Automatic picking device for daylily

Abstract

The utility model discloses an automatic daylily picking device which is characterized in that the automatic daylily picking device comprises a base, the base is connected with a movable driving assembly, a mechanical arm assembly, a visual inspection assembly and a collecting frame are arranged on the base, and a picking assembly is arranged on the mechanical arm assembly; the visual detection assembly can detect the maturity condition of the day lily and control the movement of the moving driving assembly, the mechanical arm assembly and the picking assembly, and the mechanical arm assembly can drive the picking assembly to move to the mature day lily to clamp and cut off the day lily and convey the cut day lily into the collecting frame. The daylily picking device is simple in structure and reasonable in design, automatic picking operation of daylily can be achieved, the labor intensity of workers is effectively reduced, and the picking efficiency is improved.

Description

Technical Field

[0001] This utility model relates to crop harvesting equipment, specifically to an automated daylily harvesting device. Background Technology

[0002] Currently, research on agricultural machinery for harvesting daylilies is not widespread both domestically and internationally. Daylilies have high requirements for harvesting conditions; mature, edible daylilies are typically pale yellow with slightly cracked bud ends. Especially in large fields, the characteristics of daylily buds are not obvious, making it difficult to distinguish them from withered or immature buds. Harvesting mature buds usually requires extensive manual judgment, which is inefficient and labor-intensive. This has resulted in limited research on target identification for mature daylilies. Currently, there are no fully automated daylily harvesting machines available domestically or internationally, and semi-automated machines still require manual operation, failing to effectively reduce labor costs. To improve the efficiency of daylily harvesting and promote the sustainable and healthy development of the daylily industry, achieving automated and intelligent harvesting of daylilies is an urgent problem to be solved. Utility Model Content

[0003] In view of the deficiencies in the prior art, the technical problem to be solved by this utility model is to provide an automated daylily harvesting device for solving the above-mentioned problems.

[0004] Therefore, this utility model is implemented using the following solution:

[0005] An automated daylily harvesting device is characterized by comprising a base connected to a motion drive assembly, a robotic arm assembly, a vision detection assembly, and a collection frame mounted on the base, a harvesting assembly mounted on the robotic arm assembly, the vision detection assembly detecting the maturity of the daylilies and controlling the movements of the motion drive assembly, the robotic arm assembly, and the harvesting assembly, the robotic arm assembly driving the harvesting assembly to move to the mature daylilies to clamp and cut them, and then sending the cut daylilies into the collection frame.

[0006] A pressure sensor is installed at the bottom of the collection box.

[0007] The mobile drive assembly includes a vehicle suspension assembly and a drive motor. The vehicle suspension assembly is connected to the base, and wheels are connected to the vehicle suspension assembly. The wheels are connected to the drive motor via a transmission connection.

[0008] It also includes a feeding pipe connected to the picking assembly, one end of which is aligned with the bottom of the picking assembly and the other end is aligned with the collection frame.

[0009] The harvesting assembly includes a mounting base, on which a first upper clamping arm and a second upper clamping arm are provided for cooperation. A first synchronous belt is provided on the first upper clamping arm, and a second synchronous belt is provided on the second upper clamping arm. A positioning sensor, a clamping claw, and a cutting blade assembly are arranged sequentially below the first and second upper clamping arms.

[0010] The mounting base is equipped with a first motor, the output end of the first motor is connected to a first gear, the first gear meshes with a second gear, the first gear is connected to a first synchronous pulley on the first upper clamping arm, the first synchronous belt passes around the first synchronous pulley, the second gear is connected to a second synchronous pulley on the second upper clamping arm, and the second synchronous belt passes around the second synchronous pulley.

[0011] The mounting base is provided with a first servo motor, the output end of the first servo motor is connected to a third gear, the third gear meshes with a fourth gear, the third gear is connected to a first upper clamping arm key, and the second gear is connected to a second upper clamping arm key.

[0012] The mounting base is equipped with a second servo motor. The output end of the second servo motor is connected to the fifth gear. The fifth gear meshes with the sixth gear. The fifth gear is connected to one end of the first gripper, and the sixth gear is connected to one end of the second gripper.

[0013] The mounting base is equipped with a third servo motor, the output end of which is connected to a seventh gear. The seventh gear meshes with an eighth gear. The seventh gear is connected to one end of the first cutting blade, and the eighth gear is connected to one end of the second cutting blade.

[0014] The aforementioned automated daylily harvesting device can automatically detect the production status of daylilies using a vision detection component. Once mature daylilies are detected, the device controls the movement of the motion drive component, robotic arm component, and harvesting component to clamp and cut the mature daylilies before collection. This fully automated process significantly reduces the labor intensity of workers and improves the efficiency of daylily harvesting. Attached Figure Description

[0015] The present invention includes the following figures:

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 This is a structural diagram of the harvesting component of this utility model;

[0018] Figure 3 for Figure 2 Another perspective. Detailed Implementation

[0019] As shown in the figure, this utility model discloses an automated daylily harvesting device, including a base 1 connected to a mobile drive component. In this embodiment, the mobile drive component includes a trolley suspension component 3 and a drive motor. The trolley suspension component 3 is connected to the base 1, and wheels 2 are connected to the trolley suspension component 3. The wheels 2 are connected to the drive motor via transmission. A differential is installed in the trolley suspension component 3 for steering control. Simultaneously, a shock absorption component is installed to improve its buffering and shock absorption capabilities, adapting to field conditions. The device also has a built-in navigation and walking system for controlling the trolley's positioning, navigation, and movement. A robotic arm component 8, a vision detection component 4, and a collection frame 5 are installed on the base 1. The vision detection component 4 is a camera, which can feed back the captured content to the internal controller. After image comparison and analysis, the coordinates of the mature daylilies can be obtained. The robotic arm component adopts a linkage-type joint mechanism, enabling the robotic arm to perform multi-directional movements and ensuring that the robotic arm component 8 can accurately move to the location of the daylilies. The robotic arm assembly 8 is equipped with a picking component. In this embodiment, the picking component includes a mounting base 7, on which a first upper gripper 11 and a second upper gripper 10 are mounted. A first synchronous belt 12 is mounted on the first upper gripper 11, and a second synchronous belt 13 is mounted on the second upper gripper 10. Below the first and second upper grippers, a positioning sensor 14, a gripping claw, and a cutting blade assembly are sequentially arranged. Specifically, a first motor 9 is mounted on the mounting base 7. The output end of the first motor 9 is connected to a first gear 22, which meshes with a second gear 21. The first gear 22 is connected to a first synchronous pulley on the first upper gripper 11, and the first synchronous belt 12 passes around the first synchronous pulley. The second gear 21 is connected to a second synchronous pulley 20 on the second upper gripper 10, and the second synchronous belt 13 passes around the second synchronous pulley 20. Mounting base 7 is equipped with a first servo motor 25, the output end of which is connected to a third gear 23. The third gear 23 meshes with a fourth gear 24 and is keyed to a first upper clamping arm 11. The second gear 24 is keyed to a second upper clamping arm 10. Mounting base 7 is equipped with a second servo motor 30, the output end of which is connected to a fifth gear 27. The fifth gear 27 meshes with a sixth gear 26 and is connected to one end of a first clamping jaw 16. The sixth gear 26 is connected to one end of a second clamping jaw 15. Mounting base 7 is equipped with a third servo motor 19, the output end of which is connected to a seventh gear 29. The seventh gear 29 meshes with an eighth gear 28 and is connected to one end of a first cutting blade 18. The eighth gear 28 is connected to one end of a second cutting blade 17. The visual inspection component 4 can detect the maturity of daylilies and control the movement of the motion drive component, the robotic arm component 8 and the picking component. The robotic arm component 8 can drive the picking component to move to the mature daylilies to clamp and cut them and send the cut daylilies into the collection box 5.Furthermore, a pressure sensor is installed at the bottom of the collection box 5. When a certain amount of daylilies have been collected in the collection box, the pressure sensor detects that the weight of the collection box has reached the target, sends a feedback message, and causes the equipment to return to the base to collect the daylilies. In addition, a feeding pipe 6 is connected to the harvesting component. One end of the feeding pipe 6 is aligned with the bottom of the harvesting component, and the other end is aligned with the collection box 5, so that the cut daylilies can fall naturally into the collection box 5 through the feeding pipe 6, further improving the collection efficiency and reducing the movement of the robotic arm component, thereby reducing the energy consumption of the equipment.

[0020] The working principle of this utility model is as follows: the moving drive component drives the device to move, the vision detection component 4 captures images of daylilies in the field and feeds them back to the controller. The controller obtains the coordinates of the mature daylilies through image comparison and analysis, and then controls the bottom trolley to move, driving the device closer to the mature daylilies. Then, the robotic arm component 8 drives the picking component to move to the mature daylilies. Then, the first and second upper clamping arms move closer to each other, so that the first and second synchronous belts clamp the roots of the flower buds. At the same time, the first and second synchronous belts move to move the daylilies until the positioning sensor 14 senses the daylilies. Then, the first and second grippers clamp the stems of the daylilies. Then, the first and second cutting blades cut the daylilies. Then, the first and second upper clamping arms and the first and second grippers release the daylilies. The daylilies can fall naturally through the feeding pipe 6 to the collection box 5 for collection. Then, the path is planned according to the coordinates of the next daylily plant and the equipment is controlled to complete the harvesting of the daylilies.

[0021] This invention's structure allows for automated detection of daylily production using a visual inspection component. Upon detecting mature daylilies, it controls the movement of the motion drive component, robotic arm component, and harvesting component to clamp and cut the mature daylilies before collection. This fully automated process significantly reduces worker fatigue and improves daylily harvesting efficiency.

Claims

1. An automated daylily harvesting device, characterized in that: The device includes a base (1) connected to a mobile drive assembly. The base (1) is equipped with a robotic arm assembly (8), a vision detection assembly (4), and a collection frame (5). The robotic arm assembly (8) is equipped with a picking assembly. The vision detection assembly (4) can detect the maturity of daylilies and control the movement of the mobile drive assembly, the robotic arm assembly (8), and the picking assembly. The robotic arm assembly (8) can drive the picking assembly to move to the mature daylilies to clamp and cut them and send the cut daylilies to the collection frame (5). The picking assembly includes a mounting base (7). The mounting base (7) is equipped with a first upper clamping arm (11) and a second upper clamping arm (10). The first upper clamping arm (11) is equipped with a first synchronous belt (12), and the second upper clamping arm (10) is equipped with a second synchronous belt (13). A position sensor (14), a gripping claw, and a cutting blade assembly are arranged sequentially below the first and second upper clamping arms.

2. The automated daylily harvesting device according to claim 1, characterized in that... A pressure sensor is provided at the bottom of the collection box (5).

3. The automated daylily harvesting device according to claim 1, characterized in that... The mobile drive assembly includes a car suspension assembly (3) and a drive motor. The car suspension assembly (3) is connected to the base (1), and a wheel (2) is connected to the car suspension assembly (3). The wheel (2) is connected to the drive motor in a transmission connection.

4. The automated daylily harvesting device according to claim 1, characterized in that... It also includes a feeding pipe (6) connected to the picking assembly, one end of which is aligned with the bottom of the picking assembly and the other end is aligned with the collection box (5).

5. The automated daylily harvesting device according to claim 1, characterized in that... The mounting base (7) is provided with a first motor (9), the output end of the first motor (9) is connected to the first gear (22), the first gear (22) meshes with the second gear (21), the first gear (22) is connected to the first synchronous pulley on the first upper clamping arm (11), the first synchronous belt (12) passes around the first synchronous pulley, the second gear (21) is connected to the second synchronous pulley (20) on the second upper clamping arm (10), and the second synchronous belt (13) passes around the second synchronous pulley (20).

6. The automated daylily harvesting device according to claim 1, characterized in that... The mounting base (7) is provided with a first servo motor (25), the output end of the first servo motor (25) is connected to the third gear (23), the third gear (23) meshes with the fourth gear (24), the third gear (23) is keyed to the first upper clamping arm (11), and the second gear (21) is keyed to the second upper clamping arm (10).

7. The automated daylily harvesting device according to claim 1, characterized in that... The mounting base (7) is provided with a second servo motor (30). The output end of the second servo motor (30) is connected to the fifth gear (27). The fifth gear (27) meshes with the sixth gear (26). The fifth gear (27) is connected to one end of the first pawl (16). The sixth gear (26) is connected to one end of the second pawl (15).

8. The automated daylily harvesting device according to claim 1, characterized in that... The mounting base (7) is provided with a third servo motor (19), the output end of the third servo motor (19) is connected to the seventh gear (29), the seventh gear (29) meshes with the eighth gear (28), the seventh gear (29) is connected to one end of the first cutter (18), and the eighth gear (28) is connected to one end of the second cutter (17).

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