CN216362650U

CN216362650U - Intelligent automatic picking robot in greenhouse

Info

Publication number: CN216362650U
Application number: CN202123038155.9U
Authority: CN
Inventors: 刘娟; 王远
Original assignee: Shanxi Engineering Vocational College
Current assignee: Shanxi Engineering Vocational College
Priority date: 2021-12-06
Filing date: 2021-12-06
Publication date: 2022-04-26
Anticipated expiration: 2031-12-06

Abstract

The utility model discloses an intelligent automatic picking robot in a greenhouse, and relates to the technical field of robots. The utility model comprises a base, wherein the top of the base is fixedly connected with a bottom plate through bolts; a servo motor is arranged on one side of the base; a threaded rod is fixedly connected with a rotating shaft end of the servo motor; the peripheral side surface of the threaded rod is in threaded connection with a connecting plate; the top of the connecting plate is fixedly connected with a supporting column through a bolt; the supporting column is internally provided with a hollow groove; the inner wall of the bottom end of the empty groove is fixedly connected with an electric push rod; the end part of the electric push rod is fixedly connected with a lifting plate matched with the empty groove; one side of the lifting plate is fixedly connected with a supporting transverse plate; the top of the supporting transverse plate is provided with a picking device. According to the fruit picking machine, the driving motor drives the first gear and the second gear to be in meshing transmission with each other, and the second gear is matched with the connecting rod to drive the scissors to rotate oppositely or oppositely to pick fruits, so that the fruits with different heights can be picked conveniently, and the operation is convenient.

Description

Intelligent automatic picking robot in greenhouse

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to an intelligent automatic picking robot in a greenhouse.

Background

Research and development of intelligent picking machines of greenhouses have been over 40 years, researchers develop and research both domestically and abroad, but most picking objects are covered by leaves, branches and the like, so that the visual positioning difficulty of agricultural robots is increased, the picking success rate is reduced, meanwhile, higher requirements are put on obstacle avoidance of mechanical arms, the current data shows that the intelligent greenhouse picking robots are applied to agricultural production and have the problems that the intelligent greenhouse picking robots cannot solve the technical aspects temporarily, for example, the picking rate of fruits is low, the breakage rate is high, the manufacturing cost of the picking robots is higher, the utilization rate is low, and the like, so that the popularization and application of the intelligent picking machines are restricted.

However, the existing automatic picking robot has few models and is not universal in application, the height of crop fruits such as tomatoes, strawberries and the like cultivated in a multi-level three-dimensional cultivation mode adopted by a greenhouse can reach 3 meters, the lifting height of a picking machine can not meet the requirement, the positioning is inaccurate, the crop fruits are damaged, the picked crop fruits usually directly drop into a collecting device, the secondary falling injury to the crop fruits is caused, and the practicability is low.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an intelligent automatic picking robot in a greenhouse, which solves the problems that the automatic picking robot is inconvenient to adjust and not universal in application and damages to crops and fruits are reduced by matching a base, a bottom plate, a servo motor, a connecting plate, a supporting column, a supporting transverse plate, a picking device, scissors and a collecting box.

In order to solve the technical problems, the utility model is realized by the following technical scheme:

the utility model relates to an intelligent automatic picking robot in a greenhouse, which comprises a base, wherein the top of the base is fixedly connected with a bottom plate through bolts; a servo motor is arranged on one side of the bottom plate; a threaded rod is fixedly connected with a rotating shaft end of the servo motor; the peripheral side surface of the threaded rod is in threaded connection with a connecting plate; the top of the connecting plate is fixedly connected with a supporting column through a bolt; a hollow groove is formed in the supporting column; the inner wall of the bottom end of the empty groove is fixedly connected with an electric push rod; the end part of the electric push rod is fixedly connected with a lifting plate matched with the empty groove; a scissor-fork type bracket is hinged to the inner wall of the bottom end of the empty groove and positioned at two sides of the electric push rod; the end parts of the two scissor type brackets are hinged with the two sides of the lifting plate; one side of the lifting plate is fixedly connected with a supporting transverse plate; the top of the supporting transverse plate is provided with a picking device.

Furthermore, guide rods are fixedly connected to the edges of the two sides of the bottom plate.

Furthermore, one side of the connecting plate is provided with a threaded hole matched with the threaded rod; guide holes matched with the guide rods are formed in the edges of the two ends of the connecting plate and located on the two sides of the threaded hole.

Furthermore, a sliding groove communicated with the empty groove is formed in one side of the supporting column.

Further, the picking device comprises a picking frame; the top of the picking frame body is provided with a driving motor; a rotating shaft end of the driving motor is fixedly connected with a first gear; the bottom in the picking frame body is rotatably connected with two second gears which are meshed with each other, wherein one of the second gears is in meshing transmission with the first gear; the eccentric positions at the tops of the two second gears are both rotatably connected with a connecting rod, and one end of the connecting rod is rotatably connected with a pair of scissors; the two scissors are rotatably connected.

Furthermore, a connecting hopper is communicated with the top of the supporting transverse plate and the bottom of the scissors; the bottom of the connecting hopper is communicated with a telescopic threaded pipe; the end part of the bottom telescopic screwed pipe is communicated with a buffer spiral pipe.

Furthermore, a collecting box is arranged on the top of the base and positioned on one side of the bottom plate; the top of the collecting box is communicated with the end part of the buffer spiral pipe.

The utility model has the following beneficial effects:

1. according to the fruit picking device, the base, the bottom plate, the servo motor, the connecting plate, the supporting columns, the supporting transverse plate and the scissors are matched, the servo motor drives the threaded rod to rotate, the threaded rod rotates and drives the connecting plate and the supporting columns to move left and right, the electric push rod is matched with the scissor type supports to drive the lifting plate and the supporting transverse plate to move up and down, so that the picking device can pick fruits at corresponding positions, the driving motor drives the first gear and the second gear to be in meshing transmission with each other, the second gear is matched with the connecting rod to drive the scissors to rotate oppositely or oppositely to pick the fruits, the fruits with different heights can be picked conveniently, and the operation is convenient.

2. According to the utility model, through the matching of the picking device, the scissors, the connecting bucket, the telescopic threaded pipe, the buffering spiral pipe and the collecting box, the sheared crop fruits fall into the connecting bucket and then fall into the telescopic threaded pipe to enter the buffering spiral pipe, after the fruits enter the buffering spiral pipe, the movement of the fruits is changed into spiral rolling with the spiral inclined downwards, and due to the existence of rolling friction force, the speed of the fruits is gradually reduced in the rolling process, and finally the fruits smoothly fall into the collecting box at a slower speed, so that the damage of the fruits caused by falling is reduced.

Of course, it is not necessary for any product in which the utility model is practiced 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 the drawings without creative efforts.

FIG. 1 is a schematic structural view of an intelligent automatic picking robot in a greenhouse of the present invention;

FIG. 2 is a schematic sectional structure view of an intelligent automatic picking robot in a greenhouse;

FIG. 3 is an enlarged view taken at A in FIG. 2;

FIG. 4 is a schematic structural view of a base plate;

FIG. 5 is a schematic structural view of a connecting plate;

fig. 6 is a schematic structural view of the lifting plate, the supporting transverse plate, the picking frame body and the connecting hopper.

In the drawings, the components represented by the respective reference numerals are listed below:

1-base, 2-bottom plate, 3-servo motor, 4-connecting plate, 5-supporting column, 6-supporting transverse plate, 7-picking device, 8-scissors, 9-connecting bucket, 10-telescopic threaded pipe, 11-buffer spiral pipe, 12-collecting box, 201-guide rod, 301-threaded rod, 401-threaded hole, 402-guide hole, 501-empty groove, 502-electric push rod, 503-lifting plate, 504-scissor bracket, 505-sliding groove, 701-picking frame body, 702-driving motor, 703-first gear, 704-second gear and 705-connecting rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the utility model relates to an intelligent automatic picking robot in a greenhouse, which comprises a base 1, wherein the top of the base 1 is fixedly connected with a bottom plate 2 through bolts; a servo motor 3 is arranged on one side of the bottom plate 2; a threaded rod 301 is fixedly connected with a rotating shaft end of the servo motor 3; the circumferential side surface of the threaded rod 301 is in threaded connection with a connecting plate 4; the top of the connecting plate 4 is fixedly connected with a supporting column 5 through a bolt; a hollow groove 501 is formed in the support column 5; the inner wall of the bottom end of the empty groove 501 is fixedly connected with an electric push rod 502; the end of the electric push rod 502 is fixedly connected with a lifting plate 503 matched with the empty slot 501; a scissor-fork type bracket 504 is hinged to the inner wall of the bottom end of the empty groove 501 and positioned at two sides of the electric push rod 502; the ends of the two scissor brackets 504 are hinged with the two sides of the lifting plate 503; one side of the lifting plate 503 is fixedly connected with a supporting transverse plate 6; the picking device 7 is arranged at the top of the supporting transverse plate 6; drive threaded rod 301 by servo motor 3 and rotate, threaded rod 301 drives connecting plate 4 and support column 5 when pivoted and removes, and rethread electric putter 502 drives lifter plate 503 and supports diaphragm 6 and remove for pick device 7 is picked the fruit, is convenient for pick convenient operation to the fruit of co-altitude.

Wherein, the edges of two sides of the bottom plate 2 are fixedly connected with guide rods 201; the guide rods 201 effectively prevent the connecting plate 4 from shifting.

Wherein, one side of the connecting plate 4 is provided with a threaded hole 401 matched with the threaded rod 301; guide holes 402 matched with the guide rods 201 are formed in the edges of the two ends of the connecting plate 4 and positioned on the two sides of the threaded hole 401; the threaded hole 401, the guide hole 402 and the connecting plate are matched; the stability when the connecting plate 4 moves is enhanced.

Wherein, one side of the supporting column 5 is provided with a sliding chute 505 which is mutually communicated with the empty chute 501; the sliding groove 505 effectively prevents the supporting horizontal plate 6 from shifting.

Wherein the picking device 7 comprises a picking frame 701; the top of the picking frame body 701 is provided with a driving motor 702; a first gear 703 is fixedly connected with a rotating shaft end of the driving motor 702; the inner bottom of the picking frame body 701 is rotatably connected with two second gears 704 which are meshed with each other, wherein one second gear 704 and the first gear 703 are in meshing transmission with each other; the eccentric positions of the tops of the two second gears 704 are rotatably connected with a connecting rod 705, and one end of the connecting rod 705 is rotatably connected with a pair of scissors 8; the two scissors 8 are rotatably connected; when picking fruits, the driving motor 702 is started, the driving motor 702 drives the first gear 703 to rotate, and then drives the second gear 704 meshed with the first gear to perform meshing transmission, and the rotation of the other second gear 704 is realized under the driving of the second gear 704, so that the two connecting rods 705 are driven to synchronously move towards the center of the picking frame body 701, the folding of the two scissors 8 is realized, the picking of fruits is realized, the continuous operation of the driving motor 702 is realized, the two scissors 8 are continuously and repeatedly folded and unfolded, the continuous picking of the fruits is met, the picking time and labor are saved, and the automation level is high.

Wherein, the top of the supporting transverse plate 6 and the bottom of the scissors 8 are communicated with a connecting hopper 9; the bottom of the connecting hopper 9 is communicated with a telescopic threaded pipe 10; the end part of the bottom end telescopic threaded pipe 10 is communicated with a buffer spiral pipe 11; a collecting box 12 is arranged on the top of the base 1 and positioned on one side of the bottom plate 2; the top of the collecting box 12 is communicated with the end part of the buffer spiral tube 11; inside the crop fruit through the shearing fell into connecting bucket 9, fell into flexible screwed pipe 10 again and get into buffering spiral pipe 11, after the fruit got into buffering spiral pipe 11, the motion of fruit became spiral slant decurrent spiral roll, because the existence of rolling frictional force, the fruit will be more and more slow at rolling in-process speed, at last with slower speed level landing in collecting box 12, reduce the fruit and tumble damage.

One embodiment of the present invention is: when the fruit picking device works, the servo motor 3 drives the threaded rod 301 to rotate, the threaded rod 301 drives the connecting plate 4 and the supporting column 5 to move left and right while rotating, the electric push rod 502 drives the lifting plate 503 and the supporting transverse plate 6 to move, so that the picking device 7 picks corresponding positions of fruits, the driving motor 702 drives the first gear 703 and the second gear 704 to be in meshing transmission with each other, the second gear 704 is matched with the connecting rod 705 to drive the scissors 8 to rotate in the opposite direction or in the opposite direction to pick the fruits, the picked fruits fall into the connecting hopper 9 and then into the telescopic threaded pipe 10 to enter the buffer spiral pipe 11, after the fruits enter the buffer spiral pipe 11, the movement of the fruits is changed into spiral rolling with the spiral inclined downwards, and due to the existence of rolling friction force, the fruits are slower and slower in the rolling process and finally horizontally slide into the collecting box 12 at a slower speed, reduce damage of fruit caused by falling.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to 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 utility model. 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 utility model disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the utility model 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 utility model and the practical application, to thereby enable others skilled in the art to best utilize the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides an intelligent automatic picking robot in warmhouse booth, includes base (1), its characterized in that:

the top of the base (1) is fixedly connected with a bottom plate (2) through bolts;

a servo motor (3) is arranged on one side of the bottom plate (2); a threaded rod (301) is fixedly connected with a rotating shaft end of the servo motor (3); the peripheral side surface of the threaded rod (301) is in threaded connection with a connecting plate (4); the top of the connecting plate (4) is fixedly connected with a supporting column (5) through a bolt;

a hollow groove (501) is formed in the supporting column (5); the inner wall of the bottom end of the empty groove (501) is fixedly connected with an electric push rod (502); the end part of the electric push rod (502) is fixedly connected with a lifting plate (503) matched with the empty groove (501); a scissor-fork type bracket (504) is hinged to the inner wall of the bottom end of the empty groove (501) and positioned at two sides of the electric push rod (502); the end parts of the two scissor type brackets (504) are hinged with the two sides of the lifting plate (503); a supporting transverse plate (6) is fixedly connected to one side of the lifting plate (503); the top of the supporting transverse plate (6) is provided with a picking device (7).

2. The intelligent automatic picking robot in the greenhouse as claimed in claim 1, wherein guide rods (201) are fixedly connected to the edges of the two sides of the bottom plate (2).

3. The intelligent automatic picking robot in the greenhouse as claimed in claim 2, wherein one side of the connecting plate (4) is provided with a threaded hole (401) matched with the threaded rod (301); guide holes (402) matched with the guide rods (201) are formed in the edges of the two ends of the connecting plate (4) and located on the two sides of the threaded hole (401).

4. The intelligent automatic picking robot in the greenhouse as claimed in claim 1, wherein one side of the supporting column (5) is provided with a sliding groove (505) which is communicated with the empty groove (501).

5. An intelligent automatic picking robot in a greenhouse as claimed in claim 4, characterised in that the picking device (7) comprises a picking frame (701); the top of the picking frame body (701) is provided with a driving motor (702); a rotating shaft end of the driving motor (702) is fixedly connected with a first gear (703); the inner bottom of the picking frame body (701) is rotatably connected with two second gears (704) which are meshed with each other, wherein one second gear (704) is in meshing transmission with the first gear (703); the eccentric positions of the tops of the two second gears (704) are rotatably connected with a connecting rod (705), and one end of the connecting rod (705) is rotatably connected with a pair of scissors (8); the two scissors (8) are rotatably connected.

6. The intelligent automatic picking robot in the greenhouse as claimed in claim 5, wherein the top of the supporting transverse plate (6) and the bottom of the scissors (8) are communicated with a connecting hopper (9); the bottom of the connecting hopper (9) is communicated with a telescopic threaded pipe (10); the end part of the telescopic threaded pipe (10) is communicated with a buffer spiral pipe (11).

7. The intelligent automatic picking robot in the greenhouse as claimed in claim 6, wherein a collecting box (12) is arranged on the top of the base (1) and on one side of the bottom plate (2); the top of the collecting box (12) is communicated with the end part of the buffer spiral tube (11).