Tagetes erecta picking device

Abstract

The utility model discloses a marigold picking device, which relates to the technical field of marigold picking and comprises a U-shaped frame, crawler wheels are arranged at the left end and the right end of the U-shaped frame, a plurality of second cameras are mounted on the upper inner wall of the U-shaped frame, a first linear module is mounted on the upper portion of the right inner wall of the U-shaped frame, and a second linear module is mounted on the lower portion of the right inner wall of the U-shaped frame. The moving end of the first linear module is fixedly connected with a second linear module, the moving end of the second linear module is fixedly connected with a first electric cylinder, the output end of the first electric cylinder is fixedly connected with a connecting plate, and a motor is installed at the upper end of the connecting plate; the output end of the motor movably penetrates through the lower end of the connecting plate and is fixedly connected with a rotating plate, and an electric clamping jaw is installed at the lower end of the rotating plate. According to the marigold trimming machine, marigold can be trimmed through the cooperation of the first camera and the shearing component, the processing procedures and the processing difficulty are reduced, the labor and mechanical cost is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of marigold harvesting technology, and in particular to a marigold harvesting device. Background Technology

[0002] Marigolds are annual herbaceous plants belonging to the genus *Mallotus* in the family Asteraceae. They have erect, stout stems with fine longitudinal ridges, branching upwards and spreading horizontally. The leaves are pinnately divided, with a few glands along the leaf margins. The flower heads are solitary; the involucre is cup-shaped with pointed teeth at the apex; the ray florets are yellow or dark orange; the disc florets have yellow corollas. The main values ​​of marigolds include ornamental, edible, environmental, and medicinal uses. Specifically, marigolds are a common landscaping flower, known for their large flowers and long blooming period, often used to decorate flower beds, squares, flower clusters, flower borders, and hedges. Marigolds are also a popular ingredient in floral cuisine. Fresh marigold petals, washed and dried, coated in flour and deep-fried, produce an irresistible aroma, much like stinky tofu—it smells very pungent but becomes fragrant and delicious after frying. Marigold plants have strong resistance to and absorption of gases such as hydrogen fluoride and sulfur dioxide, and can also attract nematodes in the soil. The roots of marigolds are bitter and cooling. It has detoxifying and swelling-reducing properties, and is used for upper respiratory tract infections, whooping cough, bronchitis, keratitis, and other ailments. The inflorescence of marigold is bitter and cool in nature, and has liver-soothing, fever-reducing, wind-dispelling, and phlegm-resolving properties. It is used for dizziness, headache, eye pain, infantile convulsions, colds and coughs, whooping cough, breast pain, and mumps. The flower has heat-clearing, detoxifying, phlegm-reducing, and cough-suppressing properties; it is fragrant and can be used as an aromatic agent. Previously, it was used as an antibacterial, sedative, and antispasmodic agent. After marigolds mature, they need to be harvested promptly using harvesting equipment.

[0003] Existing harvesting devices typically capture images of chrysanthemums using cameras, then process the images using image recognition algorithms to identify the location and characteristics of the chrysanthemums, and finally harvest them using robotic arms or other actuators. However, this method has the following drawbacks: during harvesting, some chrysanthemums are picked along with their stems, requiring manual or machine separation of the stems later, which increases the processing steps and difficulty, thereby increasing labor and machinery costs. Further improvements are needed, and therefore, a marigold harvesting device is proposed. Utility Model Content

[0004] The main purpose of this utility model is to provide a marigold harvesting device, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A marigold harvesting device includes a U-shaped frame with tracked wheels at both its left and right ends. Several second cameras are mounted on the upper inner wall of the U-shaped frame. A first linear module is mounted on the upper right inner wall of the U-shaped frame. A second linear module is fixedly connected to the moving end of the first linear module. A first electric cylinder is fixedly connected to the moving end of the second linear module. A connecting plate is fixedly connected to the output end of the first electric cylinder. A motor is mounted on the upper end of the connecting plate. The output end of the motor movably passes through the lower end of the connecting plate and is fixedly connected to a rotating plate. An electric gripper is mounted on the lower end of the rotating plate. A shearing component is located on the left side of the electric gripper. A first camera is mounted on the right end of the rotating plate.

[0007] Preferably, the shearing component includes a fixing plate, which is disposed on the left side of the electric gripper. A third electric cylinder is installed on the lower left side of the fixing plate. A connecting block is fixedly connected to the output end of the third electric cylinder. An electric parallel gripper is fixedly connected to the lower end of the connecting block. Two blades symmetrically distributed front and back are installed on the moving end of the electric parallel gripper.

[0008] Preferably, a second electric cylinder is installed on the upper left side of the connecting plate. The output end of the second electric cylinder movably passes through the lower end of the connecting plate and is fixedly connected to the upper end of the fixing plate. Two guide rods are installed on the upper end of the fixing plate, and the guide rods movably pass through the upper side of the connecting plate.

[0009] Preferably, a connecting frame is installed at the lower end of the second linear module, and a second conveyor is installed on the connecting frame.

[0010] Preferably, a first conveyor is installed on the lower part of the right inner wall of the U-shaped frame, and a second conveyor extends above the first conveyor.

[0011] Preferably, the second conveyor is located below and behind the electric gripper.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. By setting up a first camera and a cutting component to work together, marigolds can be trimmed. When the first camera detects that there is a stem connected to the bottom of the marigold, the output end of the third electric cylinder is controlled to drive the connecting block to move to the right, so that the clamping end of the electric parallel gripper moves to the front and back of the stem. Then, the clamping end of the electric parallel gripper is controlled to drive the two blades to move closer to each other, so that the stem can be separated from the marigold. There is no need to separate the stem manually or by machine afterward, which reduces the processing steps and processing difficulty, reduces labor and mechanical costs, and improves work efficiency.

[0014] 2. By setting a second electric cylinder, the shearing component can be moved upward. When shearing is not required, the second electric cylinder can move the shearing component upward, so that the shearing component is above the gripping end of the electric gripper. This prevents it from contacting other components or flowers when shearing is not required, and prevents the shearing component from interfering with the normal gripping and picking of chrysanthemums by the robot arm, thus improving the flexibility of the robot arm. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the entire structure presented in this embodiment;

[0016] Figure 2 This is a schematic diagram of the internal structure of the U-shaped frame in this embodiment;

[0017] Figure 3 This is an enlarged structural diagram of point A in this embodiment;

[0018] Figure 4 This is a schematic diagram of the U-shaped frame in this embodiment;

[0019] Figure 5 This is a schematic diagram of the shearing component in this embodiment.

[0020] In the diagram: 1. U-shaped frame; 2. Control box; 3. Track wheel; 4. First linear module; 5. First conveyor; 6. Second linear module; 8. Connecting frame; 9. Second conveyor; 10. First electric cylinder; 11. Connecting plate; 12. Motor; 13. Rotating plate; 14. Electric gripper; 15. First camera; 16. Shearing component; 17. Second electric cylinder; 18. Guide rod; 19. Second camera; 161. Third electric cylinder; 162. Connecting block; 163. Electric parallel gripper; 164. Blade; 165. Fixing plate. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0022] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] like Figures 1-4 As shown, a marigold harvesting device includes a U-shaped frame 1, a control box 2 installed at the right end of the U-shaped frame 1, and track wheels 3 installed at both the left and right ends of the U-shaped frame 1. Several second cameras 19 are installed on the upper inner wall of the U-shaped frame 1. A first linear module 4 is installed on the upper part of the right inner wall of the U-shaped frame 1. A second linear module 6 is fixedly connected to the moving end of the first linear module 4. A first electric cylinder 10 is fixedly connected to the moving end of the second linear module 6. A connecting plate 11 is fixedly connected to the output end of the first electric cylinder 10. A motor 12 is installed at the upper end of the connecting plate 11. The output end of the motor 12 movably passes through the lower end of the connecting plate 11 and is fixedly connected to a rotating plate 13. An electric gripper 14 is installed at the lower end of the rotating plate 13.

[0025] In use, the device is moved to the harvesting location, and the second camera 19 captures real-time images of the chrysanthemum field, transmitting these images to the control box 2. Through computer vision technology and image processing software, these images are analyzed to identify the position, size, shape, and color of the chrysanthemums. The vision system can accurately locate which flowers are mature and suitable for harvesting. Then, the first linear module 4, the second linear module 6, and the first electric cylinder 10 are controlled to move the electric gripper 14 back and forth, left and right, and up and down, so that the gripping end of the electric gripper 14 moves above the marigold. Then, the gripping end of the electric gripper 14 is controlled to retract. After gripping, the output end of the first electric cylinder 10 is controlled to move upward through the connecting plate 11 and the rotating plate 13 to harvest the chrysanthemums. However, during harvesting, some chrysanthemums are harvested along with their stems, and the stems need to be separated manually or by machine afterward, which increases the processing steps and the difficulty of handling, thereby increasing labor and machinery costs.

[0026] To address the aforementioned drawbacks, a shearing component 16 is provided on the left side of the electric gripper 14, and a first camera 15 is installed on the right end of the rotating plate 13. The first camera 15 is used to photograph the harvested chrysanthemums and transmit the images to the control box 2. Specifically, the shearing component 16 includes a fixing plate 165, which is located on the left side of the electric gripper 14. A third electric cylinder 161 is installed on the lower left side of the fixing plate 165. A connecting block 162 is fixedly connected to the output end of the third electric cylinder 161, and an electric parallel gripper 163 is fixedly connected to the lower end of the connecting block 162. The mobile device is equipped with two symmetrically distributed blades 164. When the first camera 15 captures a stem connected to the bottom of the marigold, the output of the third electric cylinder 161 is controlled to move the connecting block 162 to the right, so that the clamping end of the electric parallel gripper 163 moves to the front and rear sides of the stem. Then, the clamping end of the electric parallel gripper 163 is controlled to move the two blades 164 closer to each other, so that the stem can be separated from the marigold. There is no need to separate the stem manually or by machine afterward, which reduces the processing steps and processing difficulty, reduces labor and mechanical costs, and improves work efficiency.

[0027] In addition, the shearing component 16 has a certain volume. In order to prevent it from contacting other components or flowers when it is not needed, and to prevent the shearing component from interfering with the normal gripping and picking of chrysanthemums by the robot arm, a second electric cylinder 17 is installed on the upper left side of the connecting plate 11. The output end of the second electric cylinder 17 moves through the lower end of the connecting plate 11 and is fixedly connected to the upper end of the fixing plate 165. Two guide rods 18 are installed on the upper end of the fixing plate 165. The guide rods 18 move through the upper side of the connecting plate 11. When the first camera 15 does not detect the stem, the second electric cylinder 17 drives the fixing plate 165 to move upward, so that the shearing component 16 moves away from the electric gripper 14, thereby improving the flexibility of the robot arm.

[0028] To transport the harvested chrysanthemums to a designated location, a connecting frame 8 is installed at the lower end of the second linear module 6. Specifically, four connecting frames 8 are provided. A second conveyor 9 is installed on the upper part of the connecting frame 8. A first conveyor 5 is installed on the lower right inner wall of the U-shaped frame 1. The second conveyor 9 extends above the first conveyor 5 and is located below and behind the electric gripper 14. After harvesting, the motor 12 drives the rotating plate 13 to rotate backward. The rotating plate 13 drives the electric gripper 14 to move above the second conveyor 9. The electric gripper 14 releases its gripping end, and the chrysanthemums fall above the second conveyor 9. The second conveyor 9 then transports the chrysanthemums above the first conveyor 5. A collection box is set at the end of the first conveyor 5 to collect the chrysanthemums.

[0029] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A marigold harvesting device, comprising a U-shaped frame (1), characterized in that: The left and right ends of the U-shaped frame (1) are provided with track wheels (3). Several second cameras (19) are installed on the upper inner wall of the U-shaped frame (1). A first linear module (4) is installed on the upper part of the right inner wall of the U-shaped frame (1). The moving end of the first linear module (4) is fixedly connected to a second linear module (6). The moving end of the second linear module (6) is fixedly connected to a first electric cylinder (10). The output end of the first electric cylinder (10) is fixedly connected to a connecting plate (11). A motor (12) is installed on the upper end of the connecting plate (11). The output end of the motor (12) moves through the lower end of the connecting plate (11) and is fixedly connected to a rotating plate (13). An electric gripper (14) is installed on the lower end of the rotating plate (13). A shearing component (16) is provided on the left side of the electric gripper (14). A first camera (15) is installed on the right end of the rotating plate (13).

2. The marigold harvesting device according to claim 1, characterized in that: The shearing component (16) includes a fixing plate (165), which is located on the left side of the electric gripper (14). A third electric cylinder (161) is installed on the lower left side of the fixing plate (165). A connecting block (162) is fixedly connected to the output end of the third electric cylinder (161). An electric parallel gripper (163) is fixedly connected to the lower end of the connecting block (162). Two blades (164) are installed on the moving end of the electric parallel gripper (163).

3. The marigold harvesting device according to claim 2, characterized in that: A second electric cylinder (17) is installed on the upper left side of the connecting plate (11). The output end of the second electric cylinder (17) passes through the lower end of the connecting plate (11) and is fixedly connected to the upper end of the fixing plate (165). Two guide rods (18) are installed on the upper end of the fixing plate (165). The guide rods (18) are movably inserted into the upper side of the connecting plate (11).

4. The marigold harvesting device according to claim 1, characterized in that: A connecting frame (8) is installed at the lower end of the second linear module (6), and a second conveyor (9) is installed on the connecting frame (8).

5. The marigold harvesting device according to claim 4, characterized in that: A first conveyor (5) is installed on the lower right inner wall of the U-shaped frame (1), and a second conveyor (9) extends above the first conveyor (5).

6. The marigold harvesting device according to claim 5, characterized in that: The second conveyor (9) is located below and behind the electric gripper (14).

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