CN214257218U - System is picked to tomato intelligence - Google Patents
System is picked to tomato intelligence Download PDFInfo
- Publication number
- CN214257218U CN214257218U CN202022412348.5U CN202022412348U CN214257218U CN 214257218 U CN214257218 U CN 214257218U CN 202022412348 U CN202022412348 U CN 202022412348U CN 214257218 U CN214257218 U CN 214257218U
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- Prior art keywords
- picking
- fixedly connected
- base
- blade
- rack
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- 235000007688 Lycopersicon esculentum Nutrition 0.000 title claims abstract description 49
- 240000003768 Solanum lycopersicum Species 0.000 title description 36
- 239000000523 sample Substances 0.000 claims abstract description 12
- 241000227653 Lycopersicon Species 0.000 claims abstract 13
- 230000005484 gravity Effects 0.000 abstract description 4
- 238000003306 harvesting Methods 0.000 description 2
- 241001164374 Calyx Species 0.000 description 1
- 241001573881 Corolla Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 241000208292 Solanaceae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000021028 berry Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000796 flavoring agent Substances 0.000 description 1
- 235000019634 flavors Nutrition 0.000 description 1
- 235000011389 fruit/vegetable juice Nutrition 0.000 description 1
- 210000004907 gland Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000015067 sauces Nutrition 0.000 description 1
Images
Landscapes
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The utility model discloses an intelligent tomato picking system, the number of the mechanical arms is two, the two mechanical arms are respectively movably connected with a base and are respectively positioned at two sides of the base, the orientation of tomatoes is determined by detecting red pixel points through a probe, a first motor is started, the angle of a fixed rod is adjusted by using a rotating shaft, the elongation of a telescopic rod is adjusted by using a cylinder, a picking knife is moved to the upper part of the tomatoes, a second motor is started, the first blade and the second blade are inwards gathered together by using the meshing action, branches above the tomatoes are cut, the tomatoes fall onto a collecting plate below, the collecting plate is downwards rotated to the upper part of the collecting pipe by using the rotating shaft, the tomatoes slide to the collecting basket along the collecting pipe due to the gravity, the automatic picking of the tomatoes is completed, two the picking of both sides can be accomplished simultaneously to the arm, has increased picking efficiency.
Description
Technical Field
The utility model relates to the field of agricultural technology, especially, relate to a system is picked to tomato intelligence.
Background
The tomato is an annual or perennial herbaceous plant in the genus of tomato of the family Solanaceae, the body height is 0.6-2 m, all bodies grow mucilaginous gland hair, the tomato has strong smell, stems are easy to fall down, leaves are plump and multiple leaves or plump and deep-cracked, the total stems of inflorescences are 2-5 cm long, usually 3-7 flowers are used, calyx is sporeformer, corolla is sporeformer, berries are flat and spherical or nearly spherical, the pulp is succulent, the seeds are yellow, and the flowers are in summer and autumn. Tomato is cultivated widely in south America and south and north China. The tomato has rich nutrition and special flavor. The tomato can be eaten raw, boiled, processed into tomato sauce, juice or can be stored in a whole fruit can, the tomatoes need to be picked when being ripe, the existing picking method is usually manual picking, the picking efficiency is low, and the labor intensity is high.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a system is picked to tomato intelligence aims at solving the artifical tomato of picking among the prior art, picks inefficiency, the big technical problem of intensity of labour.
In order to achieve the above object, the utility model provides an intelligent tomato picking system, which comprises a base, a probe, two mechanical arms, a picking knife, a collecting pipe and a collecting basket, wherein the probe is fixedly connected with the base and is positioned above the base, the number of the mechanical arms is two, the two mechanical arms are respectively movably connected with the base and are respectively positioned at two sides of the base, the picking knife is fixedly connected with the mechanical arms and is positioned at the side surface of the mechanical arms, the collecting basket is fixedly connected with the base and is positioned above the base, the collecting pipe is fixedly connected with the collecting basket and is positioned above the collecting basket, the mechanical arms comprise a rotating shaft, a fixing rod, a cylinder and a telescopic rod, the rotating shaft is movably connected with the base and is positioned at the side surface of the base, and the fixing rod is fixedly connected with the rotating shaft, the telescopic rod is movably connected with the air cylinder and is positioned at the other side of the air cylinder, which is far away from the fixed rod.
The mechanical arm further comprises a first motor, and the first motor is fixedly connected with the rotating shaft and is positioned on the side face of the rotating shaft.
The picking knife comprises a support and a second motor, the support is fixedly connected with the telescopic rod and is positioned above the telescopic rod, and the second motor is fixedly connected with the support and is positioned in the support.
The picking knife further comprises a gear, a first rack and a second rack, the gear is fixedly connected with the second motor and is located on the side face of the second motor, the first rack is meshed with the gear and is located above the gear, and the second rack is meshed with the gear and is located below the gear.
The picking knife further comprises a first blade and a second blade, the first blade is fixedly connected with the first rack and is positioned below the first rack, and the second blade is fixedly connected with the second rack and is positioned above the second rack.
The picking knife further comprises a collecting plate, and the collecting plate is fixedly connected with the support and located below the support.
The beneficial effects of the utility model are embodied in: through the position of tomato is confirmed to probe survey red pixel point, starts first motor, utilizes the pivot is adjusted the angle of dead lever utilizes the cylinder adjusts the elongation of telescopic link will the top of picking the sword and removing to the tomato starts the second motor utilizes the meshing effect, makes first blade and second blade inwards gather together, cuts out the branch of tomato top for the tomato falls into the below on the collection board, utilize the pivot will the collection board downwardly rotating to the top of collecting pipe, the tomato is because gravity is followed the collecting pipe landing to collect the basket, accomplishes the automatic harvesting to the tomato, two the arm can accomplish the harvesting of the left and right sides simultaneously, has increased picking efficiency.
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 description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only 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 the utility model relates to a system's schematic structure is picked to tomato intelligence.
Fig. 2 is the utility model relates to a system's schematic structure diagram is picked to tomato intelligence.
100-tomato intelligent picking system, 1-base, 2-probe, 3-mechanical arm, 31-rotating shaft, 32-fixed rod, 33-cylinder, 34-telescopic rod, 35-first motor, 4-picking knife, 41-bracket, 42-second motor, 43-gear, 44-first rack, 45-second rack, 46-first blade, 47-second blade, 48-collecting plate, 5-collecting pipe and 6-collecting basket.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 and fig. 2, the present invention provides a technical solution: an intelligent tomato picking system 100 comprises a base 1, a probe 2, two mechanical arms 3, two picking knives 4, a collecting pipe 5 and a collecting basket 6, wherein the probe 2 is fixedly connected with the base 1 and positioned above the base 1, the two mechanical arms 3 are respectively movably connected with the base 1 and respectively positioned at two sides of the base 1, the picking knives 4 are fixedly connected with the mechanical arms 3 and positioned at the side surfaces of the mechanical arms 3, the collecting basket 6 is fixedly connected with the base 1 and positioned above the base 1, the collecting pipe 5 is fixedly connected with the collecting basket 6 and positioned above the collecting basket 6, the mechanical arms 3 comprise rotating shafts 31, fixing rods 32, air cylinders 33 and telescopic rods 34, the rotating shafts 31 are movably connected with the base 1 and positioned at the side surfaces of the base 1, the fixing rod 32 is fixedly connected with the rotating shaft 31 and is positioned on the side surface of the rotating shaft 31, the air cylinder 33 is fixedly connected with the fixing rod 32 and is positioned on the side surface of the fixing rod 32, and the expansion rod 34 is movably connected with the air cylinder 33 and is positioned on the other side, far away from the fixing rod 32, of the air cylinder 33.
In this embodiment, the bottom of the base 1 is provided with a track for conveniently moving on an earth road, the probe 2 simultaneously calculates the pictures on the two sides of the base 1, the probe 2 detects a red pixel to determine the orientation of the tomato, the probe 2 captures the pixel on the picture, when the proportion of the red pixel on the picture reaches a set value, the position of the tomato is determined, the first motor 35 is started, the angle of the fixing rod 32 is adjusted by the rotating shaft 31, the elongation of the telescopic rod 34 is adjusted by the air cylinder 33, the picking knife 4 is moved to the upper part of the tomato, the second motor 42 is started, the first blade 46 and the second blade 47 are gathered inwards by meshing, branches above the tomato are cut off, so that the tomato falls on the collecting plate 48 below, the collecting plate 48 is rotated downwards by the rotating shaft 31 to the upper part of the collecting pipe 5, the tomatoes slide to the collecting basket 6 along the collecting pipe 5 due to gravity, so that the tomatoes are automatically picked, the picking of the left side and the picking of the right side can be simultaneously completed by the two mechanical arms 3, and the picking efficiency is improved.
Further, the mechanical arm 3 further includes a first motor 35, and the first motor 35 is fixedly connected to the rotating shaft 31 and is located on a side surface of the rotating shaft 31.
In the present embodiment, the model of the first motor 35 is Y-160L-6, the first motor 35 is used for driving the first rotating shaft 31 to rotate, and the angle of the whole mechanical arm 3 can be adjusted to change the position of the picking blade 4.
Further, the picking blade 4 comprises a support 41 and a second motor 42, the support 41 is fixedly connected with the telescopic rod 34 and is located above the telescopic rod 34, and the second motor 42 is fixedly connected with the support 41 and is located inside the support 41.
In this embodiment, the second motor 42 is a three-phase asynchronous ac motor, and is provided with a timing controller, the opening and closing of the picking blade 4 are realized by using the forward and reverse rotation of the second motor 42, the second motor 42 rotates to drive the gear 43 to rotate, the picking blade 4 is driven to cut inwards by the meshing action, and the picking of the tomatoes is completed.
Further, the picking blade 4 further comprises a gear 43, a first rack 44 and a second rack 45, the gear 43 is fixedly connected with the second motor 42 and is located on the side of the second motor 42, the first rack 44 is meshed with the gear 43 and is located above the gear 43, and the second rack 45 is meshed with the gear 43 and is located below the gear 43.
In the present embodiment, the gear 43 rotates right, the first rack 44 moves right, and the second rack 45 moves left, so that the picking blade 4 cuts inward, and the picking of the tomatoes is completed.
Further, the picking blade 4 further comprises a first blade 46 and a second blade 47, the first blade 46 is fixedly connected with the first rack 44 and is located below the first rack 44, and the second blade 47 is fixedly connected with the second rack 45 and is located above the second rack 45.
In the present embodiment, the first blade 46 and the second blade 47 are located on the same horizontal plane, the gear 43 rotates right, the first rack 44 moves right, and the second rack 45 moves left, so that the picking blade 4 cuts inward, and the picking of the tomatoes is completed.
Further, the picking blade 4 further comprises a collecting plate 48, and the collecting plate 48 is fixedly connected with the bracket 41 and is located below the bracket 41.
In this embodiment, the cut tomatoes fall into the collecting plate 48 below, the collecting plate 48 is bowl-shaped, the collecting plate 48 is rotated downwards by the rotating shaft 31 to the upper part of the collecting pipe 5, and the tomatoes slide down to the collecting basket 6 along the collecting pipe 5 due to gravity, so that the tomatoes are automatically picked.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (6)
1. An intelligent tomato picking system is characterized by comprising a base, a probe, two mechanical arms, two picking knives, a collecting pipe and a collecting basket, wherein the probe is fixedly connected with the base and is positioned above the base, the two mechanical arms are respectively movably connected with the base and are respectively positioned at two sides of the base, the picking knives are fixedly connected with the mechanical arms and are positioned at the side surfaces of the mechanical arms, the collecting basket is fixedly connected with the base and is positioned above the base, the collecting pipe is fixedly connected with the collecting basket and is positioned above the collecting basket, each mechanical arm comprises a rotating shaft, a fixing rod, an air cylinder and a telescopic rod, the rotating shaft is movably connected with the base and is positioned at the side surface of the base, the fixing rod is fixedly connected with the rotating shaft and is positioned at the side surface of the rotating shaft, the cylinder with the dead lever fixed connection to be located the side of dead lever, the telescopic link with cylinder swing joint is located the cylinder is kept away from the opposite side of dead lever.
2. The intelligent tomato picking system as claimed in claim 1, wherein the mechanical arm further comprises a first motor, and the first motor is fixedly connected with the rotating shaft and is located on the side of the rotating shaft.
3. The intelligent tomato picking system according to claim 1, wherein the picking blade comprises a support and a second motor, the support is fixedly connected with the telescopic rod and is located above the telescopic rod, and the second motor is fixedly connected with the support and is located inside the support.
4. The intelligent tomato picking system according to claim 3, wherein the picking blade further comprises a gear, a first rack and a second rack, the gear is fixedly connected with the second motor and is located on the side of the second motor, the first rack is meshed with the gear and is located above the gear, and the second rack is meshed with the gear and is located below the gear.
5. The intelligent tomato picking system of claim 4, wherein the picking blade further comprises a first blade and a second blade, the first blade is fixedly connected with the first rack and positioned below the first rack, and the second blade is fixedly connected with the second rack and positioned above the second rack.
6. The intelligent tomato picking system of claim 5, wherein the picking blade further comprises a collection plate fixedly connected to the support and located below the support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022412348.5U CN214257218U (en) | 2020-10-26 | 2020-10-26 | System is picked to tomato intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022412348.5U CN214257218U (en) | 2020-10-26 | 2020-10-26 | System is picked to tomato intelligence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214257218U true CN214257218U (en) | 2021-09-24 |
Family
ID=77772797
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022412348.5U Expired - Fee Related CN214257218U (en) | 2020-10-26 | 2020-10-26 | System is picked to tomato intelligence |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214257218U (en) |
-
2020
- 2020-10-26 CN CN202022412348.5U patent/CN214257218U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210924 Termination date: 20211026 |