CN219330092U

CN219330092U - Strawberry picking robot

Info

Publication number: CN219330092U
Application number: CN202320445631.9U
Authority: CN
Inventors: 蔡子硕; 吴燕燕; 高建崴; 高雅; 孙佳鑫; 魏宏
Original assignee: Shenyang Aerospace University
Current assignee: Shenyang Aerospace University
Priority date: 2023-03-10
Filing date: 2023-03-10
Publication date: 2023-07-14
Anticipated expiration: 2033-03-10

Abstract

A strawberry picking robot belongs to the technical field of agricultural mechanical equipment. The strawberry picking robot comprises a traveling system and a picking system, wherein a fruit storage box is arranged at the top of the traveling system and used for placing strawberries, the picking system comprises a picking mechanical arm arranged at the traveling system and a picking shear arranged at the front end of the picking mechanical arm, and a fruit receiving bowl is arranged below the picking shear through a picking shear connector and used for receiving strawberries sheared by the picking shear. The strawberry picking robot is simple in structure, can flexibly move on a soft land in a strawberry greenhouse, reduces the falling height of fruits, and reduces the extrusion and damage degree of the fruits.

Description

Strawberry picking robot

Technical Field

The utility model relates to the technical field of agricultural mechanical equipment, in particular to a strawberry picking robot.

Background

Agricultural machinery refers to various machines used in the crop planting and animal husbandry processes, as well as in the preliminary processing and handling of agricultural and animal products. The strawberry growing height is low, the labor intensity of workers in the strawberry picking process is very high due to the large-area strawberry planting field, the strawberry has a large amount of fruit juice, the appearance is soft and easy to bruise, and the appearance damage is reduced as much as possible when the strawberries are manually picked, so that strict requirements are placed on the picking time and the picking method.

Considering the characteristics of easy breakage of strawberries, the traditional fruit clamping manipulator cannot be used in strawberry picking equipment, and the existing strawberry picking robot has the defects of poor trafficability in ridges, easy extrusion breakage of strawberries due to lack of a cushioning structure and the like.

Disclosure of Invention

In order to solve the problems in the prior art, the utility model provides the strawberry picking robot which is simple in structure, can flexibly move on a soft land in a strawberry greenhouse, reduces the falling height of fruits, and reduces the extrusion and damage degree of the fruits.

In order to achieve the above object, the technical scheme of the present utility model is as follows:

a strawberry picking robot comprises a walking system and a picking system;

the top of the walking system is provided with a fruit storage box for placing strawberries;

the picking system comprises a picking mechanical arm arranged on the traveling system and a picking shear arranged at the front end of the picking mechanical arm, wherein a fruit receiving bowl is arranged below the picking shear through a picking shear connector and used for receiving strawberries sheared by the picking shear.

Further, the strawberry picking robot further comprises crawler baffles arranged on two sides of the traveling system.

Further, the traveling system comprises a chassis, and a driving wheel and a tensioning wheel which are arranged on the chassis, wherein the outside of the driving wheel and the tensioning wheel is provided with a crawler belt.

Further, the driving wheel is connected with a driving wheel motor arranged on the chassis, and the tensioning wheel is rotatably arranged on the chassis through a tensioning wheel connecting rod.

Further, the track is an annular structure formed by connecting a plurality of track sheets through track sheet connecting pins, protrusions are arranged in the track, and the protrusions are meshed with grooves formed in the outer portions of the driving wheels and the tensioning wheels.

Further, the picking mechanical arm comprises a mechanical arm connecting seat, a mechanical arm rear arm, a mechanical arm middle arm and a mechanical arm front arm which are sequentially connected in a rotating mode, the mechanical arm connecting seat is arranged in a running system in a rotating mode, and the mechanical arm front arm is connected with the picking shear connector.

Further, the picking scissors comprise a scissors fixing plate connected with the picking scissors connector, and the scissors fixing plate is respectively connected with two cutters through two push rods; one of the cutters is connected with the scissors fixing plate through a gear rod, and the other cutter is connected with a steering engine arranged on the scissors fixing plate through a gear rod; the gear ends of the two gear rods are meshed.

Further, the picking shear connector is connected with a fruit receiving bowl motor, and the rotating end of the fruit receiving bowl motor is connected with the fruit receiving bowl.

Further, the fruit receiving bowl is provided with a fruit receiving bowl inner pad.

Further, the fruit storage box is internally provided with a fruit storage box inner pad.

The utility model has the beneficial effects that:

1) The robot can move through the crawler-type traveling system, so that the robot has better trafficability in a soft land in the strawberry greenhouse;

2) The traveling system is driven by electricity, so that the emission of pollutants is reduced;

3) The picking mechanical arm with the picking scissors and the fruit receiving bowl at the front end is used for completing picking work, the picking scissors are used for shearing stems of strawberries, so that fruits are not contacted during strawberry picking, the fruit receiving bowl is used for receiving picked strawberries, and the vibration-reducing foam pad is arranged in the bowl, so that the falling height of the fruits is greatly reduced, and the extrusion and breakage degree of the fruits is reduced;

4) After the fruit receiving bowl is used for receiving fruits, the picking mechanical arm turns, the fruit receiving bowl turns sideways, and the fruits are placed into the fruit storage box, so that strawberries can be placed conveniently.

Additional features and advantages of the utility model will be set forth in part in the detailed description which follows.

Drawings

Fig. 1 is a schematic diagram of an overall front view three-dimensional structure of a strawberry picking robot provided by an embodiment of the utility model;

fig. 2 is a schematic three-dimensional structure of a picking shear provided by an embodiment of the present utility model;

fig. 3 is a schematic three-dimensional structure of a picking mechanical arm according to an embodiment of the present utility model;

fig. 4 is a schematic three-dimensional structure of a walking system according to an embodiment of the present utility model;

fig. 5 is a schematic three-dimensional structure of a tail of a walking system according to an embodiment of the present utility model;

fig. 6 is a schematic three-dimensional structure of a track guard connected to a chassis according to an embodiment of the present utility model.

Reference numerals in the drawings of the specification include:

1. a picking system; 11. a cutter; 12. a push rod; 13. rotating the connecting nails; 14. a gear lever; 15. a scissors fixing plate; 16. steering engine; 17. a fruit receiving bowl inner pad; 18. a fruit receiving bowl; 19. a camera fixing nail; 110. fruit positioning cameras; 111. a camera fixing ring; 112. picking shear connectors; 113. a fruit bowl receiving motor; 114. a robotic arm forearm; 115. a mechanical arm fixing nail; 116. a mechanical arm middle arm; 117. a robotic arm rear arm;

2. a walking system; 21. a front camera; 22. a chassis; 23. a front camera connecting seat; 24. a mechanical arm connecting seat; 25. a tensioner connecting rod; 26. a tensioning wheel; 27. a fruit storage box inner pad; 28. a fruit storage box; 29. a driving wheel; 210. a driving wheel fixing screw; 211. a crawler belt; 212. a track pad connecting pin; 213. identifying a camera support rod; 214. identifying a camera; 215. a warning light; 216. identifying a camera connecting seat; 217. a tensioning wheel connecting seat; 218. a driving wheel motor 219 and a connecting rod;

3. track baffles.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model.

In the description of the present utility model, it should be understood that the terms "upper," "lower," "front," "rear," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, unless otherwise specified and defined, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanical or electrical, or may be in communication with each other between two elements, directly or indirectly through intermediaries, as would be understood by those skilled in the art, in view of the specific meaning of the terms described above.

In order to solve the problems in the prior art, as shown in fig. 1 to 6, the utility model provides a strawberry picking robot, which comprises a traveling system 2 and a picking system 1;

the top of the walking system 2 is provided with a fruit storage box 28 for placing strawberries;

the picking system 1 comprises a picking mechanical arm arranged on the traveling system 2 and a picking shear arranged at the front end of the picking mechanical arm, wherein a fruit receiving bowl 18 is arranged below the picking shear through a picking shear connector 112 and used for receiving strawberries sheared by the picking shear.

As shown in fig. 1, the strawberry picking robot further includes crawler baffles 3 disposed on two sides of the traveling system 2, and the crawler baffles 3 are distributed on two sides of the chassis 22 through connecting rods 219, so as to prevent the strawberry cluster branches and leaves from being entangled in the crawler.

As shown in fig. 4 to 6, the traveling system 2 includes a chassis 22, a driving wheel 29 and a tensioning wheel 26 provided on the chassis 22, and tracks provided outside the driving wheel 29 and the tensioning wheel 26.

The driving wheel 29 is connected with a driving wheel motor 218 arranged on the chassis 22, and the tensioning wheel 26 is rotatably arranged on the chassis 22 through a tensioning wheel connecting rod 25. In this embodiment, the driving wheels 29 are distributed on two sides of the chassis 22, and each driving wheel 29 is fixed on the driving wheel motor 218 of the chassis 22 by five driving wheel fixing screws 210. The tensioning wheels 26 are distributed on two sides of the chassis 22, each tensioning wheel 26 is connected to the chassis 22 through a tensioning wheel connecting seat 217 and a tensioning wheel connecting rod 25, specifically, the tensioning wheel connecting seat 217 is fixed to the chassis 22, the tensioning wheel connecting seat 217 is fixedly connected with one end of the tensioning wheel connecting rod 25, and the other end of the tensioning wheel connecting rod 25 is rotatably connected with the tensioning wheel 26.

The crawler belt is of an annular structure formed by connecting a plurality of crawler belt pieces 211 through crawler belt piece connecting pins 212, protrusions are arranged in the crawler belt and meshed with grooves formed in the outer portions of the driving wheel 29 and the tensioning wheel 26. In this embodiment, thirty crawler belt connecting pins 212 and thirty crawler belt pieces 211 form a crawler belt on one side, two crawler belt pieces 211 are connected by one crawler belt connecting pin 212, and after the crawler belt is connected, the protrusions on the crawler belt pieces 211 are meshed with the grooves on the driving wheel 29 and the tensioning wheel 26.

In the technical scheme, the walking system 2 is designed based on the crawler walking system, and the crawler walking system drives the picking system 1 to realize mobile work. The running system 2 is a system composed of a chassis 22, two tensioning wheel connecting rods 25, two tensioning wheels 26, six driving wheels 29, thirty driving wheel fixing screws 210, sixty crawler belt pieces 211, sixty crawler belt piece connecting pins 212, a warning lamp 215, two tensioning wheel connecting seats 217, six driving wheel motors 218 and two crawler belt baffles 3. In particular, the walking system 2 may further include a front camera 21, a front camera connecting seat 23, an identification camera 214, an identification camera support 213, and an identification camera connecting seat 216.

As shown in fig. 2 and 3, the picking mechanical arm includes a mechanical arm connecting seat 24, a mechanical arm rear arm 117, a mechanical arm middle arm 116 and a mechanical arm front arm 114 which are sequentially connected in a rotating manner, the mechanical arm connecting seat 24 is rotatably arranged in the traveling system 2, and the mechanical arm front arm 114 is connected with the picking shear connector 112. In this embodiment, the picking shear connector 112 is fixedly connected with the front end of the front arm 114 of the mechanical arm; the rear end of the mechanical arm front arm 114 is connected with a motor at the front end of the mechanical arm middle arm 116 through a connecting piece, the connecting piece is an eight-hole connecting plate, an output shaft of the motor at the front end of the mechanical arm middle arm 116 is fixedly connected with the eight-hole connecting plate, and the eight-hole connecting plate is fixedly connected with eight holes at the rear end of the mechanical arm front arm 114 through mechanical arm fixing nails 115; the rear end of the arm 116 in the mechanical arm is connected with a motor at the front end of the arm 117 in the mechanical arm through a connecting piece, the connecting piece is an eight-hole connecting plate, an output shaft of the motor at the front end of the arm 117 in the mechanical arm is fixedly connected with the eight-hole connecting plate, and the eight-hole connecting plate is fixedly connected with eight holes at the rear end of the arm 116 in the mechanical arm through mechanical arm fixing nails 115; the rear end of the mechanical arm rear arm 117 is connected with the motor of the mechanical arm connecting seat 24 through a connecting piece, the connecting piece is an eight-hole connecting plate, the output shaft of the motor of the mechanical arm connecting seat 24 is fixedly connected with the eight-hole connecting plate, and the eight-hole connecting plate is fixedly connected with eight holes at the rear end of the mechanical arm rear arm 117 through mechanical arm fixing nails 115; the bottom end of the mechanical arm connecting seat 24 is connected with a motor on the chassis 22.

The picking shears comprise a shear fixing plate 15 connected with a picking shear connector 112, and the shear fixing plate 15 is respectively connected with two cutters 11 through two push rods 12; one cutter 11 is connected with a scissors fixing plate 15 through a gear rod 14, and the other cutter 11 is connected with a steering engine 16 arranged on the scissors fixing plate 15 through the gear rod 14; the gear ends of the two gear rods 14 mesh. In this embodiment, the connection mode between the cutter 11 and the push rod 12 at one side of the picking shears is as follows: one end of a cutter 11 and one end of a push rod 12 are connected to the front end hole of the cutter 11 by a rotary connecting nail 13, and the other end of the push rod 12 is connected with the front end hole of a scissors fixing plate 15 by the rotary connecting nail 13; the other side of the picking shears is connected with the push rod 12 in the same way. One end of the gear rod 14 is a straight rod end, and the other end is a gear end; the gear rod 14 is provided with two gear ends, wherein the gear end of one gear rod 14 is connected with the scissors fixing plate 15 through the rotary connecting nail 13, and the straight rod end of the gear rod 14 is connected with one cutter 11 through the rotary connecting nail 13; the gear end of the other gear rod 14 is connected with the rotating end of the steering engine 16, the steering engine 16 is fixed on the scissors fixing plate 15 through a fixing nail, and the straight rod end of the gear rod 14 is connected with the other cutter 11 through a rotating connecting nail 13; the steering engine 16 works to drive the other gear rod 14 to rotate, and the two cutters 11 are opened and closed through the engagement of the gear ends of the two gear rods 14 so as to cut and pick strawberries.

The picking shear connector 112 is connected with the fruit receiving bowl motor 113, and the rotating end of the fruit receiving bowl motor 113 is connected with the fruit receiving bowl 18. In this embodiment, the scissors fixing plate 15 is fixed to one end of the picking scissors connecting head 112 with two connecting holes by two fixing nails, the lower end of the picking scissors connecting head 112 is fixed to the fruit receiving bowl motor 113, and the fruit receiving bowl 18 is connected to the rotating end of the fruit receiving bowl motor 113.

The fruit receiving bowl 18 is provided with a fruit receiving bowl inner pad 17, specifically, the fruit receiving bowl inner pad 17 is embedded in the fruit receiving bowl 18, and preferably, the fruit receiving bowl inner pad 17 adopts a foam pad.

In the above technical solution, the main body of the picking system 1 is a picking mechanical arm. The picking system 1 is a system which consists of two cutters 11, two push rods 12, two gear rods 14, a scissor fixing plate 15, a plurality of rotary connecting nails 13, a steering engine 16, a fruit receiving bowl inner pad 17, a fruit receiving bowl 18, a camera fixing nail 19, a fruit positioning camera 110, a camera fixing ring 111, a picking scissor joint 112, a fruit receiving bowl motor 113, a mechanical arm front arm 114, a plurality of mechanical arm fixing nails 115, a mechanical arm middle arm 116, a mechanical arm rear arm 117 and a mechanical arm connecting seat 24.

The fruit storage box 28 is internally provided with a fruit storage box inner pad 27, and in this embodiment, the fruit storage box 28 is fixed on the chassis 22, and the fruit storage box inner pad 27 is embedded in the fruit storage box 28.

The working principle of the strawberry picking robot is as follows:

the steering engine 16 works to enable the two cutters 11 of the picking shears to be in an open state;

traveling system 2: the six driving wheels 29 work to drive the crawler belt to advance and move to the position of strawberries to be picked;

picking system 1: the motor in the mechanical arm connecting seat 24 drives the mechanical arm rear arm 117 to rotate, the motor in the mechanical arm rear arm 117 drives the mechanical arm middle arm 116 to rotate, the motor in the mechanical arm middle arm 116 drives the mechanical arm front arm 114 to rotate, and then drives the fruit receiving bowl 18 and picking shears on the fruit receiving bowl to rotate until the stems of the strawberries are positioned between the two cutters 11, the steering engine 16 works, the two gear ends of the two gear rods 14 are meshed, the two cutters 11 and the two push rods 12 are driven to be closed, the stems of the strawberries are cut off, the strawberries fall into the fruit receiving bowl 18, and the fruit receiving bowl inner pad 17 plays a role of buffering; after strawberries are picked, a motor in the mechanical arm connecting seat 24 drives a mechanical arm rear arm 117 to rotate, a motor in the mechanical arm rear arm 117 drives a mechanical arm middle arm 116 to rotate, and a motor in the mechanical arm middle arm 116 drives a mechanical arm front arm 114 to rotate until the mechanical arm rear arm 117, the mechanical arm middle arm 116 and the mechanical arm front arm 114 stop moving when the fruit receiving bowl 18 is right above the fruit storage box 28, at the moment, a fruit receiving bowl motor 113 rotates to enable the fruit receiving bowl 18 to turn over, fruits fall into the fruit storage box 28, and picking is completed;

after the picking is finished, the picking mechanical arm returns to enter the next picking working stage.

The utility model only protects the improvement of the structure of the strawberry picking robot, and can realize the automatic work of the strawberry picking robot by adopting the prior art when in specific implementation, such as: the present structure can realize the traveling mode of the traveling system 2 by remote control or automatic execution. For example, in the structure, the front camera 21 is arranged to identify the front obstacle, the identification camera 214 is arranged to identify the strawberry fruit, the fruit positioning camera 110 is arranged to position the strawberry after the strawberry fruit is identified so as to perform subsequent picking work, and the rear warning lamp 215 fixed on the chassis 22 can give an alarm after the front camera 21 identifies the front obstacle, so that the robot stops working; the walking system 2 is provided with a front camera 21 and an identification camera 214, the picking system 1 is provided with a fruit positioning camera 110, the side surface of the front camera 21 is connected with a motor on the side surface of a front camera connecting seat 23, and the front camera connecting seat 23 is connected with the chassis 22; the side surface of the identification camera 214 is connected with a motor on the side surface of the identification camera connecting seat 216, and the identification camera connecting seat 216 is connected with the chassis 22 through the identification camera supporting rod 213; the fruit positioning camera 110 is fixed on the picking shear connector 112 by the camera shooting fixing ring 111 and the camera fixing nails 19, and the models of the fruit positioning camera 110, the front camera 21 and the recognition camera 214 are KS2A418-2.0; the arrangement of the three cameras can also optimize the distribution of the cameras, reduce the number of the cameras moving along with the mechanical arm, and reduce the complexity of the structure. For another example, the structure can be further provided with a control system, the control system can control the running system 2, the picking system 1 and the three cameras to work based on the raspberry group microcomputer, the front-mounted camera 21 detects obstacles in the running path to avoid the obstacles, when the recognition camera 214 detects strawberry fruits in real time, the raspberry group microcomputer gives instructions to position the fruits, and after the positioning is completed, the picking mechanical arm is controlled to pick the fruits, so that the automatic picking of the strawberry fruits is realized.

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

Claims

1. The strawberry picking robot is characterized by comprising a traveling system and a picking system;

2. The strawberry picking robot of claim 1, further comprising track baffles disposed on both sides of the travel system.

3. The strawberry picking robot according to claim 1 or 2, wherein the travelling system comprises a chassis and a driving wheel and a tensioning wheel arranged on the chassis, and a crawler is arranged outside the driving wheel and the tensioning wheel.

4. The strawberry picking robot of claim 3, wherein the drive wheel is connected to a drive wheel motor provided on the chassis, and the tension wheel is rotatably provided on the chassis via a tension wheel connecting rod.

5. The strawberry picking robot of claim 3, wherein the crawler is of an annular structure formed by connecting a plurality of crawler plates through crawler plate connecting pins, protrusions are arranged in the crawler, and the protrusions are meshed with grooves formed in the outer portions of the driving wheel and the tensioning wheel.

6. The strawberry picking robot of claim 1 or 2, wherein the picking robot arm comprises a robot arm connecting seat, a robot arm rear arm, a robot arm middle arm and a robot arm front arm which are connected in sequence in a rotating mode, the robot arm connecting seat is arranged in a running system in a rotating mode, and the robot arm front arm is connected with a picking shear connector.

7. The strawberry picking robot of claim 1 or 2, wherein the picking shears comprise a shears fixing plate connected with a picking shear connector, the shears fixing plate being respectively connected with two cutters by two push rods; one of the cutters is connected with the scissors fixing plate through a gear rod, and the other cutter is connected with a steering engine arranged on the scissors fixing plate through a gear rod; the gear ends of the two gear rods are meshed.

8. The strawberry picking robot of claim 1 or 2, wherein the picking shear connector is connected to a fruit bowl motor, and a rotating end of the fruit bowl motor is connected to the fruit bowl.

9. The strawberry picking robot of claim 1 or 2, wherein the fruit receiving bowl is provided with a fruit receiving bowl inner pad.

10. The strawberry picking robot of claim 1 or 2, wherein a fruit storage tank inner pad is provided inside the fruit storage tank.