High ridge strawberry picking robot

Abstract

The utility model provides a high ridge strawberry picking robot which comprises a machine frame, picking assemblies, an upper computer, a Pixy camera, a walking mechanism and a hopper, at least two picking assemblies are installed in the machine frame, each picking assembly comprises a multi-degree-of-freedom driving assembly and a clamping assembly, and each clamping assembly comprises a main clamp, a steering engine, a straight connecting rod, a cam connecting rod, a steering engine clamp and a cutter. The positions of strawberries are recognized through the Pixy camera and transmitted to the upper computer, the upper computer transmits electric signals to the picking assembly, the picking assembly controls the clamping assembly to conduct shearing and strawberry picking, then strawberry platycodon grandiflorum is clamped through the gap formed between the steering engine clamp and the main clamp, and the effect of reducing damage caused by free falling of the strawberries is achieved.

Description

Technical Field

[0001] The utility model relates to the field of agricultural automation machines, in particular to a high-ridge strawberry picking robot. Background Art

[0002] Publication number CN201721546743.4 discloses an orange picking robot, which includes picking scissors and a mobile cart. A flexible net is arranged on the mobile cart. The fruit is cut by the picking scissors and falls into the flexible net and a collection box for collection. For soft fruits such as strawberries, this picking machine allows the fruit to fall freely into the collection device below, and there is a possibility that the fruit will fall and be damaged during the process. Summary of the invention

[0003] In view of the shortcomings of the prior art, the purpose of the utility model is to provide a high-ridge strawberry picking robot to solve the problems raised in the above-mentioned background technology. The utility model has a novel structure. When in use, the robot arm cuts off the strawberry stems, clamps the strawberries, and then puts them into a collecting device one by one, thereby avoiding damage caused by the free fall of the strawberries.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] A high ridge strawberry picking robot comprises a frame, a picking component, and a host computer, wherein the host computer is mounted on the top of the frame, at least two picking components are mounted inside the frame, and a hopper is provided next to the picking component, and is characterized in that:

[0006] The picking assembly includes a multi-degree-of-freedom driving assembly and a clamping assembly, wherein the multi-degree-of-freedom driving assembly is arranged in a frame, and the clamping assembly is arranged on an execution end of the multi-degree-of-freedom driving assembly;

[0007] The clamping assembly includes a main clamp, a steering gear, a straight connecting rod, a cam connecting rod, a steering gear clamp and a cutter. The main clamp is arranged on the execution end of the multi-degree-of-freedom drive assembly, and the steering gear is installed on the main clamp. One end of the cam connecting rod and the straight connecting rod is hinged on the main clamp, and the other end is hinged to the steering gear clamp. Cutters are provided at the ends of the steering gear clamp and the main clamp, and two of the cutters are arranged opposite to each other. When the two cutters are in contact with each other, there is a gap between the steering gear clamp and the main clamp. The power output end of the steering gear is connected to the cam connecting rod.

[0008] Preferably, the inner sides of the steering gear pliers and the main pliers are both provided with soft rubber pads.

[0009] Preferably, the picking robot also includes a pixy camera, which is installed on the upper end of the clamping assembly. The pixy camera is connected to the host computer via a wireless signal, wherein the pixy camera is used to identify the color of the strawberries and locate them, and send the coordinates of the strawberries to the host computer for processing.

[0010] Preferably, the picking assembly also includes a connecting frame, a rotating bracket and a driving mechanism, the connecting frame is arranged on the frame, the rotating bracket is rotatably mounted on the connecting frame, the multi-degree-of-freedom driving assembly is arranged on the rotating bracket for outputting multi-degree-of-freedom movements, and the driving mechanism is connected to the multi-degree-of-freedom driving assembly as a power source.

[0011] Preferably, the driving mechanism includes pulley I, pulley II, pulley III, motor I, motor II and motor III, pulley I and pulley II are respectively installed vertically on the inner walls of both sides of the rotating bracket, pulley III is fixed on the rotating bracket, motor I, motor II and motor III are all installed on the rotating bracket, wherein motor I is vertically arranged, and motor II and motor III are horizontally arranged, and pulley I, pulley II, pulley III form belt transmission with motor I, motor II, motor II respectively.

[0012] Preferably, the multi-degree-of-freedom drive assembly includes a large rocker arm with a pulley, a clamp support link, a triangular truss, a clamp link, a driven link, a small rocker arm with a pulley, and a small rocker arm link. The large rocker arm with a pulley is installed on the side of the pulley II, the clamp support link is hinged at the end of the large rocker arm with a pulley through a hole in the middle, and one end of the clamp support link is connected to the main clamp. The triangular truss is rotatably installed at the hinge point of the large rocker arm with a pulley and the clamp support link, one end of the clamp link is rotatably connected to the outer side wall of the main clamp, and the other end is rotatably connected to one end of the triangular truss, the driven link is installed on the side wall of the rotating bracket to form a rotating pair, and the other side is hinged to the triangular truss, the small rocker arm with a pulley is fitted on the side wall of the pulley I, one end of the small rocker arm link is rotatably connected to the end of the small rocker arm with a pulley, and the other end is rotatably connected to the end of the clamp support link that is not connected to the main clamp.

[0013] Preferably, the picking robot further comprises a walking mechanism, which comprises wheels, a motor, and universal wheels, at least two of the wheels are mounted at the bottom of the frame, the motor is mounted on the frame and connected to the wheel power, and the universal wheel is mounted at the bottom of the frame.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] The utility model drives the clamping assembly to shear the strawberries and platycodon through the multi-degree-of-freedom driving assembly, thereby achieving the strawberry picking effect. A gap is provided between the steering gear clamp and the main clamp of the clamping assembly, which is used to clamp the strawberries to prevent them from falling, thereby reducing the damage caused by the free fall of the strawberries. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the utility model;

[0017] Figure 2It is a three-dimensional schematic diagram of the side view of the picking component structure in the utility model;

[0018] Figure 3 It is a three-dimensional rear view schematic diagram of the picking component structure in the utility model;

[0019] Figure 4 It is a three-dimensional schematic diagram of the connection between the pulley I and the multi-degree-of-freedom drive assembly in the utility model;

[0020] Figure 5 It is a three-dimensional schematic diagram of the connection between the pulley II and the multi-degree-of-freedom drive assembly in the utility model;

[0021] Figure 6 This is a schematic diagram of the clamping action of the clamping assembly in the utility model;

[0022] Figure 7 It is a three-dimensional schematic diagram of the clamping assembly structure in the utility model;

[0023] Figure 8 This is a schematic diagram of the shearing process of the cutter in the utility model.

[0024] In the figure: frame 1, picking component 2, hopper 3, walking mechanism 4, host computer 5, pixy camera 6, connecting frame 21, rotating bracket 22, driving mechanism 23, multi-degree-of-freedom driving component 24, clamping component 25, wheel 41, motor 42, universal wheel 43, pulley I 231, pulley II 232, pulley III 233, motor I 234, motor II 235, motor III 236, large rocker arm 241 with pulley, claw supporting connecting rod 242, triangular truss 243, claw connecting rod 244, driven connecting rod 245, small rocker arm 246 with pulley, small rocker arm connecting rod 247, main clamp 251, steering gear 252, straight connecting rod 253, cam connecting rod 254, steering gear clamp 255, cutter 256. DETAILED DESCRIPTION

[0025] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0026] See also Figures 1 to 5 , the utility model provides a technical solution:

[0027] A high-ridge strawberry picking robot comprises a frame 1, a picking component 2, and a host computer 5. The host computer 5 is installed on the top of the frame 1 for processing signals. At least two picking components 2 are installed inside the frame 1. A hopper 3 is provided next to the picking component 2. The hopper 3 is used to collect strawberries. The picking component 2 comprises a multi-degree-of-freedom drive component 24 and a clamping component 25. The multi-degree-of-freedom drive component 24 is arranged in the frame 1 for driving the clamping component 25. The clamping component 25 is arranged on the execution end of the multi-degree-of-freedom drive component 24 for shearing strawberries to realize strawberry picking.

[0028] The clamping assembly 25 includes a main clamp 251, a steering gear 252, a straight connecting rod 253, a cam connecting rod 254, a steering gear clamp 255 and a cutter 256. The main clamp 251 is arranged on the execution end of the multi-degree-of-freedom driving assembly 24. The main clamp 251 has the functions of carrying other components of the clamping assembly 25 and connecting the multi-degree-of-freedom driving assembly 24. The steering gear 252 is installed on the main clamp 251 as a power source to enable the clamping assembly 25 to perform a shearing operation. The power output end of the steering gear 252 is connected to the cam connecting rod 254, and the cam connecting rod 254 is connected to the straight connecting rod 256. One end of 53 is hinged on the main clamp 251, and the other end is hinged to the steering clamp 255. The function of the cam connecting rod 254 and the straight connecting rod 253 is to connect the main clamp 251 and the steering clamp 255 and make them form a shearing action. The ends of the steering clamp 255 and the main clamp 251 are provided with cutters 256, and the cutters 256 are used to cut off the strawberry platycodon. The two cutters 256 are arranged opposite to each other. When the two cutters 256 contact each other, there is a gap between the steering clamp 255 and the main clamp 251. At this time, the steering clamp 255 and the main clamp 251 clamp the cut strawberry platycodon.

[0029] As a preferred embodiment, the inner side surfaces of the steering gear clamp 255 and the main clamp 251 are both provided with soft rubber pads for fully clamping the strawberry platycodon. As a preferred embodiment, the picking robot also includes a pixy camera 6, which is installed on the upper end of the clamping component 25, and the pixy camera 6 is connected to the host computer 5 by wireless signals, wherein the pixy camera 6 is used to identify the color of the strawberry and locate it, and the pixy camera 6 identifies the color of the strawberry and locates it, and then sends the coordinates to the host computer 5 for processing, and the host computer 5 calculates the position of the strawberry stalk, and the host computer 5 sends the strawberry coordinates to the picking component 2 for clamping, and after the clamping is completed, the picking component 2 puts the strawberry into the hopper 3 to achieve the collection effect.

[0030] As a preferred embodiment, the pixy camera 6 and the host computer 5 are conventional technical means of those skilled in the art, such as patent number CN201711442949.7, an image recognition element following picking robot, and its principle will not be elaborated here.

[0031] As a preferred embodiment, the picking component 2 also includes a connecting frame 21, a rotating bracket 22 and a driving mechanism 23. The connecting frame 21 is arranged on the frame 1 for carrying other components of the picking component 2. The rotating bracket 22 is rotatably installed on the connecting frame 21 for carrying the driving mechanism 23 and the multi-degree-of-freedom driving component 24. The multi-degree-of-freedom driving component 24 is arranged on the rotating bracket 22 for outputting multi-degree-of-freedom movements, and the driving mechanism 23 is connected to the multi-degree-of-freedom driving component 24 as a power source.

[0032] As a preferred embodiment, the driving mechanism 23 includes pulley I 231, pulley II 232, pulley III 233, motor I 234, motor II 235 and motor III 236, pulley I 231 and pulley II 232 are respectively installed vertically on the inner walls on both sides of the rotating bracket 22, pulley III 233 is installed between the bottom of the rotating bracket 22 and the connecting frame 21, motor I 234, motor II 235 and motor III 236 are all installed on the rotating bracket 22, wherein motor I 234 is vertically arranged to form a belt drive with pulley I 231, and motor II 235 and motor III 236 are horizontally arranged to form a belt drive with pulley II 232 and pulley III 233 respectively.

[0033] As a preferred embodiment, the driving mechanism 23 is actually a belt drive assembly, and can certainly also be a chain drive or a gear drive pair.

[0034] As a preferred embodiment, the multi-degree-of-freedom drive assembly 24 includes a large rocker arm 241 with a pulley, a clamp support link 242, a triangular truss 243, a clamp link 244, a driven link 245, a small rocker arm 246 with a pulley, and a small rocker arm 247. The large rocker arm 241 with a pulley is installed on the side of the pulley II 232. When the pulley II 232 rotates, it drives the large rocker arm 241 with a pulley. The clamp support link 242 is hinged to the end of the large rocker arm 241 with a pulley through a hole in the middle. One end of the clamp support link 242 is connected to the main clamp 251. The triangular truss 243 is rotatably installed on the large rocker arm 241 with a pulley. The hinge point with the clamp support link 242, one end of the clamp link 244 is rotatably connected to the outer side wall of the main clamp 251, and the other end is rotatably connected to one end of the triangular truss 243, the driven link 245 is installed on the side wall of the rotating bracket 22 to form a rotating pair, and the other side is hinged to the triangular truss 243, the pulley small rocker arm 246 is installed on the side of the pulley I 231, and the rotation of the pulley I 231 drives the pulley small rocker arm 246 to rotate, one end of the small rocker arm link 247 is rotatably connected to the end of the pulley small rocker arm 246, and the other end is rotatably connected to the end of the clamp support link 242 that is not connected to the main clamp 251;

[0035] The pulley large rocker arm 241 has the function of supporting the pulley large rocker arm 241 and the triangular truss 243. When the pulley II 232 rotates, the pulley II 232 drives the pulley large rocker arm 241 to rotate, and the clamping assembly 25 is arranged at the end of the clamping claw supporting link 242, so that the pulley large rocker arm 241 drives the clamping claw supporting link 242 to swing, and then the pulley II 232 drives the clamping assembly 25 to swing greatly, so that the pulley II 232 causes the entire multi-degree-of-freedom driving assembly 24 to swing greatly;

[0036] When pulley Ⅰ231 rotates, pulley Ⅰ231 drives the small rocker arm 246 of the pulley to rotate, and the small rocker link 247 is rotatably connected to the small rocker arm 246 of the pulley and the clamp support link 242, and then the small rocker arm 246 of the pulley drives the clamp support link 242 to swing at the hinge position of the clamp support link 242 and the large rocker arm 241 of the pulley, so that the pulley Ⅰ231 drives the clamping assembly 25 to swing slightly at the hinge position of the clamp support link 242 and the large rocker arm 241 of the pulley, and then the pulley Ⅰ231 causes the entire multi-degree-of-freedom drive assembly 24 to swing slightly.

[0037] As a preferred embodiment, the picking robot also includes a walking mechanism 4, which includes wheels 41, a motor 42, and universal wheels 43. At least two wheels 41 are installed at the bottom of the frame 1, the motor 42 is installed on the frame 1 and is connected to the wheel 41 by power, and the universal wheel 43 is installed at the bottom of the frame 1. The universal wheel 43 is located at the other two ends of the bottom of the frame 1 that are different from the wheel 41. When the motor 42 drives the wheel 41 to move, the wheel 41 drives the universal wheel 43 to rotate, thereby achieving the effect of driving the robot to walk.

[0038] The working principle of the utility model is as follows: two picking components 2 are placed in a frame 1, a walking mechanism 4 drives the picking robot to walk, when the picking robot reaches a specific position and strawberries appear, a Pixy camera 6 takes pictures to identify the color of the strawberries, and sends the color of the strawberries to a host computer 5 for processing, and a motor I234, a motor II235 and a motor III236 in the picking component 2 rotate to different degrees, respectively driving pulleys I231, pulleys II232 and pulleys III233 to rotate to different degrees.

[0039] The pulley III 233 mainly controls the entire picking assembly 2 to rotate, thereby enabling the clamping assembly 25 to reach the position of the strawberries in the horizontal direction, so as to adapt to the situation where the strawberries are not directly facing the picking assembly 2. Pulley II 232 causes the entire multi-degree-of-freedom drive assembly 24 to swing greatly to determine that the clamping assembly 25 reaches the approximate position of the strawberry in the vertical direction. The specific method is: pulley II 232 is driven to rotate by motor II 235, driving the large rocker arm 241 of the pulley to swing, thereby driving the clamping assembly 25 on the clamping claw support link 242 to swing; pulley I 231 mainly controls the small swing of the entire multi-degree-of-freedom drive assembly 24 to determine that the clamping assembly 25 reaches the approximate position of the strawberry in the vertical direction. The specific method is: pulley I 231 is driven to rotate by motor I 234, driving the small rocker arm link 247 to involve the clamping claw support link 242 to swing at the hinge position of the clamping claw support link 242 and the large rocker arm 241 of the pulley, thereby achieving the effect of pulley I 231 causing the clamping assembly 25 at the end of the entire multi-degree-of-freedom drive assembly 24 to swing slightly. The combined control of the pulley I 231, the pulley II 232 and the pulley III 233 enables the clamping assembly 25 to accurately reach the position where the strawberry platycodon is located.

[0040] After the clamping assembly 25 reaches the position where the strawberry platycodon is located, the power output end of the servo 252 rotates, and then the servo 252 drives the cam connecting rod 254 to rotate, and then drives the servo clamp 255 to swing. When the servo 255 swings to a position that fits the main clamp 251, the servo 255 and the cutter 256 set at the end of the main clamp 251 smoothly cut off the strawberry platycodon. At this time, because the gap set between the servo 255 and the main clamp 251 is squeezed and reduced, the strawberry platycodon is clamped to prevent it from falling, achieving the effect of preventing the strawberry from falling freely after picking the strawberry. Then the pulley I231, the pulley II232 and the pulley III233 act to make the clamping assembly 25 reach the hopper 3 and slowly put down the clamped strawberry, so as to achieve the collection effect of preventing the strawberry from being damaged by falling without free fall.

[0041] 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. A high ridge strawberry picking robot, comprising a frame (1), a picking assembly (2), and a host computer (5), wherein the host computer (5) is mounted on the top of the frame (1), at least two of the picking assemblies (2) are mounted inside the frame (1), and a hopper (3) is provided next to the picking assembly (2), characterized in that: The picking assembly (2) comprises a multi-degree-of-freedom drive assembly (24) and a clamping assembly (25); the multi-degree-of-freedom drive assembly (24) is arranged in the frame (1), and the clamping assembly (25) is arranged on the execution end of the multi-degree-of-freedom drive assembly (24); The clamping assembly (25) comprises a main clamp (251), a steering gear (252), a straight connecting rod (253), a cam connecting rod (254), a steering gear clamp (255) and a cutter (256). The main clamp (251) is arranged on the execution end of the multi-degree-of-freedom driving assembly (24). The steering gear (252) is installed on the main clamp (251). One end of the cam connecting rod (254) and the straight connecting rod (253) are hinged on the main clamp (251), and the other ends are both hinged to the steering gear clamp (255). The ends of the steering gear clamp (255) and the main clamp (251) are both provided with a cutter (256). Two of the cutters (256) are arranged opposite to each other. When the two cutters (256) are in contact with each other, there is a gap between the steering gear clamp (255) and the main clamp (251). The power output end of the steering gear (252) is connected to the cam connecting rod (254).

2. The high ridge strawberry picking robot according to claim 1, characterized in that: The inner sides of the steering gear clamp (255) and the main clamp (251) are both provided with soft rubber pads.

3. The high ridge strawberry picking robot according to claim 1, characterized in that: The picking robot further comprises a pixy camera (6), which is mounted on the upper end of the clamping assembly (25). The pixy camera (6) is connected to the host computer (5) via a wireless signal, wherein the pixy camera (6) is used to identify the color of the strawberries and locate them, and to send the coordinates of the strawberries to the host computer (5) for processing.

4. The high ridge strawberry picking robot according to claim 1, characterized in that: The picking assembly (2) further comprises a connecting frame (21), a rotating bracket (22) and a driving mechanism (23); the connecting frame (21) is arranged on the frame (1); the rotating bracket (22) is rotatably mounted on the connecting frame (21); the multi-degree-of-freedom driving assembly (24) is arranged on the rotating bracket (22) for outputting multi-degree-of-freedom movements; and the driving mechanism (23) is connected to the multi-degree-of-freedom driving assembly (24) as a power source.

5. The high ridge strawberry picking robot according to claim 4, characterized in that: The driving mechanism (23) comprises a pulley I (231), a pulley II (232), a pulley III (233), a motor I (234), a motor II (235) and a motor III (236), wherein the pulley I (231) and the pulley II (232) are respectively installed vertically on the inner walls of both sides of the rotating bracket (22), the pulley III (233) is fixedly sleeved on the rotating bracket (22), and the motors I (234), the motors II (235) and the motor III (236) are installed vertically on the inner walls of both sides of the rotating bracket (22). (236) are all installed on the rotating bracket (22), wherein the motor I (234) is vertically arranged, while the motor II (235) and the motor III (236) are horizontally arranged, and the pulley I (231) and the pulley II (232), pulley III (233) respectively form a belt transmission with motor I (234), motor II (235), and motor II (235).

6. The high ridge strawberry picking robot according to claim 5, characterized in that: The multi-degree-of-freedom drive assembly (24) comprises a large rocker arm (241) with a pulley, a clamp support link (242), a triangular truss (243), a clamp link (244), a driven link (245), a small rocker arm (246) with a pulley, and a small rocker arm link (247). The large rocker arm (241) with a pulley is installed on the side of the pulley II (232). The clamp support link (242) is hinged to the end of the large rocker arm (241) with a pulley through a hole in the middle. One end of the clamp support link (242) is connected to the main clamp (251). The triangular truss (243) is rotatably installed between the large rocker arm (241) with a pulley and the clamp. At the hinge point of the supporting link (242), one end of the clamping link (244) is rotatably connected to the outer wall of the main clamp (251), and the other end is rotatably connected to one end of the triangular truss (243). The driven link (245) is installed on the side wall of the rotating bracket (22) to form a rotating pair, and the other side is hinged to the triangular truss (243). The pulley small rocker arm (246) is fitted on the side wall of the pulley I (231). One end of the small rocker arm link (247) is rotatably connected to the end of the pulley small rocker arm (246), and the other end is rotatably connected to the end of the clamping support link (242) that is not connected to the main clamp (251).

7. The high ridge strawberry picking robot according to claim 1, characterized in that: The picking robot further comprises a walking mechanism (4), the walking mechanism (4) comprising wheels (41), a motor (42), and universal wheels (43), at least two of the wheels (41) are mounted on the bottom of the frame (1), the motor (42) is mounted on the frame (1) and is power-connected to the wheels (41), and the universal wheels (43) are mounted on the bottom of the frame (1).

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