Greenhouse cucumber picking robot

Abstract

This invention discloses a greenhouse cucumber harvesting robot, relating to the field of greenhouse cucumber harvesting. It includes a main body with a robotic arm mounted on its top and a trailer connected to its back. A manual pump is symmetrically mounted on the other side of a connecting block. A nozzle is mounted on the side of the connecting block near the clamping plate. The blowing mechanism includes a connecting pipe that connects the nozzle to the air outlet of the manual pump. This invention drives the impeller inside the manual pump to rotate, generating airflow. The discharged airflow blows the leaves near the cucumber's side, fully exposing the cucumber. The absence of obstacles on the cucumber's side improves harvesting efficiency and accuracy. The cucumber is clamped by airbags inside the clamping plate, and the stem is cut by a scissor assembly. The robotic arm then places the cucumber into the trailer for collection, improving the quality of cucumber harvesting.

Description

Technical Field

[0001] This invention relates to the field of greenhouse cucumber harvesting technology, specifically a greenhouse cucumber harvesting robot. Background Technology

[0002] During the cultivation of greenhouse cucumbers, appropriate harvesting robots are required for picking. These robots utilize advanced sensors, machine learning, and robotic arm technology to automatically identify, locate, and grasp mature crops. Different types of products typically require different types of harvesting robots. Currently, harvesting robots still have some shortcomings. For example, cucumbers are easily obstructed by plant branches, leaves, and other cucumbers, resulting in a lower harvesting success rate.

[0003] To overcome the problem of low harvesting efficiency, Chinese Patent Document 1 (Publication No.: CN106363653B) discloses an end effector for a cucumber harvesting robot, which includes: a connecting bracket, a clamping unit, a vision unit, a cutting unit, and a lifting mechanism. The clamping unit is fixed on the connecting bracket, the vision unit is located above the clamping unit, and the cutting unit is located between the clamping unit and the vision unit. The end effector also includes a control unit, which is connected to the vision unit, the cutting unit, the clamping unit, and the lifting mechanism. The end effector also includes a parting element located above the vision unit for pushing aside cucumbers that are obstructing the view. The provided end effector can harvest cucumbers under various obstruction conditions, adapt to complex planting environments, and has a high harvesting success rate. Furthermore, Chinese patent document 2 (publication number: CN220274305U) discloses a harvesting robot suitable for harvesting various fruits and vegetables, which can realize the automation of the entire harvesting process. It can harvest various types of fruits and vegetables, has good versatility, and especially when harvesting various dense fruits and vegetables, it significantly improves harvesting efficiency and saves harvesting costs compared with traditional technologies, making it easy to promote and apply.

[0004] However, the currently used harvesting robots still have certain shortcomings. In the aforementioned document 1, during the cucumber harvesting process, obstacles that affect the harvesting are moved away by the parting device. However, the parted leaves can easily reposition themselves and block the machine's vision. Furthermore, the parting device may touch the surface of the cucumber, causing damage to the surface and affecting the quality of cucumber harvesting. Therefore, the existing structure needs to be improved. Summary of the Invention

[0005] The purpose of this invention is to provide a greenhouse cucumber harvesting robot to solve the problems mentioned in the background art, such as the harvesting robot being easily affected by cucumber leaves, resulting in inaccurate harvesting and damage to the cucumber surface, which affects the quality of the cucumber.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a greenhouse cucumber harvesting robot, comprising a main body, a robotic arm mounted on the top of the main body, a trailer connected to the back of the main body, a connecting block movably connected to the end of the robotic arm, a clamping plate connected to one side of the connecting block, an airbag connected inside the clamping plate, a scissor assembly connected to the side of the connecting block away from the clamping plate, and a blower mechanism for improving harvesting accuracy provided on the side of the connecting block; a second manual pump symmetrically mounted on the side of the connecting block near the first manual pump, a connecting pipe connecting the second manual pump to the airbag of the clamping plate, and a clamping mechanism for reducing harvesting damage provided on the side of the connecting block; a sliding groove opened on the side of the connecting block near the clamping plate, a slider slidably connected through the sliding groove, the sliders being symmetrically distributed about the connecting block, and an adjustment mechanism for improving the adaptability of the clamping mechanism provided inside the sliding groove.

[0007] Furthermore, a manual pump is symmetrically installed on the other side of the connecting block, and a nozzle is installed on the side of the connecting block near the clamping plate. The blower mechanism includes a connecting pipe, which is connected between the nozzle and the air outlet of the manual pump, and the connecting pipe is also 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 one is fixed to the end of the rotating rod, and a bevel gear two is meshed with the side of the bevel gear one. The bevel gear two rotates through the inside of the manual pump one and is fixed to the impeller inside the manual pump one.

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

[0010] Furthermore, a pressing block is fixed to the output end of the electric actuator. The pressing block slides inside the guide groove and is located between two guide blocks. A fixing block is fixed to the bottom of the guide groove.

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

[0012] Furthermore, the adjustment mechanism includes a bidirectional threaded rod that rotates through 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, a second pulley is rotatably connected to the side of the connecting block near the first pulley. A belt drives the second pulley to the first pulley. A first spur gear is fixed to the side of the second pulley. The first spur gear and the second spur gear are meshed together. The second spur gear is fixed to the end of the bevel gear rod away from the fixed rod.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. This greenhouse cucumber harvesting robot drives a manual pump to rotate an internal impeller, generating wind that blows the leaves near the cucumber's side. When the leaves are blown, the cucumber is fully exposed. With no obstacles on the side of the cucumber, the harvesting efficiency and accuracy are improved. The cucumber is gripped by airbags inside the clamping plate, and then the stem is cut by a scissor assembly. The robotic arm then places the cucumber into a trailer for collection, improving the quality of cucumber harvesting.

[0015] 2. Equipped with nozzles that generate gas, which blows the cucumber leaves to other places, allowing the clamping plate to clamp the cucumber more accurately and improving the protection of the cucumber during harvesting.

[0016] 3. It is equipped with an extrusion block, 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 can drive the manual pump II without adding an additional drive device, thus reducing the production cost of the device.

[0017] 4. It is equipped with a fixing block, 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 second spur gear is provided, which can drive the bidirectional threaded rod to rotate, thereby adjusting the movement distance between the clamping plates. The second spur gear and the bevel gear operate synchronously, and no additional drive device is required to drive the bidirectional threaded rod to rotate, further reducing the production cost of the robot. Attached Figure Description

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

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

[0021] Figure 3 This is an enlarged three-dimensional structural diagram of the clamping plate of the present invention.

[0022] Figure 4 This is an enlarged three-dimensional structural diagram of the scissor assembly of the present invention.

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

[0024] Figure 6 This is a magnified three-dimensional structural diagram of the connecting tube of the present invention.

[0025] Figure 7 This is an enlarged three-dimensional structural diagram of the connecting tube of the present invention.

[0026] Figure 8 For the present invention Figure 7 Enlarged 3D structural diagram of section A.

[0027] Figure 9 For the present invention Figure 7 Enlarged 3D structural diagram of section B.

[0028] Figure 10 This is an enlarged three-dimensional structural diagram of the bevel gear of the present invention.

[0029] Figure 11 This is a magnified three-dimensional structural diagram of the slider of the present invention.

[0030] Figure 12 This is a magnified three-dimensional structural diagram of the belt of the present invention.

[0031] In the diagram: 1. Machine body; 2. Robot arm; 3. Trailer; 201. Connecting block; 202. Clamping plate; 203. Scissor assembly; 204. Manual pump one; 205. Nozzle; 206. Connecting pipe; 207. Motor; 208. Rotating rod; 209. Bevel gear one; 210. Bevel gear two; 211. Manual pump two; 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. Bidirectional threaded rod; 222. Slider; 223. Pulley one; 224. Pulley two; 225. Belt; 226. Spur gear one; 227. Spur gear two. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Example 1: like Figures 1-6 The present invention provides the following technical solution to address the problem of inaccurate harvesting caused by cucumber leaves during the harvesting process of a harvesting robot: a blower mechanism is disclosed, comprising a machine body 1, a robotic arm 2 mounted on the top of the machine body 1, and a trailer 3 connected to the back of the machine body 1; a connecting block 201 is movably connected to the end of the robotic arm 2, a clamping plate 202 is connected to one side of the connecting block 201, an airbag is connected inside the clamping plate 202, a scissor assembly 203 is connected to the side of the connecting block 201 away from the clamping plate 202, a blower mechanism for improving harvesting accuracy is provided on the side of the connecting block 201, and manual pumps are symmetrically installed on the other side of the connecting block 201. A nozzle 205 is installed on the side of the connecting block 201 near the clamping plate 202. The blower mechanism includes a connecting pipe 206, which is connected between the nozzle 205 and the air outlet of the manual pump 204. The connecting pipe 206 is also connected inside the connecting block 201. A motor 207 is installed at the bottom of the connecting block 201. A rotating rod 208 is fixed at both output ends of the motor 207. A bevel gear 209 is fixed at the end of the rotating rod 208. A bevel gear 210 is meshed on the side of the bevel gear 209. The bevel gear 210 rotates inside the manual pump 204 and is fixed to the impeller inside the manual pump 204.

[0034] When the harvesting robot is in use, the main body 1 can move inside the greenhouse using its own vision system and scan cucumbers for harvesting. During harvesting, the main body 1 can drive the robotic arm 2 to adjust its angle in various directions. After harvesting, the robotic arm 2 places the cucumbers inside the trailer 3. During the harvesting process, the start motor 207 of the robotic arm 2 can drive two rotating rods 208 to rotate. When the rotating rods 208 rotate, they can drive the first bevel gear 209 to rotate. The rotation of the first bevel gear 209 can drive the second bevel gear 210 to mesh and rotate. When the second bevel gear 210 meshes and rotates, it can be manually controlled. When the manual pump 204 rotates, the bevel gear 210 rotates, which drives the impeller inside the manual pump 204 to rotate. The rotation of the impeller generates wind, which is delivered 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 near the side of the cucumber. Due to its flexibility, the robotic arm 2 can adjust the blowing direction of the nozzle 205. When the leaves are blown, the cucumber body can be fully exposed. With no obstacles on the side of the cucumber, the efficiency and accuracy of picking can be improved, thus improving the accuracy of the robot picking cucumbers.

[0035] Example 2: like Figure 3 , Figure 4 , Figure 5 , Figure 7 , Figure 8, Figure 9 and Figure 10 The present invention provides the following technical solution to address the problem that cucumbers are easily damaged during harvesting by a harvesting robot, affecting their quality. Based on Embodiment 1, a clamping mechanism is disclosed: A second manual pump 211 is symmetrically installed on the side of the connecting block 201 near the first manual pump 204. A connecting pipe 212 connects the second manual pump 211 to the airbag of the clamping plate 202. A clamping mechanism to reduce harvesting damage is also provided on the side of the connecting block 201. Another set of bevel gears 210 is rotatably connected inside the second manual pump 211 away from the connecting pipe 212, and the bevel gears 210 are fixed to the impeller inside the second manual pump 211. The clamping mechanism includes a guide groove 213, which is formed through the connecting block 201. At the bottom of 01, guide blocks 214 are symmetrically slidably connected inside the guide groove 213. 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 near the clamping plate 202. An extrusion block 215 is fixed at the output end of the electric push rod 216. The extrusion block 215 slides inside the guide groove 213 and is located between the two guide blocks 214. A fixing block 217 is fixed at the bottom of the guide groove 213. A bevel gear 219 is rotatably connected inside the fixing block 217 through a bearing. The bevel gear 219 is slidably connected to the surface of the fixing rod 218. The fixing rod 218 is fixed to the end of the bevel gear 209 away from the rotating rod 208. Two sets of bevel gears 219 are symmetrically distributed about the center of the connecting block 201.

[0036] When the robot harvests cucumbers, the connecting block 201 can move the clamping plate 202 to the side of the cucumber. During this process, the blowing mechanism operates continuously. When the clamping plate 202 is ready to harvest the cucumber, the motor 207 stops. Without wind, the leaves return to their original position on the side of the clamping plate 202, without affecting the harvesting effect. At this time, the output end of the electric push rod 216 can be extended. When the electric push rod 216 extends, 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, its 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, they can stretch the spring. Furthermore, when the guide blocks 214 slide, they can drive the fixed block 217 to move. When the fixed block 217 moves, it can pull the bevel gear 219 to move. When the bevel gear 219 moves, it can... The cucumber is slidable through the fixed rod 218. When the bevel gear 219 moves to the side of the bevel gear 210 inside the manual pump 211, it can engage. At this time, the motor 207 slowly drives the fixed rod 218 to rotate. When the fixed rod 218 rotates, it drives the bevel gear 219 to rotate. The bevel gear 219 can rotate through the bearing inside the fixed block 217, and the bevel gear 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 delivered to the airbag inside the clamping plate 202 through the connecting pipe 212. After the airbag receives the gas, it will collide. When the airbag inflates, it can clamp the cucumber. After the cucumber is clamped by the airbag, the stem of the cucumber is cut by the scissor assembly 203. Then the robotic arm 2 can place the cucumber into the trailer 3 for collection. The squeezing harvesting of the airbag can better protect the surface of the cucumber from damage and improve the quality of cucumber harvesting.

[0037] Example 3: like Figure 3 , Figure 4 , Figure 5 , Figure 7 , Figure 11 and Figure 12The present invention provides the following technical solution to address the problem that the harvesting robot is unable to adjust itself according to the size of cucumbers, thus affecting harvesting stability. Based on Embodiments 1 and 2, an adjustment mechanism is disclosed: a groove 220 is provided on the side of the connecting block 201 near the clamping plate 202. A slider 222 is slidably connected through the groove 220, and the sliders 222 are symmetrically distributed about the connecting block 201. An adjustment mechanism is provided inside the groove 220 to improve the adaptability of the clamping mechanism. The adjustment mechanism includes a bidirectional threaded rod 221 and a bidirectional threaded rod 222. 1. A through-rotational slide 220, connecting block 201 and slider 222 are connected by a threaded double threaded rod 221 and slider 222. A pulley 1 223 is fixed to the right end of the double threaded rod 221. A pulley 224 is rotatably connected to the side of the connecting block 201 near pulley 1 223. A belt 225 is connected between pulley 224 and pulley 1 223. A spur gear 1 226 is fixed to the side of pulley 224. Spur gear 1 226 and spur gear 227 are meshed. Spur gear 227 is fixed to the end of bevel gear 219 away from fixed rod 218.

[0038] Before using the harvesting robot, the robot measures the radius of the cucumber using its vision system. Based on the measurement result, it activates the electric push rod 216 to extend. As the electric push rod 216 extends, it drives the bevel gear 219 to slide and extend on the surface of the fixed rod 218. The extension of the bevel gear 219 drives a spur gear 227 to move. When the spur gear 227 moves to the side of the spur gear 226, it can engage. Simultaneously with the engagement of the spur gear 227 and the spur gear 226, the bevel gear 219 has not yet moved to the side of the bevel gear 210 inside the manual pump 211 for engagement. When the bevel gear 219 engages with the bevel gear 210, the spur gear 227 will move out of the side of the spur gear 226. At this time, the start motor 207 drives the rotating rod 208 to rotate. The rotation of the rotating rod 208, through the bevel gear 219, drives the spur gear 227... When spur gear 227 rotates, it drives spur gear 226 to rotate. When spur gear 226 rotates, it can rotate through connecting block 201. When spur gear 226 rotates, it can drive pulley 223 to rotate through belt 225. When pulley 223 rotates, it drives bidirectional threaded rod 221 to rotate. When bidirectional threaded rod 221 rotates, it can rotate through connecting block 201 and slide groove 220. When bidirectional threaded rod 221 rotates, it drives slider 222 to slide threadedly. When slider 222 slides threadedly, it can slide through slide groove 220. When slider 222 slides, it can drive two clamping plates 202 to move relative to each other. The clamping plates 202 can adjust the distance between themselves and the cucumber by moving, so that the airbag can pick cucumbers of different sizes, preventing the airbag from being unstable due to different cucumber sizes, and improving the ease of use of the picking robot.

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

Claims

1. A greenhouse cucumber harvesting robot, comprising a main body (1), a robotic arm (2) mounted on the top of the main body (1), and a trailer (3) towed to the back of the main body (1), characterized in that: The end of the robotic arm (2) is movably connected to a connecting block (201). A clamping plate (202) is connected to one side of the connecting block (201). An airbag is connected inside the clamping plate (202). A scissor assembly (203) is connected to the side of the connecting block (201) away from the clamping plate (202). A blower mechanism to improve harvesting accuracy is provided on the side of the connecting block (201). A manual pump (211) is symmetrically installed on the side of the connecting block (201) near the first manual pump (204). A connecting pipe (212) is connected between the second manual pump (211) and the airbag of the clamping plate (202). A clamping mechanism to reduce harvesting damage is also provided on the side of the connecting block (201). A sliding groove (220) is provided on the side of the connecting block (201) near the clamping plate (202). A slider (222) is slidably connected through the sliding groove (220), and the slider (222) is symmetrically distributed about the connecting block (201). An adjustment mechanism to improve the adaptability of the clamping mechanism is provided inside the sliding groove (220). A manual pump (204) is symmetrically installed on the other side of the connecting block (201). A nozzle (205) is installed on the side of the connecting block (201) near the clamping plate (202). The blower mechanism includes a connecting pipe (206), which is connected between the nozzle (205) and the air outlet of the manual pump (204). A motor (207) is installed at the bottom of the connecting block (201). A rotating rod (208) is fixed at both output ends of the motor (207). A bevel gear (209) is fixed at the end of the rotating rod (208). A bevel gear (210) is meshed with the side of the bevel gear (209). The bevel gear (210) rotates through the inside of the manual pump (204) and is fixed to the impeller inside the manual pump (204). Another set of bevel gears (210) rotates through the inside of the manual pump (211) away from the connecting pipe (212) and is fixed to the manual pump. On the impeller inside the second (211), the clamping mechanism includes a guide groove (213), which is opened through the bottom of the connecting block (201). Guide blocks (214) are symmetrically slidably connected inside the guide groove (213). 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) near the clamping plate (202). An extrusion block (215) is fixed at the output end of the electric push rod (216). The extrusion block (215) slides inside the guide groove (213) and is located between the two guide blocks (214). A fixing block (217) is fixed at the bottom of the guide groove (213).The fixed block (217) has a bevel gear (219) rotatably connected through a bearing inside. The bevel gear (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 (209) away from the rotating rod (208), and there are two sets of bevel gears (219) symmetrically distributed about the center of the connecting block (201).

2. The greenhouse cucumber harvesting robot according to claim 1, characterized in that: The adjustment mechanism includes a bidirectional threaded rod (221), which rotates through 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 (223) is fixed at the right end of the bidirectional threaded rod (221).

3. The greenhouse cucumber harvesting robot according to claim 2, characterized in that: The connecting block (201) is rotatably connected to the side of the pulley one (223) with the pulley two (224). The pulley two (224) and the pulley one (223) are connected by a belt (225). The pulley two (224) is fixed with the spur gear one (226) on its side. The spur gear one (226) and the spur gear two (227) are meshed. The spur gear two (227) is fixed to the end of the bevel gear rod (219) away from the fixed rod (218).

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