Eggplant picking robot

Abstract

The utility model discloses an eggplant picking robot, which relates to the technical field of agricultural machinery and at least comprises a vehicle body, wheels arranged at the bottom of the vehicle body, a basket and a picking mechanism, the basket and the picking mechanism are arranged on the vehicle body, the picking mechanism comprises a mechanical arm and a manipulator arranged at the front end of the mechanical arm, and the rear end of the mechanical arm is connected with the vehicle body. The mechanical arm is composed of a plurality of movable joints. The manipulator comprises a positioning seat, a clamping mechanism located on the front side of the positioning seat and a pruning mechanism located on the upper side of the clamping mechanism, and the rear side of the positioning seat is connected with the front end of the mechanical arm. The eggplant picking robot solves the problems that existing eggplant picking equipment is large in size and high in price, manual picking efficiency is low, and labor cost is high, and the eggplant picking robot is small in size, low in cost and capable of reducing the labor cost.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and in particular to an eggplant harvesting robot. Background Technology

[0002] Basic agriculture plays a vital role in people's lives, serving as the most fundamental guarantee of their livelihoods. Agricultural development has also become an important indicator of social living standards. Currently, modern agriculture is developing towards mechanization, automation, and intelligence, gradually replacing primitive tools and inefficient labor methods. Efficient, safe, and convenient modern agriculture is demonstrating unprecedented development potential.

[0003] Eggplant is one of the most common vegetables in my country. Eggplant harvesting is highly time-sensitive and is a typical labor-intensive task. Currently, the level of automation in mechanized harvesting of eggplants in my country is generally low. Existing harvesting machinery mainly falls into two categories: semi-automatic harvesting assisted by machinery and fully automatic harvesting. Fully automatic machinery is complex to operate, bulky, and expensive. Therefore, most eggplants are still harvested manually, which is inefficient and has high labor costs. Utility Model Content

[0004] To address the problems of large size and high price of current eggplant harvesting equipment, as well as low efficiency and high labor costs of manual harvesting, this utility model proposes an eggplant harvesting robot that is smaller in size, lower in cost, and can reduce labor costs.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an eggplant harvesting robot, comprising at least a vehicle body, wheels located at the bottom of the vehicle body, a basket and a harvesting mechanism located on the vehicle body, wherein the harvesting mechanism comprises a robotic arm and a robotic hand located at the front end of the robotic arm, the rear end of the robotic arm is connected to the vehicle body, and the robotic arm is composed of multiple movable joints; the robotic hand comprises a positioning seat, a clamping mechanism located in front of the positioning seat, and a pruning mechanism located above the clamping mechanism, wherein the rear side of the positioning seat is connected to the front end of the robotic arm;

[0006] The clamping mechanism includes two slide rods and two clamping blocks mounted on the slide rods. The two slide rods are arranged in parallel and both ends of the slide rods are positioned on the front side of the positioning seat through the slide rod base. Each clamping block is slidably connected to the two slide rods. The two clamping blocks can slide relative to each other, and a spring is sleeved on the slide rod between the two clamping blocks. Each clamping block is provided with a wire hole. The front end of the robotic arm is provided with a winding reel. The winding reel is driven by a servo motor a to rotate. Two pull ropes are wound on the winding reel. The ends of the two pull ropes that are not fixed to the winding reel are respectively connected to the two clamping blocks. Each pull rope first passes through the wire hole on the opposite clamping block from the outside before connecting to the clamping block.

[0007] The pruning mechanism includes two blades with their blade edges facing each other. Each blade has a sector gear at its rear, and the two sector gears mesh with each other. One sector gear is hinged to the positioning seat, and the other sector gear is connected to the shaft of a servo motor b embedded in the positioning seat.

[0008] Preferably, the robotic arm consists of several connecting arms that are connected end to end. Each connecting arm is hinged to the adjacent connecting arm, and the hinge is driven by a servo motor so that the two adjacent connecting arms can rotate relative to each other.

[0009] Preferably, the two clamping blocks are provided with arc-shaped concave surfaces on their opposite inner sides.

[0010] Preferably, elastic pads are attached to the concave surface of the arc.

[0011] Preferably, the elastic pad is a sponge pad.

[0012] Preferably, the top of the vehicle body is provided with a basket positioning groove, and the basket is locked in the basket positioning groove.

[0013] Therefore, this utility model has the following beneficial effects: 1. The harvesting robot has a small structure, low production cost, and can effectively reduce labor costs and avoid a lot of repetitive labor; 2. If the harvesting robot is combined with sensors or visual detection devices, it can perform autonomous positioning and harvesting, minimizing human intervention and errors, and can harvest eggplants faster and more effectively. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model.

[0015] Figure 2 This is a schematic diagram of the robotic arm in this utility model.

[0016] 1: Vehicle body; 2: Wheel; 3: Basket; 4: Robotic arm; 5: Robotic hand; 501: Positioning seat; 502: Slide bar; 503: Clamping block; 504: Spring; 505: Cable hole; 506: Cable reel; 507: Servo motor a; 508: Pull rope; 509: Blade; 510: Sector gear; 511: Servo motor b. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0018] See an eggplant harvesting robot. Figure 1 , Figure 2 It includes at least a vehicle body 1, wheels 2 located at the bottom of the vehicle body 1, a basket 3 located on the vehicle body 1, and a picking mechanism, wherein the picking mechanism includes a robotic arm 4 and a robotic hand 5 located at the front end of the robotic arm 4.

[0019] The rear end of the robotic arm 4 is connected to the vehicle body 1. The robotic arm 4 is composed of multiple movable joints. Specifically, the robotic arm 4 is composed of several connecting arms that are connected end to end. Each connecting arm is hinged to the adjacent connecting arm, and the hinge is driven by a servo motor so that the two adjacent connecting arms can rotate relative to each other.

[0020] The robotic arm 5 includes a positioning base 501, a clamping mechanism located in front of the positioning base 501, and a pruning mechanism located above the clamping mechanism. The rear side of the positioning base 501 is connected to the front end of the robotic arm 4.

[0021] The clamping mechanism includes two slide rods 502 and two clamping blocks 503 mounted on the slide rods 502. The two slide rods 502 are arranged in parallel, and both ends of the slide rods 502 are positioned on the front side of the positioning seat 501 through the slide rod base. Each clamping block 503 is slidably connected to the two slide rods 502. The two clamping blocks 503 can slide relative to each other, and a spring 504 is sleeved on the slide rod 502 between the two clamping blocks 503. Each clamping block is provided with a wire hole 505. The front end of the robotic arm 4 is provided with a winding reel 506. The winding reel 506 is driven by a servo motor a507 and can rotate. Two pull ropes 508 are wound on the winding reel 506. The ends of the two pull ropes 508 that are not fixed to the winding reel 506 are respectively connected to the two clamping blocks 503. Each pull rope 508 first passes through the wire hole 505 on the opposite clamping block 503 from the outside before connecting to the clamping block 503. Both clamping blocks 503 have arc-shaped concave surfaces on their respective inner sides, and sponge pads are attached to the arc-shaped concave surfaces.

[0022] The pruning mechanism includes two blades 509 with their blade edges facing each other. Each blade 509 has a sector gear 510 at its rear, and the two sector gears 510 mesh with each other. One sector gear 510 is hinged to the positioning seat 501, and the other sector gear 510 is connected to the shaft of a servo motor b511 embedded in the positioning seat 501.

[0023] The top of the vehicle body 1 is provided with a basket positioning groove, and the basket 3 is locked in the basket positioning groove.

[0024] When harvesting eggplants, the vehicle body 1 is first moved to the vicinity of the eggplant to be harvested. At this time, both blades 509 and both clamping blocks 503 are in the open state. By operating the servo motor on the robotic arm 4, the position of the robotic arm 4 and the robotic hand 5 is adjusted so that the stem of the eggplant is inside the opening of the two blades 509, and at the same time, the eggplant fruit is inside the opening of the two clamping blocks 503.

[0025] Then, servo motor A507 starts working, driving the reel 506 to rotate. The reel 506 is in the winding state, and the two pull ropes 508 tighten and pull the two clamping blocks 503 to move relative to each other until they clamp the eggplant. Then servo motor A507 stops working.

[0026] Then, the servo motor b511 starts working, driving one of the sector gears 510 and the corresponding blade 509 to rotate. Through the meshing of the two sector gears 510, the other sector gear 510 and the corresponding blade 509 rotate in the opposite direction. The two blades 509 rotate and close in a scissor-like manner until the stem of the eggplant is cut off.

[0027] Finally, by operating the servo motor on the robotic arm 4 again, the positions of the robotic arm 4 and the robotic hand 5 are adjusted, and the robotic hand 5 is moved above the basket 3. The servo motor a507 rotates in the opposite direction, the reel 506 is in the unwinding state, and the two clamps 503 are opened and released by the spring 504 in the middle. At this time, the harvesting process of one eggplant is completed.

Claims

1. An eggplant harvesting robot, comprising at least a vehicle body (1), wheels (2) disposed at the bottom of the vehicle body (1), a basket (3) disposed on the vehicle body (1), and a harvesting mechanism, characterized in that, The harvesting mechanism includes a robotic arm (4) and a robotic hand (5) located at the front end of the robotic arm (4). The rear end of the robotic arm (4) is connected to the vehicle body (1). The robotic arm (4) is composed of multiple movable joints. The robotic hand (5) includes a positioning seat (501), a clamping mechanism located in front of the positioning seat (501), and a pruning mechanism located above the clamping mechanism. The rear side of the positioning seat (501) is connected to the front end of the robotic arm (4). The clamping mechanism includes two slide rods (502) and two clamping blocks (503) mounted on the slide rods (502). The two slide rods (502) are arranged in parallel, and both ends of the slide rods (502) are positioned on the front side of the positioning seat (501) through the slide rod base. Each clamping block (503) is slidably connected to the two slide rods (502). The two clamping blocks (503) can slide relative to each other, and a spring (504) is sleeved on the slide rod (502) between the two clamping blocks (503). Each clamping block is provided with a through-hole. The front end of the robotic arm (4) is provided with a wire hole (505) and a wire reel (506). The wire reel (506) is driven to rotate by a servo motor a (507). Two pull ropes (508) are wound on the wire reel (506). The ends of the two pull ropes (508) that are not fixed to the wire reel (506) are respectively connected to two clamps (503). Each pull rope (508) first passes through the wire hole (505) on the opposite clamp (503) from the outside and then connects to the clamp (503). The pruning mechanism includes two blades (509) with their blade edges facing each other. Each blade (509) has a sector gear (510) at its rear. The two sector gears (510) mesh with each other. One sector gear (510) is hinged to the positioning seat (501), and the other sector gear (510) is connected to the shaft of a servo motor b (511) embedded in the positioning seat (501).

2. The eggplant harvesting robot according to claim 1, characterized in that: The robotic arm (4) consists of several connecting arms that are connected end to end. Each connecting arm is hinged to the adjacent connecting arm, and the hinge is driven by a servo motor so that the two adjacent connecting arms can rotate relative to each other.

3. The eggplant harvesting robot according to claim 1, characterized in that: Both clamping blocks (503) have arc-shaped concave surfaces on their respective inner sides.

4. The eggplant harvesting robot according to claim 3, characterized in that: Elastic pads are attached to the concave surfaces of the arc.

5. The eggplant harvesting robot according to claim 4, characterized in that: The elastic pad is a sponge pad.

6. The eggplant harvesting robot according to claim 1, characterized in that: The top of the vehicle body (1) is provided with a basket positioning groove, and the basket (3) is locked in the basket positioning groove.

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