An efficient eggplant picking and collection robot

Abstract

This invention discloses a high-efficiency eggplant harvesting and collection robot, relating to the field of harvesting robot technology. The robot includes a harvesting vehicle, a collection box, and a robotic arm. Both the robotic arm and the collection box are mounted on the upper end of the harvesting vehicle. A support plate is fixedly mounted on the upper end of the robotic arm, and a drive mechanism is mounted on the support plate. A rotating column is inserted through the upper end of the support plate from top to bottom. A rotating plate is fixedly connected to the lower end of the rotating column. Concave seats are symmetrically fixedly connected to both ends of the rotating plate. A concave bracket is fixedly connected to the upper end of each concave seat, and an L-shaped plate is fixedly connected to the side of the concave bracket. The beneficial effect of this invention is that the stepper motor shaft drives the rotating column to rotate 180 degrees clockwise, then stops for a period of time, and then rotates 180 degrees counterclockwise. The rotating column drives the two concave seats to rotate through the rotating plate, causing the positions of the two concave seats to interchange, thereby allowing the positions of the two clamping mechanisms and the two shearing components to be interchanged.

Description

Technical Field

[0001] The invention relates to the technical field of picking robots, and in particular to a high-efficiency eggplant picking and collecting robot. Background Art

[0002] In today's agricultural production, the application of automation technology is becoming increasingly popular to improve production efficiency, reduce labor costs and solve the problem of labor shortage. Eggplant is an important vegetable crop that is widely grown around the world. However, the eggplant picking process still mainly relies on manual picking or manual operation through tools like scissors. First, the eggplant is cut off and then placed in a basket manually. This method requires hiring a lot of workers to work, with high labor costs and low manual operation efficiency. Although there are some eggplant picking robots now, there are still certain defects in the actual work process. After picking an eggplant, the mechanical arm needs to drive the mechanical claw to place the eggplant in the collection box, and then the mechanical arm drives the mechanical claw to perform the next picking operation, which results in the eggplant picking efficiency is still not ideal; and the existing mechanical claw cannot adjust the distance between the two clamping claws in real time according to the size of different eggplants, resulting in the inability to clamp smaller eggplants, and the clamping force of larger eggplants is too large and damaged, causing unnecessary losses, which is not conducive to the normal picking of eggplants. Summary of the invention

[0003] The purpose of the present invention is to provide an efficient eggplant picking and collecting robot to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an efficient eggplant picking and collecting robot, comprising a picking mobile vehicle, a collecting box and a mechanical arm, wherein the mechanical arm and the collecting box are both installed on the upper end of the picking mobile vehicle, a supporting plate is fixedly installed on the upper end of the mechanical arm, a driving mechanism is installed on the supporting plate, a rotating column is inserted through the upper end of the supporting plate from top to bottom, a rotating plate is fixedly connected to the lower end of the rotating column, a concave seat is symmetrically fixedly connected to both ends of the rotating plate, a concave bracket is fixedly connected to the upper end of the concave seat, an L-shaped plate is fixedly connected to the side of the concave bracket, a transmission mechanism is installed on one end of the concave bracket, the lower end of the transmission mechanism extends to the inner side of the concave seat, a clamping mechanism for clamping eggplants is installed on the concave seat, and a visual recognition device is fixedly installed on the side of the concave seat.

[0005] Preferably, the upper end of the support plate is fixedly connected to an L-shaped support seat, the rotating column is driven by a motor shaft of a stepper motor fixedly installed on the L-shaped support seat, the upper end of the rotating column is fixedly connected to two limit rings, the two limit rings are symmetrically distributed on the upper and lower sides of the support plate, and the rotating column and the limit rings are both rotatably connected to the support plate.

[0006] Preferably, the driving mechanism includes a first electric telescopic rod symmetrically fixedly mounted on a support plate, the lower ends of the two first electric telescopic rods both pass downward through the support plate and are fixedly connected to the upper end of the concave lifting plate, the lower end of the concave lifting plate is fixedly connected to a first extrusion plate and a second extrusion plate, one side of the lower ends of the first extrusion plate and the second extrusion plate are both sloped, and the first extrusion plate and the second extrusion plate are arranged between two concave seats.

[0007] Preferably, a guide groove is provided on one side of the concave bracket, and the transmission mechanism includes a guide light rod fixedly connected in the guide groove, a transmission block and a return spring movably sleeved on the guide light rod, a rack plate fixedly connected to one end of the transmission block, a transmission gear meshed on the side of the rack plate, a round rod penetrating from top to bottom and fixedly plugged on the transmission gear, and a driving bevel gear arranged at the lower end of the round rod;

[0008] The two ends of the guide light rod are fixedly connected to the two side walls of the guide groove, and the two ends of the return spring are respectively in contact with the side of the guide groove and the side of the transmission block. The end of the transmission block away from the rack plate passes through the guide groove and extends to the outside. The transmission block is slidably connected to the guide groove and the guide light rod respectively. The rack plate is in sliding contact with the inner side of the concave bracket. The round rod is rotatably connected to the concave bracket. The lower end of the round rod passes through the concave bracket and the concave seat in sequence and is fixedly connected to the driving bevel gear.

[0009] Preferably, the driving bevel gear is arranged on the inner side of the concave seat, and the upper end of the driving bevel gear is in rotational contact with the upper end of the inner cavity of the concave seat.

[0010] Preferably, the clamping mechanism includes a reciprocating drive assembly installed in the inner cavity of the concave seat, a movable plate symmetrically arranged on the outer side of the concave seat, a convex slider fixedly connected to one end of the movable plate close to the concave seat, two elastic extrusion assemblies symmetrically arranged on the outer side of the concave seat, a second electric telescopic rod installed on the elastic extrusion assembly, a V-shaped clamping part fixedly installed on the inner rod end of the second electric telescopic rod, a protective pad fixedly installed on the inner side of the V-shaped clamping part, and a guide plate symmetrically fixedly connected to the outer side of the V-shaped clamping part;

[0011] The reciprocating drive assembly includes a rotating shaft rotatably connected to the inner side wall of the concave seat, a synchronous bevel gear and a circular plate fixedly sleeved on the rotating shaft, two transmission rods fixedly connected to the side of the circular plate in an annular array, and a movable arm movably sleeved on the transmission rod. The synchronous bevel gear is meshed with the driving bevel gear, one end of the movable arm is rotatably connected to the transmission rod, and the other end of the movable arm is hinged to the convex slider through a pin shaft. The side surface of the concave seat is symmetrically provided with convex grooves, the convex slider is slidably connected to the convex groove, and one end of the movable plate is in sliding contact with the outer side surface of the concave seat.

[0012] Preferably, the elastic extrusion assembly includes a limit plate symmetrically installed on the outer side of the concave seat, two sliding rods fixedly connected to the side of the limit plate, and a clamping spring sleeved on the sliding rod. One end of the sliding rod passes through the movable plate and is fixedly connected to the protective ring. The sliding rod is slidably connected to the movable plate. Grooves are symmetrically provided on the side of the concave seat. One end of the limit plate close to the concave seat is rotatably connected to a roller. The roller is in rolling contact with the groove. One end of the guide plate passes through the limit plate, and the guide plate is slidably connected to the limit plate.

[0013] Preferably, a contraction groove is provided at one end of the L-shaped plate, and a locking mechanism is installed in the contraction groove. The locking mechanism includes a locking block slidably connected in the contraction groove, a pull rod fixedly connected to one side of the locking block, and a locking spring sleeved on the pull rod. One end of the pull rod passes through the contraction groove and is fixedly connected to the transmission frame, and both ends of the locking spring are respectively abutted against the locking block and the contraction groove, and the pull rod is slidably connected to the L-shaped plate.

[0014] Preferably, a shearing assembly is installed on the concave bracket, and the shearing assembly includes two axe-shaped gears symmetrically rotatably connected to the inner side of the concave bracket, one end of the two axe-shaped gears is fixedly connected to a shearing knife, the two axe-shaped gears are meshed, and the side of one of the axe-shaped gears is fixedly connected to a swing plate, and the end of the swing plate away from the axe-shaped gear is fixedly connected to a fan gear, and the fan gear is meshed with the transmission gear.

[0015] Compared with the prior art, the invention has the following advantages:

[0016] 1. The motor shaft of the stepper motor drives the rotating column to rotate forward 180 degrees, then stops for a period of time, and then reverses 180 degrees. The rotating column drives the two concave seats to rotate through the rotating plate, so that the positions of the two concave seats are interchanged, thereby exchanging the positions of the two clamping mechanisms and the two shearing components. After one set of clamping mechanisms and shearing components completes eggplant picking, they move to the top of the collection box, and the other set of clamping mechanisms and shearing components can continue to pick eggplants. In this way, the collection of eggplants and the picking of the next eggplant can be carried out at the same time, which greatly improves work efficiency.

[0017] 2. When the picking robot picks eggplants, it first locates the eggplants through the visual recognition equipment, and controls the movement of the mechanical arm through the controller, so that the two V-shaped clamping parts in the clamping mechanism at one end of the rotating plate are on both sides of the eggplant, and the two shearing knives are on both sides of the eggplant stem; the inner rod of the first electric telescopic rod extends downward and drives the first extrusion plate and the second extrusion plate to move downward through the concave lifting plate. At this time, the first extrusion plate pushes the transmission mechanism to move, and the transmission mechanism drives the clamping mechanism to clamp and fix the eggplant. At this time, the locking block in the locking mechanism near the transmission mechanism is engaged with the transmission block, thereby locking the transmission mechanism, so that the clamping mechanism firmly clamps and fixes the eggplant.

[0018] 3. During the downward movement of the second extrusion plate, it abuts against the transmission frame above the collection box, and the transmission frame is pushed to move by the second extrusion plate. The transmission frame drives the locking block to move into the contraction groove through the pull rod, so that the locking block releases the lock on the transmission mechanism above the collection box, and the transmission block is pushed back by the elastic force of the reset spring. The transmission block drives the transmission gear to rotate in the opposite direction through the rack plate, and the transmission gear drives the driving bevel gear to rotate in the opposite direction through the round rod. At this time, the transmission mechanism drives the clamping mechanism to open, so that the clamping mechanism releases the clamping of the eggplant, and the eggplant falls downward into the collection box for collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a three-dimensional diagram of the structure of the efficient eggplant picking and collecting robot of the present invention;

[0020] Figure 2 This is a three-dimensional diagram of the local structure of the efficient eggplant picking and collecting robot of the present invention;

[0021] Figure 3 This is a cross-sectional view of the local structure of the efficient eggplant picking and collecting robot of the present invention;

[0022] Figure 4 for Figure 3 A schematic diagram of the structure enlargement in the middle;

[0023] Figure 5 It is a cross-sectional view of the concave seat structure of the present invention;

[0024] Figure 6 It is a cross-sectional view of the concave seat and the clamping mechanism structure of the present invention;

[0025] Figure 7 This is an exploded view of the local structure of the efficient eggplant picking and collecting robot of the present invention;

[0026] Figure 8 It is an exploded view of the concave seat, transmission mechanism and clamping mechanism structure of the present invention.

[0027] In the figure: 1. Picking mobile vehicle; 11. Collection box; 12. Mechanical arm; 13. Support plate; 14. L-shaped support seat; 15. First electric telescopic rod; 16. Concave lifting plate; 17. First extrusion plate; 18. Second extrusion plate; 2. Rotating column; 21. Limiting ring; 22. Rotating plate; 23. Concave seat; 24. Convex groove; 25. Concave bracket; 26. Guide groove; 27. L-shaped plate; 28. Contraction groove; 29. ​​Visual recognition device; 3. Guide light rod; 31. Transmission block; 32. Reset spring; 33. Rack plate; 34. Transmission gear; 35, round rod; 36, driving bevel gear; 4, rotating shaft; 41, synchronous bevel gear; 42, round plate; 43, transmission rod; 44, movable arm; 5, moving plate; 51, convex slider; 6, limit plate; 61, slide rod; 62, clamping spring; 63, protective ring; 7, second electric telescopic rod; 71, V-shaped clamping part; 72, protection pad; 73, guide plate; 8, locking block; 81, pull rod; 82, locking spring; 83, transmission frame; 9, sector gear; 91, swing plate; 92, axe gear; 93, shear knife. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figures 1 to 8 The present invention provides a technical solution: an efficient eggplant picking and collecting robot, comprising a picking mobile vehicle 1, a collecting box 11 and a mechanical arm 12, the mechanical arm 12 and the collecting box 11 are both installed on the upper end of the picking mobile vehicle 1, the mechanical arm 12 is fixedly installed at one end of the picking mobile vehicle 1, a controller is also installed on the upper end of the picking mobile vehicle 1 for controlling the picking and collecting robot, the size of the collecting box 11 is selected according to actual needs, so that the eggplants can be accurately placed in the collecting box 11, a support plate 13 is fixedly installed on the upper end of the mechanical arm 12, a driving mechanism is installed on the support plate 13, and the upper end of the support plate 13 is A rotating column 2 is inserted from top to bottom, and a rotating plate 22 is fixedly connected to the lower end of the rotating column 2. Concave seats 23 are symmetrically fixedly connected to both ends of the rotating plate 22. A concave bracket 25 is fixedly connected to the upper end of the concave seat 23, and an L-shaped plate 27 is fixedly connected to the side of the concave bracket 25. A transmission mechanism is installed at one end of the concave bracket 25, and the lower end of the transmission mechanism extends to the inner side of the concave seat 23. A clamping mechanism for clamping eggplants is installed on the concave seat 23, and a visual recognition device 29 is fixedly installed on the side of the concave seat 23. The transmission mechanism is used to drive the clamping mechanism to move so that the clamping mechanism clamps and fixes the eggplant.

[0030] The upper end of the support plate 13 is fixedly connected to an L-shaped support seat 14. The rotating column 2 is driven by the motor shaft of a stepper motor fixedly installed on the L-shaped support seat 14. The upper end of the rotating column 2 is fixedly connected to two limit rings 21. The two limit rings 21 are symmetrically distributed on the upper and lower sides of the support plate 13. The rotating column 2 and the limit rings 21 are both rotatably connected to the support plate 13.

[0031] The motor shaft of the stepper motor rotates half a circle each time, and the motor shaft of the stepper motor rotates forward once, stops for a period of time, and then reverses once, and rotates back and forth alternately. The motor shaft of the stepper motor drives the rotating column 2 to rotate, and the rotating column 2 drives the rotating plate 22 and the two concave seats 23 to rotate, so that the rotating plate 22 rotates forward 180 degrees, stops for a period of time, and then reverses 180 degrees, and so on. The rotating plate 22 drives the two concave seats 23 to rotate, so that the positions of the two concave seats 23 are interchanged.

[0032] See also Figure 2 , Figure 3 and Figure 7 The driving mechanism includes a first electric telescopic rod 15 symmetrically fixedly installed on the support plate 13. The lower ends of the two first electric telescopic rods 15 pass downward through the support plate 13 and are fixedly connected to the upper end of the concave lifting plate 16. The lower end of the concave lifting plate 16 is fixedly connected with a first extrusion plate 17 and a second extrusion plate 18. One side of the lower end of the first extrusion plate 17 and the second extrusion plate 18 is set in a slope, and the first extrusion plate 17 and the second extrusion plate 18 are set between the two concave seats 23.

[0033] The concave lifting plate 16 is driven to move up and down by the extension and retraction of the inner rod of the first electric telescopic rod 15 , and the concave lifting plate 16 drives the first extrusion plate 17 and the second extrusion plate 18 to move up and down.

[0034] See also Figures 2 to 4 , Figure 7 , Figure 8 A guide groove 26 is provided on one side of the concave bracket 25, and the transmission mechanism includes a guide light rod 3 fixedly connected in the guide groove 26, a transmission block 31 and a return spring 32 movably sleeved on the guide light rod 3, a rack plate 33 fixedly connected to one end of the transmission block 31, a transmission gear 34 meshed on the side of the rack plate 33, a round rod 35 passing through and fixedly plugged on the transmission gear 34 from top to bottom, and a driving bevel gear 36 arranged at the lower end of the round rod 35;

[0035] The transmission gear 34 is installed on the inner side of the concave bracket 25, and the transmission gear 34 is in rotational contact with the inner side wall of the concave bracket 25;

[0036] The two ends of the guide light rod 3 are fixedly connected to the two side walls of the guide groove 26, respectively, and the two ends of the return spring 32 are respectively abutted against the side of the guide groove 26 and the side of the transmission block 31. The end of the transmission block 31 away from the rack plate 33 passes through the guide groove 26 and extends to the outside. The transmission block 31 is slidingly connected to the guide groove 26 and the guide light rod 3, respectively. The rack plate 33 is in sliding contact with the inner side of the concave bracket 25. The round rod 35 is rotatably connected to the concave bracket 25. The lower end of the round rod 35 passes through the concave bracket 25 and the concave seat 23 in sequence and is fixedly connected to the driving bevel gear 36.

[0037] When the first extrusion plate 17 moves downward, it abuts against the transmission block 31, and the first extrusion plate 17 pushes the transmission block 31 to slide along the guide groove 26 and the guide light rod 3. The transmission block 31 squeezes the reset spring 32. At the same time, the transmission block 31 drives the rack plate 33 to move, and the rack plate 33 drives the transmission gear 34 to rotate. The transmission gear 34 drives the driving bevel gear 36 to rotate through the round rod 35.

[0038] The driving bevel gear 36 is disposed inside the concave seat 23 , and the upper end of the driving bevel gear 36 is in rotational contact with the upper end of the inner cavity of the concave seat 23 .

[0039] See also Figures 6 to 8 The clamping mechanism includes a reciprocating drive component installed in the inner cavity of the concave seat 23, a movable plate 5 symmetrically arranged on the outer side of the concave seat 23, a convex slider 51 fixedly connected to the movable plate 5 near one end of the concave seat 23, two elastic extrusion components symmetrically arranged on the outer side of the concave seat 23, a second electric telescopic rod 7 installed on the elastic extrusion component, a V-shaped clamping part 71 fixedly installed on the inner rod end of the second electric telescopic rod 7, a protective pad 72 fixedly installed on the inner side of the V-shaped clamping part 71, and a guide plate 73 symmetrically fixedly connected to the outer side of the V-shaped clamping part 71. The two V-shaped clamping parts 71 are symmetrically distributed on the outer side of the concave seat 23. The clamping side of the protective pad 72 is provided with anti-slip grooves, and the protective pad 72 is made of soft rubber or other materials;

[0040] The reciprocating drive assembly includes a rotating shaft 4 rotatably connected to the inner wall of the concave seat 23, a synchronous bevel gear 41 and a circular plate 42 fixedly sleeved on the rotating shaft 4, two transmission rods 43 fixedly connected to the side of the circular plate 42 in an annular array, and a movable arm 44 movably sleeved on the transmission rod 43. The synchronous bevel gear 41 is meshed with the driving bevel gear 36, one end of the movable arm 44 is rotatably connected to the transmission rod 43, and the other end of the movable arm 44 is hinged to the convex slider 51 through a pin shaft. The side of the concave seat 23 is symmetrically provided with convex grooves 24, the convex slider 51 is slidably connected to the convex groove 24, and one end of the movable plate 5 is in sliding contact with the outer side surface of the concave seat 23.

[0041] The driving bevel gear 36 drives the synchronous bevel gear 41, and the synchronous bevel gear 41 drives the circular plate 42 to rotate through the rotating shaft 4, and the circular plate 42 drives the transmission rod 43 to rotate, and the transmission rod 43 drives the movable arm 44 to move, and the movable arm 44 drives the convex slider 51 to slide along the convex groove 24, and at the same time, the convex slider 51 drives the moving plate 5 to move, so that the two moving plates 5 move closer to each other;

[0042] The movable plate 5 drives the V-shaped clamping part 71 and the protection pad 72 to clamp and fix the eggplant through the elastic extrusion component. The elastic extrusion component and the protection pad 72 are provided to prevent the eggplant from being damaged due to excessive clamping force.

[0043] The elastic extrusion assembly includes a limit plate 6 symmetrically installed on the outer side of the concave seat 23, two sliding rods 61 fixedly connected to the side of the limit plate 6, and a clamping spring 62 sleeved on the sliding rod 61. One end of the sliding rod 61 passes through the movable plate 5 and is fixedly connected to the protective ring 63. The sliding rod 61 is slidably connected to the movable plate 5. The two ends of the clamping spring 62 are respectively in contact with the limit plate 6 and the movable plate 5. Grooves are symmetrically provided on the side of the concave seat 23. One end of the limit plate 6 close to the concave seat 23 is rotatably connected to a roller. The roller is in rolling contact with the groove. One end of the guide plate 73 passes through the limit plate 6, and the guide plate 73 is slidably connected to the limit plate 6.

[0044] When the protective pad 72 on the inner side of the V-shaped clamping part 71 contacts the eggplant, the two movable plates 5 continue to approach each other, and the movable plate 5 drives the limit plate 6 to move through the slide bar 61 and the clamping spring 62, so that the two limit plates 6 move closer to each other, and the limit plate 6 drives the roller to roll along the groove, so that the two limit plates 6 can move stably. When the protective pad 72 contacts the eggplant, the movable plate 5 continues to move closer to each other, and the movable plate 5 slides along the slide bar 61. At the same time, the movable plate 5 squeezes the clamping spring 62. Under the action of the elastic force of the clamping spring 62, the two V-shaped clamping parts 71 and the two protective pads 72 cooperate with each other to firmly clamp and fix the eggplant.

[0045] See also Figure 4 and Figure 7 A contraction groove 28 is provided at one end of the L-shaped plate 27, and a locking mechanism is installed in the contraction groove 28. The locking mechanism includes a locking block 8 slidably connected in the contraction groove 28, a pull rod 81 fixedly connected to one side of the locking block 8, and a locking spring 82 sleeved on the pull rod 81. One end of the pull rod 81 passes through the contraction groove 28 and is fixedly connected to the transmission frame 83. Both ends of the locking spring 82 are respectively abutted against the locking block 8 and the contraction groove 28, and the pull rod 81 is slidably connected to the L-shaped plate 27.

[0046] The first extrusion plate 17 pushes the transmission mechanism to move, and the transmission mechanism drives the clamping mechanism to clamp and fix the eggplant. At this time, the locking block 8 in the locking mechanism is engaged with the transmission block 31, thereby locking the transmission mechanism, so that the transmission block 31 in the transmission mechanism cannot drive the rack plate 33 to move back, so that the clamping mechanism firmly clamps and fixes the eggplant, preventing the picked eggplant from falling during the movement of the clamping mechanism.

[0047] See also Figure 3 and Figure 7 A shearing assembly is installed on the concave bracket 25, and the shearing assembly includes two axe-shaped gears 92 symmetrically connected to the inner side of the concave bracket 25. One end of the two axe-shaped gears 92 is fixedly connected to a shearing knife 93. The two axe-shaped gears 92 are meshed. A swing plate 91 is fixedly connected to the side of one of the axe-shaped gears 92, and a fan gear 9 is fixedly connected to the end of the swing plate 91 away from the axe-shaped gear 92. The fan gear 9 is meshed with the transmission gear 34.

[0048] The axe-shaped gear 92 is rotatably connected to the concave bracket 25 via a shaft, and the sector gear 9 is in sliding contact with the inner side wall of the concave bracket 25 .

[0049] When the transmission gear 34 rotates, it drives the fan gear 9 to rotate, and the fan gear 9 drives the axe gear 92 to rotate through the swing plate 91. Since the two axe gears 92 are meshed, the two axe gears 92 rotate synchronously, and the two axe gears 92 rotate in opposite directions. The two axe gears 92 drive the two shearing knives 93 to move, and the two shearing knives 93 move close to each other, so that the eggplant stems are sheared and the eggplants are picked.

[0050] The visual recognition device 29 includes a camera and a sensor. The camera and the sensor are used to locate the eggplant. The plane coordinates of the eggplant are detected by using a target detection algorithm. The depth map and the RGB map calculated by the binocular camera model are fused and aligned to obtain the three-dimensional coordinates of the eggplant. Finally, the three-dimensional coordinates of the eggplant are marked in the map after processing using the OpenCV library. The center coordinates of the eggplant are calculated to facilitate further determination of the picking point. The visual recognition device 29 sends the center coordinates of the eggplant to the controller, and the controller controls the movement of the mechanical arm 12, thereby controlling the clamping mechanism and the shearing component to cooperate to pick the eggplant.

[0051] OPENMV is used as a visual module. OPENMV can process complex image data, especially with stronger color sensitivity. First, the image is Gaussian blurred, and a binary image with relatively easy information processing is obtained after processing. Then the binary image is filtered by the corrosion and dilation method. There are more clutter and noise spots in the original image. First, an opening operation is performed. The main content of the opening operation is to perform an corrosion operation first, and then an expansion operation. The background noise of the processed image is basically removed, and a clearer fruit is obtained after removing the noise. Then a closing operation is performed. The closing operation is to perform an expansion operation first, and then an corrosion operation. It can remove some holes in the eggplant image, which is convenient for subsequent edge detection.

[0052] Then edge detection is performed based on the processed image. The purpose of edge detection is to significantly reduce the amount of data and eliminate irrelevant information, retaining the important structure in the image. The Canny operator selected by the system seeks the best compromise between precise positioning and noise resistance. The processing result is a layer of fine white dots formed on the edge of the tomato. The next step is to detect Kirchhoff circles. Most of the information in the processed image has been eliminated, and only the fruit information is retained. Moreover, for this type of round fruits and vegetables, it is only necessary to detect the position of the circular outline in the image to obtain its two-dimensional pixel coordinates and radius in the image.

[0053] Working principle: When the picking robot picks eggplants, it first locates the eggplants through the visual recognition device 29, and controls the robot arm 12 to move through the controller, so that the two V-shaped clamping parts 71 in the clamping mechanism at one end of the rotating plate 22 are located on both sides of the eggplant, and the two shearing knives 93 are located on both sides of the eggplant stem;

[0054] The inner rod of the first electric telescopic rod 15 extends downward to drive the concave lifting plate 16 to move downward, and the concave lifting plate 16 drives the first extrusion plate 17 and the second extrusion plate 18 to move downward. During the downward movement of the first extrusion plate 17, it abuts against the transmission block 31, and the first extrusion plate 17 pushes the transmission block 31 to slide along the guide groove 26, and the transmission block 31 squeezes the reset spring 32. At the same time, the transmission block 31 drives the rack plate 33 to move, and the rack plate 33 drives the transmission gear 34 to rotate, and the transmission gear 34 drives the driving bevel gear 36 to rotate through the round rod 35;

[0055] The driving bevel gear 36 drives the synchronous bevel gear 41, and the synchronous bevel gear 41 drives the circular plate 42 to rotate through the rotating shaft 4. The circular plate 42 drives the movable arm 44 to move through the transmission rod 43, and the movable arm 44 drives the convex slider 51 to slide along the convex groove 24. At the same time, the convex slider 51 drives the moving plate 5 to move, so that the two moving plates 5 move closer to each other;

[0056] The movable plate 5 drives the V-shaped clamping part 71 and the protection pad 72 to clamp and fix the eggplant through the elastic extrusion component. The elastic extrusion component and the protection pad 72 prevent the eggplant from being damaged due to excessive clamping force, thereby protecting the eggplant well and avoiding unnecessary damage to the eggplant.

[0057] At this time, the locking block 8 in the locking mechanism is engaged with the transmission block 31, thereby locking the transmission mechanism, so that the transmission block 31 in the transmission mechanism cannot drive the rack plate 33 to move back, so that the clamping mechanism firmly clamps the eggplant to prevent the picked eggplant from falling during the movement of the clamping mechanism.

[0058] At the same time, when the transmission gear 34 rotates, it drives the fan gear 9 to rotate, and the fan gear 9 drives the axe gear 92 to rotate through the swing plate 91. Since the two axe gears 92 are meshed, the two axe gears 92 rotate synchronously, and the two axe gears 92 rotate in opposite directions. The two axe gears 92 drive the two shearing knives 93 to move, and the two shearing knives 93 move close to each other, so that the eggplant stems are sheared and the eggplants are picked.

[0059] The concave lifting plate 16 is driven upward by the inner rod of the first electric telescopic rod 15 to move upward, and the concave lifting plate 16 drives the first extrusion plate 17 and the second extrusion plate 18 to move upward, so that the first extrusion plate 17 and the second extrusion plate 18 are away from the concave bracket 25, so that the lower ends of the first extrusion plate 17 and the second extrusion plate 18 are higher than the top of the concave bracket 25.

[0060] Then, the motor shaft of the stepper motor drives the rotating column 2 to rotate 180 degrees, and the rotating column 2 drives the rotating plate 22 to rotate 180 degrees. The rotating plate 22 drives the two concave seats 23 to rotate, so that the positions of the two concave seats 23 are interchanged. At this time, the clamping mechanism holding the eggplant is rotated to the top of the collecting box 11, and the clamping mechanism not holding the eggplant is rotated to the side of the eggplant to be picked, and then the two V-shaped clamping parts 71 in the clamping mechanism are adjusted to the two sides of the eggplant, and the two shearing knives 93 are located on both sides of the eggplant stem.

[0061] When picking the eggplants for the next time, the inner rod of the first electric telescopic rod 15 extends downward through the concave lifting plate 16 to drive the first squeezing plate 17 and the second squeezing plate 18 to move downward. At this time, the first squeezing plate 17 pushes the transmission mechanism to move, and the transmission mechanism drives the clamping mechanism to clamp and fix the eggplants. At this time, the locking block 8 in the locking mechanism near the transmission mechanism is engaged with the transmission block 31, thereby locking the transmission mechanism, so that the clamping mechanism firmly clamps and fixes the eggplants.

[0062] At the same time, the second squeezing plate 18 abuts against the transmission frame 83 above the collection box 11 during the downward movement, and the transmission frame 83 is pushed to move by the second squeezing plate 18. The transmission frame 83 drives the locking block 8 to move into the contraction groove 28 through the pull rod 81, so that the locking block 8 releases the lock of the transmission mechanism above the collection box 11, and the transmission block 31 is pushed back by the elastic force of the reset spring 32. The transmission block 31 drives the transmission gear 34 to rotate in the opposite direction through the rack plate 33, and the transmission gear 34 drives the driving bevel gear 36 to rotate in the opposite direction through the round rod 35. At this time, the transmission mechanism drives the clamping mechanism to open, so that the clamping mechanism releases the clamping and fixation of the eggplant, and the eggplant falls downward into the collection box 11 for collection;

[0063] At the same time, the transmission gear 34 drives the two shear blades 93 in the shearing assembly to open, so that the clamping mechanism and the shearing assembly are ready for the next eggplant picking;

[0064] At this time, the first electric telescopic rod 15 is moved upward, so that the motor shaft of the stepper motor drives the rotating column 2 to rotate 180 degrees in the opposite direction, so that the clamping mechanism holding the eggplant is rotated to the top of the collection box 11, and the clamping mechanism not holding the eggplant is rotated to the vicinity of the eggplant to be picked, waiting for the next picking. This reciprocating process can continuously and efficiently pick the eggplant.

[0065] After picking one eggplant, it is only necessary to swap the positions of the two clamping mechanisms and the two shearing components. In this way, when picking the next eggplant, the eggplant picked last can be collected at the same time, reducing the process of the mechanical arm 12 reciprocating to collect the eggplants, and greatly improving the eggplant picking efficiency.

[0066] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An efficient eggplant picking and collecting robot, comprising a picking mobile vehicle (1), a collecting box (11) and a mechanical arm (12), wherein the mechanical arm (12) and the collecting box (11) are both installed at the upper end of the picking mobile vehicle (1), characterized in that: A support plate (13) is fixedly mounted on the upper end of the mechanical arm (12), a driving mechanism is mounted on the support plate (13), a rotating column (2) is inserted and inserted through the upper end of the support plate (13) from top to bottom, a rotating plate (22) is fixedly connected to the lower end of the rotating column (2), concave seats (23) are symmetrically fixedly connected at both ends of the rotating plate (22), a concave bracket (25) is fixedly connected to the upper end of the concave seat (23), an L-shaped plate (27) is fixedly connected to the side of the concave bracket (25), and a transmission mechanism is mounted on one end of the concave bracket (25). The lower end of the transmission mechanism extends to the inner side of the concave seat (23), a clamping mechanism for clamping eggplants is installed on the concave seat (23), and a visual recognition device (29) is fixedly installed on the side of the concave seat (23); the upper end of the support plate (13) is fixedly connected to the L-shaped support seat (14), the rotating column (2) is driven by the motor shaft of a stepping motor fixedly installed on the L-shaped support seat (14), the upper end of the rotating column (2) is fixedly connected to two limit rings (21), and the two limit rings (21) are symmetrically distributed on the upper and lower sides of the support plate (13), and the rotating column (2) The limiting rings (21) are rotatably connected to the support plate (13); the driving mechanism comprises a first electric telescopic rod (15) symmetrically fixedly mounted on the support plate (13); the lower ends of the two first electric telescopic rods (15) pass downward through the support plate (13) and are fixedly connected to the upper end of the concave lifting plate (16); the lower end of the concave lifting plate (16) is fixedly connected to a first extrusion plate (17) and a second extrusion plate (18); one side of the lower end of the first extrusion plate (17) and the second extrusion plate (18) is arranged in a sloped surface; the first extrusion plate (17) and the second extrusion plate (18) are arranged The concave bracket (25) is disposed between two concave seats (23); a guide groove (26) is provided on one side of the concave bracket (25); the transmission mechanism comprises a guide light rod (3) fixedly connected in the guide groove (26), a transmission block (31) and a return spring (32) movably sleeved on the guide light rod (3), a rack plate (33) fixedly connected to one end of the transmission block (31), a transmission gear (34) meshed with a side surface of the rack plate (33), a round rod (35) penetrating from top to bottom and fixedly plugged on the transmission gear (34), and a driving bevel gear (36) arranged at the lower end of the round rod (35); The two ends of the guide light rod (3) are respectively fixedly connected to the two side walls of the guide groove (26), the two ends of the return spring (32) are respectively in contact with the side of the guide groove (26) and the side of the transmission block (31), the end of the transmission block (31) away from the rack plate (33) passes through the guide groove (26) and extends to the outside, the transmission block (31) is respectively slidably connected to the guide groove (26) and the guide light rod (3), the rack plate (33) is in slidable contact with the inner side of the concave bracket (25), the round rod (35) is rotatably connected to the concave bracket (25), the lower end of the round rod (35) passes through the concave bracket (25) and the concave seat (23) in sequence and is fixedly connected to the driving bevel gear (36); the driving bevel gear (36) is arranged on the concave seat (23) The inner side of the concave seat (23) is provided with a driving bevel gear (36) whose upper end is in rotational contact with the upper end of the inner cavity of the concave seat (23); the clamping mechanism comprises a reciprocating driving component installed in the inner cavity of the concave seat (23), a moving plate (5) symmetrically arranged on the outer side of the concave seat (23), a convex sliding block (51) fixedly connected to one end of the moving plate (5) close to the concave seat (23), two elastic extrusion components symmetrically arranged on the outer side of the concave seat (23), a second electric telescopic rod (7) installed on the elastic extrusion component, a V-shaped clamping portion (71) fixedly installed on the inner rod end of the second electric telescopic rod (7), a protective pad (72) fixedly installed on the inner side of the V-shaped clamping portion (71), and a guide plate (73) symmetrically fixedly connected to the outer side of the V-shaped clamping portion (71); The reciprocating drive assembly comprises a rotating shaft (4) rotatably connected to the inner side wall of the concave seat (23), a synchronous bevel gear (41) and a circular plate (42) fixedly sleeved on the rotating shaft (4), two transmission rods (43) fixedly connected to the side of the circular plate (42) in an annular array, and a movable arm (44) movably sleeved on the transmission rod (43), the synchronous bevel gear (41) meshes with the driving bevel gear (36), one end of the movable arm (44) is rotatably connected to the transmission rod (43), and the other end of the movable arm (44) is hinged to a convex slider (51) through a pin shaft, the side surface of the concave seat (23) is symmetrically provided with a convex groove (24), the convex slider (51) is slidably connected to the convex groove (24), and the movable plate (5) is One end of the elastic extrusion assembly is in sliding contact with the outer side surface of the concave seat (23); the elastic extrusion assembly comprises a limit plate (6) symmetrically installed on the outer side surface of the concave seat (23), two slide bars (61) fixedly connected to the side surface of the limit plate (6), and a clamping spring (62) sleeved on the slide bar (61); one end of the slide bar (61) passes through the movable plate (5) and is fixedly connected to the protective ring (63); the slide bar (61) is slidably connected to the movable plate (5); the side surface of the concave seat (23) is symmetrically provided with grooves; one end of the limit plate (6) close to the concave seat (23) is rotatably connected to a roller, and the roller is in rolling contact with the groove; one end of the guide plate (73) passes through the limit plate (6), and the guide plate (73) is slidably connected to the limit plate (6).

2. The efficient eggplant picking and collecting robot according to claim 1, characterized in that: A contraction groove (28) is provided at one end of the L-shaped plate (27), and a locking mechanism is installed in the contraction groove (28). The locking mechanism comprises a locking block (8) slidably connected in the contraction groove (28), a pull rod (81) fixedly connected to one side of the locking block (8), and a locking spring (82) sleeved on the pull rod (81). One end of the pull rod (81) passes through the contraction groove (28) and is fixedly connected to the transmission frame (83). Two ends of the locking spring (82) are respectively in contact with the locking block (8) and the contraction groove (28). The pull rod (81) is slidably connected to the L-shaped plate (27).

3. The efficient eggplant picking and collecting robot according to claim 1, characterized in that: A shearing assembly is installed on the concave bracket (25), and the shearing assembly includes two axe-shaped gears (92) symmetrically connected to the inner side of the concave bracket (25), one end of the two axe-shaped gears (92) is fixedly connected to a shearing knife (93), the two axe-shaped gears (92) are meshed, a swing plate (91) is fixedly connected to the side of one of the axe-shaped gears (92), and a fan gear (9) is fixedly connected to the end of the swing plate (91) away from the axe-shaped gear (92), and the fan gear (9) is meshed with the transmission gear (34).

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