CN108575320B - Strawberry picking robot - Google Patents
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- CN108575320B CN108575320B CN201810498109.0A CN201810498109A CN108575320B CN 108575320 B CN108575320 B CN 108575320B CN 201810498109 A CN201810498109 A CN 201810498109A CN 108575320 B CN108575320 B CN 108575320B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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Abstract
The invention relates to a strawberry picking robot, which is designed for solving the technical problem that the structural design of a grabbing mode structure, a rack and the like in the existing similar products is not good enough. The frame of the picking robot is a cubic aluminum profile frame formed by aluminum profiles, a frame bottom plate of the aluminum profile frame is provided with a walking crawler belt, an executing mechanism which respectively drives three-dimensional walking through an axial motor is arranged in the aluminum profile frame, and the tail end of one side of the executing mechanism in the x axial direction is provided with a mechanical claw; the X-axis baseplate one end of an executing mechanism is provided with a chuck support, the bottom of the chuck support is provided with a mechanical claw, one end of a movable chuck of the mechanical claw is provided with a blade, the chuck support at the other side of the movable chuck is provided with a fixed chuck, the other end of the movable chuck is hinged and swings with the chuck support through a pin shaft, a camera and an inductor are arranged right above the mechanical claw, a collecting net bag or a mechanical arm collecting box is arranged right below the blade of the mechanical claw, and a box groove of the mechanical arm collecting box is driven by a rotating motor to realize the opening and closing of a hinged mode.
Description
Technical Field
The invention relates to equipment for picking strawberries, in particular to a strawberry picking robot.
Background
Strawberry is a perennial herb, and the fruit of strawberry is fruity, large in polymerized fruit, bright red, juicy, high in sweetness, upright in preserved sepals and clinging to the fruit; the lean fruit is pointed egg shape and smooth. Strawberry is planted in most of the world, and is favored by people due to its sweet taste and rich nutritional value. Wherein the strawberry planting area in China reaches 10 ten thousand hectares. However, in order to ensure the appearance quality and nutritional value of strawberries, the strawberry fruits must be picked and picked every morning and evening in the harvest season. The labor intensity is high, the cost is high, and the cost accounts for about one fourth of the production cost of strawberry planting; therefore, an automation technology is introduced into a strawberry picking operation link, the labor intensity of the robot for picking strawberries is reduced, the production cost is reduced, and the robot becomes a central part for harvesting strawberries. The existing strawberry picking robot is disclosed in Chinese patent document with application number 201210037637.9, application publication date 2012.07.18, and invention name of "overhead strawberry picking robot"; the overhead strawberry picking robot comprises an accurate picking actuating mechanism of the strawberry picking robot, a storage basket, a long hole connecting rod, a threaded hole connecting rod, a chassis connecting rod and a crawler-type chassis; wherein, accomodate basket and the accurate actuating mechanism fixed connection of picking of strawberry picking robot, accurate actuating mechanism, other end fixed connection screw hole connecting rod of picking of slot hole connecting rod one end fixed connection strawberry picking robot, the fixed connection chassis connecting rod of screw hole connecting rod, chassis connecting rod and the crawler-type chassis fixed connection on it. But the structural design of the grabbing mode when the strawberries are picked is not good enough, the frame structure is difficult to adjust the width according to the use requirement, and the overall structure of the frame structure needs to be further improved and perfected.
Disclosure of Invention
In order to overcome the defects, the invention aims to provide a strawberry picking robot suitable for planting and picking of elevated strawberries in the field, so that the technical problems that the structure of a grabbing mode and the structure of a rack are not good enough, and the structure of a connector at the joint of a grabbing mechanism and a three-dimensional movement mechanism is not good enough in the existing similar products are solved. The purpose is realized by the following technical scheme.
A strawberry picking robot is characterized in that a frame of the strawberry picking robot is a cubic aluminum profile frame formed by aluminum profiles, the aluminum profile frame is arranged on a frame bottom plate and is connected with a walking crawler through the frame bottom plate, crawler motors are arranged on inner side frame bottom plates of the walking crawler symmetrically arranged, actuating mechanisms which respectively drive three-dimensional walking through axial motors are arranged in the aluminum profile frame, and mechanical claws are arranged at the tail end of one side of the actuating mechanisms in the x axial direction; the structure design key points are that a z-axis base of the actuating mechanism is arranged between the inner diameters of the tops of aluminum profile frames through a transverse aluminum profile, one side of the z-axis base is provided with a z-axis motor, the z-axis motor is connected with a z-axis screw rod in the z-axis base through a z-axis connector, a double-axis slider is arranged on the z-axis screw rod, the other side of the double-axis slider is connected with a y-axis screw rod, one end of the y-axis screw rod in the y-axis base is connected with the y-axis motor on one side of the y-axis base through the y-axis connector, the other side of the y-axis base is connected with an x-axis slider through a connecting motor of a connecting body, two ends of the x-axis screw rod are respectively connected with two sides of the x-axis base through an x-axis bearing seat, one end of the x-axis screw rod inside the x-axis bearing seat is connected with an x-axis motor on one end of an x-axis base plate, the utility model discloses a mechanical gripper, including gripper, chuck support, camera, sensor, string bag, X axle motor, Y axle motor, Z axle motor, the activity chuck one end of gripper is equipped with the blade, the opposite side chuck support of activity chuck symmetry is equipped with fixed chuck, the other end of activity chuck is through the articulated swing of round pin axle with the chuck support, the round pin axle side end of activity chuck is connected with the chuck motor of chuck support bottom through the connecting rod, be equipped with camera and inductor directly over the gripper, be equipped with under the blade of gripper and collect the string bag, above-mentioned lead screw is ball, the chuck motor, connect the motor, the track motor, x axle motor, y axle motor, Z axle motor is connected with the controller through the circuit respectively, be equipped. Thereby will cut the strawberry that gets off through collecting the string bag and collect through collecting the string bag, be difficult for causing the damage of strawberry, the mode that the strawberry was picked is realized through the stem portion of blade cutting strawberry.
Three z-axis lead screws are arranged in the z-axis base and connected with one side of the double-axis sliding block, and one end of the middle z-axis lead screw is connected with a z-axis motor through a z-axis connector; three y-axis lead screws are arranged in the y-axis base and connected with the other side of the double-axis sliding block, and one end of a middle y-axis lead screw is connected with a y-axis motor through a y-axis connector; an x-axis lead screw is arranged between the x bearing blocks. The structure further stabilizes the movement and positioning among the x-axis direction, the y-axis direction and the z-axis direction of the strawberry picking robot.
The connector comprises a connecting cover, a connector, a connecting seat and a connecting motor, wherein two sides of one end of the connector in the connecting cover are respectively hinged with two sides of a housing seat of the x-axis sliding block, and the other end of the connector is connected with a connector of the connecting motor in the connecting seat through the connecting seat. The above is a specific connecting body structure embodiment, which satisfies the x-axis movement of the strawberry picking robot, and the connection and linkage between the x-axis and y-axis structures.
The fruit basket collecting device is characterized in that longitudinal aluminum profiles on two sides of an aluminum profile frame on one side of the mechanical claw are respectively provided with a fruit basket tray, a collecting basket is arranged on the fruit basket tray, the aluminum profile frame corresponding to the collecting basket is provided with a movable infrared ray, a clamping head support below a blade of the mechanical claw is provided with a mechanical arm collecting box, a box seat of the mechanical arm collecting box is provided with a rotating shaft, the box seat is U-shaped, one end of the rotating shaft is connected with a rotating motor, the other end of the rotating shaft extends out of the box seat and is connected with a hinged claw hand, namely the middle of a cross rod of the hinged claw hand is connected with the rotating shaft, two ends of the cross rod are respectively connected with one ends of first connecting rods on two sides, the other end of the first connecting rod is respectively connected with one end of a second connecting rod, the other end of the second connecting rod is respectively connected with one end of a half box, one end of a third connecting rod is connected with the box base, the other end of the third connecting rod is connected with the half box bodies, the half box bodies on the two sides are abutted to form a collecting groove, and the rotating motor is connected with the controller through a circuit. Thereby cut the strawberry that gets off through the blade and fall into the collecting vat of half box body in, through opening or closing of the half box body in rotating electrical machines control both sides, when half box body is opened, the strawberry in the collecting vat can fall into the collection basket of fruit basket tray in, whether collect the basket on the fruit basket tray and collect fully, judge through portable infra red ray induction, this strawberry picking robot returns automatically after filling with strawberry in the collection basket promptly, thereby the packing after the strawberry is picked has been saved, and the packing, the vanning process bumps the damage to the secondary of strawberry.
One side of the fruit basket tray is fixed on a tray sliding block of the tray moving mechanism, the tray sliding block is provided with a tray lead screw and a tray sliding rod, one end of the tray lead screw is connected with a tray motor on one side of the tray moving mechanism, the tray motor is connected with a controller through a circuit, and the tray moving mechanism is fixed on a longitudinal aluminum profile on one side of the aluminum profile frame. The structure is convenient for automatically adjusting the position of the fruit basket tray through the tray motor.
The crawler motor is arranged in the walking crawler belt, the platform plate of the frame bottom plate is in sliding connection with the inner drawer plate, the bottom edge of the platform plate at the connection position is provided with a locking knob and a lock bolt assembly, a lock head of the lock bolt assembly in the inner drawer plate is inserted into a positioning hole of the platform plate through a spring, and the inner drawer plate on the inner side of the bottom of the frame bottom plate is provided with a wrench shaft; aluminum profiles of aluminum profile frames on two sides of the sliding edge of the platform plate and the inner drawer plate are respectively provided with cubic connecting blocks, namely the connecting blocks are connected with the aluminum profiles in sequence to form the aluminum profile frame above the frame bottom plate. Thereby adjust the distance between platform board and the interior drawer board through locking knob and set bar subassembly to the width of adjusting the frame bottom plate, and according to above-mentioned width, and adjust the width that corresponds aluminum section frame through the connecting block.
The strawberry picker is reasonable in structural design, convenient to use and assemble, good in completeness of strawberry picking, and convenient to adjust the width of the bottom row wheel and the frame; the device is suitable for picking strawberries in overhead strawberry planting and improving the structure of similar products.
Drawings
Fig. 1 is a schematic structural view of the present invention, wherein a fruit basket tray is shown in dotted lines.
Fig. 2 is a structural schematic of the three-dimensional mechanism and the grasping mechanism in fig. 1.
Fig. 3 is an enlarged schematic view of the grasping mechanism of fig. 1.
FIG. 4 is a schematic view of the linker structure of FIG. 1.
Fig. 5 is a schematic view of the internal structure of fig. 4.
Fig. 6 is a schematic view of the structure of the robot collection box of the present invention.
Fig. 7 is a schematic view of a modified structure of fig. 1.
Fig. 8 is a schematic view of the frame bottom plate structure of fig. 7.
Fig. 9 is a bottom view of the structure of fig. 8.
Figure number and name: 1. the walking crawler belt comprises a walking crawler belt body, 2, a frame bottom plate, 201, a platform plate, 202, an inner drawer plate, 203, a locking knob, 204, a lock bolt assembly, 3, an aluminum profile frame, 4, a chuck support, 5, a movable chuck, 6, a blade, 7, a fixed chuck, 8, an x-axis bottom plate, 9, an x-axis base, 10, an x-axis bearing seat, 11, an x-axis lead screw, 12, a connecting cover, 13, a connecting head, 14, a connecting seat, 15, a connecting motor, 16, a y-axis base, 17, a y-axis motor, 18, a y-axis lead screw, 19, a z-axis base, 20, a double-axis slider, 21, a z-axis lead screw, 22, a z-axis motor, 23, an x-axis motor, 24, an x-axis slider, 25, a chuck motor, 26, a fruit basket tray, 27, a.
Detailed Description
The construction and use of the invention will now be further described with reference to the accompanying drawings. As shown in fig. 1-5, the framework of the strawberry picking robot is an aluminum profile framework 3 formed by aluminum profiles in a cube, the aluminum profile framework is arranged on a framework bottom plate 2 and connected with a walking crawler 1 through the framework bottom plate, crawler motors are arranged on inner side framework bottom plates of the walking crawler symmetrically arranged, actuating mechanisms which respectively drive three-dimensional walking through axial motors are arranged in the aluminum profile framework, and mechanical claws are arranged at the tail end of one side of the x axial direction of each actuating mechanism. A z-axis base 19 of the executing mechanism is arranged between the inner diameters of the tops of aluminum profile frames 3 through a transverse aluminum profile, one side of the z-axis base is provided with a z-axis motor 22, the z-axis motor is connected with a z-axis lead screw 21 in the z-axis base through a z-axis connector, a double-axis slider 20 is arranged on the z-axis lead screw, the other side of the double-axis slider is connected with a y-axis lead screw 18, one end of the y-axis lead screw in a y-axis base 16 is connected with a y-axis motor 17 on one side of the y-axis base through the y-axis connector, the other side of the y-axis base is connected with an x-axis slider 24 through a connecting motor 15 of a connecting body, two ends of the x-axis lead screw 11 are respectively connected with two sides of an x-axis base 9 through an x-axis bearing seat 10, one end of the x-axis lead screw inside the x-axis bearing seat is connected with an x-axis motor 23 on one end of an x-axis base plate 8 through an. Three z-axis lead screws are arranged in the z-axis base and connected with one side of the double-axis sliding block, and one end of the middle z-axis lead screw is connected with a z-axis motor through a z-axis connector; three y-axis lead screws are arranged in the y-axis base and connected with the other side of the double-axis sliding block, and one end of a middle y-axis lead screw is connected with a y-axis motor through a y-axis connector; an x-axis lead screw is arranged between the x bearing blocks. The connector comprises a connecting cover 12, a connecting head 13, a connecting seat 14 and a connecting motor 15, wherein two sides of one end of the connecting head in the connecting cover are respectively hinged with two sides of a housing seat of the x-axis sliding block, and the other end of the connecting head is connected with a connector of the connecting motor in the connecting seat through the connecting seat. The utility model discloses a mechanical gripper, including gripper, movable chuck 5, the other side chuck support of movable chuck symmetry, the other end of movable chuck is through the articulated swing of round pin axle with the chuck support, the round pin axle side end of movable chuck is connected with chuck motor 25 of chuck support bottom through the connecting rod, be equipped with camera and inductor directly over the gripper, be equipped with under the blade of gripper and collect the string bag, above-mentioned lead screw is ball, the chuck motor, connect the motor, the track motor, x axle motor, y axle motor, z axle motor is connected with the controller through the circuit respectively, be equipped with control circuit board in the controller, the controller sets up in the control box of aluminum section frame top one side.
As shown in fig. 1 and 6, fruit basket trays 26 may be respectively disposed on the two longitudinal aluminum profiles on the two sides of the aluminum profile frame on one side of the gripper, a collecting basket is disposed on the fruit basket tray, and a movable infrared ray is disposed on the aluminum profile frame corresponding to the collecting basket. A mechanical arm collecting box is arranged on the chuck support below the blade of the mechanical claw, a rotating shaft is arranged on a box seat of the mechanical arm collecting box, the box seat is U-shaped, one end of the rotating shaft is connected with a rotating motor, the other end of the rotating shaft extends out of the box seat and is connected with a hinged claw, the middle of articulated claw's the horizontal pole is connected with the rotation axis promptly, the both ends of horizontal pole are connected with the first connecting rod one end of both sides respectively, the other end of first connecting rod is connected with the one end of second connecting rod respectively, the other end of second connecting rod is connected with half box one end respectively, the centre of second connecting rod is connected with the U-shaped opening both ends of box seat through the pendulum shaft respectively, the U-shaped opening inboard of box seat is equipped with the third connecting rod respectively, the one end of third connecting rod is connected with the box seat respectively, the other end and the half box of third connecting rod are connected, the half box of both sides is supported mutually and is constituted the collecting vat, rotating electrical machines, portable infrared ray passes through the circuit and is connected with the controller. Therefore, the picked strawberries are collected by the mechanical arm collecting box and are placed into the designated collecting basket by the mechanical arm collecting box.
As shown in fig. 7-9, a tray slider of the tray motion mechanism 27 may also be fixed on one side of the fruit basket tray, the tray slider is provided with a tray screw and a tray slide rod, one end of the tray screw is connected with a tray motor on one side of the tray motion mechanism, the tray motor is connected with the controller through a circuit, and the tray motion mechanism is fixed on a longitudinal aluminum profile on one side of the aluminum profile frame. The crawler motor is arranged in the walking crawler belt, the platform plate 201 of the frame bottom plate is connected with the inner drawer plate 202 in a sliding mode, the bottom edge of the platform plate at the connecting position is provided with a locking knob 203 and a lock bolt assembly 204, a lock head of the lock bolt assembly in the inner drawer plate is inserted into a positioning hole of the platform plate through a spring, and the inner drawer plate on the inner side of the bottom of the frame bottom plate is provided with a wrench shaft; aluminum profiles of aluminum profile frames on two sides of the sliding edge of the platform plate and the inner drawer plate are respectively provided with cubic connecting blocks 28, namely the connecting blocks are connected with the aluminum profiles in sequence to form the aluminum profile frame above the frame bottom plate. Thereby adjust this strawberry picking robot's width through frame bottom plate and connecting block, be suitable for the operation interval of strawberry planting frame under the different action environment.
The height of an existing overhead strawberry planting frame is generally 1m-1.5m, and the strawberry picking robot is composed of a motion positioning mechanism, an end effector, a frame, a crawler type travelling mechanism, a fruit basket tray, a control box and a power supply. The strawberry picking robot has the following overall dimension: about 50cm in length, 40cm in width, 90cm in height, and about 50kg in total mass. During operation, this strawberry picking robot plants a passageway along overhead strawberry, walks at passageway central authorities through the tracking, and this strawberry picking robot advancing direction is the x axle positive direction, and the perpendicular ground direction is the y axle positive direction, is close to pick the side direction and is the z axle positive direction, and the camera is caught and is used xyz axle positive direction as the reference direction. The motion positioning mechanism is composed of a coordinate type three-dimensional frame, and the end effector is composed of a mechanical claw and a sensor; the aluminum profile frame of frame is linked firmly by 4040 aluminium alloy, and the fruit bowl tray size is 12X 12cm square, and the fruit bowl tray links firmly adjustable with the aluminium alloy, and the control box contains controller and control circuit board etc. and the power is supplied power by 24V lithium cell.
The motion positioning mechanism is composed of an xyz shaft lead screw group, is mainly used for adjusting and moving a local picking range to a picking relative position, and comprises three degrees of freedom and one degree of rotational freedom. The working principle of the motion positioning mechanism is as follows: the x-axis motor is connected with the ball screw through an elastic pin coupler, and the screw motor selectively rotates to drive the screw to rotate so as to drive the sliding block to move, so that the y-axis screw rod module is driven to move along the y axis; in the same way, the z-axis realizes the displacement in the z-axis direction through the motor. The rotational degree of freedom achieves a rotational stroke of about 120 ° by rotation of the motor on the y-z connection. The motion positioning mechanism is fixedly connected with a beam of the aluminum profile frame, and the direct-current servo motor realizes the accurate movement of the xyz shaft through closed-loop control. The effective stroke of the x axis is 300mm, the effective stroke of the y axis is 300mm, and the effective stroke of the z axis is 200 mm. The size of the end executing mechanism is about 15cm (length) x 7cm (width) x 5cm (height), and the end executing mechanism is provided with a blade and a camera, wherein the driving source is a motor. The camera is located directly over the mechanical claw, and the z-axis movement and the mechanical claw opening and clamping are driven to complete stem shearing and then picking are conducted through camera identification and positioning. The clamping process of the mechanical claw is as follows: since the plants on which the fruits grow are fixed and there is a random distribution of spaces, the strawberry picking robot needs to actively approach and accurately locate the target when picking the fruits. This strawberry picking robot's running gear mainly is crawler-type, and crawler-type running gear is better to the adaptability on ground, and track chassis size: the walking mechanism searches for the ground track through the tracking module to realize automatic running by multiplying 50cm (length) by 50cm (width) by 15cm (height).
Claims (3)
1. A strawberry picking robot is characterized in that a frame of the strawberry picking robot is a cubic aluminum profile frame (3) formed by aluminum profiles, the aluminum profile frame is arranged on a frame bottom plate (2) and is connected with a walking crawler (1) through the frame bottom plate, crawler motors are arranged on inner frame bottom plates of the symmetrically arranged walking crawler, actuating mechanisms which respectively drive three-dimensional walking through axial motors are arranged in the aluminum profile frame, and mechanical claws are arranged at the tail end of one side of the actuating mechanism in the x axial direction; it is characterized in that a z-axis base (19) of the actuating mechanism is arranged between the inner diameters of the tops of aluminum profile frames (3) through a transverse aluminum profile, one side of the z-axis base is provided with a z-axis motor (22), the z-axis motor is connected with a z-axis lead screw (21) in the z-axis base through a z-axis connector, the z-axis lead screw is provided with a double-axis slider (20), the other side of the double-axis slider is connected with a y-axis lead screw (18), one end of the y-axis lead screw in the y-axis base (16) is connected with a y-axis motor (17) on one side of the y-axis base through a y-axis connector, the other side of the y-axis base is connected with an x-axis slider (24) through a connecting motor (15) of a connecting body, two ends of an x-axis lead screw (11) are respectively connected with two sides of an x-axis base (9) through an x-axis bearing seat (10), one end of the x-axis lead screw on the, the bottom of an x-axis sliding block is connected with an x-axis bottom plate through a rail seat, a chuck support (4) at the bottom of the other end of the x-axis bottom plate is provided with a mechanical claw, one end of a movable chuck (5) of the mechanical claw is provided with a blade (6), the other side chuck support symmetrical to the movable chuck is provided with a fixed chuck (7), the other end of the movable chuck is hinged and swings with the chuck support through a pin shaft, the end of the pin shaft side of the movable chuck is connected with a chuck motor (25) at the bottom of the chuck support through a connecting rod, a camera and an inductor are arranged right above the mechanical claw, a collecting string bag is arranged right below the, the lead screw is a ball screw, the chuck motor, the connecting motor, the track motor, the x-axis motor, the y-axis motor and the z-axis motor are respectively connected with the controller through circuits, a control circuit board is arranged in the controller, and the controller is arranged in a control box on one side of the top of the aluminum profile frame;
the fruit basket collecting device is characterized in that longitudinal aluminum profiles on two sides of an aluminum profile frame (3) on one side of the mechanical claw are respectively provided with a fruit basket tray (26), a collecting basket is arranged on the fruit basket tray, the aluminum profile frame corresponding to the collecting basket is provided with a movable infrared ray, a clamping head support (4) below a blade (6) of the mechanical claw is provided with a mechanical hand collecting box, a box seat of the mechanical hand collecting box is provided with a rotating shaft, the box seat is U-shaped, one end of the rotating shaft is connected with a rotating motor, the other end of the rotating shaft extends out of the box seat and is connected with the middle of a cross rod hinged with the claw, two ends of the cross rod are respectively connected with one ends of first connecting rods on two sides, the other end of the first connecting rod is respectively connected with one end of a second connecting rod, the other end of the second connecting rod is respectively connected with one end of a half box body, the middle of the, one end of a third connecting rod is connected with the box base, the other end of the third connecting rod is connected with the half box bodies, the half box bodies on the two sides are abutted to form a collecting groove, and the rotating motor and the movable infrared ray are connected with the controller through circuits;
one side of the fruit basket tray (26) is fixed on a tray sliding block of the tray moving mechanism (27), the tray sliding block is provided with a tray lead screw and a tray sliding rod, one end of the tray lead screw is connected with a tray motor on one side of the tray moving mechanism, the tray motor is connected with a controller through a circuit, and the tray moving mechanism is fixed on a longitudinal aluminum profile on one side of the aluminum profile frame (3);
the crawler motor is arranged in the walking crawler (1), a platform plate (201) of the frame bottom plate (2) is connected with an inner drawer plate (202) in a sliding mode, a locking knob (203) and a lock bolt assembly (204) are arranged on the bottom edge of the platform plate at the connecting position, a lock head of the lock bolt assembly in the inner drawer plate is inserted into a positioning hole of the platform plate through a spring, and a wrench shaft is arranged on the inner drawer plate on the inner side of the bottom of the frame bottom plate; aluminum profiles of aluminum profile frames (3) on two sides of the sliding edge of the platform plate and the inner drawer plate are respectively provided with cubic connecting blocks (28), and the connecting blocks are connected with the aluminum profiles in sequence to form the aluminum profile frames above the frame bottom plate.
2. The strawberry picking robot according to claim 1, wherein three z-axis lead screws (21) are arranged in the z-axis base (19), the three z-axis lead screws are connected with one side of a double-axis sliding block (20), and one end of the middle z-axis lead screw is connected with a z-axis motor (22) through a z-axis connector; three y-axis lead screws (18) are arranged in the y-axis base (16), the three y-axis lead screws are connected with the other side of the double-axis sliding block, and one end of the middle y-axis lead screw is connected with a y-axis motor (17) through a y-axis connector; an x-axis lead screw (11) is arranged between the x bearing blocks (10).
3. The strawberry picking robot according to claim 1, wherein the connector comprises a connecting cover (12), a connecting head (13), a connecting seat (14) and a connecting motor (15), two sides of one end of the connecting head in the connecting cover are respectively hinged to two sides of a housing seat of the x-axis sliding block (24), and the other end of the connecting head is connected with a connector coupler of the connecting motor in the connecting seat through the connecting seat.
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| CN201810498109.0A CN108575320B (en) | 2018-05-23 | 2018-05-23 | Strawberry picking robot |
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| CN201810498109.0A CN108575320B (en) | 2018-05-23 | 2018-05-23 | Strawberry picking robot |
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| CN108575320B true CN108575320B (en) | 2020-08-25 |
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