CN215683452U

CN215683452U - Whole-harvesting whole-shearing type wolfberry harvesting machine

Info

Publication number: CN215683452U
Application number: CN202122013186.2U
Authority: CN
Inventors: 陈军; 陈超; 陈清宇; 高泽宁; 张是夏; 蔡皓轩; 孙丽娟; 李传林; 何晋普; 卫武权
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2021-08-25
Filing date: 2021-08-25
Publication date: 2022-02-01
Anticipated expiration: 2031-08-25

Abstract

The utility model discloses a whole-shearing type wolfberry harvester, which comprises a frame, a mechanical arm, a collection box, a tray, a driving motor, a driving wheel, a bearing with a seat, an end effector base, a separator, a clamping finger , Pneumatic scissors, binocular camera, transparent pc board, the base of the manipulator is fixedly connected to the frame, the other end of the manipulator is installed with an end effector, and the end effector is composed of an end effector base, a separator, a clamping finger, and a pneumatic scissor. The divider is fixed on the base of the end effector, the gripping fingers are connected to the base of the end effector through the slider, the pneumatic shears are hinged to the base of the end effector, the four collection boxes are respectively placed on the tray, and the binocular camera is fixed on the machine by bolts. On the frame, the drive motor is connected with the drive wheel through a rigid coupling, and the drive wheel is mounted on the frame through a bearing with a seat. The whole shearing type wolfberry harvester is suitable for the existing wolfberry trellis planting agronomy, and realizes the efficient and non-destructive mechanized harvesting of wolfberry.

Description

Whole-harvesting whole-shearing type wolfberry harvesting machine

Technical Field

The utility model relates to a harvester, in particular to a medlar harvester, and belongs to the technical field of medlar harvesting machinery.

Background

The plants of the Lycium barbarum are multi-branch shrubs, are important economic crops in northwest China, and have long history and homology of medicine and food. At present, medlar picking is mainly carried out manually by hiring a large amount of labor force, and the medlar picking is agricultural work with high labor intensity and high labor intensity, and meanwhile, the problems of low efficiency, high cost and the like exist in manual picking, and the economic benefit of the medlar industry is influenced.

The existing medlar harvesting machine can be divided into four types according to the design principle: shear, brush, vibration, and air flow. The shearing type medlar harvester does not need to contact the fresh medlar fruits when medlar is harvested, and does not damage the fresh medlar fruits.

SUMMERY OF THE UTILITY MODEL

The utility model provides a whole-harvesting whole-shearing type medlar harvester, which is characterized in that images and depth information are acquired through a binocular camera, an end effector is driven by a mechanical arm to shear branches with medlar off and put the branches into a collecting box on a tray, medlar harvesting is completed, and the problems of low manual harvesting efficiency and high cost can be effectively solved.

In order to solve the technical problem, the utility model provides a whole-collecting whole-shearing type medlar harvester which comprises a rack, mechanical arms, collecting boxes, trays, a driving motor, a driving wheel, a bearing with a seat, an end effector base, a separator, clamping fingers, a pneumatic shear, a binocular camera and a transparent pc board, wherein the mechanical arms, the driving motor, the trays and the bearing with the seat are installed on the rack, the four mechanical arm bases are fixedly connected with the rack, the end effector is installed at the other end of the mechanical arms, the end effector is composed of the end effector base, the separator, the clamping fingers and the pneumatic shear, the separator is fixed on the end effector base, the clamping fingers are connected to the end effector base through sliding blocks, the pneumatic shear is hinged to the end effector base, the four collecting boxes are respectively placed on the trays and are responsible for collecting medlar harvested by the nearest mechanical arms, and the binocular camera is fixed on the rack through bolts, the binocular camera is adopted to obtain image and depth information, the driving motor is connected with the driving wheel through the rigid coupler, and the driving wheel is installed on the rack through the bearing with the seat. The whole harvesting and shearing type wolfberry harvesting machine is suitable for existing wolfberry trellis type planting agriculture, an image camera and a depth camera are obtained through a binocular camera, the mechanical arm drives an end effector to clamp and shear the whole branch with the wolfberries, and then the branch with the wolfberries is placed in a collecting box on a tray, so that efficient and nondestructive mechanical harvesting of the wolfberries is achieved.

As a preferred technical scheme of the utility model, the rack is of a gantry structure.

As a preferable technical scheme of the utility model, the mechanical arm has 6 degrees of freedom, and can flexibly drive the end effector to clamp and cut branches with fresh wolfberry fruits in the responsible area.

As a preferred technical scheme of the utility model, the tray design is adopted, so that the collection box can be replaced conveniently, and the whole-collecting whole-shearing type medlar harvester can work continuously.

As a preferable technical scheme of the utility model, the transparent pc board is adopted to wrap the frame, so that the influence of wind on the harvesting operation can be better prevented.

The utility model has the following beneficial effects: the whole harvesting and whole shearing type wolfberry harvesting machine is suitable for the existing wolfberry trellis type planting agriculture, can clamp and shear the whole branches with fresh wolfberry fruits, can be placed in a collecting box in order, and achieves efficient and nondestructive mechanical harvesting of wolfberry.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model.

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic structural view of the end effector of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Example 1

As shown in figures 1-2, the utility model discloses a whole-collecting whole-shearing type medlar harvester, which comprises a frame, mechanical arms, collecting boxes, trays, a driving motor, driving wheels, bearings with seats, end effector bases, separators, clamping fingers, pneumatic shears, binocular cameras and a transparent pc board, wherein the mechanical arms, the driving motor, the trays and the bearings with seats are arranged on the frame, the four mechanical arm bases are fixedly connected with the frame, the end effector is arranged at the other end of the mechanical arms, the end effector is composed of the end effector bases, the separators, the clamping fingers and the pneumatic shears, the separators are fixed on the end effector bases, the clamping fingers are connected to the end effector bases through sliding blocks, the pneumatic shears are hinged to the end effector bases, the four collecting boxes are respectively placed on the trays and are responsible for collecting medlar harvested by the nearest mechanical arms, and the binocular cameras are fixed on the frame through bolts, the binocular camera is adopted to obtain image and depth information, the driving motor is connected with the driving wheel through the rigid coupler, and the driving wheel is installed on the rack through the bearing with the seat. The whole harvesting and shearing type wolfberry harvesting machine is suitable for existing wolfberry trellis type planting agriculture, an image camera and a depth camera are obtained through a binocular camera, the mechanical arm drives an end effector to clamp and shear the whole branch with the wolfberries, and then the branch with the wolfberries is placed in a collecting box on a tray, so that efficient and nondestructive mechanical harvesting of the wolfberries is achieved.

Furthermore, the machine frame 1 adopts a portal frame type structure, so that the picking is carried out across rows, and the picking machine can conveniently pass through the medlar field.

Furthermore, the mechanical arm 2 has 6 degrees of freedom, and can flexibly drive the end effector to clamp and cut branches with fresh wolfberry fruits in the responsible area.

Furthermore, the design of the tray 4 is adopted, so that the collection box 3 can be conveniently and manually replaced, and the whole-collecting whole-shearing type wolfberry harvester can continuously work.

Furthermore, the transparent pc board 13 is adopted to wrap the frame, so that the influence of wind on the harvesting operation can be better prevented.

The working principle of the utility model is as follows: the whole-collecting whole-shearing type Chinese wolfberry harvester runs across Chinese wolfberry trees, and the driving motor 5 drives the driving wheel 6 to rotate, so that the walking function of the harvester is realized. During picking, a Chinese wolfberry tree is located in the middle of a picking machine, a binocular camera 12 acquires image and depth information, a branch where a whole bunch of fresh Chinese wolfberry fruits are located is found, the information is transmitted to a mechanical arm 2, the mechanical arm sends an end effector to a specific position, a separator 9 of the end effector separates other unrelated branches, clamping fingers 10 clamp the cut branches, pneumatic scissors 11 cut the branches, the clamping fingers 10 continuously clamp the branches, the mechanical arm 2 sends the end effector to the position above a nearby collecting box 3, the clamping fingers 10 are loosened, whole-collecting whole-cutting type picking is completed, when the collecting box 3 is fully collected, a person can take the collecting box 3 off from a tray 4, the collecting box is replaced by an empty collecting box 3, and picking operation is continued.

The utility model relates to a whole-harvesting whole-shearing type wolfberry harvesting machine, which is suitable for the existing wolfberry hedge frame type planting agriculture.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the utility model. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A whole-shearing type wolfberry harvester, comprising a frame (1), a mechanical arm (2), a collection box (3), a tray (4), a drive motor (5), a drive wheel (6), Pedestal bearing(7), end effector base(8), spacer(9), gripping fingers(10), pneumatic scissors(11), binocular camera(12), transparent pc board(13), frame (1) A robotic arm (2), a tray (4), a drive motor (5) and a seated bearing (7) are installed on it, the base of the four robotic arms (2) is fixedly connected to the frame (1), and the robotic arm ( 2) An end effector is installed at the other end. The end effector consists of an end effector base (8), a spacer (9), a clamping finger (10), and a pneumatic scissor (11). The spacer (9) is fixed on the end effector The base of the end effector (8), the gripping fingers (10) are connected to the base of the end effector (8) through the slider, the pneumatic shears (11) are hinged to the base of the end effector (8), and the four collection boxes (3) are respectively placed On the tray (4), it is responsible for collecting the wolfberry harvested by the robotic arm (2) recently. The binocular camera (12) is fixed on the frame (1) by bolts, and the binocular camera (12) is used to obtain images and depth information. The top and sides of the frame (1) are wrapped by a transparent pc board (13), and the drive motor (5) is connected to the drive wheel (6) through a rigid coupling, and the drive wheel (6) is mounted through a seat bearing (7) on the rack (1).

2. The whole-shearing type wolfberry harvester according to claim 1, characterized in that the frame (1) adopts a gantry-frame structure.

3. The whole-shearing type wolfberry harvester according to claim 1, wherein the mechanical arm (2) has 6 degrees of freedom.