CN106717547A - A kind of practical picking fruit Based Intelligent Control structure - Google Patents
A kind of practical picking fruit Based Intelligent Control structure Download PDFInfo
- Publication number
- CN106717547A CN106717547A CN201710008371.8A CN201710008371A CN106717547A CN 106717547 A CN106717547 A CN 106717547A CN 201710008371 A CN201710008371 A CN 201710008371A CN 106717547 A CN106717547 A CN 106717547A
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- CN
- China
- Prior art keywords
- fruit
- picking
- switch
- microcontroller
- elongation
- 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.)
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Classifications
-
- 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
- A01D46/253—Portable motorised fruit pickers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention discloses a kind of practical picking fruit Based Intelligent Control structure, including picking lever, one end of picking lever is provided with picking claw and the pedestal being arranged between picking claw and picking lever, the other end of picking lever is provided with handle, hydraulic system is provided with handle, the hydraulic system is connected with picking lever；Also include electric-control system, described electric-control system includes fruit touching switch, microcontroller, indicator lamp, elongation switch, retract switch, battery valve, and magnetic valve reaches control picking lever elongation or the purpose retracted automatically by controlling hydraulic system.The present invention solves fruit picking device of the prior art and can not accurately pluck fruit, and to take fruit not convenient, causes fruit to damage, the too low problem of picking efficiency.
Description
Technical field
The present invention relates to a kind of mechanical picking instrument, and in particular to a kind of practical picking fruit Based Intelligent Control structure.
Background technology
Fruit is a big source of finance of orchard worker, in the production of fruit class fruit, it is necessary to artificial not timing to fruit
Judgement and the results of maturity are carried out, and moves ladder every now and then, it is contour or bend over.Although wideling popularize the kind tree of dwarfing, side
Just the harvesting of orchard worker, but the undue result downgraded can influence the yield of fruit, be unfavorable for improving the utilization rate of sunlight.Permitted now
Often beyond the height of people, harvesting is needed by instruments such as stool, short ladders to the height of many fruit trees, due to the injustice of orchard ground
It is whole and there is potential safety hazard, while also have impact on picking efficiency.Therefore harvest operation is a big labour intensity, elapsed time
It is long, the operation with certain risk.
At present, the method for picking fruit mainly has manual harvesting, the method such as semi-mechanization harvesting and mechanization harvesting.Half machine
By means of instrument, automatic lifting chassis or trailer of in the ranks walking during toolization harvesting, by manually being plucked.Mechanical harvesting it is basic
Principle：The external force produced with machinery, to effects such as picking lever applying drawing, curved, torsions, when connection of the active force more than fruit and plant
During power, fruit is just separated in connection the weakest point with carpopodium, and fruit process is plucked in completion.Although Mechaniaed harvest is convenient, can will be very high
The fruit at place is accurately picked, but after plucking every time, because picking lever is more long, it is necessary to two people are with conjunction fruit or
Individual removes fruit to the other end for plucking the body of rod, so not only inconvenience and to pluck fruit efficiency too low.In addition, existing skill
Whether the fully wrapped around fruit of the picking claw that is connected with picking lever in art, oneself can only be judged, if judgement is inaccurate, just by artificial
Arbitrarily applying the effect such as drawing, curved, torsion to carpopodium can cause fruit to damage, and also result in picking efficiency too low.
The content of the invention
The technical problems to be solved by the invention are when taking fruit, because harvesting shaft is oversize, to be difficult easily to take fruit
Under, whether it is too low to cause to pluck fruit operating efficiency, and has wrapped up fruit using artificial judgment, if judgement is inaccurate, is easily caused
Fruit is damaged；Purpose is to provide a kind of practical picking fruit Based Intelligent Control structure, solves fruit picking device of the prior art not
Can accurately pluck fruit, and to take fruit not convenient, causes fruit to damage, the too low problem of picking efficiency.
The present invention is achieved through the following technical solutions：
A kind of practical picking fruit Based Intelligent Control structure, including picking lever, one end of picking lever be provided with picking claw,
And the pedestal between picking claw and picking lever is arranged on, and the other end of picking lever is provided with handle, it is provided with handle
Hydraulic system, the hydraulic system is connected with picking lever；Also include electric-control system, described electric-control system includes that fruit touching is opened
Pass, microcontroller, indicator lamp, elongation switch, retract switch, battery valve, wherein：
Fruit touching switch：Collection touching pressure changing information, and the touching pressure changing information that will be gathered is used as triggering
Signal is sent to microcontroller；
Microcontroller：The trigger signal that fruit touching switch sends is received, bright light instruction to indicator lamp is sent；Receive elongation
The elongation signal for sending is switched, and elongation signal is sent to magnetic valve；The retraction signal that switch of retracting sends is received, and will contracting
Letter in reply number is sent to magnetic valve；
Indicator lamp：The bright light instruction that microcontroller sends is received, indicator lamp is lighted；
Elongation switch：Collection touching pressure changing information, and will gather touching pressure changing information as elongation signal
It is sent to microcontroller；
Retract and switch：Collection touching pressure changing information, and the touching pressure changing information that will be gathered is used as retraction signal
It is sent to microcontroller；
Battery valve：Elongation signal or retraction signal that microcontroller sends are received, hydraulic system oil-feed or oil removing is controlled.
Further, hydraulic system of the present invention be hydraulic system commonly used in the prior art, including hydraulic cylinder,
Hydraulic pump, oil cylinder and the passage being connected with magnetic valve.Fruit touching switch can use relay or touching switch, work as harvesting
When pawl catches fruit, the gravity of fruit itself can apply a pressure to fruit touching switch, and the collection of fruit touching switch should
Simultaneously the pressure is sent to microcontroller to pressure as trigger message, and microcontroller just controls indicator lamp bright after receiving the trigger signal
Lamp, then plucks personal observations and is lighted to indicator lamp, and just explanation picking claw has grabbed steady fruit.Solved now by with upper type
Have in technology and whether fruit has been wrapped up using artificial judgment, if judgement is inaccurate, be easily caused the problem of fruit damage.
Then plucking personnel can just press retraction switch, and the touching pressure changing information that switch of retracting will be gathered is used as contracting
Letter in reply number is sent to microcontroller, and microcontroller controls electromagnetic valve work, electromagnetism after receiving the retraction signal that switch of retracting sends
Valve controls the passage between hydraulic cylinder and fuel tank to open, and the oil in hydraulic cylinder flows back to fuel tank, so as to drive what is be connected with hydraulic cylinder
Picking lever is retracted to direction where handle, easily can be removed the fruit that picking claw is wrapped up by such mode, is solved
Harvesting shaft of the prior art is oversize, is difficult easily to remove fruit, causes to pluck the too low problem of fruit operating efficiency.
Pluck after the completion of fruit, harvesting personnel need to only press elongation switch, the touching pressure changing information that elongation switch will be gathered
Microcontroller is sent to as elongation signal, microcontroller receives the elongation signal of elongation switch transmission and then controls magnetic valve work
Make, the passage between solenoid valve control oil pump and hydraulic cylinder is opened, and the oil in mailbox is transported to hydraulic cylinder by oil pump, so as to promote
Positioned at picking lever elongation, to reach automatic elongation picking lever, it is easy to pluck the purpose of fruit.
Described fruit touching switch is arranged in picking claw, and fruit touching switch is connected with microcontroller by wire.
Further, fruit touching switch is arranged on inside picking claw, center line and the picking lever of fruit touching switch
Center line is located at same straight line, and is connected with LC controllers by wire.
Described microcontroller is arranged in handle, and indicator lamp, elongation switch, retraction switch are installed in handle appearance
Face.
Further, indicator lamp, elongation switch, switch of retracting are conducive to plucking human users installed in handle outer surface,
Microcontroller be arranged on handle in can in order to break down when take handle inspection apart.
Also include light switch and illuminating lamp in electric-control system, described light switch is arranged on handle, illuminating lamp
On pedestal.Further, illuminating lamp is installed on the pedestal between picking lever and picking claw, so in night or light
Dark place can also use；Light switch is arranged on handle, is connected by microcontroller, wire and illuminating lamp.
The present invention compared with prior art, has the following advantages and advantages：
1st, a kind of practical picking fruit Based Intelligent Control structure of the present invention, fruit touching switch can use relay or touching
Switch, when picking claw catches fruit, the gravity of fruit itself can apply a pressure, fruit touching to fruit touching switch
Switch gathers the pressure and the pressure is sent to microcontroller as trigger message, and microcontroller is just controlled after receiving the trigger signal
Indicator lamp bright light processed, then plucks personal observations and is lighted to indicator lamp, and just explanation picking claw has grabbed steady fruit, by with top
Whether formula is solved has wrapped up fruit using artificial judgment in the prior art, if judgement is inaccurate, is easily caused fruit damage
Problem；
2nd, a kind of practical picking fruit Based Intelligent Control structure of the present invention, harvesting personnel press retraction switch, switch of retracting
Microcontroller is sent to using the touching pressure changing information of collection as retraction signal, microcontroller is received retracts what switch sent
Electromagnetic valve work is controlled after retraction signal, the passage between solenoid valve control hydraulic cylinder and fuel tank is opened, the oil stream in hydraulic cylinder
Oil return box, so that drive the picking lever being connected with hydraulic cylinder to be retracted to direction where handle, can be light by such mode
By picking claw wrap up fruit remove, solve it is of the prior art harvesting shaft it is oversize, be difficult easily to remove fruit,
Cause to pluck the too low problem of fruit operating efficiency；
3rd, a kind of practical picking fruit Based Intelligent Control structure of the present invention, pacifies on the pedestal between picking lever and picking claw
Dress illuminating lamp, can also so use in the place of night or dark；Light switch is arranged on handle, is easy to operation.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is the structural representation of electric-control system of the present invention；
Fig. 2 is the structural representation of picker of the present invention.
Mark and corresponding parts title in accompanying drawing：
1- picking levers, 2- picking claws, 3- pedestals, 4- handles, 5- fruit touching switch, 6- indicator lamps, 7- elongation switches, 8-
Retract and switch, 9- light switches, 10- illuminating lamps.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make
It is limitation of the invention.
Embodiment
As shown in Figure 1 and Figure 2, a kind of practical picking fruit Based Intelligent Control structure of the present invention, including length adopting for 1.3m
Bar 1 is plucked, in the pedestal 3 that one end of picking lever 1 is provided with picking claw 2 and is arranged between picking claw 2 and picking lever 1, is being adopted
The other end for plucking bar 1 is provided with the handle 4 that length is 1m, and hydraulic system, the hydraulic system and harvesting are provided with handle 4
Bar 1 is connected；Also include electric-control system, described electric-control system includes that fruit touching switch, microcontroller, indicator lamp, elongation are opened
Close, retraction is switched, battery valve, wherein：Fruit touching switch 5：Collection touching pressure changing information, and the touching pressure that will be gathered
Change information is sent to microcontroller as trigger signal；Microcontroller：The trigger signal that fruit touching switch 5 sends is received,
Send bright light instruction to indicator lamp 6；The elongation signal that elongation switch 7 sends is received, and elongation signal is sent to magnetic valve；Connect
The retraction signal that switch 8 sends is shunk back, and retraction signal is sent to magnetic valve；Indicator lamp 6：Receive what microcontroller sent
Bright light is instructed, and lights indicator lamp；Elongation switch 7：Collection touching pressure changing information, and the touching pressure changing information that will be gathered
Microcontroller is sent to as elongation signal；Retract and switch 8：Collection touching pressure changing information, and the touching pressure that will be gathered
Change information is sent to microcontroller as retraction signal；Battery valve：Receive elongation signal or letter of retracting that microcontroller sends
Number, control hydraulic system oil-feed or oil removing.Described fruit touching switch 5 be arranged on picking claw 2 in, fruit touching switch 5 with
Microcontroller is connected by wire.Described microcontroller is arranged in handle 4, indicator lamp 6, elongation switch 7, switch 8 of retracting
It is installed in the outer surface of handle 4.Also include light switch 9 and illuminating lamp 10 in electric-control system, described light switch 9 is installed
On handle 4, illuminating lamp 10 is arranged on pedestal 3；Power module is additionally provided with handle, power module connects with microcontroller
Connect, to system power supply, power module uses rechargeable battery.Known automatically based on electronic technology by realizing one kind with upper type
Whether do not wrapped up fruit successfully, and can simply button just can be by the purpose of the device of picking lever automatic telescopic.
Above-described specific embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that and the foregoing is only specific embodiment of the invention, be not intended to limit the present invention
Protection domain, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc. all should include
Within protection scope of the present invention.
Claims (4)
1. a kind of practical picking fruit Based Intelligent Control structure, including picking lever (1), is provided with one end of picking lever (1) and adopts
The pedestal (3) plucked pawl (2) and be arranged between picking claw (2) and picking lever (1), is provided with the other end of picking lever (1)
Handle (4), it is characterised in that be provided with hydraulic system in handle (4), the hydraulic system is connected with picking lever (1)；Also wrap
Electric-control system is included, described electric-control system is switched including fruit touching switch, microcontroller, indicator lamp, elongation, retraction is switched,
Battery valve, wherein：
Fruit touching switch (5)：Pressure changing information is touched in collection, and the touching pressure changing information that will be gathered is believed as triggering
Number it is sent to microcontroller；
Microcontroller：The trigger signal that fruit touching switch (5) sends is received, bright light instruction to indicator lamp (6) is sent；Reception is stretched
The elongation signal that switch (7) long sends, and elongation signal is sent to magnetic valve；Receive the retraction letter that switch (8) of retracting sends
Number, and retraction signal is sent to magnetic valve；
Indicator lamp (6)：The bright light instruction that microcontroller sends is received, indicator lamp is lighted；
Elongation switch (7)：Pressure changing information is touched in collection, and the touching pressure changing information that will be gathered is sent out as elongation signal
It is sent to microcontroller；
Retract and switch (8)：Pressure changing information is touched in collection, and the touching pressure changing information that will be gathered is sent out as retraction signal
It is sent to microcontroller；
Battery valve：Elongation signal or retraction signal that microcontroller sends are received, hydraulic system oil-feed or oil removing is controlled.
2. a kind of practical picking fruit Based Intelligent Control structure according to claim 1, it is characterised in that described fruit
In picking claw (2), fruit touching switch (5) is connected touching switch (5) with microcontroller by wire.
3. a kind of practical picking fruit Based Intelligent Control structure according to claim 1, it is characterised in that described micro-control
Device processed is arranged in handle (4), and indicator lamp (6), elongation switch (7), switch (8) of retracting are installed in handle (4) outer surface.
4. a kind of practical picking fruit Based Intelligent Control structure according to claim 1, it is characterised in that in electric-control system
In also include light switch (9) and illuminating lamp (10), described light switch (9) on handle (4), illuminating lamp (10) pacify
On pedestal (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710008371.8A CN106717547A (en) | 2017-01-05 | 2017-01-05 | A kind of practical picking fruit Based Intelligent Control structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710008371.8A CN106717547A (en) | 2017-01-05 | 2017-01-05 | A kind of practical picking fruit Based Intelligent Control structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106717547A true CN106717547A (en) | 2017-05-31 |
Family
ID=58950628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710008371.8A Withdrawn CN106717547A (en) | 2017-01-05 | 2017-01-05 | A kind of practical picking fruit Based Intelligent Control structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106717547A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107018759A (en) * | 2017-06-08 | 2017-08-08 | 宝鸡文理学院 | Based on monolithic processor controlled automatic grip shearses base of a fruit type apple picking device |
| CN108338005A (en) * | 2018-05-09 | 2018-07-31 | 集美大学诚毅学院 | A kind of wireless fruit picking apparatus |
| CN108848927A (en) * | 2018-06-08 | 2018-11-23 | 常州工学院 | A kind of high-efficiency double-layer is opposite to turn round cutting structural formula fruit picking apparatus |
| CN108925225A (en) * | 2018-08-28 | 2018-12-04 | 浙江理工大学 | A kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving |
| CN109769475A (en) * | 2019-04-01 | 2019-05-21 | 农业部农业生态与资源保护总站 | A kind of portable picking fruit device |
-
2017
- 2017-01-05 CN CN201710008371.8A patent/CN106717547A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107018759A (en) * | 2017-06-08 | 2017-08-08 | 宝鸡文理学院 | Based on monolithic processor controlled automatic grip shearses base of a fruit type apple picking device |
| CN107018759B (en) * | 2017-06-08 | 2023-09-26 | 宝鸡文理学院 | Automatic clamping and base-shearing type apple picking device based on single-chip microcomputer control |
| CN108338005A (en) * | 2018-05-09 | 2018-07-31 | 集美大学诚毅学院 | A kind of wireless fruit picking apparatus |
| CN108848927A (en) * | 2018-06-08 | 2018-11-23 | 常州工学院 | A kind of high-efficiency double-layer is opposite to turn round cutting structural formula fruit picking apparatus |
| CN108925225A (en) * | 2018-08-28 | 2018-12-04 | 浙江理工大学 | A kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving |
| CN108925225B (en) * | 2018-08-28 | 2023-08-18 | 浙江理工大学 | Rigid and flexible combined driven agricultural product picking manipulator |
| CN109769475A (en) * | 2019-04-01 | 2019-05-21 | 农业部农业生态与资源保护总站 | A kind of portable picking fruit device |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170531 |