An automated urban agriculture fruit and vegetable picking and sorting device
By using a stepper motor-driven transmission rod and belt system, combined with a weight sensor and a servo motor-controlled robotic arm, the automated sorting and harvesting of fruits and vegetables is achieved. This solves the problem of low sorting efficiency caused by the different sizes and shapes of fruits and vegetables, improves harvesting and sorting efficiency, and reduces labor costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ACADEMY OF PLANNING & DESIGNING OF THE MINIST OF AGRI
- Filing Date
- 2025-06-12
- Publication Date
- 2026-06-12
AI Technical Summary
In existing technologies, fruit and vegetable picking robots experience blockages at the sorting inlet due to the varying sizes and shapes of fruits and vegetables, thus affecting sorting efficiency.
A stepper motor-driven transmission rod and belt system is used for fruit and vegetable sorting. Combined with a weight sensor and servo motor to control the robotic arm, the automated sorting and harvesting of fruits and vegetables is achieved.
It improves the efficiency of fruit and vegetable harvesting and sorting, reduces labor costs, and enhances the accuracy and flexibility of sorting.
Smart Images
Figure CN224343873U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of harvesting and sorting technology, specifically to an automated urban agricultural fruit and vegetable harvesting and sorting device. Background Technology
[0002] Urban agriculture refers to a mode of agricultural production that utilizes limited space and resources in and around cities. It has advantages such as proximity to consumer markets, reduced transportation links, and guaranteed freshness of agricultural products.
[0003] The applicant discovered through a search that a Chinese patent, "A Fruit and Vegetable Harvesting and Sorting Robot," with publication (announcement) number "CN 211482025 U," is disclosed. This patent mainly uses a walking mechanism to drive the frame to rotate in place and move forward or backward. It identifies and detects the fruits and vegetables to be harvested through a harvesting device, and harvests them after feature matching. The sorting device sorts and collects the fruits and vegetables by size, achieving a high degree of intelligence in harvesting and sorting. It has a high degree of automation. However, this device relies on different sized orifices to sort the fruits and vegetables. Due to the different sizes and shapes of the fruits and vegetables, the orifices may become clogged, affecting the sorting efficiency. Therefore, we propose an automated urban agriculture fruit and vegetable harvesting and sorting device. Utility Model Content
[0004] The purpose of this invention is to provide an automated urban agricultural fruit and vegetable harvesting and sorting device.
[0005] To achieve the above objectives, this utility model provides the following technical solution: an automated urban agricultural fruit and vegetable harvesting and sorting device, comprising a base plate and a drive wheel connected below the base plate via a connecting block, characterized in that: a protective frame is fixedly installed on the top surface of the base plate, a support frame is fixedly installed on the left side of the protective frame, a stepper motor is fixedly installed inside the support frame, a transmission rod is fixedly connected to the output end of the stepper motor, a partition plate is installed on the inner wall of the protective frame, a rotating rod is rotatably connected between the left side wall of the protective frame and the left side of the partition plate via a bearing, a support block is installed on the top surface of the base plate, a partition frame is fixedly installed on the top surface of the support block, two sets of belts are connected between the surfaces of the transmission rod and the rotating rod, and the two sets of belts are respectively located on the left and right sides of the partition frame, a weight sensor is embedded in the top surface of each set of belts, a partition plate is connected to the inner wall of the protective frame, a screening plate is rotatably connected to the inner wall of the protective frame, a spring is connected to the side of the partition plate, and the top end of the spring is connected to the lower end face of the screening plate.
[0006] As a further embodiment of this utility model: the right end of the transmission rod is rotatably connected to the partition plate via a bearing.
[0007] As a further embodiment of this utility model: fruit and vegetable collection boxes are provided on both the front and rear sides of the two sets of belts, and limit belts are fixedly installed on the surface of the two sets of belts.
[0008] As a further embodiment of this utility model: a cylinder is mounted on the top surface of the base plate, and a mounting bracket is fixedly connected to the output end of the cylinder.
[0009] As a further embodiment of this utility model: a servo motor is installed at the center of the top surface of the mounting bracket, a turntable is fixedly connected to the output end of the servo motor, a fixing block is installed on the top surface of the turntable, a first robotic arm is rotatably connected to the top of the fixing block via an electric rotating shaft, and a second robotic arm is rotatably connected to the right end of the first robotic arm via an electric rotating shaft.
[0010] As a further embodiment of this utility model: the top surface of the mounting bracket is provided with a sliding groove, and the bottom surface of the turntable is fixedly installed with a sliding rod, and the sliding rod and the sliding groove are compatible.
[0011] As a further embodiment of this utility model: an image recognition device is installed on the top surface of the second robotic arm, a support plate is fixedly connected to the right end of the second robotic arm, electric mechanical claws are equidistantly installed on the right side of the support plate, and an anti-slip pad is installed at the center of the right side of the support plate.
[0012] Compared with the prior art, the beneficial effects of this utility model by adopting the above technical solution are as follows:
[0013] 1. This utility model uses a stepper motor. After the stepper motor is started, it drives the belt and rotating rod to rotate synchronously through the transmission rod. After the harvested fruits and vegetables are placed on the belt, the weight sensor will detect the weight of the fruits and vegetables and then control the direction of rotation of the stepper motor, thereby classifying fruits and vegetables of different sizes. By setting two sets of belts, different types of fruits and vegetables can be classified, thereby improving the efficiency of fruit and vegetable harvesting and classification and reducing labor costs.
[0014] 2. This utility model incorporates a cylinder, which, upon activation, moves the mounting frame up and down, thereby adjusting its height. A servo motor, upon activation, rotates a turntable, adjusting the direction of the two robotic arms on the turntable. This allows the electric robotic claw connected to the second robotic arm to harvest fruits and vegetables at different heights and orientations, improving harvesting efficiency and accuracy.
[0015] Other advantages, objectives and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be taught from the practice of this invention. Attached Figure Description
[0016] Figure 1 This is an overall schematic diagram of an embodiment of the present utility model;
[0017] Figure 2 This is a schematic diagram of the cylinder connection structure in an embodiment of the present utility model;
[0018] Figure 3 This is a schematic diagram of the connection structure of the first robotic arm in an embodiment of this utility model;
[0019] Figure 4 This is a schematic diagram of the connection structure of the turntable in an embodiment of this utility model;
[0020] Figure 5 This is a schematic diagram of the partition in an embodiment of the present utility model;
[0021] Figure 6 This is a top view of the overall structure in an embodiment of this utility model.
[0022] In the diagram: 1. Base plate; 2. Drive wheel; 3. Protective frame; 4. Support frame; 5. Stepper motor; 6. Transmission rod; 7. Divider plate; 8. Rotating rod; 9. Support block; 10. Divider frame; 11. Belt; 12. Weight sensor; 13. Limiting belt; 14. Cylinder; 15. Mounting bracket; 16. Servo motor; 17. Turntable; 18. Fixing block; 19. Slide rod; 20. First robotic arm; 21. Second robotic arm; 22. Image recognition device; 23. Support plate; 24. Electric robotic gripper; 25. Anti-slip mat; 26. Slide groove; 27. Fruit and vegetable collection box; 28. Screening plate; 29. Divider plate; 30. Spring. Detailed Implementation
[0023] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand this utility model, but does not constitute a limitation on this utility model.
[0024] Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.
[0025] Please see the appendix Figure 1 -Appendix Figure 5This utility model discloses an automated urban agricultural fruit and vegetable harvesting and sorting device, comprising a base plate 1 and a drive wheel 2 connected to the bottom of the base plate 1 via a connecting block. A protective frame 3 is fixedly installed on the top surface of the base plate 1, and a support frame 4 is fixedly installed on the left side of the protective frame 3. A stepper motor 5 is fixedly installed inside the support frame 4, and a transmission rod 6 is fixedly connected to the output end of the stepper motor 5. A partition plate 7 is installed on the inner wall of the protective frame 3, and a rotating rod 8 is rotatably connected between the left side of the protective frame 3 and the left side of the partition plate 7 via a bearing. A support block 9 is installed on the top surface of the base plate 1. A separator frame 10 is fixedly installed on the top surface of the support block 9. Two sets of belts 11 are connected between the surfaces of the transmission rod 6 and the rotating rod 8. The two sets of belts 11 are located on the left and right sides of the separator frame 10, respectively. A weight sensor 12 is embedded in the top surface of each set of belts 11. A partition plate 29 is connected to the inner wall of the protective frame 3. A screening plate 28 is rotatably connected to the inner wall of the protective frame 3. A spring 30 is connected to the side of the partition plate 29. The top of the spring 30 is connected to the lower end face of the screening plate 28.
[0026] In one embodiment of this utility model: the right end of the transmission rod 6 is rotatably connected to the partition plate 7 via a bearing.
[0027] In one embodiment of this utility model: fruit and vegetable collection boxes 27 are provided on both the front and rear sides of the two sets of belts 11, and limit belts 13 are fixedly installed on the surface of the two sets of belts 11.
[0028] In one embodiment of this utility model: a cylinder 14 is installed on the top surface of the base plate 1, and a mounting bracket 15 is fixedly connected to the output end of the cylinder 14.
[0029] In one embodiment of this utility model: a servo motor 16 is installed at the center of the top surface of the mounting bracket 15, a turntable 17 is fixedly connected to the output end of the servo motor 16, a fixing block 18 is installed on the top surface of the turntable 17, a first robotic arm 20 is rotatably connected to the top of the fixing block 18 via an electric rotating shaft, and a second robotic arm 21 is rotatably connected to the right end of the first robotic arm 20 via an electric rotating shaft.
[0030] In one embodiment of this utility model: a sliding groove 26 is provided on the top surface of the mounting bracket 15, and a sliding rod 19 is fixedly installed on the bottom surface of the turntable 17, and the sliding rod 19 and the sliding groove 26 are compatible.
[0031] In one embodiment of this utility model: an image recognition device 22 is installed on the top surface of the second robotic arm 21, a support plate 23 is fixedly connected to the right end of the second robotic arm 21, an electric mechanical claw 24 is equidistantly installed on the right side of the support plate 23, and an anti-slip pad 25 is installed at the center of the right side of the support plate 23.
[0032] Example 1, please refer to the appendix. Figure 1 - Appendix Figure 5The device is moved to the area where fruits and vegetables need to be harvested via drive wheel 2. Once it reaches the designated position, the device starts working. Stepper motor 5 starts, and its output drives transmission rod 6 to rotate, which in turn drives rotating rod 8 to rotate synchronously via belt 11. At this time, the robotic arm places the harvested fruits and vegetables on belt 11. After the fruits and vegetables are placed on belt 11, the weight sensor 12 embedded on the top surface immediately starts to detect the weight of the fruits and vegetables. After the weight sensor 12 detects the weight of the fruits and vegetables, it transmits the data to the controller. The controller makes a threshold judgment according to the preset weight range (two levels: light and heavy).
[0033] If the weight is less than or equal to the lightweight threshold, the controller drives the stepper motor 5 to rotate forward, and the belt 11 transports the fruits and vegetables to the left collection box 27.
[0034] If the weight exceeds the weight threshold, the controller drives the stepper motor 5 to reverse, and the belt 11 transports the fruits and vegetables to the right collection box 27. As the belt 11 continues to operate, the fruits and vegetables are smoothly transported to their respective collection boxes 27. When the fruits and vegetables that have undergone preliminary screening are transported to the top of the collection box 27, they are blocked by the screening plate 28. Fruits and vegetables of different weights can pass through the screening plate 28 to compress the spring 30. The springs 30 on both sides of the partition 29 have different elastic forces, so fruits and vegetables of different weights can cause the corresponding screening plate 28 to rotate, thus performing secondary screening of the fruits and vegetables. The limiting belt 13 on the surface of the belt 11 ensures that the fruits and vegetables will not slip during the transmission process, further improving the accuracy and efficiency of classification.
[0035] Example 2, please refer to the appendix. Figure 1 -Appendix Figure 5 Before the harvesting operation begins, cylinder 14 is activated first, and its output end pushes the mounting frame 15 up and down to an appropriate height to adapt to the harvesting needs of fruits and vegetables at different heights. The servo motor 16 on the mounting frame 15 is then activated, driving the turntable 17 to rotate under the guidance of the slide groove 26 and the slide rod 19. The rotation of the turntable 17 allows the first robotic arm 20 and the second robotic arm 21 fixed on it to be adjusted to the optimal harvesting angle and direction. The image recognition device 22 on the top surface of the second robotic arm 21 is activated to accurately identify the target fruits and vegetables and to grasp them by controlling the electric mechanical claw 24. The electric mechanical claw 24 is mounted on the support plate 23. The anti-slip pad 25 in the center of the support plate 23 increases the friction between the mechanical claw and the fruits and vegetables, ensuring that the fruits and vegetables will not slip during the harvesting process. Through the electric rotating shaft connection between the first robotic arm 20 and the second robotic arm 21, the robotic arms can achieve flexible adjustment in multiple directions and angles to adapt to the harvesting needs of fruits and vegetables at different positions and angles, reducing the need for manual intervention.
[0036] Specifically, by setting a stepper motor 5, the stepper motor 5 drives the belt 11 to rotate through the transmission rod 6. The rotating rod 8 acts as a driven wheel to maintain the belt tension. When the direction of the stepper motor changes, the direction of movement of the belt 11 changes accordingly, thereby guiding the fruits and vegetables to the collection boxes 27 at different positions. After the harvested fruits and vegetables are placed on the belt 11, the weight sensor 12 will detect the weight of the fruits and vegetables and then control the direction of rotation of the stepper motor 5, thereby classifying fruits and vegetables of different sizes. By setting two sets of belts 11, different types of fruits and vegetables can be classified, thereby improving the efficiency of fruit and vegetable harvesting and classification and reducing labor costs.
[0037] Specifically, by setting up cylinder 14, the cylinder 14 can drive the mounting frame 15 to move up and down after being started, thereby adjusting the height of the mounting frame 15. By setting up servo motor 16, the servo motor 16 will drive the turntable 17 to rotate after being started, thereby adjusting the direction of the two sets of robotic arms on the turntable 17, so that the electric robotic claw 24 connected to the second robotic arm 21 can pick fruits and vegetables at different heights and directions, improving the efficiency and accuracy of picking.
[0038] Working principle:
[0039] First, the device is moved to the fruit and vegetable planting area by the drive wheel 2. Then, the cylinder 14 is activated, which moves the mounting frame 15 up and down to an appropriate height. The servo motor 16 is activated, which drives the turntable 17 to rotate, so that the first robotic arm 20 and the second robotic arm 21 fixed on the turntable 17 are aligned with the target fruits and vegetables. The image recognition device 22 at the top of the second robotic arm 21 identifies the types of fruits and vegetables, and the electric mechanical claw 24 accurately grabs the fruits and vegetables. After being picked, the fruits and vegetables are placed on the corresponding belt 11 according to their type. Then, the weight sensor 12 detects the weight of the fruits and vegetables, and the stepper motor 5 adjusts the rotation direction according to the detection result, so that the fruits and vegetables are classified into the corresponding fruit and vegetable collection box 27 according to weight. At the same time, during the continuous operation of the belt 11, the limit belt 13 ensures that the fruits and vegetables are stable and do not slip during the transmission. At this point, the entire workflow is completed.
[0040] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on.
[0041] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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. Therefore, they should not be construed as limiting the scope of protection of this utility model.
[0042] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments.
[0043] For those skilled in the art, various changes, modifications, substitutions, and alterations to these embodiments without departing from the principles and spirit of this utility model will still fall within the protection scope of this utility model.
Claims
1. An automated urban agricultural fruit and vegetable harvesting and sorting device, comprising a base plate (1) and a drive wheel (2) connected below the base plate (1) via a connecting block, characterized in that: A protective frame (3) is fixedly installed on the top surface of the base plate (1). A support frame (4) is fixedly installed on the left side of the protective frame (3). A stepper motor (5) is fixedly installed inside the support frame (4). A transmission rod (6) is fixedly connected to the output end of the stepper motor (5). A partition plate (7) is installed on the inner wall of the protective frame (3). A rotating rod (8) is rotatably connected between the left side wall of the protective frame (3) and the left side of the partition plate (7) through a bearing. A support block (9) is installed on the top surface of the base plate (1). The top surface of the support block (9) is fixed. A separator frame (10) is installed. Two sets of belts (11) are connected between the surfaces of the transmission rod (6) and the rotating rod (8). The two sets of belts (11) are located on the left and right sides of the separator frame (10). A weight sensor (12) is embedded on the top surface of each set of belts (11). A partition plate (29) is connected to the inner wall of the protective frame (3). A screening plate (28) is rotatably connected to the inner wall of the protective frame (3). A spring (30) is connected to the side of the partition plate (29). The top of the spring (30) is connected to the lower end face of the screening plate (28).
2. The automated urban agriculture fruit and vegetable harvesting and sorting device according to claim 1, characterized in that: The right end of the transmission rod (6) is rotatably connected to the partition plate (7) via a bearing.
3. The automated urban agriculture fruit and vegetable harvesting and sorting device according to claim 1, characterized in that: Fruit and vegetable collection boxes (27) are provided on both the front and rear sides of the two sets of belts (11), and limit belts (13) are fixedly installed on the surface of the two sets of belts (11).
4. The automated urban agriculture fruit and vegetable harvesting and sorting device according to claim 1, characterized in that: A cylinder (14) is mounted on the top surface of the base plate (1), and a mounting bracket (15) is fixedly connected to the output end of the cylinder (14).
5. An automated urban agriculture fruit and vegetable harvesting and sorting device according to claim 4, characterized in that: A servo motor (16) is installed at the center of the top surface of the mounting bracket (15). A turntable (17) is fixedly connected to the output end of the servo motor (16). A fixing block (18) is installed on the top surface of the turntable (17). A first robotic arm (20) is rotatably connected to the top of the fixing block (18) via an electric rotating shaft. A second robotic arm (21) is rotatably connected to the right end of the first robotic arm (20) via an electric rotating shaft.
6. An automated urban agriculture fruit and vegetable harvesting and sorting device according to claim 5, characterized in that: The top surface of the mounting bracket (15) is provided with a sliding groove (26), and the bottom surface of the turntable (17) is fixedly installed with a sliding rod (19), and the sliding rod (19) and the sliding groove (26) are compatible.
7. An automated urban agriculture fruit and vegetable harvesting and sorting device according to claim 5, characterized in that: An image recognition device (22) is installed on the top surface of the second robotic arm (21). A support plate (23) is fixedly connected to the right end of the second robotic arm (21). Electric mechanical claws (24) are installed at equal intervals on the right side of the support plate (23). An anti-slip pad (25) is installed at the center of the right side of the support plate (23).