CN104221732A - Robot and method for pruning and crushing twigs - Google Patents
Robot and method for pruning and crushing twigs Download PDFInfo
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- CN104221732A CN104221732A CN201410512605.9A CN201410512605A CN104221732A CN 104221732 A CN104221732 A CN 104221732A CN 201410512605 A CN201410512605 A CN 201410512605A CN 104221732 A CN104221732 A CN 104221732A
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Abstract
The invention discloses a robot and a method for pruning and crushing twigs. The robot comprises mechanical arms, pruning tail end actuators, a control unit and a camera, wherein the pruning tail end actuators are arranged at the front ends of the mechanical arms; actions of components such as the pruning tail end actuators and the camera are controlled by the control unit; each mechanical arm comprises a motor, a finger drive device, a forked finger, a saw web, a saw web shaft and a saw web shaft drive device; the motor drives the finger drive device and the saw web shaft drive device to act; the saw web is arranged at the periphery of the saw web shaft; the saw web shaft is connected with the saw web shaft drive device; the forked finger is connected with the finger drive device. The robot integrates selective pruning and crushing of the twigs, the twig transport link for crushing the twigs is reduced, and real-time crushing can be carried out; flakes which are crushed from twigs and leaves in situ are utilized as an organic fertilizer and are returned to the soil, so that the production cost is reduced, the usage amount of chemical synthetic fertilizers on the crops is reduced, and development of the organic fruit industry is promoted.
Description
Technical field
The present invention relates to fruit tree mechanization pruning technique field, particularly relate to a kind of branch and prune pulverizing robot and method.
Background technology
The quality of pruning to fruit tree growth and fruit of fruit tree is all significant.In recent years, the research that gardening plant automation is pruned is subject to extensive concern, but mainly for the research that ornamental plant automation is pruned.The pruning requirement of fruit tree and the different of ornamental plant, need optionally to prune the branch of tree body, and ornamental plant is generally prune tree body entirety.At present, less to the automation pruning research of fruit tree, the Study of intelligent that fruit tree in urgent need of strengthening is pruned and pulverized.
Summary of the invention
The object of the invention is to the shortcoming and defect overcoming above-mentioned prior art, provide a kind of branch to prune and pulverize robot and method.
The present invention is achieved through the following technical solutions:
A kind of branch is pruned and is pulverized robot, comprise the mechanical arm be arranged in frame 6, be arranged on the pruning end effector 7 of mechanical arm front end, the control unit 3 be arranged in frame 6, the video camera 4 that is connected with control unit 3, rack-mounted driving wheel assembly 1, driven pulley assembly 2;
Described mechanical arm comprise connect successively wrist rotary joint 5, telescopic arm 8, elbow cradle head 9, arm cradle head 10, waist rotary joint 11;
The action of described pruning end effector 7, video camera 4, driving wheel assembly 1 and driven pulley assembly 2, is controlled by control unit 3;
Described mechanical arm comprises electromotor 15, finger actuation device 16, fork-shaped finger 17, saw blade 18, saw blade axis 19, saw blade axis drive unit 20; Electromotor 15 drives finger actuation device 16 and saw blade axis drive unit 20 action; Described saw blade 18 is arranged on the periphery of saw blade axis 19, and saw blade axis 19 connects saw blade axis drive unit 20; Described fork-shaped finger 17 is connected with finger actuation device 16.
Described saw blade axis 19 rotates under the effect of saw blade axis drive unit 20, and it is parallel that its rotational plane and fork-shaped point 17 plane of movement.
Described branch is pruned pulverizing robot and is also comprised the twig crushing machine 13 that is arranged on frame 6 rear end.
Described branch pulverizes the drive motors 14 that 13 machines comprise licker-in 21, compressive plate 22, charging aperture 23, dentation groove 24, tourelle 25, turning cylinder 26, blade assembly, the rotation of driving blade assembly;
The porch of described charging aperture 23 is provided with dentation groove 24; One end of described compressive plate 22 is arranged on the feedboard above blade assembly by turning cylinder 26, and the other end is provided with tourelle 25 and rolls with dentation groove 24 and is connected;
Described licker-in 21 is made up of many toothed roll bodies, and in yi word pattern, arrangement is arranged on the feedboard of the relative opposite side of compressive plate 22.
Described blade assembly comprises the rotor 27, fly cutter 28, the cutterhead 29 that are arranged in drive motors 14 rotating shaft.
Described twig crushing machine also comprises a shell 30, and shell 30 is provided with mechanical arm sliding channel 12.
The method that broken branch is pruned by employing branch pruning pulverizing robot is as follows:
1) robot location drives
The terrestrial information that control unit 3 pairs of video cameras 4 are collected is analyzed, and determines the position coordinates on ground, target branch place, and regulation and control driving wheel assembly 1 and driven pulley assembly 2 move, and instruction robot arrives relevant position;
2) mechanical arm position drives
Video camera 4 is collected the image information of pruning branch and is delivered to control unit 3 and analyzes, the target branch needing to prune is determined according to the dense degree of branch, attitude, fineness and health condition, control unit 3 sends instruction and drives wrist rotary joint 5, telescopic arm 8, elbow cradle head 9, arm cradle head 10, waist rotary joint 11 that corresponding sports occurs, and delivers to pruning end effector 7 aiming station waiting to shear branch;
3) shearing of branch
Fork-shaped finger 17 on branch end effector 7 clamps branch under finger actuation device 16 controls, and after having clamped, saw blade 18 cuts branch under the effect of saw blade axis drive unit 20;
4) pulverizing of branch
Under the control of control unit 3, the branch sheared is delivered to charging aperture 23 place of twig crushing machine 13 by mechanical arm, prunes end effector 7 and discharges branch by mechanical arm sliding channel 12 and leave charging aperture 23; Branch produces pressure to licker-in 21 under the extruding of compressive plate 22, and is transported to blade assembly place by the licker-in 21 rotated, and finally by rotor 27, branch is delivered to cutterhead 29 and pulverizes, branch flies out along discharging opening after being shredded by fly cutter 28, and paving is spread across ground.
The present invention, relative to prior art, has following advantage and effect:
Set pair branch of the present invention carries out selectivity beta pruning and pulverizing is integrated, and decreases in order to branch pulverizes the branch carrying link of carrying out, can pulverize in real time.
By the branch end effector be arranged on mechanical arm, branch pruning and pulverizing are combined, orchard worker can not only be made to free from manual pruning, machinery is allowed to carry out intelligentized highly effective and safe pruning, and the broken end utilizing branch and leaf to pulverize on the spot is as organic manure, turn back in soil, reduce production cost, decrease the usage amount of crop to chemosynthesis fertilizer, facilitate the development of organic fruits industry, also substantially increase the availability of biomass energy simultaneously.
Accompanying drawing explanation
Fig. 1 is that branch prunes pulverizing robot architecture overall schematic;
Fig. 2 is that Fig. 1 prunes end effector structures schematic diagram;
Fig. 3 is that the fork-shaped of end effector 7 points 17 structural representations;
Fig. 4 is twig crushing machine cutaway view.
Embodiment
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As Fig. 1--shown in 4.A kind of branch of the present invention is pruned and is pulverized robot, comprise: be arranged on the mechanical arm in frame 6, be arranged on the pruning end effector 7 of mechanical arm front end, the control unit 3 be arranged in frame 6, the video camera 4 that is connected with control unit 3, rack-mounted driving wheel assembly 1, driven pulley assembly 2;
Described mechanical arm comprise connect successively wrist rotary joint 5, telescopic arm 8, elbow cradle head 9, arm cradle head 10, waist rotary joint 11;
The action of described pruning end effector 7, video camera 4, driving wheel assembly 1 and driven pulley assembly 2, is controlled by control unit 3;
Described mechanical arm comprises electromotor 15, finger actuation device 16, fork-shaped finger 17, saw blade 18, saw blade axis 19, saw blade axis drive unit 20; Electromotor 15 drives finger actuation device 16 and saw blade axis drive unit 20 action; Described saw blade 18 is arranged on the periphery of saw blade axis 19, and saw blade axis 19 connects saw blade axis drive unit 20; Described fork-shaped finger 17 is connected with finger actuation device 16.
Described saw blade axis 19 rotates under the effect of saw blade axis drive unit 20, and it is parallel that its rotational plane and fork-shaped point 17 plane of movement.
Described branch is pruned pulverizing robot and is also comprised the twig crushing machine 13 that is arranged on frame 6 rear end.
Described branch pulverizes the drive motors 14 that 13 machines comprise licker-in 21, compressive plate 22, charging aperture 23, dentation groove 24, tourelle 25, turning cylinder 26, blade assembly, the rotation of driving blade assembly;
The porch of described charging aperture 23 is provided with dentation groove 24; One end of described compressive plate 22 is arranged on the feedboard above blade assembly by turning cylinder 26, and the other end is provided with tourelle 25 and rolls with dentation groove 24 and is connected;
Described licker-in 21 is made up of many toothed roll bodies, and in yi word pattern, arrangement is arranged on the feedboard of the relative opposite side of compressive plate 22.
Described blade assembly comprises the rotor 27, fly cutter 28, the cutterhead 29 that are arranged in drive motors 14 rotating shaft.
Described twig crushing machine also comprises a shell 30, and shell 30 is provided with mechanical arm sliding channel 12.
Adopt branch to prune and pulverize the method that broken branch is pruned by robot, realize by following several step:
1) robot location drives
The terrestrial information that control unit 3 pairs of video cameras 4 are collected is analyzed, and determines the position coordinates on ground, target branch place, and regulation and control driving wheel assembly 1 and driven pulley assembly 2 move, and instruction robot arrives relevant position;
2) mechanical arm position drives
Video camera 4 is collected the image information of pruning branch and is delivered to control unit 3 and analyzes, the target branch needing to prune is determined according to the dense degree of branch, attitude, fineness and health condition, control unit 3 sends instruction and drives wrist rotary joint 5, telescopic arm 8, elbow cradle head 9, arm cradle head 10, waist rotary joint 11 that corresponding sports occurs, and delivers to pruning end effector 7 aiming station waiting to shear branch;
3) shearing of branch
Fork-shaped finger 17 on branch end effector 7 clamps branch under finger actuation device 16 controls, and after having clamped, saw blade 18 cuts branch under the effect of saw blade axis drive unit 20;
4) pulverizing of branch
Under the control of control unit 3, the branch sheared is delivered to charging aperture 23 place of twig crushing machine 13 by mechanical arm, prunes end effector 7 and discharges branch by mechanical arm sliding channel 12 and leave charging aperture 23; Branch produces pressure to licker-in 21 under the extruding of compressive plate 22, and is transported to blade assembly place by the licker-in 21 rotated, and finally by rotor 27, branch is delivered to cutterhead 29 and pulverizes, branch flies out along discharging opening after being shredded by fly cutter 28, and paving is spread across ground.
As mentioned above, just the present invention can be realized preferably.
Embodiments of the present invention are not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present invention and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (7)
1. a branch is pruned and is pulverized robot, it is characterized in that comprising: be arranged on the mechanical arm in frame (6), be arranged on the pruning end effector (7) of mechanical arm front end, the control unit (3) be arranged in frame (6), the video camera (4) that is connected with control unit (3), rack-mounted driving wheel assembly (1), driven pulley assembly (2);
Described mechanical arm comprise connect successively wrist rotary joint (5), telescopic arm (8), elbow cradle head (9), arm cradle head (10), waist rotary joint (11);
The action of described pruning end effector (7), video camera (4), driving wheel assembly (1) and driven pulley assembly (2), is controlled by control unit (3);
Described mechanical arm comprises electromotor (15), finger actuation device (16), fork-shaped finger (17), saw blade (18), saw blade axis (19), saw blade axis drive unit (20); Electromotor (15) drives finger actuation device (16) and saw blade axis drive unit (20) action; Described saw blade (18) is arranged on the periphery of saw blade axis (19), and saw blade axis (19) connects saw blade axis drive unit (20); Described fork-shaped finger (17) is connected with finger actuation device (16).
2. branch according to claim 1 is pruned and is pulverized robot, it is characterized in that: described saw blade axis (19) rotates under the effect of saw blade axis drive unit (20), its rotational plane points (17) plane of movement with fork-shaped parallel.
3. branch according to claim 1 is pruned and is pulverized robot, it is characterized in that: described branch is pruned pulverizing robot and also comprised the twig crushing machine (13) that is arranged on frame (6) rear end.
4. branch according to claim 3 is pruned and is pulverized robot, it is characterized in that: described twig crushing machine (13) comprises the drive motors (14) of licker-in (21), compressive plate (22), charging aperture (23), dentation groove (24), tourelle (25), turning cylinder (26), blade assembly, the rotation of driving blade assembly;
The porch of described charging aperture (23) is provided with dentation groove (24); One end of described compressive plate (22) is arranged on the feedboard above blade assembly by turning cylinder (26), and the other end is provided with tourelle (25) and rolls with dentation groove (24) and is connected;
Described licker-in (21) is made up of many toothed roll bodies, and in yi word pattern, arrangement is arranged on the feedboard of the relative opposite side of compressive plate (22).
5. branch according to claim 4 is pruned and is pulverized robot, it is characterized in that: described blade assembly comprises the rotor (27) be arranged in drive motors (14) rotating shaft, fly cutter (28), cutterhead (29).
6. branch according to claim 4 is pruned and is pulverized robot, it is characterized in that: described twig crushing machine also comprises a shell (30), and shell (30) is provided with mechanical arm sliding channel (12).
7. adopt branch described in any one of claim 1 to 6 to prune and pulverize the method that broken branch is pruned by robot, it is characterized in that following steps:
1) robot location drives
Control unit (3) is analyzed the terrestrial information that video camera (4) is collected, determine the position coordinates on ground, target branch place, regulation and control driving wheel assembly (1) and driven pulley assembly (2) motion, and instruction robot arrives relevant position;
2) mechanical arm position drives
Video camera (4) is collected the image information of pruning branch and is delivered to control unit (3) and analyzes, the target branch needing to prune is determined according to the dense degree of branch, attitude, fineness and health condition, control unit (3) sends instruction and drives wrist rotary joint (5), telescopic arm (8), elbow cradle head (9), arm cradle head (10), waist rotary joint (11) that corresponding sports occurs, and will prune end effector (7) and deliver to the aiming station waiting to shear branch;
3) shearing of branch
Fork-shaped finger (17) pruned on end effector (7) clamps branch under finger actuation device (16) controls, after having clamped, saw blade (18) cuts branch under the effect of saw blade axis drive unit (20);
4) pulverizing of branch
Under the control of control unit (3), the branch sheared is delivered to charging aperture (23) place of twig crushing machine (13) by mechanical arm, prunes end effector (7) and discharges branch by mechanical arm sliding channel (12) and leave charging aperture (23); Branch produces pressure to licker-in (21) under the extruding of compressive plate (22), and be transported to blade assembly place by the licker-in (21) rotated, finally by rotor (27), branch is delivered to cutterhead (29) to pulverize, branch is flown out along discharging opening by after fly cutter (28) chopping, and paving is spread across ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410512605.9A CN104221732B (en) | 2014-09-29 | 2014-09-29 | A kind of branch prunes the method pulverized robot and prune broken branch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410512605.9A CN104221732B (en) | 2014-09-29 | 2014-09-29 | A kind of branch prunes the method pulverized robot and prune broken branch |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104221732A true CN104221732A (en) | 2014-12-24 |
| CN104221732B CN104221732B (en) | 2016-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410512605.9A Expired - Fee Related CN104221732B (en) | 2014-09-29 | 2014-09-29 | A kind of branch prunes the method pulverized robot and prune broken branch |
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| CN (1) | CN104221732B (en) |
Cited By (26)
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| CN105538287A (en) * | 2016-03-09 | 2016-05-04 | 重庆交通大学 | Robot for greening pruning |
| CN105794502A (en) * | 2016-04-12 | 2016-07-27 | 山东国兴智能科技有限公司 | Full-automatic branch trimming robot and method |
| CN106034773A (en) * | 2016-08-04 | 2016-10-26 | 安徽鑫苗园林景观建设有限公司 | Garden-shrub clipping device |
| CN106069226A (en) * | 2016-08-03 | 2016-11-09 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of jasmine cuttage stem automatic shearing breaks robot |
| CN106120499A (en) * | 2016-08-30 | 2016-11-16 | 朱新科 | A kind of automatic maintenance cart for underground railway track |
| CN106337387A (en) * | 2016-08-30 | 2017-01-18 | 朱振 | Impurity removing and pruning equipment for rails |
| CN106358778A (en) * | 2016-08-25 | 2017-02-01 | 柳州市菱丰科技有限公司 | Operation method of pruning machine |
| CN106416930A (en) * | 2016-09-25 | 2017-02-22 | 徐洪恩 | Automatic lumbering and pruning robot |
| CN107047086A (en) * | 2017-06-20 | 2017-08-18 | 山西省农业科学院旱地农业研究中心 | Branch equipment is received in the full-automatic beta pruning of tomato |
| CN107251767A (en) * | 2017-06-28 | 2017-10-17 | 江苏师范大学 | A kind of Multifunctional trimming robot |
| CN107432196A (en) * | 2017-07-28 | 2017-12-05 | 张荟芬 | A kind of afforestation Cultivate administration trims forming machine automatically |
| CN107628243A (en) * | 2017-10-21 | 2018-01-26 | 庞海涛 | A kind of garden shaping tree-pruning aircraft |
| CN107912165A (en) * | 2017-11-30 | 2018-04-17 | 王子珺 | A kind of environmental protection afforestation equipment |
| CN108673464A (en) * | 2018-04-10 | 2018-10-19 | 昆明理工大学 | A kind of automatic pruning device of rose |
| CN108718761A (en) * | 2018-07-16 | 2018-11-02 | 华中农业大学 | A kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning |
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| CN108901431A (en) * | 2018-08-14 | 2018-11-30 | 深圳市烽焌信息科技有限公司 | A kind of equipment that control unmanned plane carries out plant trimming |
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| CN110014410A (en) * | 2019-05-14 | 2019-07-16 | 襄阳金美科林农业开发有限公司 | A kind of fast-growing woods quickly pruning robot and its control method |
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| CN115088500A (en) * | 2022-08-25 | 2022-09-23 | 中化现代农业有限公司 | Pruning system for fruit trees and using method |
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| CN115720774A (en) * | 2022-11-07 | 2023-03-03 | 华南农业大学 | Orchard pruning operation device with branch sawing and field returning functions and operation method thereof |
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|---|---|---|---|---|
| CN105538287A (en) * | 2016-03-09 | 2016-05-04 | 重庆交通大学 | Robot for greening pruning |
| CN105794502A (en) * | 2016-04-12 | 2016-07-27 | 山东国兴智能科技有限公司 | Full-automatic branch trimming robot and method |
| CN106069226B (en) * | 2016-08-03 | 2019-04-05 | 新昌县博衍智能科技有限公司 | A kind of automatic cutting machine device people of jasmine cuttage stem |
| CN106069226A (en) * | 2016-08-03 | 2016-11-09 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of jasmine cuttage stem automatic shearing breaks robot |
| CN106034773A (en) * | 2016-08-04 | 2016-10-26 | 安徽鑫苗园林景观建设有限公司 | Garden-shrub clipping device |
| CN106358778A (en) * | 2016-08-25 | 2017-02-01 | 柳州市菱丰科技有限公司 | Operation method of pruning machine |
| CN106337387A (en) * | 2016-08-30 | 2017-01-18 | 朱振 | Impurity removing and pruning equipment for rails |
| CN106120499B (en) * | 2016-08-30 | 2017-10-31 | 朱新科 | A kind of automatic maintenance cart for underground railway track |
| CN106120499A (en) * | 2016-08-30 | 2016-11-16 | 朱新科 | A kind of automatic maintenance cart for underground railway track |
| CN106337387B (en) * | 2016-08-30 | 2017-12-08 | 朱振 | A kind of rail removal of impurities clipping device |
| CN106416930A (en) * | 2016-09-25 | 2017-02-22 | 徐洪恩 | Automatic lumbering and pruning robot |
| CN107047086A (en) * | 2017-06-20 | 2017-08-18 | 山西省农业科学院旱地农业研究中心 | Branch equipment is received in the full-automatic beta pruning of tomato |
| CN107251767A (en) * | 2017-06-28 | 2017-10-17 | 江苏师范大学 | A kind of Multifunctional trimming robot |
| CN107432196B (en) * | 2017-07-28 | 2020-06-09 | 东莞市邑新园林建设有限公司 | Automatic trimming and setting machine for landscaping planting management |
| CN107432196A (en) * | 2017-07-28 | 2017-12-05 | 张荟芬 | A kind of afforestation Cultivate administration trims forming machine automatically |
| CN107628243A (en) * | 2017-10-21 | 2018-01-26 | 庞海涛 | A kind of garden shaping tree-pruning aircraft |
| CN107912165A (en) * | 2017-11-30 | 2018-04-17 | 王子珺 | A kind of environmental protection afforestation equipment |
| CN108811854A (en) * | 2018-01-16 | 2018-11-16 | 刘肖俊 | A kind of low-cost high-efficiency garden management robot |
| CN108673464A (en) * | 2018-04-10 | 2018-10-19 | 昆明理工大学 | A kind of automatic pruning device of rose |
| CN108718761A (en) * | 2018-07-16 | 2018-11-02 | 华中农业大学 | A kind of gardening pruning moulding machine based on machine vision self-identifying, self-positioning |
| CN108901431A (en) * | 2018-08-14 | 2018-11-30 | 深圳市烽焌信息科技有限公司 | A kind of equipment that control unmanned plane carries out plant trimming |
| CN108901431B (en) * | 2018-08-14 | 2020-11-13 | 义乌市美杰包装制品有限公司 | Equipment for controlling unmanned aerial vehicle to carry out plant pruning |
| CN109463155A (en) * | 2018-11-20 | 2019-03-15 | 周玲玲 | A kind of intelligence trees pruner |
| CN110014410A (en) * | 2019-05-14 | 2019-07-16 | 襄阳金美科林农业开发有限公司 | A kind of fast-growing woods quickly pruning robot and its control method |
| CN110235692A (en) * | 2019-06-28 | 2019-09-17 | 昆明研顶技术开发有限公司 | A kind of intelligence bark repairing machine device people |
| CN110235692B (en) * | 2019-06-28 | 2021-07-27 | 义乌市倩飞科技有限公司 | Intelligent bark repairing robot |
| CN110692380A (en) * | 2019-10-18 | 2020-01-17 | 国网河南省电力公司濮阳供电公司 | High-efficient tall and big trees intelligence removes branch device |
| CN112655404A (en) * | 2020-12-24 | 2021-04-16 | 江逸群 | Garden maintenance robot |
| CN113207462A (en) * | 2021-04-23 | 2021-08-06 | 山西工程技术学院 | Intelligent full-automatic green belt trimming device and method |
| CN115088500A (en) * | 2022-08-25 | 2022-09-23 | 中化现代农业有限公司 | Pruning system for fruit trees and using method |
| CN115088500B (en) * | 2022-08-25 | 2022-11-18 | 中化现代农业有限公司 | Pruning system for fruit trees and using method |
| CN115720774A (en) * | 2022-11-07 | 2023-03-03 | 华南农业大学 | Orchard pruning operation device with branch sawing and field returning functions and operation method thereof |
| CN115581154A (en) * | 2022-11-25 | 2023-01-10 | 北京安海之弋园林古建工程有限公司 | High altitude trimming manipulator |
| CN115581154B (en) * | 2022-11-25 | 2023-04-14 | 北京安海之弋园林古建工程有限公司 | High altitude trimming manipulator |
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