Tomato picking robot device

Abstract

The utility model provides a tomato picking robot device which comprises a movable chassis, an installation shell is fixedly arranged on the top face of the movable chassis, a visual picking matching component is installed at the left end of the top face of the installation shell, and an auxiliary picking matching mechanism is installed at the right end of the top face of the installation shell. Two multi-direction picking adjusting mechanisms are arranged on one side of the visual picking matching component, each multi-direction picking adjusting mechanism is installed on an installation shell and used for tomato picking operation, and a picking recycling component is installed on the installation shell. According to the tomato picking machine, through the matching arrangement of all the structures, automatic picking operation on tomatoes is facilitated, operation is easy, picking efficiency is high, and popularization is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field related to agricultural picking equipment, and in particular to a tomato picking robot device. Background Art

[0002] Tomato, also known as tomato or tomato, is rich in nutrients such as protein, vitamins, and carotene. With the development of science and technology, robots are increasingly used to pick tomatoes.

[0003] A search revealed a Chinese utility model application number of 202220459916.3, titled "A tomato picking robot comprising an AGV trolley equipped with a main control module, an image recognition module, a picking module, and a liftable platform. The picking module comprises a mechanical claw with a pressure sensor disposed inside, and the liftable platform is provided with a distance measuring sensor.

[0004] Although the above patent document can realize the tomato picking operation, it still has some problems. The design of only a single mechanical claw is not only simple in structure design, but also has the problem of low picking efficiency during picking, thereby reducing the practicality of the overall device.

[0005] Therefore, based on the above problems, the present invention provides a tomato picking robot device. Utility Model Content

[0006] In view of the deficiencies in the prior art, the present invention provides a tomato picking robot device, which solves the problems mentioned in the background technology.

[0007] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A tomato picking robot device includes a mobile chassis, a mounting housing fixedly disposed on the top surface of the mobile chassis, a visual picking coordination member mounted on the left end of the top surface of the mounting housing, and an auxiliary picking coordination mechanism mounted on the right end of the top surface of the mounting housing, the auxiliary picking coordination mechanism being used for performing tomato picking operations;

[0009] Two multi-directional picking adjustment mechanisms are provided on one side of the visual picking cooperation component, each of which is installed on the installation shell, and each of which is used for tomato picking operations. A picking recovery component is installed on the installation shell, and the picking recovery component is used to pick and collect the tomato fruits picked by the auxiliary picking cooperation mechanism and the multi-directional picking adjustment mechanism.

[0010] Further, the visual picking cooperation component includes a mounting rod fixedly arranged on the top left end of the mounting shell, and a depth camera is arranged on the mounting rod.

[0011] Further, the auxiliary picking cooperation mechanism includes a mounting bottom plate which is detachably arranged on the top right end of the mounting shell through a plurality of mounting bolts, a six-axis mechanical arm is arranged on the top surface of the mounting bottom plate, an end flange is arranged on the end of the six-axis mechanical arm away from the mounting bottom plate, and a picking gripper is arranged on the end flange.

[0012] Further, the multi-directional picking adjusting mechanism includes a first mounting frame arranged on the mounting shell, a first motor is fixedly arranged on the first mounting frame, a first adjusting screw is fixedly arranged on the power output end of the first motor, the first adjusting screw is rotationally connected with the first mounting frame, a first adjusting screw cylinder is threadedly sleeved on the first adjusting screw, a first U-shaped limiting plate is fixedly arranged on one end of the first adjusting screw cylinder, a first rectangular limiting plate is arranged in the first U-shaped limiting plate, the first rectangular limiting plate is fixedly connected with the first mounting frame, an installation connecting plate is fixedly arranged on the top surface of the first U-shaped limiting plate, a second mounting frame is fixedly arranged on the top surface of the installation connecting plate, a second motor is fixedly arranged on the second mounting frame, a second adjusting screw is fixedly arranged on the power output end of the second motor, the second adjusting screw is rotationally connected with the second mounting frame, a second adjusting screw cylinder is threadedly sleeved on the second adjusting screw, a second U-shaped limiting plate is fixedly arranged on one end of the second adjusting screw cylinder, a second rectangular limiting plate is arranged in the second U-shaped limiting plate, the second rectangular limiting plate is fixedly connected with the second mounting frame, a fixed connecting frame is fixedly arranged on one side of the second U-shaped limiting plate, a third mounting frame is fixedly arranged on the fixed connecting frame, a third motor is fixedly arranged on the third mounting frame, a third adjusting screw is fixedly arranged on the power output end of the third motor, the third adjusting screw is rotationally connected with the third mounting frame, a third adjusting screw cylinder is threadedly sleeved on the third adjusting screw, a third U-shaped limiting plate is fixedly arranged on one end of the third adjusting screw cylinder, a third rectangular limiting plate is arranged in the third U-shaped limiting plate, the third rectangular limiting plate is fixedly connected with the third mounting frame, an installation box is fixedly arranged on one side of the third U-shaped limiting plate, and a picking cooperation assembly is arranged on the installation box.

[0013] Further, the picking cooperation assembly includes an L-shaped mounting plate fixedly arranged on the installation box, a servo motor is fixedly arranged on the L-shaped mounting plate, a mounting connecting frame is fixedly arranged on the power output end of the servo motor, two finger clamps are arranged on the end of the mounting connecting frame away from the servo motor, and a binocular camera is arranged on the mounting connecting frame.

[0014] Further, the picking and collecting component comprises a high collection pipeline, the high collection pipeline is fixedly arranged on the mounting shell, low collection pipelines are arranged on both sides of the high collection pipeline, each low collection pipeline is fixedly arranged on the mounting shell, one side of the mounting shell is open, a collection basket is arranged in the mounting shell, and the high collection pipeline and the low collection pipelines are located above the collection basket.

[0015] Further, the mobile chassis is provided with mobile rollers at four corners of the bottom surface.

[0016] The utility model provides a kind of tomato picking robot device.Compared with prior art, it has the following beneficial effects:

[0017] 1, the utility model is cooperated with the setting of multiple direction picking adjustment mechanism and picking cooperation component etc.

[0018] 2, the utility model is cooperated with the setting of visual picking cooperation component and auxiliary picking cooperation mechanism, is convenient for moving by six-axis mechanical arm to drive picking gripper, and then picking gripper is used to pick the tomato that is not picked by multiple direction picking adjustment mechanism, effectively reduces the situation that picking is not in place, improves the practicality of the whole device, and is convenient for promotion. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed in the embodiment or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0020] Figure 1 The overall structure of the utility model is shown in the three-dimensional connection schematic diagram of front view.

[0021] Figure 2 The three-dimensional connection schematic diagram of the mobile chassis and the mobile roller of the utility model is shown.

[0022] Figure 3 The three-dimensional connection schematic diagram of the multiple direction picking adjustment mechanism of the utility model is shown.

[0023] Figure 4 The three-dimensional connection schematic diagram of the cross-section structure of the multiple direction picking adjustment mechanism of the utility model is shown.

[0024] Figure 5 A three-dimensional connection schematic diagram at the picking cooperation assembly of the utility model is shown.

[0025] As shown in the figure: 1, a mobile chassis; 2, a mobile roller; 3, an installation bottom plate; 4, a six-axis mechanical arm; 5, a picking gripper; 6, an end flange; 7, a depth camera; 8, an installation rod; 9, a multi-directional picking adjusting mechanism; 91, a first motor; 911, a first mounting bracket; 912, a first U-shaped limiting plate; 913, a first rectangular limiting plate; 914, a first adjusting screw; 915, a first adjusting cylinder; 92, an installation connecting plate; 93, a second motor; 931, a second mounting bracket; 932, a second U-shaped limiting plate; 933, a second rectangular limiting plate; 934, a second adjusting screw; 935, a second adjusting cylinder; 94, a fixed connecting bracket; 95, a third motor; 951, a third mounting bracket; 952, a third U-shaped limiting plate; 953, a third rectangular limiting plate; 96, an installation box; 97, a binocular camera; 98, a two-fingered clamping jaw; 99, a fixed connecting bracket; 991, a servo motor; 992, an L-shaped mounting plate; 10, a high collection pipeline; 11, a low collection pipeline; 12, an installation housing. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model is described clearly and completely. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.

[0027] Embodiment one

[0028] To solve the technical problems in the background art, a tomato picking robot device is given as follows:

[0029] In combination with Figures 1-5 As shown in the figure, the utility model provides a kind of tomato picking robot device, including mobile chassis 1, mobile roller 2 is installed at the bottom surface four corners of mobile chassis 1.The setting of mobile roller 2 increases the convenience of the movement of overall device.The top surface of mobile chassis 1 is fixedly provided with installation housing 12, visual picking cooperation component is installed at the top surface left end of installation housing 12, auxiliary picking cooperation mechanism is installed at the top surface right end of installation housing 12, and auxiliary picking cooperation mechanism is used for tomato picking operation;

[0030] Two multi-directional picking adjustment mechanisms 9 are provided on one side of the visual picking cooperation component. Each multi-directional picking adjustment mechanism 9 is installed on the installation shell 12. Each multi-directional picking adjustment mechanism 9 is used for tomato picking operations, and a picking recovery component is installed on the installation shell 12. The picking recovery component is used to pick and collect the tomato fruits picked by the auxiliary picking cooperation mechanism and the multi-directional picking adjustment mechanism 9.

[0031] The multi-directional picking adjustment mechanism 9 includes a first mounting frame 911, the first mounting frame 911 is mounted on the mounting shell 12, the first mounting frame 911 is fixed with a first motor 91, the power output end of the first motor 91 is fixed with a first adjusting screw 914, the first adjusting screw 914 is rotatably connected to the first mounting frame 911, and the first adjusting screw 914 is threadedly sleeved with a first adjusting screw barrel 915, one end of the first adjusting screw barrel 915 is fixed with a first U-shaped limiting plate 912, the first A first rectangular limiting plate 913 is provided in the U-shaped limiting plate 912, the first rectangular limiting plate 913 is fixedly connected to the first mounting bracket 911, and a mounting connecting plate 92 is fixedly provided on the top surface of the first U-shaped limiting plate 912, a second mounting bracket 931 is fixedly provided on the top surface of the mounting connecting plate 92, a second motor 93 is fixedly provided on the second mounting bracket 931, a second adjusting screw 934 is fixedly provided on the power output end of the second motor 93, the second adjusting screw 934 is rotatably connected to the second mounting bracket 931, and the second adjusting screw 934 is rotatably connected to the second mounting bracket 931. A second adjusting screw barrel 935 is threadedly sleeved on the screw rod 934, and a second U-shaped limiting plate 932 is fixedly provided at one end of the second adjusting screw barrel 935. A second rectangular limiting plate 933 is provided inside the second U-shaped limiting plate 932. The second rectangular limiting plate 933 is fixedly connected to the second mounting bracket 931, and a fixed connecting frame 94 is fixedly provided on one side of the second U-shaped limiting plate 932. A third mounting bracket 951 is fixedly provided on the fixed connecting frame 94. A third motor 95 is fixedly provided on the third mounting bracket 951. The third motor 95 is fixedly provided on the third motor 95. A third adjusting screw is fixedly provided on the power output end, and the third adjusting screw is rotatably connected to the third mounting bracket 951. A third adjusting barrel is threadedly sleeved on the third adjusting screw, and a third U-shaped limiting plate 952 is fixedly provided at one end of the third adjusting barrel. A third rectangular limiting plate 953 is provided inside the third U-shaped limiting plate 952, and the third rectangular limiting plate 953 is fixedly connected to the third mounting bracket 951, and a mounting box 96 is fixedly provided on one side of the third U-shaped limiting plate 952, and a picking matching component is provided on the mounting box 96.

[0032] The picking coordination component includes an L-shaped mounting plate 992, which is fixed on the mounting box 96. A servo motor 991 is fixed on the L-shaped mounting plate 992. A mounting bracket 99 is fixed on the power output end of the servo motor 991. A two-finger clamp 98 is installed on the end of the mounting bracket 99 away from the servo motor 991, and a binocular camera 97 is installed on the mounting bracket 99.

[0033] The picking and collecting member comprises a high collection pipeline 10, the high collection pipeline 10 is fixedly arranged on a mounting shell 12, both sides of the high collection pipeline 10 are provided with a low collection pipeline 11, each low collection pipeline 11 is fixedly arranged on the mounting shell 12, one side of the mounting shell 12 is provided with an opening, a collection basket is arranged in the mounting shell 12, and the high collection pipeline 10 and the low collection pipeline 11 are located above the collection basket.

[0034] In specific use, a controller is arranged on the mounting shell 12, the binocular camera 97, the first motor 91, the second motor 93, the third motor 95 and the servo motor 991 are electrically connected to the controller.

[0035] When it is necessary to pick tomatoes, the moving chassis 1 is driven to a specified position by moving the moving roller 2, at this time, the binocular camera 97 is used to identify the tomatoes to be picked, then the binocular camera 97 sends a signal to the controller, and the controller is used to control the first motor 91, the second motor 93, the third motor 95 and the servo motor 991 to start and stop operation.

[0036] When it is necessary to adjust the picking of tomatoes according to different heights, the two-fingered clamp jaw 98 is driven to move left and right, the first motor 91 is started, under the power output of the first motor 91, the first adjusting screw rod 914 is driven to rotate along the first mounting frame 911, at the same time, under the reaction force of the screw thread, the first adjusting screw cylinder 915 is driven to move left and right, and then the first U-shaped limiting plate 912 is driven to slide and move left and right along the first rectangular limiting plate 913, so that the mounting connecting plate 92, the second motor 93, the second mounting frame 931, the second rectangular limiting plate 933, the third motor 95, the third mounting frame 951, the third rectangular limiting plate 953 and the picking cooperation assembly and other structures are driven to move left and right.

[0037] When it is necessary to drive the two-fingered clamp jaw 98 to move up and down, the second motor 93 is started, under the power output of the second motor 93, the second adjusting screw rod 934 is driven to rotate along the second mounting frame 931, at the same time, under the reaction force of the screw thread, the second adjusting screw cylinder 935 is driven to move up and down, and then the second U-shaped limiting plate 932 is driven to slide and move up and down along the second rectangular limiting plate 933, so that the fixed connecting frame 94, the third motor 95, the third mounting frame 951, the third rectangular limiting plate 953 and the picking cooperation assembly and other structures are driven to move up and down.

[0038] When the two-finger gripper 98 needs to be driven to move forward and backward for adjustment, the third motor 95 is started. Under the power output of the third motor 95, the third adjusting screw is driven to rotate along the third mounting bracket 951. At the same time, under the reaction force of the thread, the third adjusting screw barrel is driven to move forward and backward, thereby driving the third U-shaped limiting plate 952 to slide forward and backward along the third rectangular limiting plate 953, thereby driving the mounting box 96 and the picking matching assembly to move forward and backward for adjustment;

[0039] When the two-finger gripper 98 needs to be rotated and adjusted, the servo motor 991 is started. Under the power output of the servo motor 991, the mounting frame 99 and the two-finger gripper 98 are driven to rotate and adjust.

[0040] In summary, this design, through the coordinated setting of the multi-directional picking adjustment mechanism 9 and the picking coordination component, not only facilitates the flexible multi-directional and multi-position movement adjustment of the picking coordination component during tomato picking, and facilitates the later picking operations of tomatoes at high and low positions, but also through the coordinated setting of multiple multi-directional picking adjustment mechanisms 9, it is beneficial to improve the picking efficiency of the entire device and facilitate promotion.

[0041] Example 2

[0042] like Figures 1-5 As shown, based on the above embodiment, this embodiment further provides the following content:

[0043] The visual picking coordination component includes a mounting rod 8, which is fixed to the left end of the top surface of the mounting housing 12. A depth camera 7 is mounted on the mounting rod 8. The depth camera 7 is electrically connected to the controller.

[0044] The auxiliary picking cooperation mechanism includes a mounting base plate 3, which is detachably mounted on the right end of the top surface of the mounting shell 12 by a number of mounting bolts. A six-axis robotic arm 4 is mounted on the top surface of the mounting base plate 3, and an end flange 6 is mounted on the end of the six-axis robotic arm 4 away from the mounting base plate 3, and a picking gripper 5 is mounted on the end flange 6.

[0045] In specific use, based on the first embodiment, if it is necessary to further improve the picking efficiency and practicality of the entire device, the operation is as follows:

[0046] The depth camera 7 is used to identify the tomatoes to be picked, and then the depth camera 7 sends a signal to the controller, which starts the six-axis robot arm 4 to move and adjust. Then, the picking gripper 5 is used to pick the tomatoes that have not been picked by the multi-directional picking adjustment mechanism, which effectively reduces the occurrence of incomplete picking, is beneficial to improving the practicality of the overall picking device, and is convenient for promotion.

[0047] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0048] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A tomato picking robot device, characterized by: The invention comprises a mobile chassis (1), a mounting shell (12) fixedly provided on the top surface of the mobile chassis (1), a visual picking cooperation component installed on the left end of the top surface of the mounting shell (12), and an auxiliary picking cooperation mechanism installed on the right end of the top surface of the mounting shell (12), wherein the auxiliary picking cooperation mechanism is used for performing a tomato picking operation; Two multi-directional picking adjustment mechanisms (9) are provided on one side of the visual picking coordination component, each of the multi-directional picking adjustment mechanisms (9) is mounted on a mounting shell (12), each of the multi-directional picking adjustment mechanisms (9) is used for tomato picking operations, and a picking recovery component is mounted on the mounting shell (12), the picking recovery component is used for picking and collecting tomato fruits picked by the auxiliary picking coordination mechanism and the multi-directional picking adjustment mechanism (9).

2. The tomato picking robot device according to claim 1, characterized in that: The visual picking coordination component comprises a mounting rod (8), which is fixed on the left end of the top surface of the mounting shell (12), and a depth camera (7) is mounted on the mounting rod (8).

3. The tomato picking robot device according to claim 1, characterized in that: The auxiliary picking cooperation mechanism includes a mounting base plate (3), which is detachably mounted on the right end of the top surface of the mounting shell (12) by means of a plurality of mounting bolts. A six-axis robotic arm (4) is mounted on the top surface of the mounting base plate (3), and an end flange (6) is mounted on the end of the six-axis robotic arm (4) away from the mounting base plate (3). A picking gripper (5) is mounted on the end flange (6).

4. The tomato picking robot device according to claim 1, characterized in that: The multi-directional picking adjustment mechanism (9) includes a first mounting frame (911), the first mounting frame (911) is mounted on the mounting shell (12), a first motor (91) is fixedly provided on the first mounting frame (911), a first adjusting screw (914) is fixedly provided on the power output end of the first motor (91), the first adjusting screw (914) is rotatably connected to the first mounting frame (911), and a first adjusting screw barrel (915) is threadedly sleeved on the first adjusting screw barrel (914), and a first U-shaped limiting plate (912) is fixedly provided at one end of the first adjusting screw barrel (915). A first rectangular limiting plate (913) is provided inside the first U-shaped limiting plate (912), the first rectangular limiting plate (913) is fixedly connected to the first mounting frame (911), and a mounting connecting plate (92) is fixedly provided on the top surface of the first U-shaped limiting plate (912), a second mounting frame (931) is fixedly provided on the top surface of the mounting connecting plate (92), a second motor (93) is fixedly provided through the second mounting frame (931), a second adjusting screw (934) is fixedly provided on the power output end of the second motor (93), the second adjusting screw (934) is rotatably connected to the second mounting frame (931), and the The second adjusting screw (934) is threadedly sleeved with a second adjusting screw barrel (935), one end of the second adjusting screw barrel (935) is fixedly provided with a second U-shaped limiting plate (932), a second rectangular limiting plate (933) is provided in the second U-shaped limiting plate (932), the second rectangular limiting plate (933) is fixedly connected to the second mounting frame (931), and a fixed connecting frame (94) is fixedly provided on one side of the second U-shaped limiting plate (932), a third mounting frame (951) is fixedly provided on the fixed connecting frame (94), a third motor (95) is fixedly provided through the third mounting frame (951), and the A third adjusting screw is fixedly provided on the power output end of the third motor (95), the third adjusting screw is rotatably connected to the third mounting frame (951), a third adjusting barrel is threadedly sleeved on the third adjusting screw, a third U-shaped limiting plate (952) is fixedly provided at one end of the third adjusting barrel, a third rectangular limiting plate (953) is provided inside the third U-shaped limiting plate (952), the third rectangular limiting plate (953) is fixedly connected to the third mounting frame (951), and a mounting box (96) is fixedly provided on one side of the third U-shaped limiting plate (952), and a picking matching component is provided on the mounting box (96).

5. The tomato picking robot device according to claim 4, characterized in that: The picking and matching assembly comprises an L-shaped mounting plate (992), the L-shaped mounting plate (992) is fixedly mounted on the mounting box (96), a servo motor (991) is fixedly mounted on the L-shaped mounting plate (992), a mounting connecting frame (99) is fixedly mounted on the power output end of the servo motor (991), a two-finger clamp (98) is mounted on one end of the mounting connecting frame (99) away from the servo motor (991), and a binocular camera (97) is mounted on the mounting connecting frame (99).

6. The tomato picking robot device according to claim 1, characterized in that: The picking and recovery component comprises a high collection pipe (10), the high collection pipe (10) is fixedly arranged on the installation shell (12), low collection pipes (11) are arranged on both sides of the high collection pipe (10), each of the low collection pipes (11) is fixedly arranged on the installation shell (12), and one side of the installation shell (12) is open, a collection basket is arranged in the installation shell (12), and the high collection pipe (10) and the low collection pipe (11) are both located above the collection basket.

7. The tomato picking robot device according to claim 1, characterized in that: Movable rollers (2) are installed at the four corners of the bottom surface of the movable chassis (1).

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