Intelligent collecting robot capable of intelligently recognizing grape picking

Abstract

The intelligent collecting robot comprises a base, a fixing frame and a transmission frame body, a supporting plate is hinged to the top end of the base, the fixing frame is hinged to the top end of the supporting plate, a lifting mechanism used for lifting a mounting frame is arranged at the top end of the base, and the mounting frame is mounted at the top end of the fixing frame. The device comprises a mounting frame, a sliding block is arranged in the mounting frame, a fixing frame is mounted at the top end of the sliding block, a transmission frame body is mounted at the top end of the fixing frame, a moving mechanism used for moving the position of the fixing frame is arranged above the fixing frame, and a conveying mechanism used for conveying grapes is arranged in the transmission frame body. A transverse plate is installed at the top end of the transmission frame body, a visual sensor is installed at the top end of the transverse plate, the device turns over through the supporting plate, then the height of the fixing frame is adjusted, the height of the transmission frame body is conveniently adjusted, and grapes with different heights are cut.

Description

Technical Field

[0001] The utility model relates to the technical field of grape picking, in particular to an intelligent collection robot capable of intelligently identifying grape picking. Background Art

[0002] With the rapid development of electronic computers and automatic control technology, the application and promotion of agricultural high-tech, agricultural robots have gradually entered the field of agricultural production, and will promote the development of modern agriculture towards mechanized equipment and intelligent production. Fruit and vegetable picking is an important link in agricultural production with strong seasonality, high labor intensity and high operation requirements. Research and development of intelligent robots for fruit and vegetable picking.

[0003] However, the existing intelligent collection robots for intelligent grape picking have the following problems during use: traditional intelligent robot technology is of great significance for liberating labor, improving labor productivity, reducing production costs and ensuring the quality of fresh fruits and vegetables, while the existing picking process is prone to damage to the grapes, and the picking positions are different due to the different growth heights of grapes, which is very inconvenient to adjust, thus affecting the picking speed. Utility Model Content

[0004] The purpose of the utility model is to provide an intelligent collection robot for intelligently identifying grape picking, so as to solve the related problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an intelligent collection robot for intelligently identifying grape picking, comprising a base, a fixed frame and a transmission frame, the top of the base is hinged with a support plate, and the top of the support plate is hinged with a fixed frame, the top of the fixed frame is installed with a mounting frame, and a slider is arranged inside the mounting frame, the top of the base is used for a lifting mechanism for lifting the mounting frame, the top of the slider is installed with a fixed frame, and the top of the fixed frame is installed with a transmission frame, a moving mechanism for moving the position of the fixed frame is arranged above the fixed frame, a transport mechanism for transferring grapes is arranged inside the transmission frame, a transverse plate is installed at the top of the transmission frame, and a visual sensor is installed at the top of the transverse plate, a partition is installed laterally at the front end of the transverse plate, and a cutting mechanism for picking grapes is arranged inside the partition.

[0006] The technical solution provides an intelligent collection robot for intelligently identifying grape picking, wherein the lifting mechanism includes a slide rail and a shift block, the inner walls of the base and the fixed frame are provided with a slide rail, and a shift block hinged to the outer wall of a support plate is arranged inside the slide rail, and a cylinder is arranged inside the base, and the output end of the cylinder is connected to one end of the shift block.

[0007] The technical solution provides an intelligent collection robot for intelligently identifying grape picking, wherein the moving mechanism includes a screw rod, a screw rod penetrating a slider is arranged inside the mounting frame, a second motor is arranged at one end of the fixing frame, and an output end of the second motor is connected to one end of the screw rod through a coupling.

[0008] The technical solution provides an intelligent collection robot for intelligently identifying grape picking, wherein the transport mechanism includes a fixed shaft and a transmission wheel, the fixed shaft is installed inside the transmission frame through a bearing, and the outer wall of the fixed shaft is installed with a transmission wheel, the outer wall of the transmission wheel is sleeved with a transmission belt, and the outer wall of the transmission belt is installed with multiple transmission plates, and the outer wall of the transmission plate is provided with a buffer protection pad.

[0009] The technical solution provides an intelligent collection robot for intelligently identifying grape picking, wherein a fourth motor is arranged on the outer wall of the transmission frame, and an output end of the fourth motor is connected to one end of a fixed shaft via a coupling.

[0010] The technical solution provides an intelligent collection robot for intelligent identification of grape picking, wherein the cutting mechanism includes a mounting shaft and a cutting disk, the mounting shaft is mounted inside the partition through a bearing, and the cutting disk is mounted on the outer wall of the mounting shaft, a first motor is arranged on one side of the cross plate, and a first bevel gear is mounted on both the output end of the first motor and the outer wall of the mounting shaft.

[0011] The technical solution provides an intelligent collection robot for intelligently identifying grape picking, wherein a single-chip microcomputer is arranged on the outer wall of the transmission frame, and a wireless Bluetooth module is arranged on one end of the single-chip microcomputer.

[0012] The technical solution provides an intelligent collection robot for intelligently identifying grape picking, wherein a collection frame is arranged above the fixed frame, and a ball bearing in contact with the collection frame is arranged below the fixed frame.

[0013] The technical solution provides an intelligent collection robot for intelligently identifying grape picking, wherein universal wheels are installed at the four corners of the bottom end of the base.

[0014] Compared with the prior art, the utility model provides an intelligent collection robot for intelligently identifying grape picking, which has the following beneficial effects:

[0015] 1. The utility model starts the second motor to drive the screw to rotate, so that the screw drives the slider to move forward and backward in the installation frame, and then the slider drives the transmission frame to move forward and backward, so that the transmission frame can be shifted forward and backward, and the starting cylinder pushes the shift block to move forward and backward in the slide rail, so that the support plate is flipped, and the height of the fixed frame can be adjusted to a suitable height position. This structure is easy to adjust.

[0016] 2. The utility model starts the fourth motor to drive the fixed shaft to rotate, so that the fixed shaft drives the transmission wheel to rotate, and the transmission wheel drives the transmission belt to transmit, and then the grapes are transmitted to the collection frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the main cross-sectional structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the main structure of the utility model;

[0019] Figure 3 It is a schematic diagram of the top structure of the utility model.

[0020] In the figure: 1. base; 2. universal wheel; 3. support plate; 4. fixed frame; 5. installation frame; 6. slider; 7. screw rod; 8. fixed frame; 9. transmission frame; 10. collection frame; 11. fixed shaft; 12. transmission wheel; 13. transmission belt; 14. transmission plate; 15. cross plate; 16. partition; 17. installation shaft; 18. cutting disk; 19. first bevel gear; 20. slide rail; 21. shift block; 22. cylinder; 23. first motor; 24. second motor; 25. fourth motor; 26. visual sensor; 27. wireless Bluetooth module; 28. single chip microcomputer. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] Embodiment 1, as Figure 1-2 As shown, the utility model provides a technical solution: an intelligent collection robot for intelligently identifying grape picking, comprising a base 1, a fixed frame 4 and a transmission frame 9, the top of the base 1 is hinged with a support plate 3, and the top of the support plate 3 is hinged with a fixed frame 4, the top of the base 1 is used for a lifting mechanism of a lifting installation frame 5, the lifting mechanism comprises a slide rail 20 and a shift block 21, the inner walls of the base 1 and the fixed frame 4 are provided with a slide rail 20, and the slide rail 20 is provided with a shift block 21 hinged with the outer wall of the support plate 3, the base 1 is provided with a cylinder 22, and the output end of the cylinder 22 is connected to one end of the shift block 21, the cylinder 22 is started to push the shift block 21 to move forward and backward in the slide rail 20, so that the support plate 3 is flipped, and then the height of the fixed frame 4 is adjusted, so as to facilitate the adjustment of the height of the transmission frame 9 and cut grapes of different heights.

[0023] Embodiment 2, as Figure 1-3 As shown, the utility model provides a technical solution: an intelligent collection robot for intelligently identifying grape picking, comprising a mounting frame 5 installed on the top of a fixed frame 4, and a slider 6 is arranged inside the mounting frame 5, a fixed frame 8 is installed on the top of the slider 6, and a transmission frame 9 is installed on the top of the fixed frame 8, a moving mechanism for moving the fixed frame 8 is arranged above the fixed frame 4, the moving mechanism comprises a screw rod 7, a screw rod 7 penetrating the slider 6 is arranged inside the mounting frame 5, a second motor 24 is arranged at one end of the fixed frame 4, and the output end of the second motor 24 is connected to one end of the screw rod 7 through a coupling, universal wheels 2 are installed at the four corners of the bottom end of the base 1, the screw rod 7 is driven to rotate by starting the second motor 24, so that the screw rod 7 drives the slider 6 to move forward and backward in the mounting frame 5, and then the slider 6 drives the transmission frame 9 to move forward and backward, so that the position shift of the transmission frame 9 can be moved forward and backward.

[0024] Embodiment 3, as Figure 1-3 As shown, the utility model provides a technical solution: an intelligent collection robot for intelligently identifying grape picking, including a transmission frame 9 provided with a transport mechanism for transferring grapes, the transport mechanism including a fixed shaft 11 and a transmission wheel 12, the fixed shaft 11 is installed inside the transmission frame 9 through a bearing, and the outer wall of the fixed shaft 11 is installed with a transmission wheel 12, the outer wall of the transmission wheel 12 is sleeved with a transmission belt 13, and the outer wall of the transmission belt 13 is installed with a plurality of transmission plates 14, the outer wall of the transmission plate 14 is provided with a buffer protection pad, the outer wall of the transmission frame 9 is provided with a fourth motor 25, and the output end of the fourth motor 25 is connected to one end of the fixed shaft 11 through a coupling, the fixed shaft 11 is driven to rotate by starting the fourth motor 25, so that the fixed shaft 11 drives the transmission wheel 12 to rotate, and the transmission wheel 12 drives the transmission belt 13 to transmit, and then the grapes are transmitted and transported to the collection frame 10.

[0025] Embodiment 4, as Figure 1-3As shown, the utility model provides a technical solution: an intelligent collection robot for intelligently identifying grape picking, comprising a transmission frame 9 having a transverse plate 15 installed on the top, and a visual sensor 26 installed on the top of the transverse plate 15, a partition 16 installed transversely at the front end of the transverse plate 15, and a cutting mechanism for picking grapes is arranged inside the partition 16, the cutting mechanism comprises a mounting shaft 17 and a cutting disc 18, the mounting shaft 17 is installed inside the partition 16 through a bearing, and the cutting disc 18 is installed on the outer wall of the mounting shaft 17, and one side of the transverse plate 15 is arranged A first motor 23 is provided, and a first bevel gear 19 is installed on the output end of the first motor 23 and the outer wall of the mounting shaft 17. A single chip microcomputer 28 is provided on the outer wall of the transmission frame 9, and a wireless Bluetooth module 27 is provided at one end of the single chip microcomputer 28. A collecting frame 10 is provided above the fixed frame 8, and a ball bearing in contact with the collecting frame 10 is provided below the fixed frame 8. By starting the first motor 23 to drive the two groups of first bevel gears 19 to transmit, the mounting shaft 17 drives the cutting disc 18 to cut the upper part of the grapes, and then cuts the grape position.

[0026] Working principle: First, the external power supply is turned on, and the operator pushes the base 1 to move to a suitable position through the universal wheel 2, and can check it through the visual sensor 26. The operator connects through the wireless Bluetooth module 27 and can start the position of the cylinder 22, the fourth motor 25, the first motor 23 and the second motor 24 through the single-chip computer 28;

[0027] The operator can start the cylinder 22 through the single chip computer 28 to push the shift block 21 to move forward and backward in the slide rail 20, so that the support plate 3 is turned over, and then the height of the fixing frame 4 is adjusted to a suitable height position, and then the first motor 23 can be started to drive the two sets of first bevel gears 19 to transmit, and then the installation shaft 17 drives the cutting disc 18 to cut the top of the grapes, and then the grape position is cut. When it is necessary to move forward and backward, the second motor 24 is started to drive the screw rod 7 to rotate, so that the screw rod 7 drives the slider 6 to move forward and backward in the installation frame 5, and then the slider 6 drives the transmission frame 9 to move forward and backward, so that the position displacement of the transmission frame 9 can be moved forward and backward;

[0028] Finally, the fourth motor 25 is started to drive the fixed shaft 11 to rotate, so that the fixed shaft 11 drives the transmission wheel 12 to rotate, and the transmission wheel 12 drives the transmission belt 13 to transmit, and then the grapes are transmitted to the collection frame 10.

[0029] Finally, it should be noted that the above content is only used to illustrate the technical solution of the utility model, rather than to limit the protection scope of the utility model. Simple modifications or equivalent substitutions of the technical solution of the utility model by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the utility model.

Claims

1. An intelligent collection robot for intelligently identifying grape picking, comprising a base (1), a fixing frame (4) and a transmission frame (9), characterized in that: The top of the base (1) is hingedly connected to a support plate (3), and the top of the support plate (3) is hingedly connected to a fixed frame (4), the top of the fixed frame (4) is installed with a mounting frame (5), and a slider (6) is arranged inside the mounting frame (5), the top of the base (1) is used for a lifting mechanism for lifting the mounting frame (5), the top of the slider (6) is installed with a fixing frame (8), and the top of the fixing frame (8) is installed with a transmission frame (9), a moving mechanism for moving the position of the fixing frame (8) is arranged above the fixing frame (4), a transport mechanism for transferring grapes is arranged inside the transmission frame (9), a transverse plate (15) is installed at the top of the transmission frame (9), and a visual sensor (26) is installed at the top of the transverse plate (15), a partition plate (16) is installed horizontally at the front end of the transverse plate (15), and a cutting mechanism for picking grapes is arranged inside the partition plate (16).

2. The intelligent collection robot for intelligently identifying grape picking according to claim 1, characterized in that: The lifting mechanism comprises a slide rail (20) and a shift block (21); the inner walls of the base (1) and the fixed frame (4) are provided with a slide rail (20); the slide rail (20) is provided inside the slide rail (20) and is hinged to the outer wall of the support plate (3); a cylinder (22) is provided inside the base (1), and the output end of the cylinder (22) is connected to one end of the shift block (21).

3. The intelligent collection robot for intelligently identifying grape picking according to claim 1, characterized in that: The moving mechanism comprises a screw rod (7), a screw rod (7) penetrating a slider (6) is arranged inside the mounting frame (5), a second motor (24) is arranged at one end of the fixing frame (4), and an output end of the second motor (24) is connected to one end of the screw rod (7) via a coupling.

4. The intelligent collection robot for intelligently identifying grape picking according to claim 1, characterized in that: The transport mechanism comprises a fixed shaft (11) and a transmission wheel (12); the fixed shaft (11) is installed inside the transmission frame (9) via a bearing, and the transmission wheel (12) is installed on the outer wall of the fixed shaft (11); a transmission belt (13) is sleeved on the outer wall of the transmission wheel (12); a plurality of transmission plates (14) are installed on the outer wall of the transmission belt (13); and a buffer protection pad is provided on the outer wall of the transmission plate (14).

5. The intelligent collection robot for intelligently identifying grape picking according to claim 4, characterized in that: A fourth motor (25) is disposed on the outer wall of the transmission frame (9), and an output end of the fourth motor (25) is connected to one end of the fixed shaft (11) via a coupling.

6. The intelligent collection robot for intelligently identifying grape picking according to claim 1, characterized in that: The cutting mechanism comprises a mounting shaft (17) and a cutting disc (18); the mounting shaft (17) is mounted inside the partition (16) via a bearing, and the cutting disc (18) is mounted on the outer wall of the mounting shaft (17); a first motor (23) is arranged on one side of the transverse plate (15), and a first bevel gear (19) is mounted on both the output end of the first motor (23) and the outer wall of the mounting shaft (17).

7. The intelligent collection robot for intelligent identification of grape picking according to claim 1, characterized in that: A single-chip computer (28) is arranged on the outer wall of the transmission frame (9), and a wireless Bluetooth module (27) is arranged at one end of the single-chip computer (28).

8. The intelligent collection robot for intelligently identifying grape picking according to claim 1, characterized in that: A collecting frame (10) is arranged above the fixing frame (8), and a ball bearing in contact with the collecting frame (10) is arranged below the fixing frame (8).

9. The intelligent collection robot for intelligent identification of grape picking according to claim 1, characterized in that: Universal wheels (2) are installed at the four corners of the bottom end of the base (1).

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