A track type picking robot for a tomato greenhouse

Abstract

The utility model discloses a track type picking robot for tomato greenhouse relates to picking robot technical field, including two groove rails, the below of groove rail places the sliding frame, the left and right sides of sliding frame all are fixedly installed with the support, the front and rear two ends of each support all are through the pivot rotation connection with the gyro wheel, and two groups of gyro wheel are located in the recess of two groove rails respectively. This is used for the track type picking robot for tomato greenhouse, can drive gear no.

Description

Technical Field

[0001] This utility model relates to the field of harvesting robot technology, specifically a track-type harvesting robot for tomato greenhouses. Background Technology

[0002] Tomatoes, as a common fruit and vegetable, are widely cultivated in my country. When greenhouse-grown tomatoes are harvested, they need to be picked manually, which requires a lot of labor. Therefore, the current manual picking model can no longer meet the needs of the industrial development of tomatoes. Furthermore, some robots that can pick tomatoes usually move on the ground, but they are easily affected by various ground factors, which can cause difficulties in their movement. In addition, when some robots with tracks are used, the tracks are laid on the ground, which inevitably affects the planting of tomatoes and the tilling of the planting area. Moreover, the use of mechanical claws can easily damage ripe tomatoes, resulting in poor picking results. Utility Model Content

[0003] (a) Technical problems to be solved

[0004] To address the shortcomings of existing technologies, this utility model provides a track-mounted harvesting robot for tomato greenhouses, which has the advantages of not occupying ground space and achieving good harvesting results.

[0005] (II) Technical Solution

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a track-type harvesting robot for tomato greenhouses, comprising two tracks, a sliding frame placed below the tracks, brackets fixedly installed on the left and right sides of the sliding frame, rollers rotatably connected to the front and rear ends of each bracket via a rotating shaft, and two sets of rollers respectively located in the grooves of the two tracks, a servo motor fixedly installed inside the sliding frame, a gear fixedly installed at the output end of the servo motor, and a toothed plate fixedly installed on the inner side of the tracks, with the gear meshing with the toothed plate.

[0007] Two suspensions are fixedly installed on the bottom surface of the sliding frame. A servo motor is fixedly installed on the inner top wall of each suspension. A lead screw is fixedly installed at the output end of each servo motor. A slider is placed inside each suspension. A wire tube is embedded in the middle of each slider. The bottom end of the lead screw passes through the wire tube and extends to the bottom of the slider. The outer surface of the lead screw is threaded to the inner ring of the wire tube. Two connecting blocks are fixedly installed on the outer side of each slider. Two through slots are opened on the outer side of each suspension. The outer end of the connecting block passes through the through slot and extends to the outside of the suspension. A connecting frame is fixedly installed on the outer end of each set of connecting blocks.

[0008] Below each of the connecting frames is an arm box 1. Inside each arm box 1 is a servo motor 3. At the output end of each servo motor 3 is a gear 2. Inside each arm box 1 is a bearing 1. The inner ring of each bearing 1 is fixedly fitted with a connecting post 1, and the top of the connecting post 1 is fixedly connected to the top of the connecting frame. At the bottom of each connecting post 1 is a gear 3, and gear 2 and gear 3 mesh with each other.

[0009] Each arm box 1 has an arm box 2 fixedly installed on its outer side via a connecting column 1. Each arm box 2 has a servo motor 4 fixedly installed inside. Each servo motor 4 has a gear 4 fixedly installed at its output end. Each arm box 2 has a bearing 2 embedded inside. Each bearing 2 has a connecting column 2 fixedly installed on its inner ring. Each connecting column 2 has a gear 5 fixedly installed at its bottom end, and the gear 5 meshes with the gear 4. Each connecting column 2 has a connecting box fixedly installed at its top end.

[0010] Each of the connecting boxes has an arm box three fixedly installed at its inner end via a connecting post two. Each of the arm boxes three has a servo motor five fixedly installed inside. Each of the servo motor five has a gear six fixedly installed at its output end. Each of the arm boxes three has a bearing four embedded inside. Each of the bearing four has a connecting post three fixedly installed on its inner ring. Each of the connecting posts has a gear seven fixedly installed at its bottom end, and gear six meshes with gear seven.

[0011] Each of the connecting columns three has a mounting bracket fixedly installed at its top, a servo motor six fixedly installed at its bottom, a fixing block fixedly installed at the output end of each servo motor six, a side bracket fixedly installed on the outer side of each fixing block, a movable plate placed inside each side bracket, a wire tube two embedded in the middle of each movable plate, a servo motor seven fixedly installed inside each fixing block, and a lead screw two fixedly installed at the output end of each servo motor seven. The threaded end penetrates through the second threaded tube and extends to the outside of the moving plate, and the outer surface of the second threaded rod is threaded to the inner ring of the second threaded tube. The upper and lower ends of the side support are both hinged to the first connecting rod through a pivot. The inner end of each first connecting rod is hinged to the second connecting rod through a pin, and the inner end of each second connecting rod is hinged to the upper and lower ends of the moving plate through a pin. The outer end of each first connecting rod is hinged to a picking gripper through a pin, and the outer side of each picking gripper is hinged to the third connecting rod through a pin, and the third connecting rod is hinged to the outer side of the side support through a pin.

[0012] Furthermore, a fixing bracket is installed between the two groove rails by bolts.

[0013] By adopting the above technical solution, the fixing frame can be fixed to the frame beam of the greenhouse by bolts or welding, and the track part can be installed.

[0014] Furthermore, each slider has two guide holes inside, and each suspension has two guide rods fixedly installed inside, with the guide rods inserted into the guide holes.

[0015] By adopting the above technical solution, the stability of the slider during height adjustment can be better guaranteed.

[0016] Furthermore, a side cover is fixedly installed on the outer side of each of the picking grippers, and the top of the picking gripper is blade-shaped.

[0017] By adopting the above technical solutions, tomatoes can be better surrounded during harvesting, preventing them from slipping out. The groove in the middle of the harvesting grip also helps to avoid damaging the fruit by directly pinching it, and the blade-shaped tip structure can better cut off the fruit stem during harvesting.

[0018] Furthermore, a camera is fixedly mounted on the top of each of the mounting brackets.

[0019] By adopting the above technical solutions, tomatoes can be more accurately located visually during movement or harvesting.

[0020] Furthermore, each of the arm box one, arm box two and arm box three has a cover plate fixedly installed at its opening end by bolts.

[0021] By adopting the above technical solution, the opening end can be sealed better, and the internal structure can be better maintained after disassembly.

[0022] Furthermore, a placement plate is fixedly installed at the bottom of each of the connecting frames.

[0023] By adopting the above technical solution, the picking basket can be placed on the placement board to store the picked tomatoes.

[0024] (III) Beneficial Effects

[0025] Compared with existing technologies, this track-mounted harvesting robot for tomato greenhouses has the following advantages:

[0026] 1. This utility model is equipped with a servo motor, which drives a gear to rotate on a toothed plate, thus moving the device during harvesting. The suspension design avoids the need for a track to occupy ground space and affect tomato planting or land preparation. The servo motor also drives a lead screw to rotate inside a wire tube, thereby adjusting the height of the slider and thus the harvesting height of the device, improving the movement and adjustment efficiency of the device during use.

[0027] 2. By setting up servo motor three, servo motor four, and servo motor five, this utility model can better adjust the position of the picking gripper, allowing the picking gripper to more accurately pick tomatoes. By setting side covers and a groove in the middle of the picking gripper, the tomatoes can be better gripped in the internal space during picking. When the picking gripper is fully closed, the blade-like structure at the front end of the picking gripper can cut off the tomato stem, thereby reducing the damage caused by directly picking the tomatoes and improving the picking effect of the device. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of this utility model;

[0029] Figure 2 This is a schematic diagram of the external structure of the sliding frame of this utility model;

[0030] Figure 3 This is an exploded view of the internal structure of the suspension of this utility model;

[0031] Figure 4 This is a schematic diagram of the external structure of the connecting frame of this utility model;

[0032] Figure 5 This is an exploded view of the internal structure of the arm box of this utility model;

[0033] Figure 6 This is an exploded view of the internal structure of the arm box of this utility model;

[0034] Figure 7 This is a schematic diagram of the mounting bracket structure of this utility model;

[0035] Figure 8 This is a schematic diagram of the external structure of the fixing block of this utility model;

[0036] Figure 9 This is a schematic diagram of the side support structure of this utility model;

[0037] Figure 10 This is a schematic diagram of the harvesting gripper structure of this utility model;

[0038] Figure 11This is a schematic diagram of the external structure of the movable plate of this utility model.

[0039] In the diagram: 1-Gateway, 2-Fixed bracket, 3-Gear plate, 4-Bracket, 5-Suspension, 6-Mounting bracket, 7-Camera, 8-Fixed block, 9-Connecting box, 10-Arm box two, 11-Placement plate, 12-Connecting bracket, 13-Roller, 14-Gear one, 15-Sliding bracket, 16-Servo motor one, 17-Servo motor two, 18-Lead screw one, 19-Guide rod, 20-Wire tube one, 21-Guide hole, 22-Slider, 23-Connecting block, 24-Through groove, 25-Connecting column one, 26-Arm box one, 27-Arm box three, 28-Servo motor six, 29-Connecting column 1. Gear 3, 31. Cover plate, 32. Gear 2, 33. Servo motor 3, 34. Bearing 1, 35. Servo motor 4, 36. Gear 5, 37. Connecting column 2, 38. Bearing 2, 39. Gear 4, 40. Gear 7, 41. Connecting column 3, 42. Bearing 4, 43. Connecting column 2, 44. Gear 6, 45. Servo motor 5, 46. Side support, 47. Picking gripper, 48. Connecting rod 3, 49. Side enclosure, 50. Servo motor 7, 51. Wire tube 2, 52. Connecting rod 2, 53. Connecting rod 1, 54. Lead screw 2, 55. Moving plate. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0041] Please see Figure 1-11 This utility model provides a technical solution: a track-type harvesting robot for tomato greenhouses, including two track rails 1, and a fixing frame 2 is fixedly installed between the two track rails 1 by bolts. The fixing frame 2 can be fixed to the frame beam of the greenhouse by bolts or welding to install the track part.

[0042] A sliding frame 15 is placed below the groove 1. The sliding frame 15 contains a main control board, a controller, and a vision sensing system. The controller can control the start / stop, rotation direction, rotation speed, and rotation angle of the servo motor. The vision sensing system can search for and locate the fruit through the camera 7. Supports 4 are fixedly installed on both the left and right sides of the sliding frame 15. Rollers 13 are rotatably connected to the front and rear ends of each support 4 through a rotating shaft. The two sets of rollers 13 are located in the grooves of the two grooves of the groove 1. A servo motor 16 is fixedly installed inside the sliding frame 15. A gear 14 is fixedly installed at the output end of the servo motor 16. A toothed plate 3 is fixedly installed on the inner side of the groove 1. The gear 14 meshes with the toothed plate 3. The toothed plate 3 has a splicable structure so that the gear 14 will not jam when it is running.

[0043] Two suspensions 5 are fixedly installed on the bottom surface of the sliding frame 15. A servo motor 2 17 is fixedly installed on the inner top wall of each suspension 5. A lead screw 18 is fixedly installed at the output end of each servo motor 2 17. A slider 22 is placed inside each suspension 5. Two guide holes 21 are opened inside each slider 22. Two guide rods 19 are fixedly installed inside each suspension 5 and are inserted into the guide holes 21 to better ensure the stability of the slider 22 during height adjustment. A wire tube 20 is embedded in the middle of each slider 22, and the bottom end of the lead screw 18 passes through it. The wire tube 20 extends to the bottom of the slider 22, and the outer surface of the lead screw 18 is threaded to the inner ring of the wire tube 20. Two connecting blocks 23 are fixedly installed on the outer side of each slider 22. Two through slots 24 are opened on the outer side of each suspension 5. The outer end of the connecting block 23 passes through the through slot 24 and extends to the outside of the suspension 5. A connecting frame 12 is fixedly installed on the outer end of each set of connecting blocks 23. A placement plate 11 is fixedly installed at the bottom of each connecting frame 12, so that the picking basket can be placed on the placement plate 11 to store the picked tomatoes.

[0044] Below each connecting frame 12 is an arm box 26. A servo motor 33 is fixedly installed inside each arm box 26. A gear 22 is fixedly installed at the output end of each servo motor 33. A bearing 34 is embedded inside each arm box 26. A connecting post 29 is fixedly installed on the inner ring of each bearing 34. The top of the connecting post 29 is fixedly connected to the top of the connecting frame 12. A gear 30 is fixedly installed at the bottom of each connecting post 29. Gear 22 and gear 30 mesh with each other.

[0045] Each arm box 16 has an arm box 20 fixedly mounted on its outer side via a connecting post 25. Each arm box 20 has a servo motor 4 35 fixedly mounted inside. Each servo motor 4 35 has a gear 4 39 fixedly mounted on its output end. Each arm box 20 has a bearing 2 38 embedded inside. Each bearing 2 38 has a connecting post 2 37 fixedly mounted on its inner ring. Each connecting post 2 37 has a gear 5 36 fixedly mounted at its bottom end, and the gear 5 36 meshes with the gear 4 39. Each connecting post 2 37 has a connecting box 9 fixedly mounted at its top end.

[0046] Each connecting box 9 has an arm box 27 fixedly installed at its inner end via a connecting post 2 43. Each arm box 1 26, arm box 2 10, and arm box 3 27 has a cover plate 31 fixedly installed at its open end via bolts to better seal the open end and to better maintain the internal structure after disassembly. Each arm box 3 27 has a servo motor 5 45 fixedly installed inside. Each servo motor 5 45 has a gear 6 44 fixedly installed at its output end. Each arm box 3 27 has a bearing 42 embedded inside. Each bearing 42 has a connecting post 3 41 fixedly installed on its inner ring. Each connecting post 41 has a gear 7 40 fixedly installed at its bottom end, and gear 6 44 meshes with gear 7 40.

[0047] Each connecting post 341 has a mounting bracket 6 fixedly installed at its top, and a camera 7 fixedly installed at its top for better visual positioning of tomatoes during movement or harvesting. Each mounting bracket 6 has a servo motor 628 fixedly installed at its bottom, and a fixing block 8 fixedly installed at the output end of each servo motor 628. A side bracket 46 is fixedly installed on the outer side of each fixing block 8, and a movable plate 55 is placed inside each side bracket 46. A wire tube 2 51 is embedded in the middle of each movable plate 55. Each fixing block 8 has a servo motor 7 50 fixedly installed inside, and a lead screw 2 54 is fixedly installed at the output end of each servo motor 7 50. The threaded end of the lead screw 2 54 passes through the wire tube 2 51 and extends to the outside of the movable plate 55, and the outer surface of the lead screw 2 54 is threadedly connected to the inner ring of the wire tube 2 51. Both ends of the frame 46 are hinged to connecting rod 1 53 via pivots. The inner end of each connecting rod 1 53 is hinged to connecting rod 2 52 via pins. The inner end of each connecting rod 2 52 is hinged to the upper and lower ends of the moving plate 55 via pins. The outer end of each connecting rod 1 53 is hinged to a picking gripper 47 via pins. The outer side of each picking gripper 47 is hinged to connecting rod 3 48 via pins. Connecting rod 3 48 is hinged to the outer side of the side support 46 via pins. A side cover 49 is fixedly installed on the outer side of each picking gripper 47. The tip of the picking gripper 47 is blade-shaped, which better surrounds the tomato during picking and prevents the tomato from slipping. The groove in the middle of the picking gripper 47 also prevents damage to the fruit from direct pinching. The blade-shaped tip structure better cuts off the fruit stem during picking.

[0048] Working Principle: During use, the operation of servo motor one drives gear one 14 to rotate on gear plate 3, causing the device to move. After moving to the picking position, the operation of servo motor two 17 drives lead screw one 18 to rotate inside wire tube one 20, adjusting the height of slider 22, and thus adjusting the height of picking gripper 47. After adjusting to the picking height, servo motors three 33, four 35, and five 45 adjust each support arm, thereby adjusting the position of the picking gripper to the outside of the tomato. The clockwise rotation of servo motor seven 50 drives lead screw two 54 to rotate inside wire tube two 51, driving moving plate 55 to... The inner side moves, thereby pulling the outer end of the first link 53 towards the center through the second link 52, driving the two picking grippers 47 to perform a grasping action, thereby grabbing the tomato in the groove in the middle. When the picking grippers 47 are fully closed, the fruit stem is cut off by the blade-like structure at the top, thereby picking the tomato. After the servo motors 33, 43, and 545 are adjusted again, the grippers are adjusted to be above the placement plate 11. The servo motor 750 resets and opens the two picking grippers 47. The servo motor 628 drives the picking grippers 47 to rotate 90 degrees, thereby pouring the tomato into the picking basket on the placement plate 11, completing the tomato picking.

[0049] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A track-mounted harvesting robot for tomato greenhouses, comprising two tracks (1), characterized in that: A sliding frame (15) is placed below the groove (1). A bracket (4) is fixedly installed on both the left and right sides of the sliding frame (15). Rollers (13) are rotatably connected to the front and rear ends of each bracket (4) through a rotating shaft. The two sets of rollers (13) are respectively located in the grooves of the two grooves (1). A servo motor (16) is fixedly installed inside the sliding frame (15). A gear (14) is fixedly installed at the output end of the servo motor (16). A toothed plate (3) is fixedly installed on the inner side of the groove (1), and the gear (14) meshes with the toothed plate (3). Two suspensions (5) are fixedly installed on the bottom surface of the sliding frame (15). A servo motor (17) is fixedly installed on the inner top wall of each suspension (5). A lead screw (18) is fixedly installed at the output end of each servo motor (17). A slider (22) is placed inside each suspension (5). A wire tube (20) is embedded in the middle of each slider (22). The bottom end of the lead screw (18) passes through the wire tube (20) and extends to the bottom of the slider (22). The outer surface of the lead screw (18) is threaded to the inner ring of the wire tube (20). Two connecting blocks (23) are fixedly installed on the outer side of each slider (22). Two through slots (24) are opened on the outer side of each suspension (5). The outer end of the connecting block (23) passes through the through slot (24) and extends to the outside of the suspension (5). A connecting frame (12) is fixedly installed on the outer end of each set of connecting blocks (23). Below each of the connecting frames (12) is an arm box (26), and inside each of the arm boxes (26) is a servo motor (33) fixedly installed. At the output end of each of the servo motors (33) is a gear (32) fixedly installed. Inside each of the arm boxes (26) is a bearing (34), and the inner ring of each bearing (34) is fixedly installed with a connecting post (29). The top of the connecting post (29) is fixedly connected to the top of the connecting frame (12). At the bottom of each connecting post (29) is a gear (30) fixedly installed, and the gear (32) and the gear (30) mesh with each other. Each of the arm boxes 1 (26) has an arm box 2 (10) fixedly installed on its outer side via a connecting post 1 (25). Each of the arm boxes 2 (10) has a servo motor 4 (35) fixedly installed inside. Each of the servo motor 4 (35) has a gear 4 (39) fixedly installed at its output end. Each of the arm boxes 2 (10) has a bearing 2 (38) embedded inside. Each of the bearing 2 (38) has a connecting post 2 (37) fixedly installed on its inner ring. Each of the connecting posts 2 (37) has a gear 5 (36) fixedly installed at its bottom end, and the gear 5 (36) meshes with the gear 4 (39). Each of the connecting posts 2 (37) has a connecting box 9 fixedly installed at its top end. Each of the connecting boxes (9) has an arm box (27) fixedly installed at its inner end via a connecting post (43). Each of the arm boxes (27) has a servo motor (45) fixedly installed inside. Each of the servo motors (45) has a gear (44) fixedly installed at its output end. Each of the arm boxes (27) has a bearing (42) embedded inside. Each of the bearings (42) has a connecting post (41) fixedly installed on its inner ring. Each of the connecting posts (41) has a gear (40) fixedly installed at its bottom end. The gear (6) and the gear (7) mesh with each other. Each of the connecting columns three (41) has a mounting bracket (6) fixedly installed at its top end, a servo motor six (28) fixedly installed at its bottom end, a fixing block (8) fixedly installed at the output end of each servo motor six (28), a side bracket (46) fixedly installed on the outer side of each fixing block (8), a movable plate (55) placed inside each side bracket (46), a wire tube two (51) embedded in the middle of each movable plate (55), a servo motor seven (50) fixedly installed inside each fixing block (8), and a lead screw two (54) fixedly installed at the output end of each servo motor seven (50), and the screw of the lead screw two (54) is... The threaded end penetrates through the second wire tube (51) and extends to the outside of the moving plate (55), and the outer surface of the second wire rod (54) is threadedly connected to the inner ring of the second wire tube (51). The upper and lower ends of the side support (46) are hinged to the first connecting rod (53) through a pivot. The inner end of each first connecting rod (53) is hinged to the second connecting rod (52) through a pin. The inner end of each second connecting rod (52) is hinged to the upper and lower ends of the moving plate (55) through a pin. The outer end of each first connecting rod (53) is hinged to the picking gripper (47) through a pin. The outer side of each picking gripper (47) is hinged to the third connecting rod (48) through a pin. The third connecting rod (48) is hinged to the outer side of the side support (46) through a pin.

2. The track-mounted harvesting robot for tomato greenhouses according to claim 1, characterized in that: A fixing bracket (2) is fixed between the two groove rails (1) by bolts.

3. The track-mounted harvesting robot for tomato greenhouses according to claim 1, characterized in that: Each slider (22) has two guide holes (21) inside, and each suspension (5) has two guide rods (19) fixedly installed inside, with the guide rods (19) inserted into the guide holes (21).

4. The track-mounted harvesting robot for tomato greenhouses according to claim 1, characterized in that: Each of the picking grippers (47) has a side cover (49) fixedly installed on its outer side, and the top of the picking gripper (47) is blade-shaped.

5. A track-mounted harvesting robot for tomato greenhouses according to claim 1, characterized in that: A camera (7) is fixedly mounted on the top of each of the mounting brackets (6).

6. The track-mounted harvesting robot for tomato greenhouses according to claim 1, characterized in that: Each of the arm box one (26), arm box two (10) and arm box three (27) has a cover plate (31) fixedly installed at its open end by bolts.

7. The track-mounted harvesting robot for tomato greenhouses according to claim 1, characterized in that: Each of the connecting frames (12) has a placement plate (11) fixedly installed at its bottom end.

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