CN216905949U

CN216905949U - Radish harvesting robot induction structure

Info

Publication number: CN216905949U
Application number: CN202220628548.0U
Authority: CN
Inventors: 杨钦涌; 杨金明
Original assignee: Chongqing Zhitian Technology Co ltd
Current assignee: Chongqing Zhitian Technology Co ltd
Priority date: 2022-03-22
Filing date: 2022-03-22
Publication date: 2022-07-08
Anticipated expiration: 2032-03-22

Abstract

The utility model provides a radish harvesting robot induction structure which comprises two clamping arms and a plurality of probes, wherein the two clamping arms are parallel and oppositely arranged, and are driven by a driving mechanism to be relatively folded or relatively separated; the lower ends of the two clamping arms are respectively provided with a plurality of mounting holes penetrating through two sides of the clamping arms, the probes are arranged in the mounting holes, one ends of the probes protrude out of the inner sides of the clamping arms, the other ends of the probes protrude out of the outer sides of the clamping arms, and springs are arranged between the end parts of the probes at one ends of the inner sides of the clamping arms and the inner sides of the clamping arms, so that the probes can reset after being extruded; shooting devices are respectively arranged right above the probes protruding out of the two clamping arms. Size through probe discernment turnip, the one end and the turnip contact of probe, the probe forms the shape profile that corresponds with the turnip at the opposite side of centre gripping arm, discerns this shape profile through camera device in order to obtain the concrete shape and the size of turnip to it is pulled out to it in the mechanism of pulling out.

Description

Radish harvesting robot induction structure

Technical Field

The utility model relates to the field of agricultural automation equipment, in particular to an induction structure of a radish harvesting robot.

Background

Along with the rapid development of modern agriculture, the harvesting of turnip no longer relies on the manual work to gather, but utilize the robot to gather the turnip, the existing turnip is gathered the response of the position and the size of utilizing machine equipment to the turnip and is relied on infrared technology or image processing technique, when the size and the position of discernment turnip, because the existence of turnip leaf part, can cause great interference to the identification process, lead to the clamping position and the centre gripping size that can't accurately acquire the turnip, and then adjust centre gripping strength in order to reap the turnip.

SUMMERY OF THE UTILITY MODEL

Aiming at the technical problems in the prior art, the utility model provides a sensing structure of a radish harvesting robot, the size of a radish is identified through a probe, one end of the probe is contacted with the radish, the probe forms a shape outline corresponding to the radish on the other side of a clamping arm, and the shape outline is identified through a shooting device to obtain the specific shape and size of the radish so as to be convenient for a pulling mechanism to pull the radish.

According to a first aspect of the present invention, there is provided a radish harvesting robot sensing structure including: the two clamping arms are parallel and oppositely arranged, and are driven by a driving mechanism to be relatively folded or relatively separated; the lower ends of the two clamping arms are respectively provided with a plurality of mounting holes penetrating through two sides of the clamping arms, the probes are arranged in the mounting holes, one ends of the probes protrude out of the inner sides of the clamping arms, the other ends of the probes protrude out of the outer sides of the clamping arms, and springs are arranged between the end parts of the probes at one ends of the inner sides of the clamping arms and the inner sides of the clamping arms, so that the probes can reset after being extruded; shooting devices are arranged right above the probes protruding out of the two clamping arms respectively.

Preferably, the end parts of the probes protruding out of the inner sides of the two clamping arms are provided with buffer blocks, the buffer blocks are sleeved at the end parts of the probes, and the surfaces of the buffer blocks on the two sides are located on the same plane in the original state of the spring.

Preferably, the buffer block is a soft rubber pad.

Preferably, a light source is arranged on the side surface of the shooting device.

Preferably, the probe comprises a needle rod and a needle head, the needle head is positioned at two ends of the needle rod, the cross section of the needle head is larger than that of the needle rod, the outer diameter of the spring is larger than that of the mounting hole, and the inner diameter of the spring is smaller than that of the needle head.

Preferably, a protective cover is arranged at the upper ends of the shooting device and the light source.

Preferably, the device further comprises an adjusting bracket, wherein the adjusting bracket is arranged at the upper end of the induction structure and is fixedly connected with the induction structure, and is used for adjusting the induction structure to move in the direction.

According to the radish harvesting robot induction structure provided by the utility model, the size of a radish is identified through the probe, one end of the probe is contacted with the radish, the probe forms a shape outline corresponding to the radish on the other side of the clamping arm, and the shape outline is identified through the shooting device to obtain the specific shape and size of the radish, so that the radish can be conveniently pulled by the pulling mechanism. Possess the light filling illuminating effect simultaneously, further promote the discernment rate and the discernment effect of machine, can discharge because the turnip leaf promotes turnip extraction efficiency and success rate to the influence that the induction process caused.

Drawings

FIG. 1 is a schematic structural diagram of a sensing structure of a radish harvesting robot provided by the present invention;

FIG. 2 is a partially enlarged schematic view of a sensing structure of a radish harvesting robot according to the present invention;

FIG. 3 is a schematic view of a probe of a sensing structure of a radish harvesting robot provided by the utility model;

FIG. 4 is a schematic structural diagram of a probe of a sensing structure of a radish harvesting robot provided by the utility model.

The device comprises a clamping arm 1, a pulling arm 2, a mounting hole 3, a shell 4, a light supplementing device 5, a shooting device 6, a spring 7, a limiting sleeve 8, a probe 9 and a sleeve 10.

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 or similar 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 accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "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 used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.

As shown in fig. 1-4, fig. 1 is a schematic structural diagram of a sensing structure of a radish harvesting robot provided by the present invention; FIG. 2 is a partially enlarged schematic view of a sensing structure of a radish harvesting robot according to the present invention; FIG. 3 is a schematic diagram of a probe installation of a radish harvesting robot sensing structure provided by the utility model. FIG. 4 is a schematic structural diagram of a probe of a sensing structure of a radish harvesting robot provided by the utility model.

The embodiment provides a turnip harvesting machine people response structure includes: the device comprises two clamping arms 1 and a plurality of probes 9, wherein the two clamping arms 1 are parallel and oppositely arranged, and the two clamping arms 1 are driven by a driving mechanism to be relatively folded or relatively separated; the lower ends of the two clamping arms 1 are respectively provided with a plurality of mounting holes 3 penetrating through the two sides of the clamping arms 1, the probes 9 are arranged in the mounting holes 3, one ends of the probes 9 protrude out of the inner sides of the clamping arms 1, the other ends of the probes 9 protrude out of the outer sides of the clamping arms 1, and springs 7 are arranged between the end parts of the probes 9 at the ends of the inner sides of the clamping arms 1 and the inner sides of the clamping arms 1, so that the probes 9 can reset after being extruded; the shooting devices 6 are respectively arranged right above the probes 9 protruding out of the two clamping arms 1.

It can be understood that, in this embodiment, the radish is contacted by the probe 9 in the holding arm 1, the holding arm 1 is driven by the force to move inward in the contact process, so that the probe 9 is collided by the outer side of the radish to be displaced, for the other side of the holding arm 1, the probe 9 obtains outward pressure, so that the part of the probe 9 located at the outer side of the holding arm 1 moves outward, at this time, the image information of the probe 9 located at one end of the outer side of the holding arm 1 at this time is obtained by the shooting device 6, and the simulated shape image of the radish is obtained according to the image information, so that the diameter size and the shape of the radish are judged, and the data basis is provided for the final positioning of the holding position. And after the radish is separated from the probe 9, the probe 9 is restored to the original position under the action of the spring 7 to be used for next detection.

In a possible embodiment mode, the end parts of the probes 9 protruding out of the inner sides of the two clamping arms 1 are provided with buffer blocks, the buffer blocks are sleeved at the end parts of the probes 9, and the surfaces of the buffer blocks on the two sides are located on the same plane in the original state of the spring 7.

It will be appreciated that in this embodiment, the probe 9 located within the holding arm 1 is fixed with a buffer block for preventing damage to the radish after contact with the radish; and the buffer blocks on the two sides are kept opposite in position, so that the accurate shapes and sizes of the radishes on the two sides can be obtained at the same time.

In a possible embodiment, the buffer block is a soft rubber pad.

It is understood that in the present embodiment, the buffer block is made of rubber or sponge or soft structure with anti-slip teeth or anti-slip layer.

In a possible embodiment, the camera 6 is laterally provided with a light source.

It can be understood that, in this embodiment, the side of the shooting device 6 is provided with a light source, and the light source is used for providing illumination when the lower end of the radish leaves or natural light is insufficient, and simultaneously can also be used for providing illumination and shooting after the protective cover is arranged outside, and can also be used for light supplement in the shooting process.

In another embodiment, a pressure sensor may be further provided to sense the pressure of the probe 9 for feedback adjustment of the clamping force, and a photosensitive sensor may be further provided to sense the illumination intensity of the external environment and the internal environment for adjusting the output power or the output time of the light source.

In a possible embodiment, the probe 9 comprises a shank and a needle, the needle being located at the two ends of the shank, and the needle cross-section being greater than the shank cross-section, and the outer diameter of the spring 7 being greater than the diameter of the mounting hole 3, while the inner diameter of the spring 7 is smaller than the diameter of the needle.

It can be understood that in this embodiment, the needle portion is used for fixing the buffer block and preventing the probe 9 from passing through the mounting hole 3 when the spring 7 is reset, and the position where the spring 7 is arranged is always located between the needle and the side surface of the clamping arm 1 under the condition that the normal action of the spring 7 is ensured.

In another embodiment, both sides of the probe 9 may be provided with springs 7. And one end of the probe 9 can be respectively provided with a limit sleeve 8 and a sleeve 10 to facilitate installation and fixation.

In a possible embodiment, the camera 6 and the light source are provided with protective covers at their upper ends.

It will be appreciated that in order to facilitate the camera device 6 being shielded from the external environment, a protective cover is provided to protect it and the light source.

In a possible embodiment, the device further comprises an adjusting bracket, wherein the adjusting bracket is arranged at the upper end of the sensing structure and is fixedly connected with the sensing structure, and is used for adjusting the sensing structure to perform azimuth movement.

It will be appreciated that in this embodiment the adjustment bracket is used to adjust the direction of movement of the gripping arm 1.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," 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 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.

While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.

Claims

1. A sensing structure of a radish harvesting robot is characterized by comprising two clamping arms and a plurality of probes, wherein the two clamping arms are parallel and oppositely arranged, and the two clamping arms are driven by a driving mechanism to be relatively folded or relatively separated; the lower ends of the two clamping arms are respectively provided with a plurality of mounting holes penetrating through two sides of the clamping arms, the probes are arranged in the mounting holes, one ends of the probes protrude out of the inner sides of the clamping arms, the other ends of the probes protrude out of the outer sides of the clamping arms, and springs are arranged between the end parts of the probes at one ends of the inner sides of the clamping arms and the inner sides of the clamping arms, so that the probes reset after being extruded; shooting devices are respectively arranged right above the probes protruding out of the two clamping arms.

2. The radish harvesting robot sensing structure as defined by claim 1, wherein the end parts of the probes protruding from the inner sides of the two clamping arms are provided with buffer blocks, the buffer blocks are sleeved on the end parts of the probes, and the surfaces of the buffer blocks on two sides are positioned on the same plane in the original state of the spring.

3. The radish harvesting robot sensing structure of claim 2, characterized in that the buffer block is a soft rubber pad.

4. The radish harvesting robot sensing structure of claim 1, characterized in that the shooting device is provided with a light source at the side.

5. The radish harvesting robot sensing structure of claim 1, characterized in that the probe comprises a needle bar and a needle head, the needle head is located at both ends of the needle bar, and the needle head cross section is larger than the needle bar cross section, and the outer diameter of the spring is larger than the diameter of the mounting hole, and the inner diameter of the spring is smaller than the diameter of the needle head.

6. The radish harvesting robot sensing structure of claim 4, characterized in that a protective cover is arranged on the shooting device and the light source.

7. The radish harvesting robot sensing structure according to any one of claims 1 to 6, further comprising an adjusting bracket, the adjusting bracket is disposed at an upper end of the sensing structure and is fixedly connected with the sensing structure for adjusting the sensing structure to perform azimuth movement.