CN214482279U - Tomato picking machine based on negative pressure - Google Patents
Tomato picking machine based on negative pressure Download PDFInfo
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- CN214482279U CN214482279U CN202022962752.XU CN202022962752U CN214482279U CN 214482279 U CN214482279 U CN 214482279U CN 202022962752 U CN202022962752 U CN 202022962752U CN 214482279 U CN214482279 U CN 214482279U
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- negative pressure
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- 235000007688 Lycopersicon esculentum Nutrition 0.000 title claims abstract description 64
- 240000003768 Solanum lycopersicum Species 0.000 title claims description 60
- 235000013399 edible fruits Nutrition 0.000 abstract description 17
- 241000227653 Lycopersicon Species 0.000 abstract 6
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 210000002615 epidermis Anatomy 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model relates to a tomato picking machine based on negative pressure, which is characterized in that the tomato picking machine comprises a machine vision module, an mechanical arm, a negative pressure picking system and a controller, wherein the machine vision module is arranged at the tail end of the mechanical arm; a tomato outlet is formed in the lower portion of the flexible pipe, a valve is arranged at the tomato outlet, and the tomato outlet is sealed when the valve is closed; the valve is controlled to be opened and closed through a connecting rod switch, and the valve is rotatably connected to the lower part of the flexible pipe. The utility model discloses simple structure, fruit damage are little, pick efficiently, can overcome traditional picking mode to the damage of fruit and the influence of tomato growth characteristic, are convenient for realize the automation.
Description
Technical Field
The utility model belongs to the technical field of agricultural picking machine, concretely relates to tomato picking machine based on negative pressure.
Background
With the rapid development of tomato planting industry, the orchard machinery is in a trend of automation. However, the tomatoes have dense growth, touch each other and easily damaged epidermis, so that the mechanical automatic picking of the tomatoes is difficult. The existing mechanical picking mode of tomatoes is mainly to shovel tomato plants with roots and then sort the tomato plants, and the mode has high efficiency but is only suitable for varieties which are crack-resistant, pressure-resistant, storage-and-transportation-resistant and can be matured in a centralized manner. And traditional formula of snatching is picked because of end effector clamping force is great, can't avoid causing the damage to tomato surface quality, and then influences subsequent storage and transportation, and simultaneously, the characteristic that the tomato becomes cluster to grow has also brought very big degree of difficulty for visual identification, further brings the difficulty for the formula of snatching is picked.
SUMMERY OF THE UTILITY MODEL
In order to solve the above-mentioned problem among the prior art, the utility model discloses a tomato picking machine based on negative pressure.
In order to solve the above problems in the prior art, the utility model adopts the following scheme:
a negative pressure-based tomato picking machine comprises a machine vision module, a mechanical arm, a negative pressure picking system and a controller, wherein the machine vision module is arranged at the tail end of the mechanical arm, a picking port of the negative pressure picking system is communicated with a suction device through a telescopic flexible pipe, the picking port is arranged at the tail end of the mechanical arm and can move along with the mechanical arm, and a rotary cutter is arranged at the end part of the picking port; a tomato outlet is formed in the lower portion of the flexible pipe, a valve is arranged at the tomato outlet, and the tomato outlet is sealed when the valve is closed; the valve is controlled to be opened and closed through a connecting rod switch, and the valve is rotatably connected to the lower part of the flexible pipe.
Furthermore, the rotary cutter comprises an annular mounting plate and a plurality of groups of blades uniformly distributed on the annular mounting plate, and one end of each blade is rotatably arranged on the annular mounting plate and driven by a corresponding blade driving steering engine; the blade driving steering engine is connected with the controller.
Further, a photoelectric sensor is further arranged on the inner wall of the picking opening and connected with the controller.
Furthermore, two ends of the flexible pipe are respectively connected with the picking opening and the suction device through corresponding large-caliber air pipes.
Further, the connecting rod switch comprises a connecting rod, a rocker and a steering engine, and the steering engine is connected with the controller.
Further, a collecting box is arranged below the tomato outlet.
Further, the suction device adopts a centrifugal fan, and the centrifugal fan is connected with the controller.
Further, the controller comprises a main controller and a steering engine control panel.
Furthermore, the mechanical arm comprises a rotary joint and three pitching joints, the joints are respectively connected with the corresponding joint control steering engines, and the joint control steering engines are connected with the controller.
Further, the negative pressure picking machine further comprises a walking chassis, and the mechanical arm, the negative pressure picking system and the controller are arranged on the walking chassis.
When the machine is in work, the power supply is electrified, the machine vision module identifies and positions a picking target and transmits position information of the picking target to the controller, and the controller controls each joint of the mechanical arm to control the steering engine according to the position information so that the mechanical arm moves a picking port of the negative pressure picking system to a proper position; then, the suction device of the negative pressure picking system provides negative pressure to enable picking targets to enter the interior of the picking opening; when the photoelectric sensor in the picking port detects that fruits enter, a rotary cutter arranged at the end part of the picking port works to cut off the tomato vines, so that the tomatoes fall into a flexible pipe of the negative pressure picking system; finally, a valve at a tomato discharge port of the negative pressure picking system is opened to enable the tomatoes to fall into a collecting box below, so that the picking of the target tomatoes is completed; and simultaneously, the rotary cutter is reset to wait for the next work.
The negative pressure-based tomato picking machine has the following beneficial effects:
(1) the utility model discloses in, by the motion of steering wheel drive arm, provide the negative pressure by centrifugal fan, pick the target by machine vision module discernment, drive by the arm and pick the mouth and be close to and pick the target, pick the operation by picking the mouth, accomplish the collection of fruit by the tomato discharge port, have easy and simple to handle, degree of automation is high, use manpower sparingly, advantage such as the operation is thorough.
(2) The utility model discloses in, utilized the form that the arm drove the culvert pipe, arranged reasonable, compact structure.
(3) The utility model discloses simple structure, fruit damage are little, pick efficiently, can overcome traditional picking mode to the damage of fruit and the influence of tomato growth characteristic, are convenient for realize the automation.
Drawings
FIG. 1: the utility model discloses in the embodiment based on negative pressure the spatial structure sketch map of tomato picker;
FIG. 2: the utility model discloses the section view of picking mouth in the implementation mode;
FIG. 3: the working state schematic diagram I of the rotary cutter in the embodiment of the utility model is shown;
FIG. 4: the working state schematic diagram II of the rotary cutter in the embodiment of the utility model;
FIG. 5: the utility model discloses local enlargements of tomato discharge port among the embodiment.
Description of reference numerals:
1-a machine vision module; 2, a mechanical arm; 3-a controller; 4, a collecting box; 61-picking mouth; 62-a photosensor; 63-rotating the cutter; 631-a blade; 632-blade driving steering engine; 64-large-caliber air pipe; 65-flexible tube; 66-a suction device; 67-tomato outlet port; 671-valve; 672-link switch.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 to 5 show a negative pressure-based tomato picker and a working method thereof according to the present invention. Fig. 1 is a schematic structural view of a negative pressure-based tomato picker according to the present embodiment; fig. 2 is a schematic structural view of the picking port in the present embodiment; fig. 3 and 4 are schematic views showing the working state of the rotary cutter in the present embodiment; fig. 5 is a partially enlarged view of a tomato outlet in this embodiment.
As shown in fig. 1, the negative pressure-based tomato picker in the present embodiment comprises a machine vision module 1, a mechanical arm 2, a negative pressure picking system and a controller 3, wherein the machine vision module 1 is arranged at the end of the mechanical arm 2, a picking port 61 of the negative pressure picking system is communicated with a suction device 66 through a telescopic flexible pipe 65, the picking port 61 is arranged at the end of the mechanical arm 2 and can move along with the mechanical arm 2, and a rotary cutter 63 is arranged at the end of the picking port 61; the lower part of the flexible tube 65 is provided with a tomato outlet 67.
Preferably, the rotary cutter 63 comprises an annular mounting plate and a plurality of groups of blades 631 uniformly distributed on the annular mounting plate, one end of each blade 631 is rotatably arranged on the annular mounting plate and is driven by a corresponding blade driving steering engine 632; the blade drive steering engine 632 is connected to the controller 3, as shown in fig. 3 and 4.
Preferably, a photoelectric sensor 62 is further arranged on the inner wall of the picking port 61, and the photoelectric sensor 62 is connected with the controller 3, as shown in fig. 2.
Preferably, both ends of flexible tube 65 are connected to picking port 61 and suction device 66 through respective large bore air tubes 64, as shown in fig. 1.
Preferably, a valve 671 is arranged at the tomato outlet 67, and the valve 671 seals the tomato outlet 67 when closed; the valve 671 is controlled to open and close by a link switch 672, and the valve 671 is rotatably connected to the lower part of the flexible pipe 65, as shown in fig. 1 and 5.
Specifically, the link switch 672 comprises a link, a rocker and a steering engine; the steering engine is connected with the controller 3, as shown in fig. 5.
Preferably, a collection bin 4 is provided below the tomato outlet 67, as shown in FIG. 1.
In this embodiment, the suction device 66 is a centrifugal fan, and the centrifugal fan is connected to the controller 3, as shown in fig. 1.
In this embodiment, the controller 3 includes a main controller and a steering engine control panel.
Preferably, the mechanical arm 2 comprises a rotary joint and three pitching joints, the joints are respectively connected with corresponding joint control steering engines, and the joint control steering engines are connected with the controller 3, as shown in fig. 1.
Preferably, the machine further comprises a walking chassis, and the collecting box 4, the mechanical arm 2, the negative pressure picking system and the controller 3 are arranged on the walking chassis. In this embodiment, the walking chassis is not shown.
In the negative pressure-based tomato picking machine in the embodiment, when the machine works, the power supply is powered on, the machine vision module 1 identifies and positions a picking target and transmits position information of the picking target to the controller 3, and the controller 3 controls each joint of the mechanical arm 2 to control the steering engine according to the position information so that the mechanical arm 2 moves the picking port 61 of the negative pressure picking system to a proper position; then, the suction device 66 of the negative pressure picking system provides negative pressure to make the picking target enter the interior of the picking port 61; when the photoelectric sensor 62 in the picking port 61 detects that fruits enter, the rotary cutter 63 arranged at the end part of the picking port 61 works to cut off the tomato vines, so that the tomatoes fall into the flexible pipe 65 of the negative pressure picking system; finally, a valve 671 at the tomato outlet 67 of the negative pressure picking system is opened to enable the tomatoes to fall into the lower collecting box 4, so that the picking of the target tomatoes is completed; at the same time, the rotary cutter 63 is reset to wait for the next work.
Specifically, as shown in fig. 1, in the working process, firstly, the tomato picking machine is placed near a plant, after a power supply is powered on, each joint of the mechanical arm 2 drives a steering engine and a centrifugal fan to start working, wherein a machine vision module 1 transmits the identified fruit position information to a controller 3 through communication, and the controller 3 controls a joint driving motor to convey a picking port 61 to a proper position; then, the centrifugal fan works at a high speed, and the generated negative pressure attracts the target fruits to the picking opening 61;
when the photoelectric sensor 62 in the picking port 61 detects that a fruit enters, the cutter driving steering engine 632 drives the blade 631 of the rotary cutter 63 to rotate, as shown in fig. 4, the cutting of the tomato vines is completed, the fruit falls into the large-caliber air tube 64, then the rotary cutter 63 is driven by the cutter driving steering engine 632 to open, as shown in fig. 3, and the next work is waited;
as shown in fig. 5, a switch is arranged at the tomato outlet 67, when a fruit approaches, the link switch 672 rotates to drive the valve 671 to open, the fruit falls into the collection tank 4, so that the picking and collecting work of the fruit is completed, and then the link switch 672 drives the valve 671 to close to ensure the air tightness of the negative pressure picking system.
The utility model discloses in, by the motion of steering wheel drive arm, provide the negative pressure by centrifugal fan, pick the target by machine vision module discernment, drive by the arm and pick the mouth and be close to and pick the target, pick the operation by picking the mouth, accomplish the collection of fruit by the tomato discharge port, have easy and simple to handle, degree of automation is high, use manpower sparingly, advantage such as the operation is thorough.
The utility model discloses in, utilized the form that the arm drove the culvert pipe, arranged reasonable, compact structure.
The utility model discloses simple structure, fruit damage are little, pick efficiently, can overcome traditional picking mode to the damage of fruit and the influence of tomato growth characteristic, are convenient for realize the automation.
The present invention has been described in detail with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various improvements of the method concept and the technical solution of the present invention can be made without modification, or the present invention can be directly applied to other occasions without modification, and is within the protection scope of the present invention.
Claims (10)
1. A negative pressure-based tomato picking machine is characterized by comprising a machine vision module, a mechanical arm, a negative pressure picking system and a controller, wherein the machine vision module is arranged at the tail end of the mechanical arm, a picking port of the negative pressure picking system is communicated with a suction device through a telescopic flexible pipe, the picking port is arranged at the tail end of the mechanical arm, and a rotary cutter is arranged at the end part of the picking port; a tomato outlet is formed in the lower portion of the flexible pipe, a valve is arranged at the tomato outlet, and the tomato outlet is sealed when the valve is closed; the valve is controlled to be opened and closed through a connecting rod switch, and the valve is rotatably connected to the lower part of the flexible pipe.
2. The negative pressure-based tomato picker according to claim 1, wherein the rotary cutter comprises an annular mounting plate and a plurality of groups of blades uniformly distributed on the annular mounting plate, and one end of each blade is rotatably arranged on the annular mounting plate and driven by a corresponding blade driving steering engine; the blade driving steering engine is connected with the controller.
3. The negative pressure-based tomato picker according to claim 1 or 2, wherein a photoelectric sensor is further arranged on the inner wall of the picking port, and the photoelectric sensor is connected with the controller.
4. The negative pressure-based tomato picker according to claim 1, wherein the link switch comprises a link, a rocker and a steering engine, and the steering engine is connected with the controller.
5. The negative pressure-based tomato picker according to claim 1, wherein a collection tank is provided below the tomato outlet.
6. The negative pressure-based tomato picker according to claim 1, wherein both ends of the flexible tube are connected with the picking port and the suction device through respective large-bore air tubes.
7. The negative pressure-based tomato picker according to claim 1, wherein the suction device employs a centrifugal fan, and the centrifugal fan is connected to the controller.
8. The negative pressure-based tomato picker according to claim 1, wherein the mechanical arm comprises a rotary joint and three pitching joints, the joints are respectively connected with corresponding joint control steering engines, and the joint control steering engines are connected with the controller.
9. The negative pressure-based tomato picker according to claim 1, wherein the controller comprises a main controller and a steering engine control board.
10. The negative pressure-based tomato picker according to claim 1, 2, 4, 5, 6, 7, 8 or 9, further comprising a walking chassis on which the robotic arm, negative pressure picking system and controller are disposed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022962752.XU CN214482279U (en) | 2020-12-12 | 2020-12-12 | Tomato picking machine based on negative pressure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022962752.XU CN214482279U (en) | 2020-12-12 | 2020-12-12 | Tomato picking machine based on negative pressure |
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| Publication Number | Publication Date |
|---|---|
| CN214482279U true CN214482279U (en) | 2021-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022962752.XU Expired - Fee Related CN214482279U (en) | 2020-12-12 | 2020-12-12 | Tomato picking machine based on negative pressure |
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| CN (1) | CN214482279U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112640650A (en) * | 2020-12-12 | 2021-04-13 | 西北农林科技大学 | Negative pressure-based tomato picking machine and working method thereof |
| CN115176595A (en) * | 2022-08-03 | 2022-10-14 | 重庆文理学院 | Tea picking manipulator and tea picking robot thereof |
-
2020
- 2020-12-12 CN CN202022962752.XU patent/CN214482279U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112640650A (en) * | 2020-12-12 | 2021-04-13 | 西北农林科技大学 | Negative pressure-based tomato picking machine and working method thereof |
| CN115176595A (en) * | 2022-08-03 | 2022-10-14 | 重庆文理学院 | Tea picking manipulator and tea picking robot thereof |
| CN115176595B (en) * | 2022-08-03 | 2023-12-08 | 重庆文理学院 | Tea picking manipulator and tea picking robot thereof |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211026 |