CN212589002U - Agricultural robot spherical fruit and vegetable picking device - Google Patents
Agricultural robot spherical fruit and vegetable picking device Download PDFInfo
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- CN212589002U CN212589002U CN202021306852.0U CN202021306852U CN212589002U CN 212589002 U CN212589002 U CN 212589002U CN 202021306852 U CN202021306852 U CN 202021306852U CN 212589002 U CN212589002 U CN 212589002U
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Abstract
The utility model discloses a spherical fruit and vegetable picking device of an agricultural robot in the technical field of agricultural picking, which comprises a robot body, wherein a slider is arranged at the upper end of the robot body, an mechanical arm is arranged at one side of the slider, a base plate is arranged at one side of the mechanical arm, a camera is arranged at the upper end of the base plate, a hydraulic cylinder and a vacuum pump are arranged at one side of the base plate, the hydraulic cylinder and the upper end of the vacuum pump are provided with telescopic rods, a profiling finger is arranged at one side of the vacuum pump, and a linear motor is arranged at one side of the; one side of camera is provided with the protection casing, has reduced the staff and to the clear maintenance of camera, and the unnecessary drop of water under the clearance can flow down through in the recess, and is difficult to the accumulation in the recess, can be convenient for the discharge of drop of water and impurity, also can avoid the accumulation of impurity when guaranteeing clean camera, better assurance the cleanliness of camera and the definition of its shooting, comparatively practical.
Description
Technical Field
The utility model relates to an agricultural picking technical field specifically is a device is picked to spherical fruit vegetables of agricultural robot.
Background
The traditional manual picking work of fruits and vegetables is complicated and the labor amount is very large. Generally, in the mechanical picking of spherical fruits such as apples, oranges, tomatoes and the like, the fruits on plants fall off by vibration, even a method of pulling out the fruits in a large area cannot be used for the specific maturity, size and other differences of the fruits, so that the quality of the fruits is greatly influenced.
For example, a spherical fruit and vegetable picking robot with chinese patent application No. CN201820677736.6 has the following specific contents: the control module processes detection input signals of the camera, the first pressure sensor, the second pressure sensor, the obstacle avoidance radar and the weighing sensor, outputs control signals to respectively control the motion mechanism, the image processing module, the lead screw, the mechanical arm mechanism, the vacuum pump, the first linear motor, the second linear motor, the hydraulic cylinder and the electric quantity indicator lamp to work, simultaneously reads stored data in the storage module, establishes communication connection with a GPS positioning satellite through the GPS positioning module, the hydraulic cylinder works to stretch the scissor telescopic rod, fruit stalks are sheared through scissors at the end part of the scissor telescopic rod, the fruit and vegetable to be picked are separated from plants, a tail end execution mechanism of the control module vacuumizes the vacuum chuck into vacuum to adsorb the fruits and vegetables to be picked through the vacuum pump, the first pressure sensor on the vacuum chuck feeds back negative pressure information of the vacuum chuck, and simultaneously the first linear motor and the second linear motor respectively stretch or compress the first spring and the second spring, thereby make first profile modeling finger and second profile modeling finger expand outward or the adduction, realize the centre gripping to not unidimensional fruit vegetables to second pressure sensor on first profile modeling finger and the second profile modeling finger feeds back clamping-force, and the inside surface of first profile modeling finger and second profile modeling finger covers soft silica gel pad simultaneously, fine destruction to the fruit vegetables epidermis of having avoided.
This kind of device is picked to fruit vegetables is infected with easily on the camera at the impurity or the drop of water on the in-process fruit tree of work, and then just can influence the effect of shooting, and then just can cause the influence to the picking operation of fruit tree, needs the staff regularly to carry out surperficial cleanness to it, needs certain labour, uses to have the drawback, based on this, the utility model discloses a device is picked to spherical fruit vegetables of agricultural robot is in order to solve above-mentioned problem.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a device is picked to spherical fruit vegetables of agricultural robot to solve impurity or drop of water on the in-process fruit tree of work that provide in the above-mentioned background art and be infected with easily on the camera, and then just can influence the effect of shooting, and then just can cause the influence to the picking operation of fruit tree, need the staff regularly to carry out surperficial cleanness to it.
In order to achieve the above object, the utility model provides a following technical scheme: a spherical fruit and vegetable picking device of an agricultural robot comprises a robot body, wherein a sliding block is arranged at the upper end of the robot body, an mechanical arm is arranged on one side of the sliding block, a base plate is arranged on one side of the mechanical arm, a camera is arranged at the upper end of the base plate, a hydraulic cylinder and a vacuum pump are arranged on one side of the base plate, the hydraulic cylinder and the vacuum pump are positioned at the upper end of the vacuum pump, a telescopic rod is arranged on one side of the hydraulic cylinder, a profiling finger is arranged on one side of the vacuum pump, and a linear motor is;
the novel multifunctional camera is characterized in that a protective cover is arranged on one side of the camera, a cleaning mechanism is arranged on one side of the protective cover and comprises a motor, a connecting shaft is arranged on one side of the motor, a brush plate is fixedly connected to the outer surface of one side of the connecting shaft, and a groove is formed in the top end of the substrate.
Preferably, a bearing is arranged between the connecting shaft and the base plate, an adhesive tape is fixedly connected to the outer surface of one side of the brush plate, and the adhesive tape is in contact with the protective cover.
Preferably, the protection casing is transparent setting, and protection casing fixed connection is at one side surface of camera.
Preferably, the bottom of the groove is arc-shaped, and the vertical distance from the arc-shaped top end of the bottom of the groove to the top end of the base plate is greater than half of the length of the brush plate.
Preferably, the brush plate is located in the middle of the groove, and one side of the brush plate, which is far away from the adhesive tape, is not in contact with the groove.
Preferably, the number of the linear motors is two, the linear motors are respectively arranged on two sides of the vacuum pump, and springs are arranged at the end parts of the linear motors.
Compared with the prior art, the beneficial effects of the utility model are that: in the in-process of device work, drop of water or other impurity on the fruit tree are infected with easily on the camera, the motor can drive the connecting axle and rotate, and then can drive the brush board and rotate, through the adhesive tape contact between adhesive tape and the protection casing, and then can clear up impurity or drop of water on the protection casing through the adhesive tape, and then can guarantee the clarity that the camera was shot, the staff has also been reduced and has been kept clean to the camera, the unnecessary drop of water under the clearance can flow down through the recess, and be difficult to accumulate in the recess, can be convenient for the discharge of drop of water and impurity, also can avoid the accumulation of impurity when guaranteeing clean camera, better cleanliness and the definition of its shooting of having guaranteed the camera, and is comparatively practical.
Of course, it is not necessary for any particular product to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a view showing the combination of the camera and the brush plate of the present invention;
FIG. 3 is a view showing the connection shaft and the motor of the present invention;
fig. 4 is a combination view of the base plate and the brush plate of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a robot body; 2. a slider; 3. a mechanical arm; 4. a substrate; 5. a camera; 6. brushing the board; 7. a hydraulic cylinder; 8. a telescopic rod; 9. a vacuum pump; 10. profiling a finger; 11. a linear motor; 12. a protective cover; 13. an adhesive tape; 14. a groove; 15. a connecting shaft; 16. an electric motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Please refer to fig. 1 to 4, the utility model provides a technical solution of a spherical fruit and vegetable picking device of an agricultural robot: a spherical fruit and vegetable picking device of an agricultural robot comprises a robot body 1, wherein a sliding block 2 is arranged at the upper end of the robot body 1, a mechanical arm 3 is arranged on one side of the sliding block 2, a base plate 4 is arranged on one side of the mechanical arm 3, a camera 5 is arranged at the upper end of the base plate 4, a hydraulic cylinder 7 and a vacuum pump 9 are arranged on one side of the base plate 4, the hydraulic cylinder 7 is arranged at the upper end of the vacuum pump 9, a telescopic rod 8 is arranged on one side of the hydraulic cylinder 7, a profiling finger 10 is arranged on one side of the vacuum pump 9, and a linear motor;
a protective cover 12 is arranged on one side of the camera 5, a cleaning mechanism is arranged on one side of the protective cover 12, the cleaning mechanism comprises a motor 16, a connecting shaft 15 is arranged on one side of the motor 16, a brush plate 6 is fixedly connected to the outer surface of one side of the connecting shaft 15, a groove 14 is formed in the top end of the base plate 4, a bearing is arranged between the connecting shaft 15 and the base plate 4, an adhesive tape 13 is fixedly connected to the outer surface of one side of the brush plate 6, the adhesive tape 13 is in contact with the protective cover 12, the protective cover 12 is in a transparent arrangement, the protective cover 12 is fixedly connected to the outer surface of one side of the camera 5, the bottom end of the groove 14 is arranged in an arc shape, the vertical distance from the arc top end of the bottom of the groove 14 to the top end of the base plate 4 is larger than half of the length of the brush plate 6, the brush plate 6 is located, motor 16 can drive connecting axle 15 and rotate, and then can drive brush 6 and rotate, through adhesive tape 13 contact between adhesive tape 13 and the protection casing 12, and then can clear up impurity or drop of water on the protection casing 12 through adhesive tape 13, and then can guarantee the clarity that camera 5 shot, has also reduced the staff and has flowed down in through recess 14 to the clear maintenance of camera 5, unnecessary drop of water under the clearance.
The number of the linear motors 11 is two, the linear motors are respectively arranged on two sides of the vacuum pump 9, and springs are arranged at the end parts of the linear motors 11.
One specific application of this embodiment is: the device is connected with a power supply, the robot body 1 walks, when the robot is picked, round fruits and vegetables can be picked under the matching of the sliding block 2 and the mechanical arm 3, the camera 5 is used for shooting the fruits and vegetables, the fruits and vegetables can be grabbed through the profiling finger 10, the fruits and vegetables can be cut off and picked through the scissors on the telescopic rod 8, the linear motor 11 can provide power for the grabbing of the profiling finger 10 and can grab, in the working process of the device, water drops or other impurities on fruit trees are easily stained on the camera 5, the motor 16 can drive the connecting shaft 15 to rotate, the brush plate 6 can be driven to rotate, the adhesive tape 13 is in contact with the protective cover 12 through the adhesive tape 13, the impurities or water drops on the protective cover 12 can be cleaned through the adhesive tape 13, the clear shooting of the camera 5 can be ensured, and the clean maintenance of a worker on the camera 5 is reduced, the cleaned redundant water drops can flow down through the groove 14 and are not easy to accumulate in the groove 14, the water drops and impurities can be conveniently discharged, the accumulation of the impurities can be avoided while the cleaning of the camera 5 is ensured, the cleanliness of the camera 5 and the shooting definition are better ensured, the cleaning device is practical, and the motor 16 is XD-3420-2 in model.
The utility model discloses slider 2, arm 3, base plate 4, camera 5, brush board 6, pneumatic cylinder 7, telescopic link 8, vacuum pump 9, profile modeling finger 10 and linear electric motor 11 between mutually support use and relation of connection all adopt the utility model provides a background data is given to cooperate the utility model discloses a description of specification, affiliated technical field personnel can reach its use to obtain corresponding result of use, so do not have the one-to-one disclosure.
The utility model provides a product model is only for the use that this technical scheme goes on according to the structural feature of product, and its product can be adjusted and reform transform after purchasing, makes it match more and accord with the utility model belongs to technical scheme, it is the technical scheme of an optimal application of this technical scheme, and the model of its product can be replaced and reform transform according to the technical parameter of its needs, and it is familiar for technical staff that belongs to in the field, consequently, what technical staff that belongs to in the field can be clear passes through the utility model provides a technical scheme obtains corresponding result of use.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.
Claims (6)
1. The utility model provides a device is picked to spherical fruit vegetables of agricultural robot, includes robot body (1), its characterized in that: the robot comprises a robot body (1), and is characterized in that a sliding block (2) is arranged at the upper end of the robot body (1), a mechanical arm (3) is arranged on one side of the sliding block (2), a base plate (4) is arranged on one side of the mechanical arm (3), a camera (5) is arranged at the upper end of the base plate (4), a hydraulic cylinder (7) and a vacuum pump (9) are arranged on one side of the base plate (4), the hydraulic cylinder (7) and the upper end of the vacuum pump (9) are positioned, a telescopic rod (8) is arranged on one side of the hydraulic cylinder (7), a profiling finger (10) is arranged on one side of the vacuum pump (9), and a linear; one side of camera (5) is provided with protection casing (12), one side of protection casing (12) is provided with clean mechanism, and clean mechanism is including motor (16), one side of motor (16) is provided with connecting axle (15), one side fixed surface of connecting axle (15) is connected with brush board (6), the top position of base plate (4) is seted up fluted (14).
2. The spherical fruit and vegetable picking device of the agricultural robot as claimed in claim 1, wherein: a bearing is arranged between the connecting shaft (15) and the base plate (4), an adhesive tape (13) is fixedly connected to the outer surface of one side of the brush plate (6), and the adhesive tape (13) is in contact with the protective cover (12).
3. The spherical fruit and vegetable picking device of the agricultural robot as claimed in claim 1, wherein: the protection casing (12) are transparent and are fixedly connected to the outer surface of one side of the camera (5).
4. The spherical fruit and vegetable picking device of the agricultural robot as claimed in claim 1, wherein: the bottom of the groove (14) is arc-shaped, and the vertical distance from the arc-shaped top end of the bottom of the groove (14) to the top end of the base plate (4) is greater than half the length of the brush plate (6).
5. The spherical fruit and vegetable picking device of the agricultural robot as claimed in claim 2, wherein: the brush plate (6) is located in the middle of the groove (14), and one side, away from the rubber strip (13), of the brush plate (6) is not in contact with the groove (14).
6. The spherical fruit and vegetable picking device of the agricultural robot as claimed in claim 1, wherein: the number of the linear motors (11) is two, the linear motors are respectively arranged on two sides of the vacuum pump (9), and springs are arranged at the end parts of the linear motors (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021306852.0U CN212589002U (en) | 2020-07-07 | 2020-07-07 | Agricultural robot spherical fruit and vegetable picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021306852.0U CN212589002U (en) | 2020-07-07 | 2020-07-07 | Agricultural robot spherical fruit and vegetable picking device |
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| Publication Number | Publication Date |
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| CN212589002U true CN212589002U (en) | 2021-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021306852.0U Active CN212589002U (en) | 2020-07-07 | 2020-07-07 | Agricultural robot spherical fruit and vegetable picking device |
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| CN (1) | CN212589002U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112806250A (en) * | 2021-03-23 | 2021-05-18 | 广州快必妥营销策划咨询有限公司 | Aeroponic cultivation equipment |
| CN113352339A (en) * | 2021-06-25 | 2021-09-07 | 安徽普瑞普勒传热技术有限公司 | Error-proofing clamping device for machining heat exchanger plate and clamping method thereof |
-
2020
- 2020-07-07 CN CN202021306852.0U patent/CN212589002U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112806250A (en) * | 2021-03-23 | 2021-05-18 | 广州快必妥营销策划咨询有限公司 | Aeroponic cultivation equipment |
| CN115281067A (en) * | 2021-03-23 | 2022-11-04 | 广州快必妥营销策划咨询有限公司 | Aeroponic cultivation equipment |
| CN113352339A (en) * | 2021-06-25 | 2021-09-07 | 安徽普瑞普勒传热技术有限公司 | Error-proofing clamping device for machining heat exchanger plate and clamping method thereof |
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