Greenhouse cucumber picking robot

Abstract

The invention discloses a greenhouse cucumber picking robot, and relates to the field of greenhouse cucumber picking, the greenhouse cucumber picking robot comprises a machine main body, the top of the machine main body is provided with a robot arm, the back of the machine main body is in traction connection with a trailer, the other side of a connecting block is symmetrically provided with first manual pumps, and the side face, close to a clamping plate, of the connecting block is provided with a nozzle; the air blowing mechanism comprises a communicating pipe, and the communicating pipe is connected between the nozzle and the air outlet end of the manual pump in a penetrating mode. An impeller in the first manual pump is driven to rotate to generate wind power, the exhausted wind power can blow leaves close to the side faces of cucumbers, the leaves can be completely exposed out of cucumber bodies when being blown, the picking efficiency and accuracy can be improved without obstacles on the side faces of the cucumbers, the cucumbers are clamped through air bags on the inner sides of clamping plates, and the picking efficiency is improved. The stalks of the cucumbers are cut off through the scissor assembly, then the cucumbers can be placed in the trailer through the mechanical arm to be collected, and the cucumber picking quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of greenhouse cucumber picking, in particular to a greenhouse cucumber picking robot. Background Art

[0002] During the cultivation process of greenhouse cucumbers, corresponding harvesting robots are needed for harvesting. Harvesting robots use advanced sensors, machine learning and robotic arm technology to automatically identify, locate and grab mature crops. Different types of products usually require different types of harvesting robots. At present, harvesting robots still have certain shortcomings. For example, cucumbers are easily blocked by plant branches, leaves and other cucumbers, resulting in a low success rate of cucumber harvesting.

[0003] In order to overcome the problem of low picking efficiency, a Chinese patent in prior art document 1 (publication number: CN106363653B) discloses an end effector of a cucumber picking robot, which includes: a connecting bracket, a clamping unit, a visual unit, a cutting unit and a lifting mechanism, wherein the clamping unit is fixed on the connecting bracket, the visual unit is located above the clamping unit, and the cutting unit is located between the clamping unit and the visual unit; the end effector also includes a control unit, which is respectively connected to the visual unit, the cutting unit, the clamping unit and the lifting mechanism; the end effector also includes a prying piece located above the visual unit for prying away the cucumber obstruction. The provided end effector can pick cucumbers under various obstruction conditions, can adapt to complex planting environments, and has a high picking success rate; and the Chinese patent of prior art document 2 (publication number: CN220274305U) discloses a picking robot suitable for picking a variety of fruits and vegetables, which can realize the automation of the entire picking process and can pick a variety of fruits and vegetables at the same time, with good versatility, especially when picking various intensive fruits and vegetables, compared with traditional technologies, it greatly improves the picking efficiency, saves picking costs, and is easy to promote and apply.

[0004] However, the harvesting robots currently in use still have certain shortcomings. According to the above-mentioned document 1, during the cucumber picking process, obstacles that affect the picking are moved away by means of a pushing piece. The pushed away leaves can easily reset and block the machine vision, and the pushing piece may also touch the surface of the cucumber, causing damage to the surface of the cucumber, thus affecting the quality of cucumber picking. Therefore, the existing structure needs to be improved. Summary of the invention

[0005] The purpose of the present invention is to provide a greenhouse cucumber picking robot to solve the problems mentioned in the above background technology that the picking robot is easily affected by cucumber leaves during picking, the picking is inaccurate, and the surface of the cucumbers is easily damaged, thus affecting the quality of the cucumbers.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a greenhouse cucumber picking robot, comprising a machine body, a machine arm installed on the top of the machine body, a trailer connected to the back of the machine body, a connecting block movably connected to the end of the machine arm, a clamping plate connected to one side of the connecting block, an air bag connected inside the clamping plate, a scissors assembly connected to the side of the connecting block away from the clamping plate, and a blower mechanism for improving the picking accuracy is arranged on the side of the connecting block; a manual pump 2 is symmetrically installed on the side of the connecting block close to the manual pump 1, a connecting pipe is connected through the manual pump 2 and the air bag of the clamping plate, and a clamping mechanism for reducing picking damage is also arranged on the side of the connecting block; a slide groove is opened on the side of the connecting block close to the clamping plate, a slider is slidably connected to the inside of the slide groove, and the sliders are symmetrically distributed about the connecting block, and an adjustment mechanism for improving the adaptability of the clamping mechanism is arranged inside the slide groove.

[0007] Furthermore, a manual pump is symmetrically installed on the other side of the connecting block, a nozzle is installed on the side of the connecting block close to the clamping plate, and the blowing mechanism includes a connecting pipe, which is connected between the nozzle and the air outlet end of the manual pump, and the connecting pipe is connected inside the connecting block.

[0008] Furthermore, a motor is installed at the bottom of the connecting block, and a rotating rod is fixed to the two output ends of the motor. A bevel gear 1 is fixed to the end of the rotating rod. A bevel gear 2 is meshed and connected to the side of the bevel gear 1. The bevel gear 2 penetrates and rotates inside the manual pump 1, and the bevel gear 2 is fixed on the impeller inside the manual pump 1.

[0009] Furthermore, the manual pump 2 is rotatably connected to another set of bevel gears 2 passing through the interior away from the connecting pipe, and the bevel gears 2 are fixed on the impeller inside the manual pump 2. The clamping mechanism includes a guide groove, which is opened through the bottom of the connecting block. The guide blocks are symmetrically slidably connected inside the guide groove, and a spring is telescopically connected between the two guide blocks. An electric push rod is installed on the side of the connecting block close to the clamping plate.

[0010] Furthermore, an extrusion block is fixed to the output end of the electric push rod, the extrusion block slides inside the guide groove, and the extrusion block is located between two guide blocks, and a fixed block is fixed to the bottom of the guide groove.

[0011] Furthermore, a bevel gear rod is rotatably connected to the fixed block through a bearing, the bevel gear rod is slidably connected to the surface of the fixed rod, the fixed rod is fixed to the end of the bevel gear away from the rotating rod, and there are two groups of bevel gear rods symmetrically distributed about the center of the connecting block.

[0012] Furthermore, the adjustment mechanism includes a bidirectional threaded rod, which penetrates and rotates inside the slide groove, the connecting block and the slider, the bidirectional threaded rod and the slider are threadedly connected, and a pulley is fixed to the right end of the bidirectional threaded rod.

[0013] Furthermore, the connecting block is rotatably connected to the side of pulley one close to pulley one, a belt is transmission-connected between pulley two and pulley one, a spur gear one is fixed to the side of pulley two, spur gear one and spur gear two are meshingly connected, and spur gear two is fixed to the end of the bevel gear rod away from the fixed rod.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The greenhouse cucumber picking robot drives the impeller inside the manual pump to rotate to generate wind force. The discharged wind force can blow the leaves close to the side of the cucumber. When the leaves are blown, the cucumber body can be fully exposed. The absence of obstacles on the side of the cucumber can improve the efficiency and accuracy of picking. The cucumber is clamped by the air bag on the inner side of the clamping plate, and the stem of the cucumber is cut off by the scissor assembly. Then the robot arm can place the cucumber inside the trailer for collection, thereby improving the quality of cucumber picking.

[0015] 2. A nozzle is provided, through which gas can be generated, thereby blowing the cucumber leaves to sway to other places, so that the clamping plate can clamp the cucumber more accurately, thereby improving the protection of the cucumber during picking.

[0016] 3. An extrusion block is provided, which drives the guide block to move to both sides in the form of extrusion, thereby driving the bevel gear rod to move in position. It is not necessary to add an additional driving device to drive the manual pump 2 to operate, thereby reducing the production cost of the device.

[0017] 4. A fixed block is provided, which can drive the bevel gear rod to move without affecting the rotation of the bevel gear rod. The structure is simple and practical.

[0018] 5. A spur gear 2 is provided, which can drive the bidirectional threaded rod to rotate, thereby adjusting the movement distance between the clamping plates. The spur gear 2 and the bevel gear rod operate synchronously, and no additional driving device is required to drive the bidirectional threaded rod to rotate, further reducing the production cost of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall front three-dimensional structure of the present invention.

[0020] Figure 2 It is an enlarged three-dimensional structural schematic diagram of the machine body of the present invention.

[0021] Figure 3 It is a schematic diagram of the enlarged three-dimensional structure of the clamping plate of the present invention.

[0022] Figure 4 It is a schematic diagram of the enlarged three-dimensional structure of the scissors assembly of the present invention.

[0023] Figure 5 It is a bottom-up three-dimensional structural schematic diagram of the connecting block of the present invention.

[0024] Figure 6 It is a schematic diagram of the enlarged three-dimensional structure of the connecting pipe of the present invention.

[0025] Figure 7 It is a schematic diagram of the enlarged three-dimensional structure of the connecting pipe of the present invention.

[0026] Figure 8 For the present invention Figure 7 A schematic diagram of the enlarged three-dimensional structure of part A in the middle.

[0027] Fig. 9 For the present invention Figure 7 Schematic diagram of the enlarged three-dimensional structure of part B in the middle.

[0028] Fig.10 It is a schematic diagram of the enlarged three-dimensional structure of the bevel gear rod of the present invention.

[0029] Fig.11 It is a schematic diagram of the enlarged three-dimensional structure of the slider of the present invention.

[0030] Fig.12 It is a schematic diagram of an enlarged three-dimensional structure of the belt of the present invention.

[0031] In the figure: 1. machine body; 2. machine arm; 3. trailer; 201. connecting block; 202. clamping plate; 203. scissor assembly; 204. manual pump 1; 205. nozzle; 206. connecting pipe; 207. motor; 208. rotating rod; 209. bevel gear 1; 210. bevel gear 2; 211. manual pump 2; 212. connecting pipe; 213. guide groove; 214. guide block; 215. extrusion block; 216. electric push rod; 217. fixing block; 218. fixing rod; 219. bevel gear rod; 220. slide groove; 221. two-way threaded rod; 222. slider; 223. pulley 1; 224. pulley 2; 225. belt; 226. spur gear 1; 227. spur gear 2. DETAILED DESCRIPTION

[0032] 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.

[0033] Embodiment 1: like Figure 1-Figure 6 The technical solution shown in the invention provides the following technical solution: In order to solve the problem that the picking robot is easily affected by cucumber leaves and the picking is inaccurate, a blower mechanism is disclosed: it includes a machine body 1, a machine arm 2 is installed on the top of the machine body 1, and a trailer 3 is connected to the back of the machine body 1: the end of the machine arm 2 is movably connected to a connecting block 201, one side of the connecting block 201 is connected to a clamping plate 202, the inside of the clamping plate 202 is connected to an air bag, the side of the connecting block 201 away from the clamping plate 202 is connected to a scissors assembly 203, the side of the connecting block 201 is provided with a blower mechanism for improving the picking accuracy, and the other side of the connecting block 201 is symmetrically installed with a manual pump A nozzle 205 is installed on the side of the connecting block 201 close to the clamping plate 202, and the air blowing mechanism includes a connecting pipe 206, which is connected between the nozzle 205 and the air outlet end of the manual pump 204, and the connecting pipe 206 is connected through the inside of the connecting block 201, and a motor 207 is installed at the bottom of the connecting block 201, and a rotating rod 208 is fixed to the two output ends of the motor 207, and a bevel gear 1 209 is fixed to the end of the rotating rod 208, and a bevel gear 210 is meshed and connected to the side of the bevel gear 1 209, and the bevel gear 210 is rotated through the inside of the manual pump 204, and the bevel gear 210 is fixed on the impeller inside the manual pump 204.

[0034] When the picking robot is in use, the machine body 1 can move inside the greenhouse through its own visual system, and scan and pick the cucumbers through the visual system. When picking, the machine body 1 can drive the machine arm 2 to adjust the angle in various directions. The machine arm 2 will place the cucumbers inside the trailer 3 after picking. During the picking process of the machine arm 2, the motor 207 can be started to drive the two rotating rods 208 to rotate. When the rotating rod 208 rotates, it can drive the bevel gear 1 209 to rotate. When the bevel gear 1 209 rotates, it can drive the bevel gear 210 to mesh and rotate. The meshing rotation of the bevel gear 210 can be driven by hand. The manual pump 204 rotates, and the bevel gear 210 rotates to drive the impeller inside the manual pump 204 to rotate. The impeller generates wind when it rotates, and the wind is transmitted to the nozzle 205 through the connecting pipe 206. The nozzle 205 pressurizes and discharges the wind through its own structure. The discharged wind can blow the leaves close to the side of the cucumber, and the robot arm 2 can adjust the blowing direction of the nozzle 205 due to its flexible characteristics. When the leaves are blown, the cucumber body can be fully exposed. There are no obstacles on the side of the cucumber, which can improve the efficiency and accuracy of picking, thereby improving the accuracy of robot picking cucumbers.

[0035] Embodiment 2: like Figure 3 , Figure 4 , Figure 5 , Figure 7 , Figure 8, Fig. 9 and Fig.10 The technical scheme shown in the figure, the present invention provides the following technical scheme: in order to solve the problem that the surface of cucumbers is easily damaged when the picking robot is picking, which affects the quality of cucumbers, on the basis of embodiment one, a clamping mechanism is disclosed: a manual pump 211 is symmetrically installed on the side of the connecting block 201 close to the manual pump 1 204, a connecting pipe 212 is connected through the air bag of the manual pump 211 and the clamping plate 202, and a clamping mechanism to reduce damage during picking is also provided on the side of the connecting block 201, and another set of bevel gears 210 are rotatably connected to the inside of the manual pump 211 away from the connecting pipe 212, and the bevel gears 210 are fixed on the impeller inside the manual pump 211, and the clamping mechanism includes a guide groove 213, which runs through the connecting block 2 01 bottom, the guide groove 213 is symmetrically and slidably connected with a guide block 214, and a spring is telescopically connected between the two guide blocks 214. An electric push rod 216 is installed on the side of the connecting block 201 close to the clamping plate 202, and an extrusion block 215 is fixed to the output end of the electric push rod 216. The extrusion block 215 slides in the guide groove 213, and the extrusion block 215 is located between the two guide blocks 214. A fixed block 217 is fixed to the bottom of the guide groove 213, and a bevel gear rod 219 is rotatably connected to the fixed block 217 through a bearing. The bevel gear rod 219 is slidably connected to the surface of the fixed rod 218, and the fixed rod 218 is fixed to the end of the bevel gear 209 away from the rotating rod 208, and there are two groups of bevel gear rods 219 symmetrically distributed about the center of the connecting block 201.

[0036] When the robot is picking cucumbers, the connecting block 201 can drive the clamping plate 202 to move to the side of the cucumbers. During this process, the wind blowing mechanism is continuously running. When the clamping plate 202 is ready to pick cucumbers, the motor 207 will stop running. In the absence of wind, the leaf return will be located on the side of the clamping plate 202, which will not affect the picking effect. At this time, the output end of the electric push rod 216 can be extended. When the electric push rod 216 is extended, it can push the squeezing block 215 to move. When the squeezing block 215 moves, it can slide through the guide groove 213. When the squeezing block 215 slides, the inclined surface can move to the side of the guide block 214 for squeezing. When the guide block 214 is squeezed, it can slide through the guide groove 213. When the two guide blocks 214 slide, the spring can be stretched, and when the guide block 214 slides, it can drive the fixed block 217 to move. When the fixed block 217 moves, it can pull the bevel gear rod 219 to move. When the bevel gear rod 219 moves to the side of the bevel gear 210 inside the manual pump 211, it can be meshed and connected. At this time, the slowly running motor 207 can drive the fixed rod 218 to rotate. When the fixed rod 218 rotates, the bevel gear rod 219 can be driven to rotate. The bevel gear rod 219 can rotate through the bearing inside the fixed block 217, and the bevel gear rod 219 can drive the bevel gear 210 inside the manual pump 211 to rotate. The wind force generated when the bevel gear 210 rotates can be transported to the inside of the airbag on the inner side of the clamping plate 202 through the connecting pipe 212. The airbag will collide after receiving the gas. The cucumber can be clamped when the airbag expands. After the cucumber is clamped by the airbag, the stem of the cucumber is cut off by the scissor assembly 203, and then the robot arm 2 can place the cucumber inside the trailer 3 for collection. The picking by airbag squeezing can better protect the surface of the cucumber from damage, thereby improving the quality of cucumber picking.

[0037] Embodiment three: like Figure 3 , Figure 4 , Figure 5 , Figure 7 , Fig.11 and Fig.12The technical solution shown in the figure, the present invention provides the following technical solution: in order to solve the problem that the picking robot is difficult to adjust itself according to the specifications of cucumbers, which affects the picking stability, on the basis of the first and second embodiments, an adjustment mechanism is disclosed: a sliding groove 220 is provided on the side of the connecting block 201 close to the clamping plate 202, and a slider 222 is slidably connected to the inside of the sliding groove 220, and the slider 222 is symmetrically distributed with respect to the connecting block 201, and an adjustment mechanism that can improve the adaptability of the clamping mechanism is arranged inside the sliding groove 220, and the adjustment mechanism includes a bidirectional threaded rod 221, a bidirectional threaded rod 22 1 penetrates and rotates inside the slide groove 220, the connecting block 201 and the slider 222, the bidirectional threaded rod 221 and the slider 222 are threadedly connected, a pulley 1 223 is fixed to the right end of the bidirectional threaded rod 221, a pulley 2 224 is rotatably connected to the side of the connecting block 201 close to the pulley 1 223, a belt 225 is transmission-connected between the pulley 2 224 and the pulley 1 223, a spur gear 1 226 is fixed to the side of the pulley 2 224, the spur gear 1 226 is meshedly connected with the spur gear 2 227, and the spur gear 2 227 is fixed to the end of the bevel gear rod 219 away from the fixed rod 218.

[0038] Before the picking robot is used, the robot will measure the radius of the cucumber through its own visual system, and will start the electric push rod 216 to extend according to the measurement result. When the electric push rod 216 is extended, it can drive the bevel gear rod 219 to slide and extend on the surface of the fixed rod 218. When the bevel gear rod 219 is extended, it can drive a spur gear 227 to move. When the spur gear 227 moves to the side of the spur gear 1 226, it can be meshed and connected. At the same time, the bevel gear rod 219 is meshed and connected with the spur gear 1 226, and the bevel gear rod 219 has not moved to the side of the bevel gear 210 inside the manual pump 211 for meshing connection, and when the bevel gear rod 219 is meshed with the bevel gear 210, the spur gear 227 will move out of the side of the spur gear 1 226. At this time, starting the motor 207 can drive the rotating rod 208 to rotate. When the rotating rod 208 rotates, it can drive the spur gear 227 through the bevel gear rod 219. 27 rotates, and when the spur gear 227 rotates, the spur gear 1 226 can be driven to rotate. When the spur gear 1 226 rotates, it can rotate through the connecting block 201. When the spur gear 1 226 rotates, it can drive the pulley 1 223 to rotate through the belt 225. When the pulley 1 223 rotates, it can drive the bidirectional threaded rod 221 to rotate. When the bidirectional threaded rod 221 rotates, it can rotate through the connecting block 201 and the slide groove 220. When the bidirectional threaded rod 221 rotates, it can drive the slider 222 to slide threadedly. When the slider 222 slides threadedly, it can slide through the slide groove 220. When the slider 222 slides, it can drive the two clamping plates 202 to move relative to each other. The clamping plate 202 can adjust the distance between it and the cucumber by moving, so that the airbag can pick cucumbers of different specifications, prevent the airbag from clamping unstably due to the different sizes of cucumbers, and improve the convenience of using the picking robot.

[0039] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A greenhouse cucumber picking robot, comprising a machine body (1), a machine arm (2) being mounted on the top of the machine body (1), and a trailer (3) being towed and connected to the back of the machine body (1), characterized in that: The end of the robot arm (2) is movably connected to a connection block (201), one side of the connection block (201) is connected to a clamping plate (202), an air bag is connected inside the clamping plate (202), a side of the connection block (201) away from the clamping plate (202) is connected to a scissors assembly (203), and a blower mechanism for improving picking accuracy is arranged on the side of the connection block (201); a manual pump 2 (211) is symmetrically installed on the side of the connection block (201) close to the manual pump 1 (204), a connecting pipe (212) is connected between the manual pump 2 (211) and the air bag of the clamping plate (202), and a clamping mechanism for reducing picking damage is also arranged on the side of the connection block (201).

2. The greenhouse cucumber picking robot according to claim 1, characterized in that: A sliding groove (220) is provided on a side of the connecting block (201) close to the clamping plate (202), a sliding block (222) is slidably connected to the inside of the sliding groove (220), and the sliding blocks (222) are symmetrically distributed with respect to the connecting block (201), and an adjustment mechanism capable of improving the adaptability of the clamping mechanism is provided inside the sliding groove (220).

3. The greenhouse cucumber picking robot according to claim 1, characterized in that: A manual pump (204) is symmetrically mounted on the other side of the connection block (201); a nozzle (205) is mounted on the side of the connection block (201) close to the clamping plate (202); the air blowing mechanism comprises a connecting pipe (206); the connecting pipe (206) is connected between the nozzle (205) and the air outlet end of the manual pump (204); and the connecting pipe (206) is connected through the inside of the connection block (201).

4. The greenhouse cucumber picking robot according to claim 1, characterized in that: A motor (207) is installed at the bottom of the connecting block (201); rotating rods (208) are fixed to the two output ends of the motor (207); bevel gear one (209) is fixed to the end of the rotating rod (208); bevel gear one (209) is meshingly connected to the side of bevel gear one (209); bevel gear two (210) penetrates and rotates inside the manual pump one (204); and bevel gear two (210) is fixed to the impeller inside the manual pump one (204).

5. The greenhouse cucumber picking robot according to claim 1, characterized in that: Another set of bevel gears (210) are rotatably connected to the inside of the second manual pump (211) away from the connecting pipe (212), and the second bevel gear (210) is fixed on the impeller inside the second manual pump (211). The clamping mechanism includes a guide groove (213), the guide groove (213) is opened through the bottom of the connecting block (201), and the guide blocks (214) are symmetrically slidably connected inside the guide groove (213). A spring is telescopically connected between the two guide blocks (214), and an electric push rod (216) is installed on the side of the connecting block (201) close to the clamping plate (202).

6. The greenhouse cucumber picking robot according to claim 5, characterized in that: An extrusion block (215) is fixed to the output end of the electric push rod (216); the extrusion block (215) slides inside the guide groove (213); the extrusion block (215) is located between two guide blocks (214); and a fixing block (217) is fixed to the bottom of the guide groove (213).

7. The greenhouse cucumber picking robot according to claim 6, characterized in that: A bevel gear rod (219) is rotatably connected to the interior of the fixed block (217) via a bearing, and the bevel gear rod (219) is slidably connected to the surface of the fixed rod (218). The fixed rod (218) is fixed to the end of the bevel gear 1 (209) away from the rotating rod (208), and two groups of bevel gear rods (219) are symmetrically distributed about the center of the connecting block (201).

8. The greenhouse cucumber picking robot according to claim 2, characterized in that: The adjustment mechanism comprises a bidirectional threaded rod (221), the bidirectional threaded rod (221) penetrates and rotates inside the slide groove (220), the connection block (201) and the slider (222), the bidirectional threaded rod (221) and the slider (222) are threadedly connected, and a pulley 1 (223) is fixed to the right end of the bidirectional threaded rod (221).

9. The greenhouse cucumber picking robot according to claim 8, characterized in that: The connecting block (201) is rotatably connected to a pulley 2 (224) on the side close to the pulley 1 (223); a belt (225) is transmission-connected between the pulley 2 (224) and the pulley 1 (223); a spur gear 1 (226) is fixed to the side of the pulley 2 (224); the spur gear 1 (226) is meshingly connected to the spur gear 2 (227); and the spur gear 2 (227) is fixed to the end of the bevel gear rod (219) away from the fixed rod (218).

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