Efficient agricultural picking device based on DELTA parallel mechanical arm

Abstract

The invention discloses an efficient agricultural picking device based on DELTA parallel mechanical arms. The efficient agricultural picking device comprises four moving tracks, two fruit and vegetable collecting mechanisms, a top plate integrated structure, a picking mechanism and two binocular vision cameras, and each moving track is provided with one fruit and vegetable collecting mechanism; the top plate integrated structure is connected between the upper ends of the two fruit and vegetable collecting mechanisms; the picking mechanism comprises a Delta parallel mechanical arm arranged below the top plate integrated structure and a tail end execution picker arranged at the lower end of the Delta parallel mechanical arm; the two binocular vision cameras are symmetrically arranged at the two ends of the lower surface of the top plate integrated structure. In conclusion, the device has the advantages of being novel in structure, wide in applicability, accurate, efficient and the like.

Description

technical field [0001] The invention belongs to the technical field, in particular to a high-efficiency agricultural picking device based on a DELTA parallel mechanical arm. Background technique [0002] At present, my country has made great progress in the research of automatic equipment for agricultural fruit and vegetable picking. Mainstream picking equipment can pick strawberries, eggplants, apples, citrus and other crops. These crops are medium in size, brightly colored and in a location well suited for mechanical picking. At present, most of the devices for picking crops of this type use serial mechanical arms to pick the crops or select a specific picking device for mechanized harvesting according to the characteristics of the growth and picking location of a certain crop. [0003] But at present my country has the following technical problems in the automation device of agricultural picking. [0004] 1, the current agricultural picking device has very strong speci...

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Problems solved by technology

[0007] For the above-mentioned problems, the purpose of the present invention is to provide a high-efficiency agricultural picking device based on DELTA parallel mechanical arms, which has strong specificity for current agricultural picking devices; most of the current picking devices use serial mechanical arms and harvesting The device makes it impossible to pick some crops. The present invention uses Delta parallel robotic arms to solve the picking problem of this kind of crops; for the picking device is a two-dimensional recognition image for the crops, the present invention uses a binocular vision system to perform three-dimensional recognition of the crops. Solve the problem that crops cannot be accurately identified; in view of the fact that most of the current agricultural picking devices are harvesting picking, the present invention uses Delta parallel robotic arms for flexible picking of crops

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