CN106416621B - Automatic collection vehicle for the picking of tropical pineapple green - Google Patents
Automatic collection vehicle for the picking of tropical pineapple green Download PDFInfo
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- CN106416621B CN106416621B CN201610866677.2A CN201610866677A CN106416621B CN 106416621 B CN106416621 B CN 106416621B CN 201610866677 A CN201610866677 A CN 201610866677A CN 106416621 B CN106416621 B CN 106416621B
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- pineapple
- picking
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- electric telescopic
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L8/00—Electric propulsion with power supply from forces of nature, e.g. sun or wind
- B60L8/003—Converting light into electric energy, e.g. by using photo-voltaic systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The present invention discloses a kind of automatic collection vehicle for tropical pineapple green picking；The technical issues of solution：The problems such as existing pineapple picker the degree of automation mentioned in the background art is not high, the saving fuel oil energy.The technical solution of use：A kind of automatic collection vehicle for tropical pineapple green picking includes the Double-linkage picking mechanical arm for picking pineapple for collecting the automatic collecting cart of pineapple and being arranged on automatic collecting cart；Automatic collecting cart includes the electric vehicle of Driven by Solar Energy, pineapple pipeline and pineapple aligning mechanism；Double-linkage picking mechanical arm includes the parallel left side picking mechanical arm being arranged on support plate bottom surface and right side picking mechanical arm；Left side picking mechanical arm and right side picking mechanical arm include position adjusting mechanism, clamping cutting mechanism and pineapple testing agency.Advantage, automatic collecting cart make full use of tropical solar energy, have saved the fuel oil energy, also achieve green picking.
Description
Technical field
The invention discloses a kind of automatic collection vehicles, and in particular to a kind of automatic collection for tropical pineapple green picking
Vehicle belongs to fruit and vegetable picking intelligence equipment field.
Background technology
Pineapple is famous one of tropical fruit (tree), is planted in worldwide torrid areas.Pineapple epidermis floral organ is more, hard
It is hard intractable, it is easy to hurt artificial acquisition crowd, and manually picking labor intensity is very big.It develops agriculture through science and technology war to implement China
Slightly, the automated arm for being applied to pineapple picking continuously emerges in the country.
Chinese patent CN101585333 discloses a kind of pineapple harvesting and conveying device, it includes tractor and conveying device,
But it still needs to manually pick.Chinese patent CN101897259B discloses a kind of Pipeapple picking machine, the machine for picking fruits include picking mechanism,
Cutter hoisting mechanism leads fruit groove mechanism, horizontal transport agency, elevating conveyor structure, and mango is realized using tractor fuel power
Automatic picking.Chinese patent CN103688657 discloses a kind of device and method for picking pineapple automatically, which includes
Horizontal orientation device promotes correction Zhi Tai mechanisms, twists into two parts harvesting mechanism, but collecting problem to be related to the pineapple after picking.It is comprehensive
It analyzes above-mentioned patent to find, although all realizing the automatic picking or collection to pineapple, automation, intelligence to a certain extent
It is to be improved degree to be changed.Especially pineapple automatic picking apparatus is enriching solar energy use aspects to torrid areas,
To be related to.
Invention content
The technical problem to be solved by the present invention is to：Existing pineapple picker automation mentioned in the background art
The problems such as degree is not high, the saving fuel oil energy.
In order to solve the above technical problems, a kind of automatic collection vehicle for tropical pineapple green picking of the proposition of the present invention,
Specific technical solution is：
A kind of automatic collection vehicle for tropical pineapple green picking includes for collecting the automatic collecting cart of pineapple and setting
Set the Double-linkage picking mechanical arm for picking pineapple on automatic collecting cart；
Automatic collecting cart include the electric vehicle of Driven by Solar Energy, be connected with the electric vehicle of Driven by Solar Energy be used to convey pair
Linkage picking mechanical arm is picked the pineapple pipeline of pineapple and is arranged conveys being picked for adjusting pineapple for line front end in pineapple
It is convenient for the pineapple aligning mechanism that Double-linkage picking mechanical arm is picked in preceding position；
The electric vehicle of Driven by Solar Energy includes drive-controlling room, vehicle body, pineapple storage box, the first solar energy collecting plate,
Two solar energy collecting plates and solar converter；Drive-controlling room is arranged on the head of vehicle body, and pineapple storage box is mounted on vehicle body
On, the first solar energy collecting plate is arranged at the top of pineapple storage box；Body bottom is equipped with electric walking wheel, and body structure passes through
Protract holder, pillar and support plate evagination the second solar energy collecting plate of setting；The both sides of extension holder are respectively provided with pineapple pendulum
Put platform；Solar converter is mounted on extension holder and positioned at the lower section of the second solar energy collecting plate.
Improvement to technical solution of the present invention, Double-linkage picking mechanical arm include parallel be arranged on support plate bottom surface
Left side picking mechanical arm and right side picking mechanical arm；Left side picking mechanical arm and right side picking mechanical arm include that position adjusts
Mechanism, clamping cutting mechanism and pineapple testing agency；Position adjusting mechanism is arranged on the supporting plate, and cutting mechanism connection position is clamped
Adjustment mechanism is set, pineapple testing agency is arranged on the supporting plate；
Position adjusting mechanism includes fixed platform, moving platform, the first electric telescopic rod, the second electric telescopic rod and third electricity
Dynamic telescopic rod；Fixed platform upper surface is fixedly mounted on the supporting plate；First electric telescopic rod, the second electric telescopic rod and third
The bottom end of electric telescopic rod is mounted on the circumferential edges of fixed platform lower face by radians such as spherical linkages；First electronic stretches
Equipped with the first driving motor for driving its motion bar stretching motion on contracting bar；Equipped with driving, its activity is stretched in second electric telescopic rod
Second driving of contracting bar movement is electronic；Equipped with the third driving electricity for driving the movement of its movable telescopic bar in third electric telescopic rod
Machine；Three motion bar tops of the first electric telescopic rod, the second electric telescopic rod and third electric telescopic rod pass through spherical shape
It is hingedly connected on the circumferential edges of moving platform plane；
Clamping cutting mechanism includes clamping cylinder, two holding fingers, two finger brackets, two cut-out cylinders and two
Cutoff tool；Clamping cylinder is fixed on moving platform, and the piston rod of clamping cylinder passes through moving platform centre bore to connect two clamping hands
Refer to；One end of two finger brackets is separately fixed on moving platform, the other end of two finger brackets respectively by hinge one by one
It is correspondingly connected with respective holding finger；Two cut-out cylinder one-to-one correspondence are inclined on respective holding finger, and two are cut
Die cylinder piston rod on be separately connected respective cutoff tool；
Pineapple testing agency includes the first optoelectronic distance sensor and the second light being vertically installed on support plate bottom surface
Electrical distance sensor；First optoelectronic distance sensor and the second optoelectronic distance linear sensor are mounted on sustained height, the first light
Spacing between electrical distance sensor and the second optoelectronic distance sensor is equal to the line-spacing of pineapple cultivation.
The collaborative design of parallel duplex manipulator, realization is utilized to adopt the efficient of pineapple automatically in this technical solution
It plucks, effectively the saving fuel oil energy.
Improvement to above-mentioned technical proposal, pineapple aligning mechanism are arranged before the pineapple display platform of electric vehicle both sides
Side；Pineapple aligning mechanism includes pineapple position adjustment plate, and pineapple position adjustment plate is mounted in front of pineapple display platform, pineapple
Position adjustment plate is equipped with two rectangular channels corresponding to the first optoelectronic distance sensor and the second optoelectronic distance sensor.
Above-mentioned technical proposal is further improved, two rectangular channels are located at corresponding first optoelectronic distance sensing
The lower section of device, the second optoelectronic distance sensor；V-type opening is equipped at the front opening of two rectangular channels.
Improvement to technical solution of the present invention, the pineapple display platform that pineapple pipeline is mounted on electric vehicle both sides are deposited with pineapple
It between storage tank, is driven using electric-type, V belt translation or chain drive may be used in transmission mechanism.
Compared with prior art, the present invention advantage is：
This automatic collection vehicle picked for tropical pineapple green, (1) automatic collecting cart make full use of tropical solar energy energy
The fuel oil energy has been saved in source, also achieves green picking；(2) parallel duplex manipulator and Double-linkage manipulator are utilized
It is interior that cutting mechanism, pineapple vision-based detection mechanism, pineapple position adjusting mechanism are clamped using the gentle formula of position adjusting mechanism in parallel
The efficient automatic picking to pineapple is realized in collaborative design.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the automatic collecting cart overall distribution schematic diagram of the Driven by Solar Energy of the present invention.
Fig. 3 is the Driven by Solar Energy electric vehicle structure schematic diagram of the present invention.
Fig. 4 is the pineapple picking mechanical arm and Driven by Solar Energy electric vehicle attaching schematic diagram of the present invention.
Fig. 5 is the pineapple picking mechanical arm structural schematic diagram of the present invention.
Fig. 6 is that structural scheme of mechanism is sheared in the clamping of the present invention.
In figure：1000, automatic collecting cart；1100, electric vehicle；1101, drive-controlling room；1102, vehicle body；1103, pineapple
Storage box；1104, the first solar energy collecting plate；1105, the second solar energy collecting plate；1106, solar converter；1107, electric
Dynamic traveling wheel；1108, protract holder；1109, pillar；1110, support plate；1111, pineapple display platform；1200, pineapple position is rectified
Positive mechanism；1201, pineapple position adjustment plate；1202, rectangular channel；1300, pineapple pipeline；2000, Double-linkage picking mechanical arm；
2100, position adjusting mechanism；2101, fixed platform；2102, moving platform；2103, the first electric telescopic rod；2104, second electronic stretches
Contracting bar；2105, third electric telescopic rod；2106, the first driving motor；2107, the second driving is electronic；2108, third driving electricity
Machine；2200, cutting mechanism is clamped；2201, clamping cylinder；2202, holding finger；2203, finger bracket；2204, cylinder is cut off；
2205, cutoff tool；2300, pineapple testing agency；2301, the first optoelectronic distance sensor；2302, the second optoelectronic distance senses
Device；3000, system controller.
Specific implementation mode
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation
Example.
To keep present disclosure more obvious and easy to understand, done further below in conjunction with attached drawing 1- Fig. 6 and specific implementation mode
Description.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Embodiment：
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the automatic collection vehicle for tropical pineapple green picking, includes the automatic collection for collecting pineapple
Vehicle 1000 and the Double-linkage picking mechanical arm 2000 for picking pineapple being arranged on automatic collecting cart 1000.The present embodiment is certainly
Dynamic collecting vehicle further includes being when in use using what is be electrically connected with automatic collecting cart 1000 and Double-linkage picking mechanical arm 2000
System controller 3000.System controller 3000 is routine techniques product in the prior art, and the specific present invention does not make detailed
Explanation.
As shown in Fig. 2, automatic collecting cart 1000 includes electric vehicle 1100, pineapple pipeline 1300 and the spinach of Driven by Solar Energy
Trailing plants aligning mechanism 1200.What pineapple pipeline 1300 was connected with the electric vehicle 1100 of Driven by Solar Energy is used to convey Double-linkage
The pineapple that picking mechanical arm 2000 is picked；The pineapple that this further pineapple pipeline 1300 is mounted on 1100 both sides of electric vehicle is put
Between platform 1111 and pineapple storage box 1103, driven using electric-type, transmission mechanism may be used V belt translation in the prior art or
Chain drive.Pineapple aligning mechanism 1200 is arranged before pineapple pipeline 1300 front end is picked for adjusting pineapple
It is picked convenient for Double-linkage picking mechanical arm (2000) position.
It is adopted as shown in figure 4, Double-linkage picking mechanical arm 2000 includes the left side picking mechanical arm of parallel setting and right side
Pluck manipulator.Left side picking mechanical arm and right side picking mechanical arm include position adjusting mechanism 2100, clamping cutting mechanism
2200 and pineapple testing agency 2300.Position adjusting mechanism 2100 is arranged in support plate 1110, and clamping cutting mechanism 2200 connects
Position adjusting mechanism 2100 is connect, pineapple testing agency 2300 is arranged in support plate 1110.
As shown in Figures 2 and 3, the electric vehicle 1100 of the Driven by Solar Energy in automatic collecting cart 1000 includes drive-controlling room
1101, vehicle body 1102, pineapple storage box 1103, the first solar energy collecting plate 1104, the second solar energy collecting plate 1105 and the sun
It can converter 1106.Drive-controlling room 1101 is arranged on the head of vehicle body 1102, and pineapple storage box 1103 is mounted on vehicle body 1102
On, the first solar energy collecting plate 1104 is arranged at the top of pineapple storage box 1103 for acquiring solar energy and turning by solar energy
Parallel operation 1106, which is converted into, is same as the kinetic energy that driving electric vehicle 1100 works.1102 bottom of vehicle body is equipped with electric walking wheel 1107, vehicle
The second solar energy collecting plate is arranged by protract holder 1108, pillar 1109 and 1110 evagination of support plate in 1102 front end of body
1105.The both sides of extension holder 1108 are respectively provided with pineapple display platform 1111；Solar converter 1106 is mounted on extension holder
Lower section on 1108 and positioned at the second solar energy collecting plate 1105.
The parallel left side picking mechanical being arranged on 1110 bottom surface of support plate in Double-linkage picking mechanical arm 2000
Hand and right side picking mechanical arm include position adjusting mechanism 2100, clamping cutting mechanism 2200 and pineapple testing agency 2300.
As shown in Figures 4 and 5, position adjusting mechanism 2100 includes fixed platform 2101, moving platform 2102, the first electric telescopic rod
2103, the second electric telescopic rod 2104 and third electric telescopic rod 2105.2101 upper surface of fixed platform is fixedly mounted on support
On plate 1110；The bottom end of first electric telescopic rod 2103, the second electric telescopic rod 2104 and third electric telescopic rod 2105 is equal
It is mounted on by radians such as spherical linkages on the circumferential edges of 2101 lower face of fixed platform；First electric telescopic rod 2103, second
Electric telescopic rod 2104 and third electric telescopic rod 2105 are uniformly arranged.Further, it is equipped in the first electric telescopic rod 2103
Drive the first driving motor 2106 of its motion bar stretching motion；Equipped with its movable telescopic of driving in second electric telescopic rod 2104
Second driving electronic 2107 of bar movement；Equipped with the third drive for driving the movement of its movable telescopic bar in third electric telescopic rod 2105
Dynamic motor 2108；Three of first electric telescopic rod 2103, the second electric telescopic rod 2104 and third electric telescopic rod 2105
Motion bar top is connected on the circumferential edges of 2102 plane of moving platform by spherical linkage.
As shown in figs. 4 and 6, clamping cutting mechanism 2200 includes the hand of holding finger 2202, two of clamping cylinder 2201, two
Refer to 2203, two cut-out cylinders 2204 of holder and two cutoff tools 2205.Clamping cylinder 2201 is fixed on moving platform 2102, folder
The piston rod of tight cylinder 2201 passes through 2102 centre bore of moving platform to connect two holding fingers 2202；Two finger brackets 2203
One end is separately fixed on moving platform 2101, the other end of two finger brackets 2203 is connected one to one respectively by hinge respectively
From holding finger 2202；Two cut-out one-to-one correspondence of cylinder 2204 are inclined on respective holding finger 2202, two
It cuts off and is separately connected respective cutoff tool 2205 on the piston rod of cylinder 2204.
As shown in figure 4, pineapple testing agency 2300 includes the first photoelectricity being vertically installed on 1110 bottom surface of support plate
Range sensor 2301 and the second optoelectronic distance sensor 2302.First optoelectronic distance sensor 2301 and the second optoelectronic distance pass
Sensor 2302 is linearly mounted to sustained height, between the first optoelectronic distance sensor 2301 and the second optoelectronic distance sensor 2302
Spacing be equal to pineapple cultivation line-spacing.This first optoelectronic distance sensor 2301 and the second optoelectronic distance sensor 2302 are
Routine techniques product in the prior art.
As shown in Fig. 2, pineapple aligning mechanism 1200 is arranged before the pineapple display platform 1111 of 1100 both sides of electric vehicle
Side；Pineapple aligning mechanism 1200 includes pineapple position adjustment plate 1201, and pineapple position adjustment plate 1201 is put mounted on pineapple
Put the front of platform 1111, pineapple position adjustment plate 1201 be equipped with corresponding to the first optoelectronic distance sensor 2301 and the second photoelectricity away from
Two rectangular channels 1202 from sensor 2302.Two rectangular channels 1202 are located at corresponding first optoelectronic distance sensor
2301, the lower section of the second optoelectronic distance sensor 2302；V-type opening is equipped at the front opening of two rectangular channels 1202.
The present embodiment is used for the automatic collection vehicle of tropical pineapple green picking at work, and a specific pineapple is adopted
Pluck that steps are as follows：
Step 1：Automatic collecting cart 1000 is controlled by system controller 3000 first, drives duplex picking mechanical arm
2000, close to collected pineapple：
Solar energy is acquired, and passes through solar energy using the first solar energy collecting plate 1104, the second solar energy collecting plate 1105
Solar energy is changed into electric energy by converter 1106；
System controller 3000 controls the automatic collection vehicle 1000 of Driven by Solar Energy, close to collected pineapple.
Step 2：Then system controller 3000 controls duplex picking mechanical arm 2000, takes pineapple and send to pineapple conveying
Line 1300 is sent by pineapple pipeline 1300 to pineapple storage box 1103：
It is obtained by the first optoelectronic distance sensor 2301 and the second optoelectronic distance sensor 2302 of pineapple testing agency 2300
The location information for taking collected pineapple feeds back to system controller 3000.
System controller 3000 is detected according to the first optoelectronic distance sensor 2301, the second optoelectronic distance sensor 2302
By the location information of picking pineapple, the left side picking mechanical arm of control duplex picking mechanical arm 2000 and right side picking mechanical arm
Position adjusting mechanism 2100 will be clamped cutting mechanism 2200 and send to the corresponding position of the collected pineapple of cut-out, cut-out pineapple stalk,
And it send to pineapple display platform 1111；
Step 3：By pineapple display platform 1111, sent to pineapple storage box 1103 by pineapple pipeline 1300.
Part that the present invention does not relate to is the same as those in the prior art or can be realized by using the prior art.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of automatic collection vehicle for tropical pineapple green picking, which is characterized in that include for collecting the automatic of pineapple
Collecting cart (1000) and the Double-linkage picking mechanical arm (2000) for picking pineapple being arranged on automatic collecting cart (1000)；
Automatic collecting cart (1000) includes the electric vehicle (1100) of Driven by Solar Energy, electric vehicle (1100) phase with Driven by Solar Energy
The pineapple pipeline (1300) for being used to convey Double-linkage picking mechanical arm (2000) picking pineapple and setting even is conveyed in pineapple
It is convenient for Double-linkage picking mechanical arm (2000) to be picked for adjusting the position before pineapple is picked in line (1300) front end
Pineapple aligning mechanism (1200)；
The electric vehicle (1100) of Driven by Solar Energy include drive-controlling room (1101), vehicle body (1102), pineapple storage box (1103),
First solar energy collecting plate (1104), the second solar energy collecting plate (1105) and solar converter (1106)；Drive-controlling room
(1101) it is arranged on the head of vehicle body, pineapple storage box (1103) is mounted on vehicle body (1102), the first solar energy collecting plate
(1104) top of the setting in pineapple storage box (1103)；Vehicle body (1102) bottom is equipped with electric walking wheel (1107), vehicle body
(1102) the second solar energy acquisition is arranged by protract holder (1108), pillar (1109) and support plate (1110) evagination in front end
Plate (1105)；The both sides of extension holder (1108) are respectively provided with pineapple display platform (1111)；Solar converter (1106) is installed
Lower section on extension holder (1108) and positioned at the second solar energy collecting plate (1105)；
Double-linkage picking mechanical arm (2000) includes the parallel left side picking mechanical being arranged on support plate (1110) bottom surface
Hand and right side picking mechanical arm；Left side picking mechanical arm and right side picking mechanical arm include position adjusting mechanism (2100), folder
Hold cutting mechanism (2200) and pineapple testing agency (2300)；Position adjusting mechanism (2100) is arranged in support plate (1110),
Cutting mechanism (2200) link position adjustment mechanism (2100) is clamped, pineapple testing agency (2300) is arranged in support plate (1110)
On；
Position adjusting mechanism (2100) includes fixed platform (2101), moving platform (2102), the first electric telescopic rod (2103), second
Electric telescopic rod (2104) and third electric telescopic rod (2105)；Fixed platform (2101) upper surface is fixedly mounted on support plate
(1110) on；First electric telescopic rod (2103), the second electric telescopic rod (2104) and third electric telescopic rod (2105)
Bottom end is mounted on the circumferential edges of fixed platform (2101) lower face by radians such as spherical linkages；First electric telescopic rod
(2103) equipped with the first driving motor (2106) for driving its motion bar stretching motion on；Second electric telescopic rod fills on (2104)
Have and drives the second of the movement of its movable telescopic bar to drive electronic (2107)；Equipped with its work of driving in third electric telescopic rod (2105)
The third driving motor (2108) of dynamic telescopic rod movement；First electric telescopic rod (2103), the second electric telescopic rod (2104) with
And three motion bar tops of third electric telescopic rod (2105) are connected to moving platform (2102) plane by spherical linkage
On circumferential edges；
It includes clamping cylinder (2201), two holding fingers (2202), two finger brackets that cutting mechanism (2200), which is clamped,
(2203), two cut-out cylinders (2204) and two cutoff tools (2205)；Clamping cylinder (2201) is fixed on moving platform (2102)
On, the piston rod of clamping cylinder (2201) passes through moving platform (2102) centre bore to connect two holding fingers (2202)；Two hands
One end of finger holder (2203) is separately fixed on moving platform (2101), the other end of two finger brackets (2203) passes through respectively
Hinge connects one to one respective holding finger (2202)；Two cut-out cylinders (2204), which correspond, to be inclined at respectively
Holding finger (2202) on, two cut-out cylinder (2204) piston rods on be separately connected respective cutoff tool (2205)；
Pineapple testing agency (2300) includes the first optoelectronic distance sensor being vertically installed on support plate (1110) bottom surface
(2301) and the second optoelectronic distance sensor (2302)；First optoelectronic distance sensor (2301) and the second optoelectronic distance sensor
(2302) be linearly mounted to sustained height, the first optoelectronic distance sensor (2301) and the second optoelectronic distance sensor (2302) it
Between spacing be equal to pineapple cultivation line-spacing.
2. the automatic collection vehicle as described in claim 1 for tropical pineapple green picking, which is characterized in that rectify pineapple position
Positive mechanism (1200) setting is in front of the pineapple display platform (1111) of electric vehicle (1100) both sides；Pineapple aligning mechanism
(1200) include pineapple position adjustment plate (1201), before pineapple position adjustment plate (1201) is mounted on pineapple display platform (1111)
Side, pineapple position adjustment plate (1201) is equipped with to be sensed corresponding to the first optoelectronic distance sensor (2301) and the second optoelectronic distance
Two rectangular channels (1202) of device (2302).
3. the automatic collection vehicle as claimed in claim 2 for tropical pineapple green picking, which is characterized in that two rectangular channels
(1202) be located at corresponding first optoelectronic distance sensor (2301), the second optoelectronic distance sensor (2302) lower section；
V-type opening is equipped at the front opening of two rectangular channels (1202).
4. the automatic collection vehicle as described in claim 1 for tropical pineapple green picking, which is characterized in that pineapple pipeline
(1300) it is mounted between the pineapple display platform (1111) and pineapple storage box (1103) of electric vehicle (1100) both sides, using electric-type
V belt translation or chain drive may be used in driving, transmission mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610866677.2A CN106416621B (en) | 2016-09-29 | 2016-09-29 | Automatic collection vehicle for the picking of tropical pineapple green |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610866677.2A CN106416621B (en) | 2016-09-29 | 2016-09-29 | Automatic collection vehicle for the picking of tropical pineapple green |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106416621A CN106416621A (en) | 2017-02-22 |
| CN106416621B true CN106416621B (en) | 2018-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610866677.2A Active CN106416621B (en) | 2016-09-29 | 2016-09-29 | Automatic collection vehicle for the picking of tropical pineapple green |
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