Tomato picking robot
By introducing a cleaning mechanism and protective device into the tomato harvesting robot, the problem of residual branches and leaves corroding the blades in the blade grooves has been solved, achieving effective cleaning of the blades and protection of the tomatoes, thus improving harvesting efficiency and fruit safety.
Patent Information
- Application Number
- CN202423031054.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-10-31
- Estimated Expiration
- 2034-12-09
AI Technical Summary
Existing tomato harvesting robots often have branches and leaves left inside the blade grooves after prolonged use, making it difficult to cut the branches and leaves, and causing the liquid from the branches and leaves to corrode the blades, thus shortening their lifespan.
A tomato harvesting robot was designed, equipped with a cleaning mechanism including a hollow cleaning plate, a micro pump, and cleaning holes for cleaning the cutting blade and grooves; at the same time, an electric push rod and a collection plate are used to protect the tomatoes from damage, and a collection bin and a cushioning pad are used to protect the tomatoes.
It effectively cleans the blade grooves and blades, prevents corrosion, extends blade life, protects tomatoes from damage, improves harvesting efficiency, and protects the fruit.
Smart Images
Figure CN223488784U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of fruit and vegetable harvesting technology, specifically to a tomato harvesting robot. Background Technology
[0002] A tomato-harvesting robot is an automated robot specifically designed for harvesting tomatoes. Using advanced sensors and machine learning algorithms, it can identify and pick ripe tomatoes, significantly improving harvesting efficiency and reducing labor costs.
[0003] Existing tomato harvesting robots generally use blades that engage with the blade groove to cut off the branches and leaves connected to the tomato when harvesting tomatoes. However, after prolonged use, this harvesting method can lead to an accumulation of excessive branches and leaves inside the blade groove, making it difficult to cut off the branches and leaves connected to the tomato during harvesting. Furthermore, the residual sap from the branches and leaves can corrode the blades, shortening their lifespan. Utility Model Content
[0004] In view of the problems existing in the current tomato harvesting robots, this utility model is proposed.
[0005] Therefore, the purpose of this utility model is to provide a tomato harvesting robot that solves the problem that excessive residue of branches and leaves easily accumulates inside the blade groove during long-term use, making it difficult to cut the branches and leaves connected to the tomatoes during the harvesting process, and that the residual liquid of the branches and leaves easily corrodes the blades, shortening the blades' service life.
[0006] To achieve the above objectives, this utility model provides the following technical solution: A tomato harvesting robot includes a mobile base, a support column fixedly connected to the upper surface of the mobile base, a control compartment fixedly connected to the top of the support column, a control panel fixedly connected to the side wall of the control compartment, a control module fixedly connected to the inner wall of the control compartment, a robotic arm fixedly connected to one end of the control compartment, a U-shaped plate fixedly connected to one end of the robotic arm, a viewing compartment fixedly connected to the top of the U-shaped plate, a vision device fixedly connected inside the viewing compartment, a first electric push rod fixedly connected to one end of the inner wall of the U-shaped plate, a connecting plate fixedly connected to the output end of the first electric push rod, a blade holder fixedly connected to one end of the side wall of the connecting plate, a cutting blade fixedly connected to one end of the side wall of the blade holder, a snap-fit plate fixedly connected to the other end of the inner wall of the U-shaped plate, a blade groove corresponding to the cutting blade being formed inside the snap-fit plate, and a cleaning mechanism provided on the inner wall of the U-shaped plate.
[0007] Preferably, the cleaning mechanism includes a second electric push rod, a hollow cleaning plate, a cleaning chamber, and a micro pump. The side wall of the second electric push rod is fixedly connected to the inner wall of the U-shaped plate. The side wall of the hollow cleaning plate is fixedly connected to the output end of the second electric push rod. The bottom wall of the cleaning chamber is fixedly connected to the top of the hollow cleaning plate. The side wall of the micro pump is fixedly connected to the side wall of the hollow cleaning plate. The input end of the micro pump is fixedly sleeved with the side wall of the cleaning chamber. The output end of the micro pump is fixedly sleeved with the side wall of the hollow cleaning plate. The side wall of the hollow cleaning plate has cleaning holes corresponding to the cutting blade and the blade groove.
[0008] Preferably, a first collecting plate is fixedly connected to the inner wall of one end of the U-shaped plate, and a second collecting plate is fixedly connected to the side wall of the connecting plate. The side walls of the first collecting plate and the second collecting plate are both provided with positioning holes.
[0009] Preferably, a collection chamber is fixedly connected to the surface of the movable base, a collection port is fixedly sleeved on the top of the collection chamber, and a chamber door is rotatably connected to the side wall of the collection chamber.
[0010] Furthermore, a baffle is fixedly connected to the inner wall of the collection chamber.
[0011] Preferably, a guide plate is fixedly connected to the inner wall of the collection chamber, and a buffer pad is fixedly connected to the side wall of the guide plate.
[0012] The technical effects and advantages provided by this utility model in the above technical solution are as follows:
[0013] 1. This utility model utilizes a hollow cleaning plate to clean the cutting blade and groove. When cleaning is required, a second electric push rod drives the hollow cleaning plate to clean the residue on the corresponding surfaces of the cutting blade and groove, preventing blockage and affecting cutting efficiency. Then, a micro pump drives the cleaning fluid inside the cleaning chamber into the hollow cleaning plate, which is sprayed through the cleaning holes to treat the residual liquid on the surface of the cutting blade and groove, facilitating the cleaning of the cutting blade and groove and preventing corrosion that could affect the service life of the cutting blade.
[0014] 2. In this utility model, during the cutting process, the second collecting plate is engaged by the first electric push rod, and the tomato branches and leaves correspond to the positioning opening, which makes it easy to protect the tomatoes inside the second collecting plate and the second collecting plate, and prevents the tomatoes from falling and being damaged after being picked.
[0015] 3. This utility model utilizes a collection chamber. After the tomatoes are harvested, they enter the collection chamber through the collection port and are layered by a guide plate to avoid stacking and squeezing. A buffer pad is used to reduce the impact on the tomatoes and protect them. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.
[0017] Figure 1 This is a schematic diagram of the structure of this utility model;
[0018] Figure 2 for Figure 1 Side structural sectional view of the U-shaped plate and the hollow cleaning plate;
[0019] Figure 3 for Figure 1 Enlarged structural diagram of section A;
[0020] Figure 4 for Figure 2 Enlarged structural diagram of section B.
[0021] Explanation of reference numerals in the attached figures:
[0022] 1. Mobile base; 2. Support column; 3. Control compartment; 4. Control panel; 5. Control module; 6. Robotic arm; 7. U-shaped plate; 8. Perspective compartment; 9. Vision device; 10. First electric push rod; 11. Connecting plate; 12. Blade holder; 13. Cutting blade; 14. Snap-fit plate; 15. Blade groove; 16. Second electric push rod; 17. Hollow cleaning plate; 18. Cleaning compartment; 19. Micro pump; 20. First collection plate; 21. Second collection plate; 22. Positioning port; 23. Collection compartment; 24. Collection port; 25. Compartment door; 26. Baffle; 27. Guide plate; 28. Buffer pad; 29. Cleaning hole. Detailed Implementation
[0023] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.
[0024] This utility model discloses a tomato harvesting robot.
[0025] This utility model provides, for example Figures 1-4The tomato harvesting robot shown includes a mobile base 1, a support column 2 fixedly connected to the upper surface of the mobile base 1, a control chamber 3 fixedly connected to the top of the support column 2, a control panel 4 fixedly connected to the side wall of the control chamber 3, a control module 5 fixedly connected to the inner wall of the control chamber 3, a robotic arm 6 fixedly connected to one end of the side wall of the control chamber 3, a U-shaped plate 7 fixedly connected to one end of the robotic arm 6, a viewing chamber 8 fixedly connected to the top of the U-shaped plate 7, a vision device 9 fixedly connected inside the viewing chamber 8, a first electric push rod 10 fixedly connected to one end of the inner wall of the U-shaped plate 7, a connecting plate 11 fixedly connected to the output end of the first electric push rod 10, a blade holder 12 fixedly connected to one end of the side wall of the connecting plate 11, a cutting blade 13 fixedly connected to one end of the side wall of the blade holder 12, a snap-fit plate 14 fixedly connected to the inner wall of the other end of the U-shaped plate 7, a blade groove 15 corresponding to the cutting blade 13 is opened inside the snap-fit plate 14, and a cleaning mechanism is provided on the inner wall of the U-shaped plate 7.
[0026] The tomato harvesting robot is driven to move by the mobile base 1. The robotic arm 6 is controlled to move by the control panel 4 and the control module 5. The vision device 9 identifies the tomatoes to be harvested and the robotic arm 6 makes the clamping plate 14 correspond to the branches and leaves of the tomato. Finally, the first electric push rod 10 drives the cutting blade 13 to engage with the blade groove 15 to complete the harvesting.
[0027] To facilitate cleaning of the cutting blade 13 and the blade groove 15, such as Figure 2 and 4 As shown, the cleaning mechanism includes a second electric push rod 16, a hollow cleaning plate 17, a cleaning chamber 18, and a micro pump 19. The side wall of the second electric push rod 16 is fixedly connected to the inner wall of the U-shaped plate 7. The side wall of the hollow cleaning plate 17 is fixedly connected to the output end of the second electric push rod 16. The bottom wall of the cleaning chamber 18 is fixedly connected to the top of the hollow cleaning plate 17. The side wall of the micro pump 19 is fixedly connected to the side wall of the hollow cleaning plate 17. The input end of the micro pump 19 is fixedly sleeved with the side wall of the cleaning chamber 18. The output end of the micro pump 19 is fixedly sleeved with the side wall of the hollow cleaning plate. The side wall of the hollow cleaning plate 17 has cleaning holes 29 corresponding to the cutting blade 13 and the blade groove 15.
[0028] When the hollow cleaning plate 17 is used to clean the cutting blade 13 and the blade groove 15, the second electric push rod 16 drives the hollow cleaning plate 17 to clean the residue on the corresponding surfaces of the cutting blade 13 and the blade groove 15, avoiding blockage and affecting cutting efficiency. Then, the micro pump 19 drives the cleaning fluid inside the cleaning chamber 18 into the interior of the hollow cleaning plate 17, and sprays it through the cleaning hole 29 to treat the residual juice on the surface of the cutting blade 13 and the blade groove 15, making it convenient to clean the cutting blade 13 and the blade groove 15 and avoiding corrosion that would affect the service life of the cutting blade 13.
[0029] In order to protect tomatoes, such as Figure 1 As shown, a first collecting plate 20 is fixedly connected to the inner wall of one end of the U-shaped plate 7, and a second collecting plate 21 is fixedly connected to the side wall of the connecting plate 11. Positioning holes 22 are opened on the side walls of the first collecting plate 20 and the second collecting plate 21.
[0030] During the cutting process, the second collecting plate 21 is engaged by the first electric push rod 10, and the tomato branches and leaves correspond to the positioning port 22, which makes it easy to protect the tomatoes inside the second collecting plate 21 and the second collecting plate 21, and prevent the tomatoes from falling and causing damage after being picked.
[0031] Finally, to avoid stacking and create layers, such as Figure 1 As shown, a collection chamber 23 is fixedly connected to the surface of the movable base 1, a collection port 24 is fixedly sleeved on the top of the collection chamber 23, a chamber door 25 is rotatably connected to the side wall of the collection chamber 23, a baffle 26 is fixedly connected to the inner wall of the collection chamber 23, a guide plate 27 is fixedly connected to the inner wall of the collection chamber 23, and a buffer pad 28 is fixedly connected to the side wall of the guide plate 27.
[0032] After harvesting, tomatoes enter the collection chamber 23 through the collection port 24 and are layered by the guide plate 27 to avoid stacking and squeezing. The cushioning pad 28 is used to reduce the impact on the tomatoes and protect them. Finally, the collection chamber 23 is opened through the door 25 to take out the tomatoes.
[0033] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.
Claims
1. A tomato harvesting robot, comprising a mobile base (1), characterized in that: A support column (2) is fixedly connected to the upper surface of the mobile base (1). A control compartment (3) is fixedly connected to the top of the support column (2). A control panel (4) is fixedly connected to the side wall of the control compartment (3). A control module (5) is fixedly connected to the inner wall of the control compartment (3). A robotic arm (6) is fixedly connected to one side wall of the control compartment (3). A U-shaped plate (7) is fixedly connected to one end of the robotic arm (6). A viewing compartment (8) is fixedly connected to the top of the U-shaped plate (7). A vision device (9) is fixedly connected inside the viewing compartment (8). The inner wall of one end of the U-shaped plate (7) is fixedly connected to a first electric push rod (10), the output end of the first electric push rod (10) is fixedly connected to a connecting plate (11), the side wall of one end of the connecting plate (11) is fixedly connected to a knife holder (12), the side wall of one end of the knife holder (12) is fixedly connected to a cutting knife (13), the inner wall of the other end of the U-shaped plate (7) is fixedly connected to a snap-fit plate (14), the inside of the snap-fit plate (14) is provided with a knife groove (15) corresponding to the cutting knife (13), and the inner wall of the U-shaped plate (7) is provided with a cleaning mechanism.
2. The tomato harvesting robot according to claim 1, characterized in that: The cleaning mechanism includes a second electric push rod (16), a hollow cleaning plate (17), a cleaning chamber (18), and a micro pump (19). The side wall of the second electric push rod (16) is fixedly connected to the inner wall of the U-shaped plate (7). The side wall of the hollow cleaning plate (17) is fixedly connected to the output end of the second electric push rod (16). The bottom wall of the cleaning chamber (18) is fixedly connected to the top of the hollow cleaning plate (17). The side wall of the micro pump (19) is fixedly connected to the side wall of the hollow cleaning plate (17). The input end of the micro pump (19) is fixedly sleeved with the side wall of the cleaning chamber (18). The output end of the micro pump (19) is fixedly sleeved with the side wall of the hollow cleaning plate. The side wall of the hollow cleaning plate (17) has cleaning holes (29) corresponding to the cutting blade (13) and the blade groove (15).
3. The tomato harvesting robot according to claim 1, characterized in that: A first collecting plate (20) is fixedly connected to the inner wall of one end of the U-shaped plate (7), and a second collecting plate (21) is fixedly connected to the side wall of the connecting plate (11). The side walls of the first collecting plate (20) and the second collecting plate (21) are both provided with positioning holes (22).
4. The tomato harvesting robot according to claim 1, characterized in that: A collection chamber (23) is fixedly connected to the surface of the movable base (1), a collection port (24) is fixedly sleeved on the top of the collection chamber (23), and a chamber door (25) is rotatably connected to the side wall of the collection chamber (23).
5. A tomato harvesting robot according to claim 4, characterized in that: The inner wall of the collection chamber (23) is fixedly connected with a baffle (26).
6. A tomato harvesting robot according to claim 4, characterized in that: The inner wall of the collection chamber (23) is fixedly connected to a guide plate (27), and the side wall of the guide plate (27) is fixedly connected to a buffer pad (28).