CN105230236B - Orderly harvesting device and method for leaf vegetables based on mechanical arm - Google Patents
Orderly harvesting device and method for leaf vegetables based on mechanical arm Download PDFInfo
- Publication number
- CN105230236B CN105230236B CN201510629416.4A CN201510629416A CN105230236B CN 105230236 B CN105230236 B CN 105230236B CN 201510629416 A CN201510629416 A CN 201510629416A CN 105230236 B CN105230236 B CN 105230236B
- Authority
- CN
- China
- Prior art keywords
- leaf vegetables
- controller
- mechanical arm
- cutter sweep
- food basket
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention discloses an orderly harvesting device and method for leaf vegetables based on a mechanical arm. The orderly harvesting device for leaf vegetables based on the mechanical arm comprises a harvesting device body, a grabbing device is mounted on the front end of the harvesting device body, a cutter is mounted under the front end, a conveyer is mounted on the middle portion, a packaging device is disposed under the tail end of the conveyer, the packaging device is mounted on the harvesting device body, and walking wheels are disposed under the bottom of the harvesting device body. A display device is arranged between two handrails at the rear end of the harvesting device body; and the orderly harvesting device for leaf vegetables further comprises a controller used for controlling the grabbing device, the cutter, the conveyer, the packaging device and the display device, and the controller is electrically connected to the grabbing device, the cutter, the conveyer, the packaging device and the display device,. The orderly harvesting device and method for leaf vegetables based on the mechanical arm can picking vegetables, orderly convey and put the vegetables, and can harvesting leaf vegetables having the same weight.
Description
Technical field
The present invention relates to a kind of orderly harvesting apparatus of the leaf vegetables based on mechanical arm and method, belong to vegetable and harvest agriculture machine
Tool technical field.
Background technology
China is a vegetable big producing country, but Mechanization of vegetable production level falls behind relatively, wherein leaf vegetables
Harvest machinery is equipped in China almost or blank, and with the development of modern agricultural technology, vegetable mechanized harvest technology is at me
State is increasingly taken seriously.The western developed country such as America and Europe growing vegetables mainly based on large area farmland planting, development and application
Vegetable harvesting machine tool be mainly big-and-middle-sized plant equipment, its ceding of Taiwan of the harvest machinery of developed country is more single, uncomfortable Hejiang
The leaf vegetables form of Soviet Union's multi items, and separate unit harvest machinery weight weight, area are big, easily cause the pressure to crop and step on, and affect vegetable
The subsequent growth and efficiency of crop of crop, directly introduces using value little.
By data check, the country there is no method realize the harvesting to whole leaf vegetables and collection, put it is orderly, be easy to select whole
Reason and later stage sale, the leaf vegetables harvest machinery of molding.
The content of the invention
Goal of the invention：For problems of the prior art and a kind of not enough, leaf vegetables based on mechanical arm of the present invention
Orderly harvesting apparatus and method.
Technical scheme：A kind of orderly harvesting apparatus of the leaf vegetables based on mechanical arm, including harvest machinery body, basic machine
Front end top grabbing device is installed, front end lower section is provided with cutter sweep, and middle part top is provided with transporter, transmission dress
The end lower section put is provided with boxing apparatus, and boxing apparatus are arranged on harvest machinery body, and harvest machinery body bottom portion lower section sets
There is road wheel；Display device is provided between the handrail of harvest machinery body rear end two；The orderly harvesting apparatus of the leaf vegetables also includes using
In control grabbing device, cutter sweep, transporter, boxing apparatus, and the controller of display device, controller is filled with crawl
Put, cutter sweep, transporter, boxing apparatus, and display device electrical connection.
The grabbing device includes mechanical arm, and mechanical arm end is arranged on harvest machinery body front end, mechanical arm
Front end be mechanical hand for capturing leaf vegetables（Clamper）；Mechanical arm is jointed arm robot, including some for adjusting
The steering wheel of whole angle position, by controller the crawl position of mechanical hand is adjusted, when mechanical arm transmits leaf vegetables, controller control
Mechanical arm processed is turned over, while release mechanism handss, leaf vegetables falls on transporter, and then controller control machinery arm is answered
Position.
The grabbing device includes multiple horizontally arranged mechanical arms.
The cutter sweep is made up of variable speed machine cutting edge group and steering wheel, cutter sweep can by controller according to
Leaf vegetables growth conditionss are moved up and down, and adjust upper-lower position；Grabbing device and cutter sweep cooperate action, work as mechanical hand
When catching leaf vegetables to close, controller starts cutter sweep and leaf vegetables is cut, and after cutter sweep cutting, is signaled to control
Device, controller control machinery arm is turned over.
The cutter sweep includes multigroup horizontally arranged variable speed machine cutting edge group, every group of variable speed machine cutting edge
Organize a mechanical arm cooperating with grabbing device.
The cutter sweep is additionally provided with the photoelectric sensor for whether having leaf vegetables for detection front.Photoelectric sensor is detected
Detection signal is reached controller by cutter sweep front end without leaf vegetables, and controller will stop mechanical hand crawl and cutter sweep cutting
Deng action, and this signal is fed back to into display device show；There is leaf vegetables until photoelectric sensor detects cutter sweep front end,
Mechanical hand crawl leaf vegetables is driven again；After the leaf vegetables persistent period is not detected by more than 10 minutes, controller autostop power-off.
The transporter includes conveyer belt, transmission translator and belt pulley；Transmission translator is driven by belt pulley and is passed
Send band；According to leaf vegetables speed is plucked, the rotating speed of transmission translator is adjusted by controller, realize that speed change is transmitted.
The boxing apparatus include rack-and-pinion, motor, flat board, weight sensor and food basket, and gear is arranged on
In motor rotating shaft, flatbed horizontal is movably arranged on harvest machinery body and positioned at the end in conveyer belt direction
Lower section, tooth bar is located on flat board side, motor positive and negative rotation, by rack-and-pinion so as to realizing flat board in the horizontal direction
It is movable；The rotating speed of the motor can be adjusted by controller；The food basket can be placed on flat board, be equipped with flat board
Whether weight sensor, the leaf vegetables harvested for detection reaches preset weight, by motor forward and backward action, can make tooth
Flat board on wheel tooth bar is reciprocated before and after realizing, reciprocates coaxial with conveyer belt direction of transfer, and the stroke of flat board will ensure
Leaf vegetables during food basket is movable on conveyer belt is fallen in food basket.When the leaf vegetables on conveyer belt falls into food basket, food basket can
It is by command speed movable, it is possible to achieve leaf vegetables is put in order.Detect leaf vegetables in food basket whether by weight sensor
Preset weight is reached, if reached, to controller signal is sent, notify that user changes food basket.
The display device is touch panel display device, and for user and the information exchange of controller, user can be by touching
Touch screen display device and realize control of the controller to grabbing device, cutter sweep, transporter, and boxing apparatus；User is led to
Gravimetric value, the transmission speed of conveyer belt, food basket translational speed and direction that touch panel display device arranges food basket bottom are crossed, is adjusted
Cutting position and crawl position.
The controller is Arduino control platforms.
A kind of orderly harvesting method of the leaf vegetables based on mechanical arm, comprises the steps：
According to leaf vegetables by display device adjust mechanical arm crawl position, the cutting position of cutter sweep, flat board speed,
The parameters such as line speed, food basket weight, also may be selected the history parameters that controller is preserved；
Whether there is leaf vegetables by the photoelectric sensor detection front of harvest machinery body front end, and detection signal is reached into control
Device processed, if without leaf vegetables, controller will stop the action such as mechanical hand crawl and cutter sweep cutting, and this signal is fed back to into aobvious
Showing device shows；If there is leaf vegetables in front, controller drives mechanical arm to the position for arranging, control machinery hand crawl leaf vegetables；
After the leaf vegetables persistent period is not detected by more than 10 minutes, controller autostop power-off.
Controller control machinery arm is turned over to conveyer belt top, and makes leaf vegetables cane hang down with conveyer belt direction
Directly, while release mechanism handss, leaf vegetables level falls on transporter, and then controller control machinery arm resets.
Leaf vegetables is sent in food basket by conveyer belt, food basket is moved from the front to the back and from the front to the back repeatedly, i.e., food basket by
Before be moved rearwards by, when spacing after movement is reached, then move from the front to the back, when move reached front limit when, then by
Before be moved rearwards by, so repeatedly, until food basket weight reaches preset weight, so as to realize putting in order for leaf vegetables；Move in food basket
During dynamic, the weight signal for checking constantly is transferred to controller by the weight sensor below flat board, and controller makes display
Device shows weight information, and judges whether the weight of food basket reaches preset weight value, if reached, sends signalisation use
Family.
Beneficial effect：Compared with prior art, the present invention provide the orderly harvesting apparatus of the leaf vegetables based on mechanical arm and
Method, has the advantage that：
1st, manipulator clamping leaf vegetables position can be adjusted, and can reach mechanical hand and most preferably clamp leaf vegetables position.
2nd, cutter sweep position can adjust up and down, according to touch screen institute input data, realize in cutter sweep adjust automatically
Lower position, realizes optimum Cutting position.
3rd, when cutting is completed, manipulator clamping leaf vegetables is overturn to conveyer belt, makes cane vertical with conveyer belt direction,
Realize that vegetable is plucked transmission in order and puts.
4th, when conveyer belt is overturn to the back side, the leaf vegetables on conveyer belt is fallen in the food basket of lower section.
5th, food basket is moved forward and backward by bottom cog rack gear（Moving direction is same with transmission direction of belt travel
Axle）, it is capable of achieving the orderly loading of leaf vegetables.
6th, user can also be input into mechanical hand crawl leaf vegetables initial position data by the user interface of touch screen, realize grabbing
Take leaf vegetables optimum position.
7th, user can also be input into belt pulley transmission speed by the user interface of touch screen, by program while the tune that links
Whole food basket moves forward and backward speed, so as to finally realize that leaf vegetables harvests in order.
8th, according to filled weight sensor, user can also be by the user interface of touch screen, real time inspection institute harvested vegetable
Weight, and can preserve and last data, realize that the vegetable within crop cycle harvests data acquisition, while can also be according to sale
Weight arranges food basket weight.
6th, touch screen design friendly interface, harvest machinery whole process state and related data show in real time, and automatically control, energy
Enough realize that different cultivars, different growing way leaf vegetables vegetables are harvested in order.The orderly machinery of leaf vegetables based on mechanical arm, will meet
Vast growing vegetables family improve harvest labor efficiency in the urgent need to for vegetable is solved, to harvest a difficult problem significant.
Description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the status architecture schematic diagram that embodiment of the present invention mechanical hand captures leaf vegetables；
Fig. 3 is the status architecture schematic diagram that embodiment of the present invention conveyer belt transmits leaf vegetables；
Fig. 4 is the method flow diagram of the embodiment of the present invention.
Specific embodiment
With reference to specific embodiment, the present invention is further elucidated, it should be understood that these embodiments are merely to illustrate the present invention
Rather than the scope of the present invention is limited, and after the present invention has been read, various equivalences of the those skilled in the art to the present invention
The modification of form falls within the application claims limited range.
As shown in figure 1, the orderly harvesting apparatus of leaf vegetables based on mechanical arm, including harvest machinery body, basic machine
Front end top is provided with grabbing device, and front end lower section is provided with cutter sweep 3, and middle part top is provided with transporter, transmission dress
The end lower section put is provided with boxing apparatus, and boxing apparatus are arranged on harvest machinery body, and harvest machinery body bottom portion lower section sets
There is road wheel 14；Display device 6 is provided between the handrail of harvest machinery body rear end two；The orderly harvesting apparatus of leaf vegetables also include for
Control grabbing device, cutter sweep 3, transporter, boxing apparatus, and the controller 1 of display device 6, controller 1 and crawl
Device, cutter sweep 3, transporter, boxing apparatus, and display device 6 are electrically connected；Leaf vegetables therein is Xiaoqinling Nature Reserve.
Controller 1 is Arduino control platforms.
Grabbing device includes mechanical arm 4, and the end of mechanical arm 4 is arranged on harvest machinery body front end, mechanical arm 4
Front end is the mechanical hand for capturing leaf vegetables（Clamper）；Mechanical arm 4 is jointed arm robot 4, including some for adjusting
The steering wheel of whole angle position, by controller 1 crawl position of mechanical hand is adjusted, when mechanical arm 4 transmits leaf vegetables, controller
1 control machinery arm 4 is turned over, and makes leaf vegetables cane vertical with the direction of motion of conveyer belt 5, while release mechanism handss, leaf vegetables water
Fall to normal price on transporter, then the control machinery arm 4 of controller 1 resets.
As needed, grabbing device can include multiple horizontally arranged mechanical arms 4.
Cutter sweep 3 is constituted by variable speed machine cutting edge group and for the steering wheel of adjustment angle position, except expiring
Outside sufficient cutting function, also cutting-height can be adjusted according to different leaf vegetables, cutter sweep 3 can be grown by controller 1 according to leaf vegetables
Condition is moved up and down, and adjusts upper-lower position, is easy to cut leaf vegetables；Grabbing device and cutter sweep 3 cooperate action, when
When mechanical hand catches leaf vegetables to close, controller 1 starts cutter sweep 3 and leaf vegetables is cut, and after cutter sweep 3 cuts, sends
Signal is turned over to controller 1, the control machinery arm 4 of controller 1.
As needed, cutter sweep 3 may include multigroup horizontally arranged variable speed machine cutting edge group, every group of variable-ratio electricity
One cooperating of mechanical arm 4 of machine cutting edge group and grabbing device.
Cutter sweep 3 is additionally provided with the photoelectric sensor 2 for whether having leaf vegetables for detection front.Photoelectric sensor 2 is detected
Detection signal is reached controller 1 by the front end of cutter sweep 3 without leaf vegetables, and controller 1 will stop mechanical hand crawl and cutter sweep 3
The actions such as cutting, and this signal is fed back to into display device 6 show；Have until photoelectric sensor 2 detects the front end of cutter sweep 3
Leaf vegetables, just drives again mechanical hand crawl leaf vegetables；After the leaf vegetables persistent period is not detected by more than 10 minutes, controller 1 is automatic
Shut down power-off.
Transporter includes conveyer belt 5, transmission translator 8 and belt pulley 7；Transmission translator 8 is driven by belt pulley 7 and is passed
Send band 5；According to leaf vegetables speed is plucked, the rotating speed of transmission translator 8 is adjusted by controller 1, realize that speed change is transmitted.
Boxing apparatus include the pair of rack-and-pinion 10, motor 11, flat board, weight sensor 12 and food basket 9, and gear is installed
In the rotating shaft of motor 11, flatbed horizontal is movably arranged on harvest machinery body and positioned at the end of the direction of motion of conveyer belt 5
The lower section at end, tooth bar is located on flat board side, motor 11 can positive and negative rotation, by the pair of rack-and-pinion 10 so as to realizing flat board
Move forward and backward in the horizontal direction；The rotating speed of motor 11 can be adjusted by controller 1；Food basket 9 can be placed on flat board, flat board
Weight sensor 12 is housed down, whether the leaf vegetables harvested for detection reaches preset weight, by the positive and negative rotation of motor 11
Make, the cooperation of rack-and-pinion 10 can be such that flat board reciprocates before and after realizing, reciprocate direction same with the direction of transfer of conveyer belt 5
Axle, the stroke of flat board to ensure food basket 9 it is movable during leaf vegetables on conveyer belt 5 fall in food basket 9.When on conveyer belt 5
Leaf vegetables when falling into food basket 9, food basket 9 can be movable by command speed, it is possible to achieve leaf vegetables is put in order.Passed by weight
Whether the leaf vegetables in the detection food basket 9 of sensor 12 reaches preset weight, if reached, to controller 1 signal is sent, and notifies user more
Change food basket 9.
The lower section of conveyer belt 5 is equipped with supply unit 13, and supply unit 13 includes accumulator and inverter, can carry for harvest machinery
Ensure for power.
Display device 6 is touch panel display device, and for user and the information exchange of controller 1, user can be by touching
Screen display device realizes controller 1 to grabbing device, cutter sweep 3, transporter, and the control of boxing apparatus；User is led to
Cross gravimetric value, the transmission speed of conveyer belt 5, the translational speed of food basket 9 and direction that touch panel display device arranges the bottom of food basket 9
（The rotating speed of motor 11 and steering）, cutting position and crawl position are adjusted, while Arduino control platforms preserve above-mentioned use
The data that family is arranged, select for next user.
As in Figure 2-4, the orderly harvesting method of leaf vegetables based on mechanical arm 4, comprises the steps：
First, the crawl position of mechanical arm 4, the cutting position of cutter sweep 3 are adjusted, is put down by display device according to leaf vegetables
Plate speed（The rotating speed of motor 11）, the speed of conveyer belt 5, the parameter such as the weight of food basket 9, also may be selected that controller 1 preserves goes through
History parameter；
Whether there is leaf vegetables by the detection of photoelectric sensor 2 front of harvest machinery body front end, and detection signal is reached
Controller 1, if without leaf vegetables, controller 1 will stop the actions such as mechanical hand is captured and cutter sweep 3 cuts, and this signal is anti-
Display device of feeding 6 shows；If there is leaf vegetables in front, controller 1 drives mechanical arm 4 to the position for arranging, control machinery hand
Crawl leaf vegetables, mechanical hand catches leaf vegetables to close, and mechanical hand closure information is sent to controller 1, and controller 1 drives cutter sweep 3
Carry out cutting operation；After the leaf vegetables persistent period is not detected by more than 10 minutes, the autostop power-off of controller 1.
The control machinery arm 4 of controller 1 is turned over to the top of conveyer belt 5, and makes leaf vegetables cane and the side of moving of conveyer belt 5
To vertical, while release mechanism handss, leaf vegetables level falls on transporter, mechanical hand open after the control machinery arm 4 of controller 1
Reset.
Leaf vegetables is sent in food basket 9 by conveyer belt 5, food basket 9 is moved from the front to the back and from the front to the back repeatedly, i.e. food basket
9 move from the front to the back, when spacing after movement is reached, then move from the front to the back, when movement is reached front limit, then
Move from the front to the back, so repeatedly, until the weight of food basket 9 reaches preset weight, so as to realize putting in order for leaf vegetables；In food basket
In 9 moving process, the weight signal for checking constantly is transferred to controller 1, controller 1 by the weight sensor 12 below flat board
Make display device show weight information, and judge whether the weight of food basket 9 reaches preset weight value, if reached, send signal
Notify user.
Claims (10)
1. a kind of orderly harvesting apparatus of leaf vegetables based on mechanical arm, including harvest machinery body, it is characterised in that：Harvest machinery
The front end top of body is provided with grabbing device, and front end lower section is provided with cutter sweep, and middle part top is provided with transporter, passes
The end lower section for sending device is provided with boxing apparatus, and boxing apparatus are arranged on harvest machinery body, under harvest machinery body bottom portion
Side is provided with road wheel；Display device is provided between the handrail of harvest machinery body rear end two；The orderly harvesting apparatus of the leaf vegetables is also wrapped
Include the controller for controlling grabbing device, cutter sweep, transporter, boxing apparatus, and display device, controller with grab
Take device, cutter sweep, transporter, boxing apparatus, and display device electrical connection.
2. the orderly harvesting apparatus of leaf vegetables of mechanical arm is based on as claimed in claim 1, it is characterised in that：The grabbing device
Including mechanical arm, mechanical arm end is arranged on harvest machinery body front end, and the front end of mechanical arm is for capturing leaf vegetables
Mechanical hand；Mechanical arm is jointed arm robot, including some first steering wheels, and by controller the crawl of mechanical hand is adjusted
Position, when mechanical arm transmits leaf vegetables, controller control machinery arm is turned over, while release mechanism handss, leaf vegetables falls
On transporter, then controller control machinery arm resets；
The grabbing device includes multiple horizontally arranged mechanical arms.
3. the orderly harvesting apparatus of leaf vegetables of mechanical arm is based on as claimed in claim 1, it is characterised in that：The cutter sweep
It is made up of variable speed machine cutting edge group and the second steering wheel, cutter sweep is carried out by controller according to leaf vegetables growth conditionss
Lower movement, adjusts upper-lower position；Grabbing device and cutter sweep cooperate action, when mechanical hand catches leaf vegetables to close, control
Device processed starts cutter sweep and leaf vegetables is cut, and after cutter sweep cutting, is signaled to controller, controller control machinery
Arm is turned over.
4. the orderly harvesting apparatus of leaf vegetables of mechanical arm is based on as claimed in claim 3, it is characterised in that：The cutter sweep
Including a machine of multigroup horizontally arranged variable speed machine cutting edge group, every group of variable speed machine cutting edge group and grabbing device
Tool arm cooperating.
5. the orderly harvesting apparatus of leaf vegetables of mechanical arm is based on as claimed in claim 1, it is characterised in that：The cutter sweep
It is additionally provided with the photoelectric sensor for whether having leaf vegetables for detection front；Photoelectric sensor detects cutter sweep front end without leaf vegetables,
Detection signal is reached into controller, controller will stop the action of mechanical hand crawl and cutter sweep cutting, and this signal is anti-
Display device of feeding shows；There is leaf vegetables until photoelectric sensor detects cutter sweep front end, mechanical hand crawl is just driven again
Leaf vegetables；After the leaf vegetables persistent period is not detected by more than 10 minutes, controller autostop power-off.
6. the orderly harvesting apparatus of leaf vegetables of mechanical arm is based on as claimed in claim 1, it is characterised in that：The transporter
Including conveyer belt, transmission translator and belt pulley；Transmission translator drives conveyer belt by belt pulley；It is fast according to leaf vegetables is plucked
Degree, by controller the rotating speed of transmission translator is adjusted, and realizes that speed change is transmitted.
7. the orderly harvesting apparatus of leaf vegetables of mechanical arm is based on as claimed in claim 1, it is characterised in that：The boxing apparatus
Including rack-and-pinion, motor, flat board, weight sensor and food basket, gear is arranged in motor rotating shaft, flat board water
The lower section of the end being movably arranged on harvest machinery body and positioned at conveyer belt direction is put down, tooth bar is located at flat board side
On, motor positive and negative rotation is moved forward and backward in the horizontal direction by rack-and-pinion so as to realize flat board；The motor
Rotating speed by controller adjust；The food basket is placed on flat board, and weight sensor is housed under flat board, is harvested for detection
Whether leaf vegetables reaches preset weight, by motor forward and backward action, the flat board on rack-and-pinion is come and gone before and after realizing
It is mobile, reciprocate coaxial with conveyer belt direction of transfer, the stroke of flat board will ensure food basket during moving forward and backward on conveyer belt
Leaf vegetables fall in food basket；When the leaf vegetables on conveyer belt falls into food basket, food basket is movable by command speed, realizes leaf vegetables
Put in order；Detect whether the leaf vegetables in food basket reaches preset weight by weight sensor, if reached, send to controller
Signal, notifies that user changes food basket.
8. the orderly harvesting apparatus of leaf vegetables of mechanical arm is based on as claimed in claim 1, it is characterised in that：The display device
For touch panel display device, for user and the information exchange of controller, user realizes controller by touch panel display device
To grabbing device, the control of cutter sweep, transporter, and boxing apparatus；User arranges dish by touch panel display device
The gravimetric value of basket bottom, the transmission speed of conveyer belt, food basket translational speed and direction, adjust cutting position and crawl position.
9. the orderly harvesting apparatus of leaf vegetables of mechanical arm is based on as claimed in claim 1, it is characterised in that：The controller is
Arduino control platforms.
10. the orderly harvesting method of a kind of leaf vegetables based on mechanical arm, it is characterised in that comprise the steps：
Mechanical arm crawl position, the cutting position of cutter sweep, flat board speed, transmission are adjusted by display device according to leaf vegetables
Tape speed, food basket weight parameter, or the history parameters that selection control is preserved；
Whether there is leaf vegetables by the photoelectric sensor detection front of harvest machinery body front end, and detection signal is reached into control
Device, if without leaf vegetables, controller will stop mechanical hand crawl and cutter sweep cutting action, and this signal is fed back to into display dress
Put display；If there is leaf vegetables in front, controller drives mechanical arm to the position for arranging, control machinery hand crawl leaf vegetables；When not
After the leaf vegetables persistent period is detected more than 10 minutes, controller autostop power-off；
Controller control machinery arm is turned over to conveyer belt top, and makes leaf vegetables cane vertical with conveyer belt direction,
Simultaneously release mechanism handss, leaf vegetables level falls on transporter, and then controller control machinery arm resets；
Leaf vegetables is sent in food basket by conveyer belt, food basket is moved from the front to the back and from the front to the back repeatedly, i.e., food basket is by forward direction
After move, when spacing after be moved to, then move from the front to the back, when front limit is moved to, then move from the front to the back, such as
This repeatedly, until food basket weight reaches preset weight, so as to realize putting in order for leaf vegetables；In food basket moving process, flat board
The weight signal for checking constantly is transferred to controller by the weight sensor of lower section, and controller makes display device show weight letter
Breath, and judge whether the weight of food basket reaches preset weight value, if reached, send signalisation user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510629416.4A CN105230236B (en) | 2015-09-28 | 2015-09-28 | Orderly harvesting device and method for leaf vegetables based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510629416.4A CN105230236B (en) | 2015-09-28 | 2015-09-28 | Orderly harvesting device and method for leaf vegetables based on mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105230236A CN105230236A (en) | 2016-01-13 |
| CN105230236B true CN105230236B (en) | 2017-04-12 |
Family
ID=55028308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510629416.4A Active CN105230236B (en) | 2015-09-28 | 2015-09-28 | Orderly harvesting device and method for leaf vegetables based on mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105230236B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106688434A (en) * | 2016-12-08 | 2017-05-24 | 武汉慧能机器人科技有限公司 | Automatic picking machine for green vegetables |
| CN107047086B (en) * | 2017-06-20 | 2023-05-26 | 山西省农业科学院旱地农业研究中心 | Full-automatic pruning and collecting equipment for tomatoes |
| CN108848889B (en) * | 2018-06-22 | 2020-07-31 | 江苏农林职业技术学院 | Leaf vegetable harvesting mechanical device based on image recognition and control method thereof |
| CN109121686A (en) * | 2018-08-15 | 2019-01-04 | 张传波 | A kind of blueberry picking auxiliary device |
| CN108834769A (en) * | 2018-09-11 | 2018-11-20 | 吉林大学 | A kind of mushroom automatic acquisition device |
| CN109673247B (en) * | 2019-01-18 | 2021-06-22 | 江苏大学 | Same-machine bundling system for orderly harvesting leaf vegetables and implementation method |
| CN110169257A (en) * | 2019-07-05 | 2019-08-27 | 朱永干 | The orderly harvester of dense planting vegetables |
| CN111373927A (en) * | 2020-05-03 | 2020-07-07 | 任永红 | Modern agriculture reaps system fertilizer device with straw |
| CN112166808B (en) * | 2020-10-23 | 2021-08-31 | 华南农业大学 | Harvesting device and method for pipeline-cultivated leaf vegetables |
| CN112715144A (en) * | 2020-12-31 | 2021-04-30 | 中国农业科学院都市农业研究所 | Rose harvesting robot device and method |
| CN114931088B (en) * | 2022-06-21 | 2024-03-08 | 河南科技大学 | Leaf peeling device and leaf peeling method for mechanical leaf peeling of hydroponic lettuce |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1431085A (en) * | 2003-01-28 | 2003-07-23 | 刘方炎 | Pneumatic manipulator |
| US20050034441A1 (en) * | 2003-08-15 | 2005-02-17 | Los Olivares De Venado Tuerto S.A. | Olive harvesting machine |
| US7168226B2 (en) * | 2004-03-31 | 2007-01-30 | Cnh America Llc | Independent hydraulic header lift and flotation system |
| CN103858601B (en) * | 2014-02-26 | 2016-06-08 | 浙江机电职业技术学院 | A kind of greenhouse cultivation vegetable is gathered machinery |
| CN103975693A (en) * | 2014-05-08 | 2014-08-13 | 邹修国 | Mobile gateway control solanaceous fruit vegetable picking robot |
-
2015
- 2015-09-28 CN CN201510629416.4A patent/CN105230236B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105230236A (en) | 2016-01-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105230236B (en) | Orderly harvesting device and method for leaf vegetables based on mechanical arm | |
| CN109005811B (en) | A kind of automatic transplanter for plug seedling and its control method | |
| CN102124906B (en) | Vision-based to-be-grafted seedling sorting device of vegetable and fruit grafting machine | |
| CN201919377U (en) | Vision-based grafted seedling classifying device for fruit and vegetable grafting machine | |
| CN204811097U (en) | Integration side bundle bundling machine | |
| CN104919954B (en) | Device with pot seedling feeding speed capable of being adjusted automatically | |
| CN205902398U (en) | Vegetable harvesting machine | |
| CN108514128B (en) | Automatic coconut peeling machine | |
| CN114303644B (en) | Robot for nondestructive picking, grading, packaging and collecting of fresh grapes and use method thereof | |
| CN108633398A (en) | A kind of all automatic vegetables transplanter | |
| CN115633599A (en) | Method for movably collecting black fungus on fungus bag | |
| CN202232211U (en) | Square bale pickup baler for corn straw | |
| CN112655377A (en) | Intelligent mechanical device based on Internet of things and used for garden fruit picking | |
| CN109328638B (en) | Tobacco harvester with intelligent bionic picking hand | |
| CN111567214A (en) | Full-automatic tomato automatic picking and transporting integrated robot and use method | |
| CN103053281B (en) | Automatic edible fungus picker | |
| CN207658723U (en) | A kind of seedbed carrier | |
| CN208624129U (en) | Strawberry picker | |
| CN202340427U (en) | Traction type sugarbeet combined harvester and control system thereof | |
| CN203136549U (en) | Automatic edible mushroom harvesting machine | |
| CN103155759B (en) | Floating type picking table | |
| CN102498818A (en) | Pull-type sugar beet combine harvester and control system thereof | |
| CN204994241U (en) | Automatic flowers transplanter | |
| CN213847692U (en) | Pineapple picking machine | |
| CN208402401U (en) | A kind of all automatic vegetables transplanter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |