CN220422495U - Device is picked to ridged strawberry - Google Patents
Device is picked to ridged strawberry Download PDFInfo
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- CN220422495U CN220422495U CN202320537307.XU CN202320537307U CN220422495U CN 220422495 U CN220422495 U CN 220422495U CN 202320537307 U CN202320537307 U CN 202320537307U CN 220422495 U CN220422495 U CN 220422495U
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- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 43
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- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 241000220223 Fragaria Species 0.000 claims abstract description 53
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 235000013399 edible fruits Nutrition 0.000 claims description 15
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 2
- 229910052782 aluminium Inorganic materials 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 235000021012 strawberries Nutrition 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
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- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model relates to a ridged strawberry picking device which comprises a frame body, a visual unit, a two-drive travelling mechanism, a two-degree-of-freedom mechanical arm, a picking executing mechanism and a containing mechanism, wherein the visual unit, the two-drive travelling mechanism, the two-degree-of-freedom mechanical arm, the picking executing mechanism and the containing mechanism are arranged on the frame body, the visual unit is fixedly arranged on the front end face of the frame body, the two-drive travelling mechanism is arranged on the lower end face of the frame body, the two-degree-of-freedom mechanical arm is arranged on the top face of the frame body, the picking executing mechanism is connected with the two-degree-of-freedom mechanical arm, and the containing mechanism is fixed on the bottom face of the frame body. The utility model has scientific and reasonable design, compact volume, simple structure, flexible movement and low manufacturing cost, and can realize the functions of identifying mature strawberries, picking without damage, independently and continuously working and collecting strawberries; the device has higher picking tolerance, smooth walking and high picking efficiency, and is not easy to collide with the ridge.
Description
Technical Field
The utility model belongs to the technical field of agricultural machinery, relates to a strawberry picking device, and in particular relates to a ridge strawberry picking device.
Background
The strawberry planting area in China is increased year by year, the traditional manual picking mode is necessarily replaced by agricultural mechanized picking and collecting, and the picking efficiency is greatly improved. However, because of the difference in the maturity of strawberries, manual judgment is needed, and if uniform picking is carried out, the quality difference of strawberries after harvest is caused.
In the picking process, accurate positioning requirements are required for the picking of the strawberry stalks, the problem that the strawberry stalks are easy to damage exists in the picking process, in addition, the gaps between the strawberry ridges are small, and the adaptive automatic mechanical mechanism is limited greatly, so that the ridge type strawberry picking requirements are small and exquisite and flexible.
Through a search of the published patent documents, the following several published patent documents similar to the present patent application are found:
the reference 1 (CN 110122073 a) discloses a strawberry picking robot based on machine vision, which completes the picking and collecting process of strawberries and realizes autonomous movement, thereby reducing the labor intensity of users and improving the picking efficiency, but improving the accuracy of picking identification.
Zhang Kailiang et al designed strawberry picking devices to accomplish gripping picking by identifying the stems, but have great dependence on the environment and are too ideal for the growing positions of strawberries.
Gao Fan by utilizing the deep learning algorithm YOLOv3 to perform target detection, mature strawberries can be captured well in a complex environment, but the requirements on a singlechip are met, and the cost is high.
Strawberry robots have been developed in recent years, but have some gaps from being put into use, listing the following:
(1) the robot device is affected by the gaps of the strawberry ridges, the turning is limited, and the walking is not smooth enough;
(2) the robot vision system is complex, the algorithm difficulty is high, the processing time is long, and the picking position is inaccurate due to inaccurate coordinates;
(3) due to the inclined surface of the ridge, the picking device is very easy to collide with the inclined surface of the ridge;
(4) the picking executing mechanism has complex design and low catching precision;
aiming at the defects of the strawberry picking robot, the novel strawberry picking robot has the advantages of simple mechanism, higher picking tolerance, lower cost, smooth walking and high picking efficiency, and is not easy to collide with the ridge.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provides a ridged strawberry picking device.
The utility model solves the technical problems by the following technical proposal:
device is picked to ridged strawberry, its characterized in that: the device comprises a frame body, a visual unit, a two-drive traveling mechanism, a two-degree-of-freedom mechanical arm, a picking executing mechanism and a containing mechanism, wherein the visual unit, the two-drive traveling mechanism, the two-degree-of-freedom mechanical arm, the picking executing mechanism and the containing mechanism are installed on the frame body, the visual unit is fixedly installed on the front end face of the frame body, the two-drive traveling mechanism is installed on the lower end face of the frame body, the two-degree-of-freedom mechanical arm is installed on the top face of the frame body, the picking executing mechanism is connected with the two-degree-of-freedom mechanical arm, and the containing mechanism is fixed on the bottom face of the frame body.
Moreover, the support body includes roof-rack, horizontal connecting rod, vertical connecting rod and platform, roof-rack, horizontal connecting rod and vertical connecting rod all adopt the aluminium alloy to make, horizontal connecting rod passes through bolt fixed connection with vertical connecting rod, the roof-rack set up in vertical connecting rod top, the platform level is fixed in between the vertical connecting rod, roof-rack plane is perpendicular with strawberry ridge inclined plane.
The two-degree-of-freedom mechanical arm comprises a Y-direction movement stepping motor, a Y-direction movement guide rail-screw module, a Y-direction movement sliding block, a Z-direction movement stepping motor, a Z-direction movement guide rail-screw module, a Z-direction movement sliding block and a Y-Z adapter plate, wherein the Z-direction movement guide rail-screw module is fixedly arranged in a concave hole formed in a top frame of the frame body, the Z-direction movement guide rail-screw module is driven by the Y-direction movement stepping motor, and the Y-direction sliding block is slidably arranged on the Z-direction movement guide rail-screw module; the Z-direction moving guide rail-screw module is connected with the Z-direction moving guide rail-screw module through a Y-Z-direction adapter plate, the Z-direction moving guide rail-screw module is driven by a Z-direction moving stepping motor, and the Z-direction sliding block is slidably mounted on the Z-direction moving guide rail-screw module.
Moreover, the two-drive travelling mechanism comprises a left rear universal wheel, a right rear universal wheel, a left front driving wheel, a right front driving wheel, a left direct current motor and a right direct current motor, wherein a left motor support and a right motor support are respectively and fixedly arranged on two sides of the front end of the bottom surface of the frame body, the left direct current motor and the right direct current motor are respectively and correspondingly arranged on the left motor support and the right motor support, the left direct current motor and the right direct current motor are respectively connected with the left front driving wheel and the right front driving wheel through couplings, the left rear universal wheel and the right rear universal wheel are respectively and fixedly arranged on two sides of the rear end of the bottom surface of the frame body, and the travelling directions of the left rear universal wheel, the right rear universal wheel, the left front driving wheel and the right front driving wheel are parallel to the direction of a ridge.
Moreover, the picking actuating mechanism comprises a picking arm, a picking stepping motor, a guide rail, a first clamping finger and a second clamping finger, one end of the picking arm is fixedly connected with a Z-direction movement sliding block of the two-degree-of-freedom mechanical arm through an adapter plate, a paw fixing device is fixedly arranged at the other end of the picking arm, the picking stepping motor is fixedly arranged on the paw fixing device, a gear is sleeved on a motor shaft of the picking stepping motor, the gear is meshed with a rack movably arranged on the paw fixing device, the guide rail is fixedly arranged at the front end of the paw fixing device, a left rope end fixing device and a right rope end fixing device are fixedly arranged at two ends of the paw fixing device respectively, a fixed flange type sliding block is fixedly arranged at one side of the guide rail, a movable flange type sliding block is fixedly arranged at the other side of the guide rail, the front ends of the fixed flange type sliding block and the movable flange type sliding block are respectively fixedly provided with a first clamping finger and a second clamping finger, two micro fixed pulleys are respectively arranged on the upper surfaces of the first clamping finger and the second clamping finger, a fruit gathering rope is sleeved between the micro fixed pulleys, two ends of the fruit gathering rope are respectively fixed at the left rope end and the right rope end fixing device are fixedly arranged on the inner side of the blade fixing device, and a rope knife groove is formed in the blade fixing groove.
And the storage mechanism comprises a storage slide rail and a storage frame, wherein the storage frame is detachably arranged on the frame body, the storage slide rail is fixedly arranged on the left side of the storage frame, and the storage slide rail has an inclined angle of 30-45 degrees towards the storage frame direction.
Moreover, the visual unit comprises an Openmv machine visual module and a camera fixing seat, and the Openmv machine visual module is installed at the front end of the frame body through the camera fixing seat.
The utility model has the advantages and beneficial effects that:
according to the ridged strawberry picking device, smooth walking and turning among the ridges can be realized by adopting the walking design of the double drive and the universal wheels, the fault tolerance of the picking actuating mechanism is higher, the processing speed of the visual unit is higher, the collision between the picking actuating mechanism and the ridges can be avoided by adopting the inclination angle design of the top frame, and continuous picking of strawberries can be realized by adopting the small design and the walking mechanism design.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic view of the structure of the frame of the present utility model;
FIG. 3 is a schematic diagram of a two-drive running mechanism according to the present utility model;
FIG. 4 is a schematic view of a two-degree-of-freedom mechanical arm according to the present utility model;
FIG. 5 is a schematic diagram of the openmv machine vision module of the present utility model;
FIG. 6 is a schematic view of a camera mount according to the present utility model;
FIG. 7 is a schematic view of a housing mechanism according to the present utility model;
FIG. 8 is a schematic view of the picking actuator of the present utility model;
FIG. 9 is another schematic view of the picking actuator of the present utility model;
FIG. 10 is a schematic view of the structure of the paw holder according to the present utility model.
Description of the reference numerals
1. A top frame; 2. a horizontal connecting rod; 2-a vertical connecting rod; 4. a platform; 5. a Y-direction movement stepping motor; 6. y-direction movement guide rail-screw module; 7. a Y-direction moving slide block; 8. a Z-direction movement stepping motor; 9. z-direction movement guide rail-screw module; 10. a Z-direction moving slide block; 11. Y-Z adapter plate; 12a, left rear universal wheel; 12b, right rear universal wheels; 13a, left front drive wheel; 13b, right front drive wheel; 14a, a left direct current motor; 14b, right direct current motor; 15a, a left motor bracket; 15b, right motor bracket; 16. an openmv machine vision module; 17. a camera fixing seat; 18. a storage slideway; 19. a storage frame; 20. picking a stepping motor; 21. a gear; 22. a rack; 23. a guide rail; 24a, fixed flange type sliding blocks; 24b, moving a flange-type slide block; 25. gathering fruit ropes; 26a, left rope holder; 26b, right rope holder; 27. picking arms; 28. a paw fixer; 29. a miniature fixed pulley; 30. an adapter plate; 31. a first clamping finger; 32. a second clamping finger; 33. a blade;
101. a vision unit; 102. a frame body; 103. two-drive travelling mechanism; 104. a two degree of freedom mechanical arm; 105. picking an executing mechanism; 106. and a storage mechanism.
Detailed Description
The utility model is further illustrated by the following examples, which are intended to be illustrative only and not limiting in any way.
As shown in fig. 1, a device for picking strawberries on a ridge is innovative in that: the device comprises a frame 102, a visual unit 101, a two-degree-of-freedom mechanical arm 104, a picking executing mechanism 105 and a containing mechanism 106, wherein the visual unit 101, the two-degree-of-freedom mechanical arm 103, the picking executing mechanism 105 and the containing mechanism 106 are arranged on the frame 102, the visual unit 101 is fixedly arranged on the front end face of the frame 102, the two-degree-of-freedom mechanical arm 104 is arranged on the lower end face of the frame 102, the picking executing mechanism 105 is connected with the two-degree-of-freedom mechanical arm 104, and the containing mechanism 106 is fixed on the bottom face of the frame 102.
As shown in fig. 2, the frame 102 includes a top frame 1, a horizontal connecting rod 2, a vertical connecting rod 3 and a platform 4, the top frame 1, the horizontal connecting rod 2 and the vertical connecting rod 3 are all made of aluminum profiles, the horizontal connecting rod 2 and the vertical connecting rod 3 are fixedly connected through bolts, the top frame 1 is arranged at the top end of the vertical connecting rod 3, the platform 4 is horizontally fixed between the vertical connecting rods 3, and the plane of the top frame 1 is perpendicular to the inclined plane of the strawberry ridge.
As shown in fig. 3, the two-drive travelling mechanism 103 includes a left rear universal wheel 12a, a right rear universal wheel 12b, a left front driving wheel 13a, a right front driving wheel 13b, a left direct current motor 14a and a right direct current motor 14b, two sides of the front end of the bottom surface of the frame 102 are respectively and fixedly provided with a left motor bracket 15a and a right motor bracket 15b, the left direct current motor 14a and the right direct current motor 14b are respectively and correspondingly installed on the left motor bracket 15a and the right motor bracket 15b, the left direct current motor 14a and the right direct current motor 14b are respectively connected with the left front driving wheel 13a and the right front driving wheel 13b through a coupler, two sides of the rear end of the bottom surface of the frame 102 are respectively and fixedly provided with the left rear universal wheel 12a and the right rear universal wheel 12b, and the left rear universal wheel 12b, the left front driving wheel 13a and the right front driving wheel 13b, and the travelling direction of the ridge direction is parallel.
As shown in fig. 4, the two-degree-of-freedom mechanical arm 104 includes a Y-directional movement stepper motor 5, a Y-directional movement rail-screw module 6, a Y-directional movement slider 7, a Z-directional movement stepper motor 8, a Z-directional movement rail-screw module 9, a Z-directional movement slider 10 and a Y-Z adapter plate 11, wherein the Z-directional movement rail-screw module 6 is fixedly mounted in a concave hole provided on the top frame 1 of the frame 102, the Z-directional movement rail-screw module 6 is driven by the Y-directional movement stepper motor 5, and the Y-directional slider 7 is slidably mounted on the Z-directional movement rail-screw module 6; the Z-direction moving guide rail-screw module 9 is connected with the Z-direction moving guide rail-screw module 6 through a Y-Z-direction adapter plate, the Z-direction moving guide rail-screw module 9 is driven by a Z-direction moving stepping motor 8, and the Z-direction sliding block 10 is slidably mounted on the Z-direction moving guide rail-screw module 9.
As shown in fig. 8 and 9, the picking actuator 105 includes a picking arm 27, a picking stepper motor 20, a guide rail 23, a first clamping finger 31 and a second clamping finger 32, one end of the picking arm 27 is fixedly connected with a Z-direction moving slide block 10 of a two-degree-of-freedom mechanical arm 104 through an adapter plate 30, a gripper fixer 28 is fixedly mounted at the other end of the picking arm 27, the picking stepper motor 20 is fixedly mounted on the gripper fixer 28, a gear 21 is sleeved on a motor shaft of the picking stepper motor 20, the gear 21 is mounted in engagement with a rack 22 movably arranged on the gripper fixer 28, the front end of the gripper fixer 28 is fixedly provided with the guide rail 23, two ends of the gripper fixer 28 are fixedly provided with a left rope end fixer 26a and a right rope end fixer 26b, one side of the guide rail 23 is fixedly provided with a fixed flange type slider 24a, the other side of the guide rail 23 is fixedly provided with a moving flange type slider 24b, the front ends of the gripper fixer 24a and the moving flange type slider 24b are fixedly provided with the first clamping finger 31 and the second clamping finger 32, the front ends of the gripper 31 and the second gripper 32 are movably arranged on the two sides of the gripper 25, two ends of the gripper rope end fixer 29 are fixedly provided with a rope end fixing groove 25, and two ends of the gripper end 25 are fixedly arranged on the inner side of the gripper groove of the gripper rope end.
As shown in fig. 7, the storage mechanism 106 includes a storage slide 18 and a storage frame 19, the storage frame 19 is detachably mounted on the frame 102, the storage slide 18 is fixedly mounted on the left side of the storage frame 19, and the storage slide 18 has an inclination angle of 30 ° to 45 ° toward the storage frame 19.
As shown in fig. 5 and 6, the vision unit 101 includes an Openmv machine vision module 16 and a camera fixing base 17, and the Openmv machine vision module 16 is mounted at the front end of the frame 102 through the camera fixing base 17.
The platform of the frame 102 is provided with a singlechip (not shown), and the vision unit 101, the left direct current motor 14a, the right direct current motor 14b, the Y-direction movement stepping motor 5, the Z-direction movement stepping motor 8 and the picking stepping motor 20 are all connected to the singlechip, and the singlechip controls the movement and information feedback of all the components.
The working principle of the utility model is as follows:
1. placing the ridged strawberry picking device in the strawberry furrow so that the picking executing mechanism 105 faces the ridged wall, and automatically picking strawberry fruits;
2. when the openmv machine vision module 16 captures mature strawberry images, position information is uploaded to a singlechip, the two-drive travelling mechanism is stopped, the singlechip gives instructions to control the Y-direction stepping motor 5 and the Z-direction stepping motor 8 to send the picking executing mechanism 105 to the lower part of strawberry fruits, the picking executing mechanism continues to move so that the strawberry stalks are sleeved by the fruit gathering ropes 25, then the picking stepping motor 20 is controlled to rotate to drive the gear 21 and rack 22 mechanism, the rack 22 drives the flange-type sliding block 24b to enable the first clamping finger 31 and the second clamping finger 32 to close and clamp the strawberry stalks, the blade 33 arranged on the first clamping finger 31 cuts off the strawberry stalks, then the Y-direction moving stepping motor 5 and the Z-direction moving stepping motor 8 are controlled to move so that the clamped strawberries move to corresponding positions, after being released, the strawberries enter the storage frame 19 through the storage slide ways 18, the picking action is completed, and the two-drive travelling mechanism continues to move forward;
3. under the differential motion of the left direct current motor 14a and the right direct current motor 14b, the motion speeds of the left front driving wheel 13a and the right front driving wheel 14b are inconsistent, so that 90-degree turning is realized, and the left rear universal wheel 12a and the right rear universal wheel 12b move along with power, so that the effect of smooth motion is achieved;
4. the plane of the top frame 1 is perpendicular to the inclined plane of the strawberry ridge, and the left and right side lines of the top frame 1 are parallel to the ground, so that the Y-direction moving guide rail-screw module 6 is parallel to the inclined plane of the strawberry ridge fruit, and the Z-direction moving guide rail-screw module 9 is perpendicular to the inclined plane of the strawberry ridge fruit, thereby effectively solving the problem of easy collision of the ridge caused by the inclination of the fruit surface of the strawberry ridge in the picking process;
5. the designed strawberry picking actuating mechanism adopts the fruit gathering rope 25 to lock the strawberry fruit stalks, the picking stepper motor 20 drives the gear 21 and the rack 22, the rack 22 drives the second clamping fingers 32, and the first clamping fingers 31 and the second clamping fingers 32 clamp the method for cutting the fruit stalks, so that the fault tolerance rate can be effectively increased, and the picking completion degree is increased.
Although the embodiments of the present utility model and the accompanying drawings have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the utility model and the appended claims, and therefore the scope of the utility model is not limited to the embodiments and the disclosure of the drawings.
Claims (7)
1. Device is picked to ridged strawberry, its characterized in that: including support body (102) and install visual unit (101) on support body (102), two drive running gear (103), two degree of freedom arms (104), pick actuating mechanism (105) and receiving mechanism (106), visual unit (101) fixed mounting in terminal surface before support body (102), two drive running gear (103) load in terminal surface under support body (102), two degree of freedom arms (104) install in support body (102) top surface, pick actuating mechanism (105) with two degree of freedom arms (104) are connected, receiving mechanism (106) are fixed in on support body (102) bottom surface.
2. The ridged strawberry picking device of claim 1, wherein: the frame body (102) comprises a top frame (1), a horizontal connecting rod (2), a vertical connecting rod (3) and a platform (4), wherein the top frame (1), the horizontal connecting rod (2) and the vertical connecting rod (3) are all made of aluminum profiles, the horizontal connecting rod (2) and the vertical connecting rod (3) are fixedly connected through bolts, the top frame (1) is arranged at the top end of the vertical connecting rod (3), the platform (4) is horizontally fixed between the vertical connecting rods (3), and the plane of the top frame (1) is perpendicular to the inclined plane of the strawberry ridge.
3. The ridged strawberry picking device of claim 1, wherein: the two-degree-of-freedom mechanical arm (104) comprises a Y-direction movement stepping motor (5), a Y-direction movement guide rail-screw module (6), a Y-direction movement sliding block (7), a Z-direction movement stepping motor (8), a Z-direction movement guide rail-screw module (9), a Z-direction movement sliding block (10) and a Y-Z adapter plate (11), wherein the Z-direction movement guide rail-screw module (9) is fixedly arranged in a concave hole formed in a top frame (1) of a frame body (102), the Z-direction movement guide rail-screw module (9) is driven by the Y-direction movement stepping motor (5), and the Y-direction movement sliding block (7) is slidably arranged on the Z-direction movement guide rail-screw module (9); the Z-direction moving guide rail-screw module (9) is connected with the Z-direction moving guide rail-screw module (9) through a Y-Z-direction adapter plate, the Z-direction moving guide rail-screw module (9) is driven by a Z-direction moving stepping motor (8), and the Z-direction moving sliding block (10) is slidably mounted on the Z-direction moving guide rail-screw module (9).
4. The ridged strawberry picking device of claim 1, wherein: the two-drive traveling mechanism (103) comprises a left rear universal wheel (12 a), a right rear universal wheel (12 b), a left front driving wheel (13 a), a right front driving wheel (13 b), a left direct current motor (14 a) and a right direct current motor (14 b), a left motor support (15 a) and a right motor support (15 b) are respectively fixedly arranged on two sides of the front end of the bottom surface of the frame body (102), the left direct current motor (14 a) and the right direct current motor (14 b) are correspondingly arranged on the left motor support (15 a) and the right motor support (15 b), the left front driving wheel (13 a) and the right direct current motor (14 b) are respectively connected with the left front driving wheel (13 a) and the right front driving wheel (13 b) through couplings, the left rear universal wheel (12 a) and the right rear universal wheel (12 b) are respectively fixedly arranged on two sides of the rear end of the bottom surface of the frame body (102), and the left rear universal wheel (12 a), the left front driving wheel (13 a) and the right front driving wheel (13 b) are parallel to the traveling direction of the ridge (13 b).
5. The ridged strawberry picking device of claim 1, wherein: the picking actuating mechanism (105) comprises a picking arm (27), a picking stepping motor (20), a guide rail (23), a first clamping finger (31) and a second clamping finger (32), one end of the picking arm (27) is fixedly connected with a Z-direction moving slide block (10) of a two-degree-of-freedom mechanical arm (104) through an adapter plate (30), the other end of the picking arm (27) is fixedly provided with a gripper fixing block (28), the picking stepping motor (20) is fixedly arranged on the gripper fixing block (28), a gear (21) is sleeved on a motor shaft of the picking stepping motor (20), the gear (21) is meshed with a rack (22) movably arranged on the gripper fixing block (28), the front end of the gripper fixing block (28) is fixedly provided with the guide rail (23), two ends of the gripper fixing block (28) are fixedly provided with a left rope end fixing block (26 a) and a right rope end fixing block (26 b) respectively, one side of the guide rail (23) is fixedly provided with a fixed flange type slide block (24 a), the other side of the gripper fixing block (23) is slidably provided with a movable flange type slide block (24 b), the front end of the gripper fixing block (24 b) is fixedly provided with a flange type flange (24 b) and the front end of the gripper fixing block (32), the fruit gathering rope is characterized in that two miniature fixed pulleys (29) are arranged on the upper surfaces of the first clamping finger (31) and the second clamping finger (32), a fruit gathering rope (25) is arranged between the miniature fixed pulleys (29) in a penetrating mode, two ends of the fruit gathering rope (25) are respectively fixed on a left rope end fixer (26 a) and a right rope end fixer (26 b), a cutter groove is formed in the inner side surface of the first clamping finger (31), and a blade (33) is arranged in the cutter groove.
6. The ridged strawberry picking device of claim 1, wherein: the storage mechanism (106) comprises a storage slide way (18) and a storage frame (19), wherein the storage frame (19) is detachably arranged on the frame body (102), the storage slide way (18) is fixedly arranged on the left side of the storage frame (19), and the storage slide way (18) has an inclined angle of 30-45 degrees towards the direction of the storage frame (19).
7. The ridged strawberry picking device of claim 1, wherein: the vision unit (101) comprises an Openmv machine vision module (16) and a camera fixing seat (17), and the Openmv machine vision module (16) is installed at the front end of the frame body (102) through the camera fixing seat (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320537307.XU CN220422495U (en) | 2023-03-20 | 2023-03-20 | Device is picked to ridged strawberry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320537307.XU CN220422495U (en) | 2023-03-20 | 2023-03-20 | Device is picked to ridged strawberry |
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| Publication Number | Publication Date |
|---|---|
| CN220422495U true CN220422495U (en) | 2024-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320537307.XU Active CN220422495U (en) | 2023-03-20 | 2023-03-20 | Device is picked to ridged strawberry |
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- 2023-03-20 CN CN202320537307.XU patent/CN220422495U/en active Active
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