Pepper picking robot

Abstract

A pepper picking robot relates to the technical field of picking manipulators and comprises a triangular support, at least three picking assemblies and an inflating assembly, a rotating motor is arranged on the left side of the triangular support, and a transmission shaft of the rotating motor is connected with the center end of the triangular support. The picking assemblies are arranged on the inner side of the triangular support, the picking assemblies are distributed on the areas of the two adjacent edges of the triangular support in the circular shape, during use, the picking assemblies can move towards the center of the inner side at the same time, the inflation assembly comprises an air pump, a connecting pipe and a branch pipe, and through cooperative work of the air pump, the triangular support, a motor, a fixing arm, a connecting arm and an air bag, the picking assemblies can be inflated. During picking, an air pump can firstly convey air to an air bag, after the air enters the air bag, the air bag can drive a connecting arm to bend, in this way, the connecting arm can drive a grabbing head to clamp a main stem of the red pepper, then a rotating motor drives a triangular support to rotate, and the red pepper can be grabbed through the triangular support; in this way, the clamped red pepper clusters can be twisted off, and then the purpose of picking the pepper clusters is achieved.

Description

Technical Field

[0001] This utility model relates to the field of harvesting robotic arms, and more specifically, to a pepper harvesting robot. Background Technology

[0002] Sichuan pepper, as an agricultural product with significant economic value, is not only an important condiment but also widely used in medicine, daily chemicals, and other fields. In recent years, with the continuous growth in demand for Sichuan pepper, its planting area has been expanding. However, in the harvesting stage, the mainstream method both domestically and internationally is still manual harvesting, a situation that severely restricts the development of the Sichuan pepper industry.

[0003] There are many insurmountable problems with manual harvesting of Sichuan peppercorns: on the one hand, mature Sichuan peppercorn branches and leaves are covered with sharp thorns, and farmers need to carefully pinch off the peppercorn clusters with their fingernails, which is a tedious and time-consuming process, making it difficult to meet the market's timely supply of Sichuan peppercorns and affecting the quality and economic benefits of the peppercorns.

[0004] On the other hand, due to the numerous thorns on the branches and leaves of Sichuan pepper trees, farmers are easily pricked during harvesting. These thorns not only cause direct physical damage to the skin but may also carry pathogens, increasing the risk of wound infection. Long-term work in Sichuan pepper harvesting, with frequent pricks and high-intensity labor, places a tremendous burden on farmers' bodies, easily leading to fatigue, pain in their hands and other areas, and even chronic diseases, seriously affecting their health and work motivation.

[0005] Therefore, given the aforementioned technical deficiencies, it is necessary to propose a pepper-harvesting robot. Utility Model Content

[0006] This utility model proposes a Sichuan pepper harvesting robot, which aims to solve the problems of cumbersome operation and easy injury when harvesting Sichuan pepper manually.

[0007] This utility model provides a Sichuan pepper harvesting robot, comprising:

[0008] A triangular bracket, wherein a rotary motor is provided on the left side of the triangular bracket, and the drive shaft of the rotary motor is connected to the center end of the triangular bracket;

[0009] The harvesting components are provided in at least three units, and each harvesting component is distributed in a circular shape on two adjacent sides of the triangular support. When in use, the harvesting components can move towards the inner center at the same time.

[0010] A driving component is disposed on the picking component, and in use, the driving component can drive the picking component to bend;

[0011] An inflation assembly includes an air pump, a connecting pipe, and a branch pipe. The air pump is spaced apart on the left side of the rotary motor. One end of the connecting pipe is connected to the output end of the air pump. One end of the branch pipe is connected to the connecting pipe, and the other end is connected to the drive assembly. In use, the air pump can provide power to the drive assembly.

[0012] Preferably, the picking assembly includes a fixed arm, a connecting arm, and a gripping head. One end of the fixed arm is connected to a triangular bracket, and the other end is hinged to one end of the connecting arm. The gripping head is fixedly mounted on the other end of the connecting arm.

[0013] Preferably, the outer surfaces of the fixed arm and the connecting arm are also provided with a leather sleeve, wherein the leather sleeve is made of silicone material, and the leather sleeve can tightly wrap the fixed arm and the connecting arm during use.

[0014] Preferably, the outer surface of the gripping head is further provided with several grooves.

[0015] Preferably, the drive assembly includes a first fixing block, a second fixing block, and an airbag. The first fixing block and the second fixing block are respectively disposed on the left and right sides of the upper surface of the leather sleeve, and the airbag is disposed between the first fixing block and the second fixing block.

[0016] There are three branch pipes, and each individual branch pipe is connected to the airbag on each drive assembly.

[0017] Preferably, the airbag has a tubular structure and an annular pleated structure is formed on the upper surface of the airbag, and the airbag is made of silicone material.

[0018] In summary, this solution automates the harvesting of Sichuan peppercorns through the coordinated operation of an air pump, a triangular support, a motor, a fixed arm, a connecting arm, and an airbag. During harvesting, the air pump first delivers gas to the airbag. Once the gas enters the airbag, it causes the connecting arm to bend, allowing the connecting arm to grip the main stem of the Sichuan peppercorn. Subsequently, the rotary motor drives the triangular support to rotate, breaking off the gripped cluster of Sichuan peppercorns, thus achieving the goal of harvesting the peppercorns. Compared to manual harvesting, this solution effectively improves the harvesting efficiency of Sichuan peppercorns and reduces the labor intensity of manual labor. Attached image description:

[0019] Figure 1 This is a schematic diagram of the structure of a pepper-harvesting robot according to the present invention.

[0020] Figure 2 This is a schematic diagram of the grasping state of a pepper-harvesting robot according to the present invention.

[0021] Figures 1-2In the middle: 1-Triangular support; 2-Rotating motor; 3-Harvesting component; 31-Fixed arm; 32-Connecting arm; 33-Grip head; 34-Leather sleeve; 4-First fixing block; 41-Second fixing block; 42-Airbag; 5-Air pump; 51-Connecting pipe; 52-Branch pipe. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of this utility model, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" appear to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, they are 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, and therefore should not be construed as a limitation of this utility model.

[0026] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of 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.

[0027] As attached Figure 1 To be continued Figure 2As shown: A pepper harvesting robot includes a triangular support 1, a rotary motor 2 disposed on the left side of the triangular support 1, and harvesting components 3 mounted on the triangular support 1. The rotary motor 2 is spaced apart from the triangular support 1, and the drive shaft of the rotary motor 2 is fixedly connected to the center end of the triangular support 1. At the same time, at least 3 sets of harvesting components 3 are provided, and each set of harvesting components 3 is distributed in a circular shape in the adjacent areas on the right side of the triangular support 1.

[0028] In the above structure, multiple harvesting components 3 are arranged in a circular shape. When working together, they can move towards the inner center and clamp the stems of the Sichuan pepper clusters. Then, the rotary motor 2 drives the entire triangular support 1 to rotate, at which point the clamped stems of the Sichuan pepper clusters can be twisted off. In this way, the purpose of harvesting the Sichuan pepper clusters can be achieved by twisting.

[0029] In this embodiment, the harvesting component 3 includes a fixed arm 31, a connecting arm 32, and a gripping head 33. One end of the fixed arm 31 is connected to the triangular bracket 1, and the other end is hinged to one end of the connecting arm 32. The gripping head 33 is fixedly mounted on the other end of the connecting arm 32. This design allows the connecting arm 32 to rotate via the fixed arm 31. After rotation, the connecting arm 32 can drive the gripping head 33 to bend, thereby clamping the stem of the Sichuan pepper cluster.

[0030] Meanwhile, to enhance the friction between the gripping head 33 and the main stem of the Sichuan peppercorn, several grooves are evenly spaced on the outer surface of the gripping head 33. This design allows the grooves to effectively increase the contact area between the gripping head 33 and the main stem of the Sichuan peppercorn. Increased contact area enhances friction, thus preventing slippage when the gripping head 33 grips the main stem of the Sichuan peppercorn.

[0031] In this embodiment, a leather sleeve 34 is also provided on the outer surface of the fixed arm 31 and the connecting arm 32. The leather sleeve 34 is made of silicone material. When in use, the silicone leather sleeve 34 can tightly wrap the fixed arm 31 and the connecting arm 32, which can prevent them from being worn by the outside world. Moreover, since the silicone material has good flexibility, the leather sleeve 34 can adapt to the rotation process of the connecting arm 32, so as not to hinder the movement of the connecting arm 32.

[0032] In this embodiment, a first fixing block 4 and a second fixing block 41 are respectively provided on the left and right sides of the upper surface of the sleeve 34. The first fixing block 4 is opposite to the fixing arm 31, and the second fixing block 41 is opposite to the connecting arm 32. A tubular airbag 42 is also provided between the first fixing block 4 and the second fixing block 41. The airbag 42 is mainly made of silicone material, and an annular pleated structure is formed on the upper surface of the airbag 42. This design allows the connecting arm 32 to move by extending the airbag 42. For example, when gas is gradually injected into the airbag 42, it can expand. Because the upper surface of the airbag 42 is pleated while the lower surface is relatively flat, the airbag 42 can extend inward. At the same time as it extends, the second fixing block 41 can drive the connecting arm 32 to bend, thus realizing the gripping process, and allowing the gripping head 33 to grasp the main stem of the Sichuan pepper.

[0033] Meanwhile, an inflation assembly is also spaced out on one side of the triangular support 1. This inflation assembly includes an air pump 5, a connecting pipe 51, and branch pipes 52. The air pump 5 is spaced out on the left side of the rotary motor 2. There is one connecting pipe 51, one end of which is connected to the output end of the air pump 5. There are three branch pipes 52, one end of which is connected to the airbag 42 on each harvesting assembly 3, and the other end of which is connected to the connecting pipe 51. This design allows the airbag 42 to be injected with gas through the connecting pipe 51 and the three branch pipes 52, so that the air pump 5 can control the harvesting assemblies 3 to operate together.

[0034] This embodiment also includes an image recognition unit, which mainly consists of a camera, a lighting lamp, a processor, a sensor, a depth camera, and a battery.

[0035] The main function of the camera is to capture images of the pepper trees and pepper clusters in real time. By capturing images from multiple angles and directions, it can obtain visual data such as the location, shape, and maturity of the pepper plants, providing basic image data for subsequent harvesting operations. The camera can be installed in a suitable position on the robot to ensure that the area of ​​pepper plants to be harvested can be clearly captured.

[0036] The lighting plays a role in low-light environments such as at night or in dark forests. It can provide sufficient light to ensure that the camera can clearly capture images of the pepper trees and pepper clusters, avoiding blurry or unrecognizable images due to lighting problems, thereby improving the accuracy and reliability of image recognition.

[0037] The processor is the core component of the image recognition unit. It receives image data from the camera and depth camera, processes and analyzes this data, and through algorithms and programs (such as YOLO algorithm or Faster R-CNN algorithm), the processor can identify the location, size, shape, maturity and other features of the peppercorns. Based on this information, it plans the picking path and controls the action of the picking component 3, so that the picking robot can accurately locate and pick the peppercorns.

[0038] Sensors can include various types, such as distance sensors and angle sensors. Distance sensors detect the distance between the harvesting component 3 and the pepper tree or pepper cluster, preventing the harvesting component 3 from colliding with the pepper tree or other obstacles during operation and ensuring the safety of the harvesting process. Angle sensors monitor the position and angle of the harvesting component 3, helping the processor to precisely control its movements so that it can accurately reach the pepper cluster for harvesting.

[0039] Depth cameras can acquire three-dimensional depth information of pepper trees and clusters, which, combined with two-dimensional images captured by cameras, provides the processor with richer environmental data. Using this depth information, the processor can more accurately determine the spatial location and shape of the pepper clusters, improving harvesting precision and helping to avoid misharvesting or missing any crops.

[0040] The battery provides power to the image recognition unit and other components of the pepper-harvesting robot, ensuring continuous operation during work. It stores electrical energy, providing a stable power supply to various electrical devices such as the air pump 5, rotary motor 2, and processor, guaranteeing the robot's normal operation.

[0041] In addition to the above description, it should be noted that:

[0042] 1. The camera, lighting, processor, sensor, depth camera, and battery mentioned above are all existing, well-known technologies. Their specific technical details and working principles have been widely applied and maturely developed in related fields. Therefore, their specific implementation methods will not be elaborated upon in this solution.

[0043] 2. The image recognition unit mentioned above is not the innovation of this utility model.

[0044] The following is the specific workflow of this utility model:

[0045] First, the air pump 5 and the rotary motor 2 are installed in appropriate positions on the vehicle body using bolts. Then, when picking pepper clusters, the image information of the pepper clusters is obtained through the image recognition unit. The air pump 5 then delivers gas to the airbag 42. When the gas enters the airbag 42, it can cause the airbag 42 to extend inward. This allows the airbag 42 to drive the connecting arm 32 to bend. At the same time as bending, the gripping head 33 can grab the main stem of the red pepper.

[0046] After the grasping is completed, the rotary motor 2 is started, which drives the entire triangular support 1 to rotate. During the rotation, the clamped red pepper cluster stems can be twisted off, thus achieving the purpose of harvesting the red pepper clusters.

[0047] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. For those skilled in the art, various modifications and variations can be made to this invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the protection scope of this invention.

Claims

1. A Sichuan pepper harvesting robot, characterized in that, include: A triangular bracket (1) is provided on the left side of the triangular bracket (1), and the drive shaft of the rotary motor (2) is connected to the center end of the triangular bracket (1). The picking component (3) is provided in at least 3 parts, and each picking component (3) is distributed in a circular shape in the adjacent areas of the triangular support (1). When in use, the picking component (3) can move towards the inner center at the same time. A driving component is disposed on the picking component (3). In use, the driving component can drive the picking component (3) to bend. The inflation assembly includes an air pump (5), a connecting pipe (51), and a branch pipe (52). The air pump (5) is spaced apart on the left side of the rotary motor (2). One end of the connecting pipe (51) is connected to the output end of the air pump (5). One end of the branch pipe (52) is connected to the connecting pipe (51), and the other end is connected to the drive assembly. In use, the air pump (5) can provide power to the drive assembly.

2. The Sichuan pepper harvesting robot according to claim 1, characterized in that: The picking assembly (3) includes a fixed arm (31), a connecting arm (32) and a gripping head (33). One end of the fixed arm (31) is connected to the triangular bracket (1), and the other end is hinged to one end of the connecting arm (32). The gripping head (33) is fixedly installed at the other end of the connecting arm (32).

3. The pepper-harvesting robot according to claim 2, characterized in that: The outer surfaces of the fixed arm (31) and the connecting arm (32) are also provided with a leather sleeve (34), wherein the leather sleeve (34) is made of silicone material, and when in use, the leather sleeve (34) can tightly wrap the fixed arm (31) and the connecting arm (32).

4. A Sichuan pepper harvesting robot according to claim 2, characterized in that: The outer surface of the gripping head (33) is also provided with several grooves.

5. A Sichuan pepper harvesting robot according to any one of claims 1 or 3, characterized in that: The drive assembly includes a first fixing block (4), a second fixing block (41), and an airbag (42). The first fixing block (4) and the second fixing block (41) are respectively disposed on the left and right sides of the upper surface of the leather sleeve (34), and the airbag (42) is disposed between the first fixing block (4) and the second fixing block (41). There are three branch pipes (52), and each individual branch pipe (52) is connected to the airbag (42) on each drive assembly.

6. A Sichuan pepper harvesting robot according to claim 5, characterized in that: The airbag (42) has a tubular structure and an annular pleated structure is formed on the upper surface of the airbag (42). The airbag (42) is made of silicone material.

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