod is conveyed to a collecting device at the rear part,
in the fourth step (F4), the conveying belt in the conveying and collecting device conveys the roses in a single direction and finally falls into the collecting basket to complete the collecting action.
Although the embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments and applications, which are only illustrative and instructive, but not restrictive. Those skilled in the art, having the benefit of this disclosure, may effect numerous modifications thereto without departing from the scope of the invention as defined by the claims.
Claims (8)
1. The utility model provides an automatic seedpod of lotus picking machine based on standardized lotus field which characterized in that: including running gear, fixed frame, identification module, picking mechanism and transport collection device, wherein, running gear includes: the steering motor set drives the hub motor to rotate horizontally so as to change the moving direction of the whole machine and realize the conversion of the whole machine in different lotus fields, and the hub motor is connected to the traveling device through the damping unit and provides power for the linear movement of the whole machine in the fields; fixing a frame: it spans over the standardized lotus field; the identification module comprises an image acquisition module, an image processing module and a lotus seedpod identification module; the picking mechanism comprises an X-axis sliding group which is arranged on the fixed rack through a gear rack in a transmission way; the Z-axis lifting group is arranged on the X-axis sliding group through the transmission of a ball screw; the picking mechanical arm is fixed at the tail end of the Z-axis lifting group and comprises a large arm, a small arm and a clamping and shearing device; the conveying and collecting device comprises a conveying belt which is arranged on the fixed rack in parallel and a collecting basket which is arranged at the tail end of the conveying belt.
2. The automated rosette picker of claim 1, wherein: the fixed frame comprises a plurality of rectangular square tubes.
3. The automated rosette picker of claim 1, wherein: the walking device comprises four sets of steering and driving systems which are respectively independent, each steering system comprises a driving motor and a steering gear box, and an output shaft of each steering gear box is connected to a damping unit.
4. The automated rosette picker of claim 3, wherein: the driving system is composed of a damping unit and a hub motor, wherein the damping unit is connected below the steering gear box, and the hub motor is connected to the damping unit.
5. The automated rosette picker of claim 1, wherein: the identification module comprises a binocular vision intelligent camera installed below the X-axis sliding group.
6. The automated rosette picker of claim 1, wherein: the picking mechanism comprises: the X-axis sliding group is driven by a gear rack, is arranged on the rack in a manner of combining an I-steel wheel and an I-steel to realize horizontal sliding, and the Z-axis lifting group is restricted on the X-axis sliding group by a polished rod and a linear bearing and realizes the lifting motion of the Z-axis lifting group relative to the X-axis sliding group through the transmission of a ball screw and a ball screw nut.
7. The automated rosette picker of claim 1, wherein: the picking mechanism further comprises a picking mechanical arm arranged at the tail end of the Z-axis lifting group, wherein the picking mechanical arm consists of a mechanical arm large arm, a mechanical arm small arm and a clamping and shearing device at the tail end, and is used as an executing mechanism to complete the shearing and clamping actions of the lotus seedpods, and then the collected lotus seedpods are conveyed to a conveying and collecting device.
8. The automated rosette picker of claim 1, wherein: the conveying and collecting device is installed in the fixed rack and consists of a conveying belt which is longitudinally conveyed and a collecting basket at the tail end of the conveying belt, and baffles are installed on two sides of the conveying belt to prevent the lotus seedpods from falling off from the conveying belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021068864.4U CN212573595U (en) | 2020-06-11 | 2020-06-11 | Automatic lotus seedpod picking machine based on standardized lotus field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021068864.4U CN212573595U (en) | 2020-06-11 | 2020-06-11 | Automatic lotus seedpod picking machine based on standardized lotus field |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212573595U true CN212573595U (en) | 2021-02-23 |
Family
ID=74643182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021068864.4U Active CN212573595U (en) | 2020-06-11 | 2020-06-11 | Automatic lotus seedpod picking machine based on standardized lotus field |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212573595U (en) |
-
2020
- 2020-06-11 CN CN202021068864.4U patent/CN212573595U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106233925B (en) | A kind of white asparagus harvesting robot and collecting method based on machine vision | |
| Hayashi et al. | Robotic harvesting system for eggplants | |
| CN103950033B (en) | The mechanical arm of fruit picking robot and end effector and fruit picking method | |
| CN103636333B (en) | Seedling intelligence sorting transplanter | |
| CN111955164B (en) | Safflower filament occlusion type parallel picking robot | |
| CN109392462A (en) | Pick the robot and method of day lily | |
| CN103688632B (en) | Potted seedling lifting and rotating device | |
| CN211745437U (en) | Robot is picked to overhead fruit vegetables intelligence | |
| CN104885664A (en) | Overhead cultivation matched rice seedling transplanting robot and control method thereof | |
| CN109964633A (en) | Balling class vegetables are automatically to row harvest machinery | |
| CN105165255B (en) | A kind of intelligent cotton picker system based on computer vision technique | |
| CN203775716U (en) | Fruit picking manipulator | |
| CN111802066A (en) | Pineapple picking machine and picking method based on machine vision | |
| CN114830915B (en) | Litchi vision picking robot based on laser radar navigation and implementation method thereof | |
| CN114679963A (en) | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method | |
| CN106171929A (en) | Vegetables in greenhouse booth plantation transfer system | |
| CN212573595U (en) | Automatic lotus seedpod picking machine based on standardized lotus field | |
| CN209693469U (en) | A kind of parallel pineapple picking collection all-in-one machine | |
| CN111543179A (en) | Automatic lotus seedpod picking machine based on standardized lotus field | |
| CN108323325A (en) | A kind of strawberry picking machine and picking method imitating human hand type | |
| CN209572477U (en) | A kind of camellia oleifera fruit picker | |
| CN116257081A (en) | Unmanned aerial vehicle and ground unmanned aerial vehicle cooperation emasculation operation system | |
| CN108142096A (en) | Strawberry picking vehicle picks executing agency and greenhouse alley formula strawberry picking vehicle | |
| CN114365624A (en) | Efficient agricultural picking device based on DELTA parallel mechanical arms | |
| CN209768251U (en) | Rectangular coordinate safflower picking robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |