CN102577755A - Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot - Google Patents
Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot Download PDFInfo
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- CN102577755A CN102577755A CN2012100379678A CN201210037967A CN102577755A CN 102577755 A CN102577755 A CN 102577755A CN 2012100379678 A CN2012100379678 A CN 2012100379678A CN 201210037967 A CN201210037967 A CN 201210037967A CN 102577755 A CN102577755 A CN 102577755A
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Abstract
The invention belongs to the field of agricultural machinery and relates to an accurate picking actuating mechanism of a strawberry picking robot and a ridge-culture strawberry picking robot. The accurate picking actuating mechanism of the strawberry picking robot comprises a mixed coordinate type motion device, a mechanical claw device connected with the mixed coordinate type motion device, and a supporting and connecting device used for fixing the mixed coordinate type motion device. The picking actuating mechanism is simple in structure, compact in volume and flexible in operation; moreover, the picking actuating mechanism is low in cost, thereby not only adapting to ridge-culture strawberry picking in different cultivation patterns, but also realizing multidirectional picking for strawberries positioned at different directions and at different positions. The ridge-culture strawberry picking robot comprises an accurate picking and gathering device and a wide-range movement supporting device of the accurate picking actuating mechanism of the strawberry picking robot and can realize continuous picking for ridge-culture strawberries.
Description
Technical field
The invention belongs to agricultural mechanical field, relate to a kind of strawberry picking robot and precisely pluck executing agency and a kind of ridge culture strawberry picking robot, it can realize the automatic harvesting of ridge culture strawberry.
Background technology
At present, the results of strawberry rely on manual picking fully, and labour intensity is big, efficient is low, have both expended great amount of manpower, have also wasted the more time.Chinese scholars is always all at the strawberry harvesting method of seeking mechanization, automation.Yet, because the strawberry soft and succulency is injured easily, and unique outlook, realize that mechanized harvest has certain degree of difficulty.
China generally carries out the cultivation of ridge culture strawberry in greenhouse by solar heat.And, in order to make full use of luminous energy, helping the strawberry growth, furrow ridge direction is general vertical with the greenhouse length direction, promptly consistent with the greenhouse width.But because the furrow of the strawberry of ridge planting is narrow, it is shorter that fruit is hung the position, thereby the harvesting of ridge planting strawberry fruit requires the mechanical body palpus small and exquisite flexibly.Japan has researched and developed the strawberry fruit that is used for gathering and has been tiled in the surperficial robot device of alley, yet can not being used for China's greenhouse by solar heat ridge culture strawberry fruit, its picking methods plucks, and the structure more complicated.
Summary of the invention
To the problems referred to above; An object of the present invention is to provide a kind of strawberry picking robot and precisely plucked executing agency; This mechanism can be in level, vertically, three directions of depth do the precise navigation campaign; Terminal gripper can rotate and regulate the angle of inclination, accurate positioning clamping and shear target strawberry carpopodium under feedback information equipment such as image auxiliary.
Another object of the present invention has provided a kind of ridge culture strawberry picking robot that ridge culture cultivated strawberry mode is carried out picking fruit that is directed against, and it can realize the continuous harvesting of ridge culture strawberry accurately, steadily, efficiently.
For realizing above-mentioned purpose, the invention provides following technical scheme:
A kind of strawberry picking robot is precisely plucked executing agency, it is characterized in that: said mechanism comprises the support connection device of hybrid coordinate formula telecontrol equipment, the gripper device that is connected with said hybrid coordinate formula telecontrol equipment and fixing said hybrid coordinate formula telecontrol equipment.
Said hybrid coordinate formula telecontrol equipment comprises horizontal movement unit, vertical motion unit, the unit that rotatablely moves, pitch regulation unit and depth moving cell, wherein:
Said horizontal movement unit comprises horizontal movement unit motor 1, horizontal movement unit guide rail-leading screw module 2, horizontal movement unit slide block 3 and horizontal movement unit first sensor fixed head 4a, the horizontal movement unit second sensor fixation plate 4b; Wherein, Horizontal movement unit motor 1 is connected with an end of horizontal movement unit guide rail-leading screw module 2 through shaft joint; Horizontal movement unit slide block 3 is connected on horizontal movement unit guide rail-leading screw module 2 slidably, and horizontal movement unit first sensor fixed head 4a, the horizontal movement unit second sensor fixation plate 4b are fixedly connected on the two ends of a side of horizontal movement unit guide rail-leading screw module 2;
Said vertical motion unit comprises vertical motion unit motor 5, vertical motion unit guide rail-leading screw module 6, vertical motion unit slide block 7 and vertical motion unit first sensor fixed head 8a, the vertical motion unit second sensor fixation plate 8b; Wherein, Vertical motion unit motor 5 is connected with an end of vertical motion unit guide rail-leading screw module 6 through shaft joint; Vertical motion unit slide block 7 is connected on vertical motion unit guide rail-leading screw module 6 slidably, and vertical motion unit first sensor fixed head 8a, the vertical motion unit second sensor fixation plate 8b are connected the two ends of a side of vertical motion unit guide rail-leading screw module 6;
The said unit that rotatablely moves comprises the unit motor 9 that rotatablely moves, framework flange 10; Wherein, The fuselage of unit motor 9 of rotatablely moving is fixedly connected with a side of framework flange 10, and the motor shaft of the unit motor 9 that rotatablely moves keeps coaxial with the circular hole of framework flange 10 opposite sides;
Said pitch regulation unit comprises that axle 11, one side that is in transmission connection has the pitching bracing frame 12 of long arc-shaped holes 15, fixing pin 13 and movable pin 14; Wherein, The bottom that fixing pin 13 passes pitching bracing frame 12 is fixedly connected be in transmission connection axle 11 and pitching bracing frame 12, and movable pin 14 connects be in transmission connection axle 11 and pitching bracing frame 12 through long arc-shaped holes 15;
Said depth moving cell comprises depth moving cell motor 16, depth moving cell guide rail-leading screw module 17, depth moving cell slide block 18 and depth moving cell sensor fixation plate 19; Wherein, Depth moving cell motor 16 is connected with depth moving cell guide rail-leading screw module 17; Depth moving cell slide block 18 is connected on depth moving cell guide rail-leading screw module 17 slidably, and a side of depth moving cell guide rail-leading screw module 17 is connected with depth moving cell sensor fixation plate 19;
Said horizontal movement unit slide block 3 is fixedly connected with vertical motion unit slide block 7; The unit that rotatablely moves is fixedly connected with the lower end of vertical motion unit guide rail-leading screw module 6 through the framework flange 10 on it; The circular hole that the axle 11 that is in transmission connection of pitch regulation unit passes on the framework flange 10 is connected with the motor shaft of the unit motor 9 that rotatablely moves; Depth moving cell slide block 18 is fixedly connected with the bottom of pitching bracing frame 12, but and the angle of inclination through the position indirect regulation depth moving cell of adjusting activity pin 14 in long arc-shaped holes 15.
Said gripper device comprises that parallel gas pawl 20, the first gas pawl slide block 21, the second gas pawl slide block 22, first machinery refer to that 23, second machinery refers to 24, blade 25, first refer between object inductive pick-up fixed block 26, second refer between object inductive pick-up fixed block 27, camera fixed block 28 and camera 29; Wherein, The first gas pawl slide block 21, the second gas pawl slide block 22 are connected respectively on the parallel gas pawl 20 slidably; First machinery refers to that 23, second machinery refers to that an end of 24 is fixedly connected with the first gas pawl slide block 21, the second gas pawl slide block 22 respectively; And first machinery refer to 23, second machinery refer to 24 the other end be fixedly connected respectively first refer between object inductive pick-up fixed block 26, second refer between object inductive pick-up fixed block 27; And first machinery refers to also be fixedly connected on 23 blade 25; Camera fixed block 28 is fixedly connected with the bottom of parallel gas pawl 20; Camera 29 is fixed on the camera fixed block 28, and said parallel gas pawl 20 is fixedly connected an end of depth moving cell guide rail-leading screw module 17.
Said support connection device comprises head rod 30a, the second connecting rod 30b, carriage 31, control cabinet 32; Wherein, The head rod 30a and the second connecting rod 30b are fixedly connected on carriage 31 bottoms; Control cabinet 32 is fixedly connected on carriage 31 tops, and the said horizontal movement unit guide rail-two ends of leading screw module 2 are fixedly connected with the head rod 30a of support connection device, the second connecting rod 30b.
Said ridge culture strawberry picking robot comprises: accurate accommodation device and the mobile on a large scale bracing or strutting arrangement plucked;
Said accurate harvesting accommodation device comprises like the described strawberry picking robot of claim 1-4 precisely plucks executing agency 101; One end is fixedly connected on that the strawberry picking robot is precisely plucked in the executing agency 101, the other end respectively with the 3rd take in that connecting rod the 104, the 4th takes in that connecting rod 105 is fixedly connected first take in connecting rod 102, second and take in connecting rod 103; Being fixedly connected on the 3rd takes in connecting rod the 104, the 4th and takes in the collecting pallet 106 on the connecting rod 105; Precisely pluck the first linear slider 107a, the second linear slider 107b, the 3rd linear slider 107c, the 4th linear slider 107d that the support connection device of executing agency 101 is fixedly connected with the strawberry picking robot; Precisely pluck the movable motor 109 that executing agency 101 is fixedly connected through movable motor flange 108 and strawberry picking robot; And be connected the walking gear 110 that under the drive of movable motor 109, rotates with the motor shaft of movable motor 109;
Move bracing or strutting arrangement on a large scale and comprise framework 111, the parallel first guide rail 112a that is placed on the framework 111 and is fixedly connected, the second guide rail 112b, and the tooth bar 113 that is arranged in framework 111 inboards with framework 111;
Wherein, The accurate accommodation device of plucking is connected with the first guide rail 112a, the second guide rail 112b that move bracing or strutting arrangement on a large scale through the first linear slider 107a, the second linear slider 107b, the 3rd linear slider 107c, the 4th linear slider 107d; Walking gear 110 and tooth bar 113 engagements; Under the drive of movable motor 109, the accurate accommodation device of plucking moves on the bracing or strutting arrangement mobile on a large scale.
The lower end of said framework 111 is equipped with 4 road wheels, this road wheel towards direction perpendicular to the strawberry ridge.
The lower end of said framework 111 is equipped with 4 road wheels, this road wheel towards the direction that is parallel to the strawberry ridge.
Compared with prior art, beneficial effect of the present invention is:
The invention provides a kind of strawberry picking robot and precisely pluck executing agency; It can the realization level, vertically, three directions of depth do the precise navigation campaign; Terminal gripper can rotate and regulate the angle of inclination; Auxiliary accurate positioning clamping and shear target strawberry carpopodium, the accurate harvesting of realization strawberry fruit down at feedback information equipment such as images; And because strawberry picking robot moving of plucking precisely that mechanism can be on the parallel mobile bracing or strutting arrangement of furrow on a large scale and moving of the parallel mobile bracing or strutting arrangement of furrow on a large scale, thereby realize the continuous harvesting of ridge culture strawberry fruit.
Description of drawings
Fig. 1 precisely plucks executing agency's sketch map for strawberry picking robot of the present invention;
Fig. 2 is a hybrid coordinate formula telecontrol equipment sketch map;
Fig. 3 is the horizontal movement cell schematics;
Fig. 4 is the vertical motion cell schematics;
Fig. 5 is the cell schematics that rotatablely moves;
Fig. 6 is the pitch regulation cell schematics;
Fig. 7 is a depth moving cell sketch map;
Fig. 8 is a gripper device sketch map one;
Fig. 9 is a gripper device sketch map two;
Figure 10 is the support connection device sketch map;
Figure 11 is the whole structural scheme of mechanism of ridge culture strawberry picking robot of the present invention;
Figure 12 is the accurate accommodation device of plucking;
Figure 13 is movable motor, walking flange, walking gear sketch map;
Figure 14 is for moving the bracing or strutting arrangement sketch map on a large scale.
Reference numeral
1 horizontal movement unit motor, 2 horizontal movement unit guide rail-leading screw modules
3 horizontal movement unit slide blocks
4a horizontal movement unit first sensor fixed head
4b horizontal movement unit second sensor fixation plate
5 vertical motion unit motors, 6 vertical motion unit guide rail-leading screw modules
7 vertical motion unit slide blocks
8a vertical motion unit first sensor fixed head
8b vertical motion unit second sensor fixation plate
The 9 unit motor 10 framework flanges that rotatablely move
11 be in transmission connection the axle 12 pitching bracing frames
13 fixing pins, 14 movable pins
15 long arc-shaped holes, 16 depth moving cell motors
17 depth moving cell guide rail-leading screw modules
18 depth moving cell slide blocks, 19 depth moving cell sensor fixation plates
20 parallel gas pawl 21 first gas pawl slide blocks
22 second gas pawl slide blocks, 23 first machineries refer to
24 second machineries refer to 25 blades
Object inductive pick-up fixed block between 26 first fingers
Object inductive pick-up fixed block between 27 second fingers
28 camera fixed blocks, 29 cameras
31 carriages, 32 control cabinets
101 strawberry picking robots are precisely plucked executing agency
102 first take in connecting rod 103 second takes in connecting rod
104 the 3rd take in connecting rod 105 the 4th takes in connecting rod
106 collecting pallets
The 107a first linear slider 107b second linear slider
107c the 3rd linear slider 107d the 4th linear slider
108 movable motor flanges, 109 movable motors
110 walking gears, 111 frameworks
The 112a first guide rail 112b second guide rail
113 tooth bars
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is elaborated.
Shown in Fig. 1～10, a kind of strawberry picking robot of the present invention is precisely plucked executing agency, comprises hybrid coordinate formula telecontrol equipment, gripper device and support connection device.
Wherein, shown in Fig. 2～7, hybrid coordinate formula telecontrol equipment comprises horizontal movement unit, vertical motion unit, the unit that rotatablely moves, pitch regulation unit and depth moving cell.
As shown in Figure 3, the horizontal movement unit comprises horizontal movement unit motor 1, horizontal movement unit guide rail-leading screw module 2, horizontal movement unit slide block 3 and horizontal movement unit first sensor fixed head 4a, the horizontal movement unit second sensor fixation plate 4b.Horizontal movement unit motor 1 is connected with an end of horizontal movement unit guide rail-leading screw module 2 through shaft joint; Horizontal movement unit slide block 3 is connected on horizontal movement unit guide rail-leading screw module 2 slidably; When horizontal movement unit motor 1 drove the lead screw shaft rotation of horizontal movement unit guide rail leading screw module 2, guide rail-leading screw module 2 slided horizontal movement unit slide block 3 along the horizontal movement unit.Horizontal movement unit first sensor fixed head 4a, the horizontal movement unit second sensor fixation plate 4b are fixedly connected on the two ends of a side of horizontal movement unit guide rail-leading screw module 2, are convenient to install the limit sensors of all size.
As shown in Figure 4, the vertical motion unit comprises vertical motion unit motor 5, vertical motion unit guide rail-leading screw module 6, vertical motion unit slide block 7 and vertical motion unit first sensor fixed head 8a, the vertical motion unit second sensor fixation plate 8b.Vertical motion unit motor 5 is connected with an end of vertical motion unit guide rail-leading screw module 6 through shaft joint; Vertical motion unit slide block 7 is connected on vertical motion unit guide rail-leading screw module 6 slidably; When vertical motion unit motor 5 drove the lead screw shaft rotation of vertical motion unit guide rail leading screw module 6, guide rail-leading screw module 6 slided vertical motion unit slide block 7 along the vertical motion unit.Vertical motion unit first sensor fixed head 8a, the vertical motion unit second sensor fixation plate 8b are connected the two ends of a side of vertical motion unit guide rail-leading screw module 6, are convenient to install the limit sensors of all size.
As shown in Figure 5, the unit that rotatablely moves comprises the unit motor 9 that rotatablely moves, framework flange 10.The fuselage of unit motor 9 of rotatablely moving is fixedly connected with a side of framework flange 10, and the motor shaft of the unit motor 9 that rotatablely moves keeps coaxial with the circular hole of framework flange 10 opposite sides.
As shown in Figure 6, the pitch regulation unit comprises that axle 11, one side that is in transmission connection has the pitching bracing frame 12 of long arc-shaped holes 15, fixing pin 13 and movable pin 14.The bottom that fixing pin 13 passes pitching bracing frame 12 is fixedly connected be in transmission connection axle 11 and pitching bracing frame 12, and movable pin 14 connects be in transmission connection axle 11 and pitching bracing frame 12 through long arc-shaped holes 15.
As shown in Figure 7, the depth moving cell comprises depth moving cell motor 16, depth moving cell guide rail-leading screw module 17, depth moving cell slide block 18, depth moving cell sensor fixation plate 19.Depth moving cell motor 16 is connected with depth moving cell guide rail-leading screw module 17; Depth moving cell slide block 18 is connected on depth moving cell guide rail-leading screw module 17 slidably; When depth moving cell motor 16 drove the lead screw shaft rotation of depth moving cell guide rail-leading screw module 17, depth moving cell slide block 18 slided along depth moving cell guide rail-leading screw module 17.One side of depth moving cell guide rail-leading screw module 17 is connected with depth moving cell sensor fixation plate 19, and the limit sensors of all size can be installed in its two ends.
See also Fig. 2, wherein, horizontal movement unit slide block 3 is fixedly connected with vertical motion unit slide block 7.
Rotatablely move and be fixedly connected with the lower end of vertical motion unit guide rail-leading screw module 6 with the unit motor 9 parallel sides that rotatablely move on the framework flange 10 of unit.
The circular hole that the axle 11 that is in transmission connection of pitch regulation unit passes on the framework flange 10 is connected with the motor shaft of the unit motor 9 that rotatablely moves, and the axle 11 that is in transmission connection can be rotated motion around fixing pin 13 under the drive of the unit motor 9 that rotatablely moves.
Depth moving cell slide block 18 is fixedly connected with the bottom of pitching bracing frame 12, but and the angle of inclination through the position indirect regulation depth moving cell of adjusting activity pin 14 in long arc-shaped holes 15.
Shown in Fig. 8～9; The gripper device comprises parallel gas pawl 20; The first gas pawl slide block 21, the second gas pawl slide block, 22, the first machineries refer to that 23, second machinery refers to 24, blade 25; Object inductive pick-up fixed block 27, camera fixed block 28 and camera 29 between object inductive pick-up fixed block 26, second refers between first finger.The first gas pawl slide block 21, the second gas pawl slide block 22 are connected respectively on the parallel gas pawl 20 slidably; First machinery refers to that 23, second machinery refers to that an end of 24 is fixedly connected with the first gas pawl slide block 21, the second gas pawl slide block 22 respectively; And first machinery refer to 23, second machinery refer to 24 the other end be fixedly connected respectively first refer between object inductive pick-up fixed block 26, second refer between object inductive pick-up fixed block 27; And first machinery refers to also to be fixedly connected on 23 blade 25, the second machineries and refers to that 24 front end and blade 25 corresponding positions have and receive cutter slit 25.5.Camera fixed block 28 is fixedly connected with the bottom of parallel gas pawl 20, and camera 29 is fixed on the camera fixed block 28.Under aerodynamic force, the first gas pawl slide block 21, the second gas pawl slide block 22 drive first machinery respectively and refer to that 23, second machinery refers to that 24 do translation in opposite directions.
Shown in figure 10, support connection device comprises head rod 30a, the second connecting rod 30b, carriage 31, control cabinet 32.Wherein, the head rod 30a and the second connecting rod 30b are fixedly connected on carriage 31 bottoms, and control cabinet 32 is fixedly connected on carriage 31 tops.The edge of carriage 31 can further process connecting hole, is convenient to install the expanded function device above that, maybe this device is installed on the dissimilar strawberry picking robots.
As shown in Figure 1; The two ends of the horizontal movement unit guide rail-leading screw module 2 of hybrid coordinate formula telecontrol equipment are fixedly connected with head rod 30a, the head rod 30b of support connection device; And the parallel gas pawl 20 of gripper device is fixedly connected on an end of the depth moving cell guide rail-leading screw module 17 of hybrid coordinate formula telecontrol equipment.
Shown in figure 11, a kind of ridge culture strawberry picking robot of the present invention comprises accurate accommodation device and the mobile bracing or strutting arrangement plucked on a large scale.
Shown in Fig. 1, Figure 12～13, the accurate accommodation device of plucking comprises that the strawberry picking robot precisely plucks executing agency 101, the first and take in connecting rod 102, second and take in connecting rod 103; The 3rd takes in connecting rod the 104, the 4th takes in connecting rod 105; Collecting pallet 106, the first linear slider 107a, the second linear slider 107b, the 3rd linear slider 107c, the 4th linear slider 107d, movable motor flange 108; Movable motor 109, and walking gear 110.
Wherein, first takes in connecting rod 102, second takes in an end of connecting rod 103 and is fixedly connected on the two ends that the strawberry picking robot is precisely plucked the carriage 31 of executing agency 101, and the other end is taken in connecting rod the 104, the 4th and taken in connecting rod 105 and be fixedly connected with the 3rd respectively.Collecting pallet 106 is fixedly connected on the 3rd and takes in connecting rod the 104, the 4th and take on the connecting rod 105, and can place the container that is used for holding strawberry fruit on it.The first linear slider 107a, the second linear slider 107b, the 3rd linear slider 107c, the 4th linear slider 107d are fixedly connected with the carriage 31 that the strawberry picking robot is precisely plucked executing agency 101.Movable motor 109 is fixedly connected on the strawberry picking robot through movable motor flange 108 and precisely plucks on the carriage 31 of executing agency 101, and the motor shaft of walking gear 110 and movable motor 109 is connected rotation under the drive of movable motor 109.
Shown in figure 14, move bracing or strutting arrangement on a large scale and comprise framework 111, the first guide rail 112a, the second guide rail 112b, and tooth bar 113.The first guide rail 112a, the second guide rail 112b are arranged in parallel and are connected with framework 111 upper surfaces, and tooth bar 113 is arranged in framework 111 inboards.
4 road wheels also can be installed in the lower end of framework 111; This road wheel towards both can be perpendicular to the strawberry ridge; Also can be parallel to the strawberry ridge, promptly it both can carry out next ridge strawberry and pluck along advancing with strawberry ridge vertical direction under the driving of motor successively; Also can under the driving of motor, advance along the direction on strawberry ridge, realization is long plucks apart from the furrow strawberry.
Shown in figure 11; The accurate accommodation device of plucking is connected with the first guide rail 112a, the second guide rail 112b that move bracing or strutting arrangement on a large scale through the first linear slider 107a, the second linear slider 107b, the 3rd linear slider 107c, the 4th linear slider 107d; Walking gear 110 and tooth bar 113 engagements; Under the drive of movable motor 109, the accurate accommodation device of plucking can move on the bracing or strutting arrangement mobile on a large scale.
The course of work:
(1) the strawberry picking robot is precisely plucked the course of work of executing agency
1. under the drive of horizontal movement unit motor 1; Horizontal movement unit slide block 3 moves horizontally on horizontal movement unit guide rail-leading screw module 2; Move horizontally thereby drive vertical motion unit, the unit that rotatablely moves, pitch regulation unit, depth moving cell and gripper device, the action of gripper near the target strawberry searched for and made to realization camera 29 in the horizontal direction.
2. under the drive of vertical motion unit motor 5; Vertical motion unit slide block 7 vertically moves on vertical motion unit guide rail-leading screw module 6; Thereby driven rotary moving cell, pitch regulation unit, depth moving cell and gripper device move at vertical direction, and realization camera pawl is in the vertical direction search and make the action of manipulator near strawberry.
3. under the drive of the unit motor 9 that rotatablely moves; Pitch regulation unit, depth moving cell and gripper device can realize that with the axle that is in transmission connection 11 be 360 ° rotation of axis, are convenient to win the strawberry of Gou Long both sides and with different azimuth strawberry fruit are positioned in the fruit tray.
4. through the position of adjusting activity pin 14 in long arc-shaped holes 15, the angle of advancing of being convenient to regulate gripper is plucked with the strawberry that adapts to different cultivation modes.
5. under the drive of depth moving cell motor 16, depth moving cell slide block 18 depth direction on depth moving cell guide rail-leading screw module 17 moves, and together with together depth direction motion of gripper, realizes action approaching or that regain strawberry fruit.
When gripper when first machinery refers to that 23, second machinery refers under 24 open configurations near target strawberry carpopodium; First refer between object inductive pick-up fixed block 26, second refer between on the object inductive pick-up fixed block 27 fixed sensing can in time sense carpopodium and whether entered into first machinery and refer to that 23 and second machinery refers between 24; And rapid closing machinery refers under aerodynamical driving; At first first machinery refers to that 23 and second machinery refers to that 24 realize the clamping to the strawberry carpopodium, is fixed on first machinery subsequently and refers to that blade 25 on 23 gets into second machinery and refers to receive the cutting of accomplishing the strawberry carpopodium in the cutter slit.
(2) course of work of ridge culture strawberry picking robot
1. the whole mechanism of ridge culture strawberry picking robot is positioned among the ridge culture strawberry furrow, and adjustment strawberry picking robot is precisely plucked, and gripper can begin to carry out the automatic harvesting of strawberry fruit towards hanging with strawberry fruit ridge wall in the executing agency 101.
2. strawberry fruit being taken in vessel is placed on the collecting pallet 106; Collecting pallet 106 can be followed whole strawberry picking robot and precisely plucked executing agency's 101 motions; After a strawberry is plucked; Adjust the horizontal level of gripper among a small circle, and the rotary machine pawl is to taking in vessel tops, gripper unclamps and puts down strawberry fruit.Then gripper return to the ridge wall towards, search for plucking objective fruit continuing among a small circle.
3. the strawberry of needs harvesting that ought be interior has been adopted; Or the strawberry picking robot is when precisely plucking movement position that executing agency's 101 levels put down and reaching the limit of; Movable motor 109 is opened; Can drive walking gear 110 and in tooth bar 113, mesh walking, thereby make the whole accurate accommodation device of plucking move easy motion on the bracing or strutting arrangement on a large scale, thereby carry out wider moving along the direction on strawberry ridge.
4. generally speaking; The length that moves bracing or strutting arrangement on a large scale slightly is longer than the length on strawberry ridge and across two ends, strawberry ridge, after having plucked a ridge strawberry, 4 road wheels on it are under the driving of motor; The edge marches on next ridge strawberry furrow with strawberry ridge vertical direction, plucks successively.When the length on strawberry ridge is longer, can change the direction of road wheel, its direction along the strawberry ridge is advanced, thereby realize longly plucking apart from the furrow strawberry.
Claims (7)
1. a strawberry picking robot is precisely plucked executing agency, it is characterized in that: said mechanism comprises the support connection device of hybrid coordinate formula telecontrol equipment, the gripper device that is connected with said hybrid coordinate formula telecontrol equipment and fixing said hybrid coordinate formula telecontrol equipment.
2. strawberry picking robot according to claim 1 is precisely plucked executing agency; It is characterized in that: said hybrid coordinate formula telecontrol equipment comprises horizontal movement unit, vertical motion unit, the unit that rotatablely moves, pitch regulation unit and depth moving cell, wherein:
Said horizontal movement unit comprises horizontal movement unit motor (1), horizontal movement unit guide rail-leading screw module (2), horizontal movement unit slide block (3) and horizontal movement unit first sensor fixed head (4a), horizontal movement unit second sensor fixation plate (4b); Wherein, Horizontal movement unit motor (1) is connected with an end of horizontal movement unit guide rail-leading screw module (2) through shaft joint; Horizontal movement unit slide block (3) is connected on horizontal movement unit guide rail-leading screw module (2) slidably, and horizontal movement unit first sensor fixed head 4a, the horizontal movement unit second sensor fixation plate 4b are fixedly connected on the two ends of a side of horizontal movement unit guide rail-leading screw module (2);
Said vertical motion unit comprises vertical motion unit motor (5), vertical motion unit guide rail-leading screw module (6), vertical motion unit slide block (7) and vertical motion unit first sensor fixed head (8a), vertical motion unit second sensor fixation plate (8b); Wherein, Vertical motion unit motor (5) is connected with an end of vertical motion unit guide rail-leading screw module (6) through shaft joint; Vertical motion unit slide block (7) is connected on vertical motion unit guide rail-leading screw module (6) slidably, and vertical motion unit first sensor fixed head (8a), vertical motion unit second sensor fixation plate (8b) are connected the two ends of a side of vertical motion unit guide rail-leading screw module (6);
The said unit that rotatablely moves comprises the unit motor (9) that rotatablely moves, framework flange (10); Wherein, The fuselage of unit motor (9) of rotatablely moving is fixedly connected with a side of framework flange (10), and the motor shaft of the unit motor (9) that rotatablely moves keeps coaxial with the circular hole of framework flange (10) opposite side;
Said pitch regulation unit comprises that the axle (11) that is in transmission connection, a side have the pitching bracing frame (12) of long arc-shaped holes (15), fixing pin (13) and movable pin (14); Wherein, The bottom that fixing pin (13) passes pitching bracing frame (12) is fixedly connected be in transmission connection axle (11) and pitching bracing frame (12), and movable pin (14) connects be in transmission connection axle (11) and pitching bracing frame (12) through long arc-shaped holes (15);
Said depth moving cell comprises depth moving cell motor (16), depth moving cell guide rail-leading screw module (17), depth moving cell slide block (18) and depth moving cell sensor fixation plate (19); Wherein, Depth moving cell motor (16) is connected with depth moving cell guide rail-leading screw module (17); Depth moving cell slide block (18) is connected on depth moving cell guide rail-leading screw module (17) slidably, and a side of depth moving cell guide rail-leading screw module (17) is connected with depth moving cell sensor fixation plate (19);
Said horizontal movement unit slide block (3) is fixedly connected with vertical motion unit slide block (7); The unit that rotatablely moves is fixedly connected with the lower end of vertical motion unit guide rail-leading screw module (6) through the framework flange (10) on it; The circular hole that the axle (11) that is in transmission connection of pitch regulation unit passes on the framework flange (10) is connected with the motor shaft of the unit motor (9) that rotatablely moves; Depth moving cell slide block (18) is fixedly connected with the bottom of pitching bracing frame (12), and through adjusting activity pin (14) in long arc-shaped holes (15) but in the angle of inclination of position indirect regulation depth moving cell.
3. strawberry picking robot according to claim 2 is precisely plucked executing agency; It is characterized in that: said gripper device comprise parallel gas pawl (20), the first gas pawl slide block (21), the second gas pawl slide block (22), first machinery refer to (23), second machinery refer to (24), blade (25), first refer between object inductive pick-up fixed block (26), second refer between object inductive pick-up fixed block (27), camera fixed block (28) and camera (29); Wherein, The first gas pawl slide block (21), the second gas pawl slide block (22) are connected respectively on the parallel gas pawl (20) slidably; First machinery refers to that (23), second machinery refer to that an end of (24) is fixedly connected with the first gas pawl slide block (21), the second gas pawl slide block (22) respectively; And first machinery refers to that (23), second machinery refer to that the other end of (24) is fixedly connected object inductive pick-up fixed block (27) between object inductive pick-up fixed block (26) between first finger, second finger respectively; And first machinery refers to also be fixedly connected on (23) blade (25); Camera fixed block (28) is fixedly connected with the bottom of parallel gas pawl (20); Camera (29) is fixed on the camera fixed block (28), and said parallel gas pawl (20) is fixedly connected an end of depth moving cell guide rail-leading screw module (17).
4. strawberry picking robot according to claim 2 is precisely plucked executing agency; It is characterized in that: said support connection device comprises head rod (30a), second connecting rod (30b), carriage (31), control cabinet (32); Wherein, Head rod (30a) and second connecting rod (30b) are fixedly connected on carriage (31) bottom; Control cabinet (32) is fixedly connected on carriage (31) top, and the two ends of said horizontal movement unit guide rail-leading screw module (2) are fixedly connected with the head rod (30a) of support connection device, second connecting rod (30b).
5. ridge culture strawberry picking robot is characterized in that:
Said ridge culture strawberry picking robot comprises: accurate accommodation device and the mobile on a large scale bracing or strutting arrangement plucked;
Said accurate harvesting accommodation device comprises like the described strawberry picking robot of claim 1-4 precisely plucks executing agency (101); One end is fixedly connected on that the strawberry picking robot plucks precisely that executing agency (101) goes up, the other end respectively with the 3rd take in that connecting rod (104), the 4th takes in that connecting rod (105) is fixedly connected first take in connecting rod (102), second and take in connecting rod (103); Being fixedly connected on the 3rd takes in connecting rod (104), the 4th and takes in the collecting pallet (106) on the connecting rod (105); Precisely pluck first linear slider (107a), second linear slider (107b), the 3rd linear slider (107c), the 4th linear slider (107d) that the support connection device of executing agency (101) is fixedly connected with the strawberry picking robot; Precisely pluck the movable motor (109) that executing agency (101) is fixedly connected through movable motor flange (108) and strawberry picking robot; And be connected the walking gear (110) that under the drive of movable motor (109), rotates with the motor shaft of movable motor (109);
Move bracing or strutting arrangement on a large scale and comprise framework (111), parallelly be placed on first guide rail (112a), second guide rail (112b) that framework (111) is gone up and is fixedly connected with framework (111), and the tooth bar (113) that is arranged in framework (111) inboard;
Wherein, The accurate accommodation device of plucking is connected with first guide rail (112a), second guide rail (112b) that move bracing or strutting arrangement on a large scale through first linear slider (107a), second linear slider (107b), the 3rd linear slider (107c), the 4th linear slider (107d); Walking gear (110) and tooth bar (113) engagement; Under the drive of movable motor (109), the accurate accommodation device of plucking moves on the bracing or strutting arrangement mobile on a large scale.
6. ridge culture strawberry picking robot according to claim 5 is characterized in that: the lower end of said framework (111) is equipped with 4 road wheels, this road wheel towards direction perpendicular to the strawberry ridge.
7. ridge culture strawberry picking robot according to claim 5 is characterized in that: the lower end of said framework (111) is equipped with 4 road wheels, this road wheel towards the direction that is parallel to the strawberry ridge.
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