CN107517656A - Electric heating cutting type strawberry picking end effector and corresponding picking mechanism and method - Google Patents
Electric heating cutting type strawberry picking end effector and corresponding picking mechanism and method Download PDFInfo
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- CN107517656A CN107517656A CN201710945256.3A CN201710945256A CN107517656A CN 107517656 A CN107517656 A CN 107517656A CN 201710945256 A CN201710945256 A CN 201710945256A CN 107517656 A CN107517656 A CN 107517656A
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- heating wire
- strawberry
- blade
- cylinder
- electric heating
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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
- A01D46/253—Portable motorised fruit pickers
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
Abstract
The invention provides electric heating cutting type strawberry picking end effector and corresponding picking mechanism and method,It is related to Agriculture pick robot field,It is by end effector,Bellows,Containing box,What mobile platform and elevating mechanism formed,Wherein end effector further comprises stepper motor,L-type installing plate,Ball-screw,Heating wire charger,Cylinder,Limit switch,Cant board,Kinect sensor,Light filling unit,Right heating wire blade,Left heating wire blade,End expansion plate,Connector,Slide rail and mounting disc,Strawberry carpopodium cut-off part of the present invention is by thermal coagulation,Dehydration can effectively be prevented,Obtained in real time by multi-sensor information fusion,Perceive working environment and strawberry information,Ensure under the premise of strawberry is not damaged,Complete alignment fruit,Close to carpopodium and the electric heating cutting course of work,Realize strawberry whole-course automation harvest operation,Solving artificial harvesting strawberry wastes time and energy and strawberry harvesting easy damaged,The technical barrier of easy dehydration.
Description
Technical field
The present invention relates to Agriculture pick robot field, in particular it relates to electric heating cutting type strawberry picking end effector
And corresponding picking mechanism and method.
Background technology
China's strawberry cultivating area is vast, occupies the 1st, the world.Strawberry delicious flavour, it is nutritious, it is loved by people,
There is higher economic value.The harvest of strawberry fully relies on artificial harvesting at present, and in China, the artificial harvest operation amount of strawberry is big,
Labor intensity is high, and efficiency is low, and with the aging of China's Development of China's Urbanization and population, foot phenomenon is not increasingly bright by rural laborer
It is aobvious, study and promote strawberry autonomous harvesting technology, turn into urgent problem to be solved at this stage.
Strawberry to harvest season, harvesting work needs that ripe strawberry will be carried out bending over to adopt at regular intervals every year
Pluck, until the strawberry growth end of term, selective picking fruit is that agriculturally the cargo handling operation of time and effort consuming, strawberry are soft more the most
Juice, clamps easily injured, and strawberry picking mechanical arm end effector directly contacts strawberry, due to not energy loss in harvesting operation process
Hinder fruit, plus the property complicated and changeable of the tenderness and environment of strawberry, to realize the automation of strawberry harvesting, it is necessary to solve strawberry
The design problem of picking mechanical arm end effector；Strawberry under carpopodium harvesting, the water that strawberry contains are cut by mechanical bit
It is point very high, after strawberry dehydration will drying shrinkage break down, according to analysis of experiments, strawberry dehydration is fast at room temperature, daily can dehydration
Commodity value is lost after 2.17%-2.65%, 3-4 days, it is therefore desirable to electric heating cutting type strawberry picking end effector and phase
Picking mechanism and method are answered, and this picking mechanical arm end effector in the market is no at present.Strawberry picking mechanical arm
The mechanism parameter of end effector will have a strong impact on picking efficiency and success rate, its research and development to improve agricultural production efficiency and
The market value of strawberry plays vital effect.
The content of the invention
For it is above-mentioned in the prior art the defects of, the present invention provides electric heating cutting type strawberry picking end effector and corresponding
Picking mechanism and method, overcome the defects of existing strawberry picked by hand efficiency is low, mechanization degree is low, and the present invention is cut using electric heating
Disconnected carpopodium can effectively prevent strawberry dehydration, and solving artificial harvesting strawberry wastes time and energy and strawberry harvesting easy damaged, easy dehydration
Technical barrier.
The technical scheme adopted by the invention to solve the technical problem is that：
A kind of electric heating cutting type strawberry picking end effector, it is by stepper motor, L-type installing plate, ball-screw, electric heating
Silk charger, cylinder, limit switch, cant board, Kinect sensor, light filling unit, right heating wire blade, left heating wire knife
What piece, end expansion plate, connector, slide rail and mounting disc formed, it is characterized in that：The stepper motor is pacified by L-type installing plate
Mounted in slide rail left end, described ball-screw one end is connected with stepper motor, and the other end is connected with cant board, the cant board installation
In slide rail right-hand member, the cylinder is arranged on ball-screw, the end expansion plate left end and cylinder axis connection, right-hand member and right electricity
Heated filament blade is connected with left heating wire blade, and the Kinect sensor is arranged in mounting disc, and the light filling unit is into circumference
Distribution is arranged in mounting disc, and the limit switch is arranged on the both ends of slide rail, and the heating wire charger is arranged on cylinder,
The mounting disc is arranged at cylinder shaft end, and the connector upper end connects end expansion plate.
Preferably, the left heating wire blade and right heating wire blade angle are 30 °, and inside is all embedded with heating wire.
Specifically, the heating wire charger is that left heating wire blade and right heating wire blade are powered.
A kind of electric heating cutting type strawberry picking mechanism, is by end effector, bellows, containing box, mobile platform and liter
Descending mechanism composition, it is characterized in that：The end effector is arranged on elevating mechanism, and the elevating mechanism is arranged on mobile flat
On platform, the containing box is arranged at mobile platform front portion, and the bellows upper end is connected by connector with end expansion plate, just
To left heating wire blade and right heating wire blade, lower end is extend into containing box；Wherein end effector further comprises stepping
Motor, L-type installing plate, ball-screw, heating wire charger, cylinder, limit switch, cant board, Kinect sensor, light filling list
First, right heating wire blade, left heating wire blade, end expansion plate, connector, slide rail and mounting disc, the stepper motor pass through L
Type installing plate is arranged on slide rail left end, and described ball-screw one end is connected with stepper motor, and the other end is connected with cant board, described
Cant board is arranged on slide rail right-hand member, and the cylinder is arranged on ball-screw, the end expansion plate left end and cylinder axis connection,
Right-hand member is connected with right heating wire blade and left heating wire blade, and the Kinect sensor is arranged in mounting disc, the light filling
Unit is arranged in mounting disc into circle distribution, and the limit switch is arranged on the both ends of slide rail, the heating wire charger peace
On cylinder, the mounting disc is arranged at cylinder shaft end, and the connector upper end connects end expansion plate.
Specifically, bellows inside surface and the containing box inner surface has 10mm soft silica gel material.
A kind of picking method of electric heating cutting type strawberry picking mechanism, comprises the following steps：Be directed at fruit, close to carpopodium and
Electric heating is cut, and its detailed operation is：Kinect sensor shoots strawberry image, it is determined that ripe strawberry spatial coordinate location,
End effector is transferred to proper height by mobile platform and elevating mechanism first, and stepper motor controls cylinder left by ball-screw
Move right, complete alignment fruit process；Cylinder operation, cylinder axis stretch out, and end expansion plate drives right heating wire blade and left electricity
Heated filament blade advances, while the bellows below the expansion plate of end also follows advance, completes close to carpopodium process；Heating wire is powered
Device is that right heating wire blade and left heating wire blade are powered, while right heating wire blade and left heating wire blade are advanced slowly, fruit
Stalk breaks in electric heating blade incision, completes electric heating cutting process, and the strawberry of carpopodium cut-out is slipped in containing box along bellows.
Compared with prior art, the present invention has following beneficial effect：
The electric heating cutting type strawberry picking end effector and corresponding picking mechanism and method that the present invention designs, strawberry carpopodium
Cut-off part can effectively be prevented dehydration, be obtained in real time by multi-sensor information fusion, perceive working environment and grass by thermal coagulation
Certain kind of berries information, it is ensured that on the premise of strawberry is not damaged, complete alignment fruit, close to carpopodium and the electric heating cutting course of work, realize
The whole-course automation harvest operation of strawberry.
(1) telescoping mechanism of the invention is used as power from cylinder, can more convenient and quicker adjustment operating rate, and cylinder has
There are higher reliability and longer service life, its responsiveness is generally less than 1M/S, compared with the gentle electric cylinders speed of hydraulic cylinder
Faster；
(2) present invention can effectively be prevented dehydration, prolonged using electric heating cut-out carpopodium, strawberry carpopodium cut-off part by thermal coagulation
The storage time of long strawberry；
(3) present invention is advanced slowly the disconnected carpopodium of heat using right heating wire blade and left heating wire blade, and strawberry falls directly into
Interim collecting bag, avoid clamping strawberry fruit, ensure lossless harvesting；
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Drawings below be used for a further understanding of the present invention, and a part for constitution instruction are provided, its with it is following
Embodiment be used to explain the present invention together, but protection scope of the present invention is not limited to following accompanying drawings and specific real
Apply mode.In the accompanying drawings：
Fig. 1 is the picking mechanism normal axomometric drawing of the present invention；
Fig. 2 is the end effector normal axomometric drawing of the present invention；
Fig. 3 is the alignment fruit working state schematic representation of present invention harvesting step；
Fig. 4 is the close carpopodium working state schematic representation of present invention harvesting step；
Fig. 5 is that the electric heating of present invention harvesting step cuts working state schematic representation.
In figure：1 stepper motor, 2L type installing plates, 3 ball-screws, 4 heating wire chargers, 5 cylinders, 6 limit switches, 7 sides
Riser, 8Kinect sensors, 9 light filling units, 10 right heating wire blades, 11 left heating wire blades, 12 end expansion plates, 13 connect
Fitting, 14 bellowss, 15 containing boxs, 16 mobile platforms, 17 elevating mechanisms, 18 slide rails, 19 mounting discs.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing, it should be appreciated that retouch in this place
The embodiment stated is merely to illustrate and explain the present invention, and protection scope of the present invention is not limited to following specific realities
Apply mode.
The electric heating cutting type strawberry picking end effector and corresponding picking mechanism and method that the present invention designs, strawberry carpopodium
Cut-off part can effectively be prevented dehydration, be obtained in real time by multi-sensor information fusion, perceive working environment and grass by thermal coagulation
Certain kind of berries information, it is ensured that on the premise of strawberry is not damaged, complete alignment fruit, close to carpopodium and the electric heating cutting course of work, realize
The whole-course automation harvest operation of strawberry.
It is shown in Figure 2, a kind of electric heating cutting type strawberry picking end effector, it is by stepper motor 1, L-type installing plate
2nd, ball-screw 3, heating wire charger 4, cylinder 5, limit switch 6, cant board 7, Kinect sensor 8, light filling unit 9, the right side
What heating wire blade 10, left heating wire blade 11, end expansion plate 12, connector 13, slide rail 18 and mounting disc 19 formed, it is special
Sign is：The stepper motor 1 is arranged on the left end of slide rail 18, described one end of ball-screw 3 and stepper motor 1 by L-type installing plate 2
Connection, the other end are connected with cant board 7, and the cant board 7 is arranged on the right-hand member of slide rail 18, and the cylinder 5 is arranged on ball-screw 3
On, the left end of end expansion plate 12 and the axis connection of cylinder 5, right-hand member connect with right heating wire blade 10 and left heating wire blade 11
Connecing, the Kinect sensor 8 is arranged in mounting disc 19, and the light filling unit 9 is arranged in mounting disc 19 into circle distribution,
The limit switch 6 is arranged on the both ends of slide rail 18, and the heating wire charger 4 is arranged on cylinder 5, and the mounting disc 19 is set
Cylinder shaft end is placed in, the upper end of connector 13 connects end expansion plate 12.
It is shown in Figure 2, it is preferable that the right heating wire blade 10 and the left angle of heating wire blade 11 are 30 °, and internal
All it is embedded with heating wire.
Shown in Figure 2, specifically, the heating wire charger 4 is right heating wire blade 10 and left heating wire blade 11.
It is shown in Figure 1, a kind of electric heating cutting type strawberry picking mechanism, it is by end effector, bellows 14, containing box
15th, mobile platform 16 and elevating mechanism 17 form, it is characterized in that：The end effector is arranged on elevating mechanism 17, institute
Elevating mechanism 17 is stated on mobile platform 16, the containing box 15 is arranged at the front portion of mobile platform 16, the bellows 14
Upper end is connected by connector 13 with end expansion plate 12, and the right heating wire blade 10 of face and left heating wire blade 11, lower end is stretched
Enter into containing box 15；
Shown in Figure 1, specifically, the inner surface of bellows 14 and containing box 15 inner surface has 10mm soft silica gel
Material.
In order to help to understand the above-mentioned basic embodiment of the present invention, reference picture 3 to Fig. 5 is operated procedure declaration, this
The course of work of invention electric heating cutting type strawberry picking end effector and corresponding picking mechanism comprises the following steps：It is directed at fruit
Real, close carpopodium and electric heating are cut, and its detailed operation is：Kinect sensor 8 shoots strawberry image, it is determined that ripe strawberry
End effector is transferred to proper height by spatial coordinate location, mobile platform 16 and elevating mechanism 17 first, and stepper motor 1 passes through
Ball-screw 3 controls cylinder 5 to move left and right, and completes alignment fruit process；Cylinder 5 works, and cylinder axis stretch out, end expansion plate 12
Right heating wire blade 10 and left heating wire blade 11 is driven to advance, while before the bellows 14 below end expansion plate 12 also follows
Enter, complete close to carpopodium process；Heating wire charger 4 is that right heating wire blade 10 and left heating wire blade 11 are powered, while right
Heating wire blade 10 and left heating wire blade 11 are advanced slowly, and carpopodium breaks in electric heating blade incision, complete electric heating cutting process, fruit
The strawberry of stalk cut-out is slipped in containing box 15 along bellows 14.
The embodiment of the present invention is described in detail above in association with accompanying drawing, it is necessary to illustrate, above-mentioned specific real
Each particular technique feature described in mode is applied, in the case of reconcilable, can be carried out by any suitable means
Combination, in order to avoid unnecessary repetition, the present invention no longer separately illustrates to various combinations of possible ways.It is but of the invention
The detail being not limited in above-mentioned embodiment, for the ordinary skill in the art, according to the religion of the present invention
Lead, in the case where not departing from the principle of the present invention and spirit, the changes, modifications, replacement and the modification that are carried out to embodiment
Still fall within protection scope of the present invention.
Claims (6)
1. a kind of electric heating cutting type strawberry picking end effector, it is characterized in that：It is by stepper motor, L-type installing plate, ball wire
Thick stick, heating wire charger, cylinder, limit switch, cant board, Kinect sensor, light filling unit, right heating wire blade, left electricity
What heated filament blade, end expansion plate, connector, slide rail and mounting disc formed, the stepper motor is arranged on by L-type installing plate
Slide rail left end, described ball-screw one end are connected with stepper motor, and the other end is connected with cant board, and the cant board, which is arranged on, to be slided
Rail right-hand member, the cylinder are arranged on ball-screw, the end expansion plate left end and cylinder axis connection, right-hand member and right heating wire
Blade is connected with left heating wire blade, and the Kinect sensor is arranged in mounting disc, and the light filling unit is into circle distribution
It is arranged in mounting disc, the limit switch is arranged on the both ends of slide rail, and the heating wire charger is arranged on cylinder, described
Mounting disc is arranged at cylinder shaft end, and the connector upper end connects end expansion plate.
2. a kind of electric heating cutting type strawberry picking end effector according to claim 1, it is characterized in that：The left electric heating
Silk blade and right heating wire blade angle are 30 °, and inside is all embedded with heating wire.
3. a kind of electric heating cutting type strawberry picking end effector according to claim 1, it is characterized in that：The heating wire
Charger is that left heating wire blade and right heating wire blade are powered.
4. a kind of electric heating cutting type strawberry picking mechanism, it is characterized in that：It is flat by end effector, bellows, containing box, movement
What platform and elevating mechanism formed, the end effector is arranged on elevating mechanism, and the elevating mechanism is arranged on mobile platform
On, the containing box is arranged at mobile platform front portion, and the bellows upper end is connected by connector with end expansion plate, face
Left heating wire blade and right heating wire blade, lower end is extend into containing box；Wherein end effector further comprises stepping electricity
Machine, L-type installing plate, ball-screw, heating wire charger, cylinder, limit switch, cant board, Kinect sensor, light filling list
First, right heating wire blade, left heating wire blade, end expansion plate, connector, slide rail and mounting disc, the stepper motor pass through L
Type installing plate is arranged on slide rail left end, and described ball-screw one end is connected with stepper motor, and the other end is connected with cant board, described
Cant board is arranged on slide rail right-hand member, and the cylinder is arranged on ball-screw, the end expansion plate left end and cylinder axis connection,
Right-hand member is connected with right heating wire blade and left heating wire blade, and the Kinect sensor is arranged in mounting disc, the light filling
Unit is arranged in mounting disc into circle distribution, and the limit switch is arranged on the both ends of slide rail, the heating wire charger peace
On cylinder, the mounting disc is arranged at cylinder shaft end, and the connector upper end connects end expansion plate.
5. a kind of electric heating cutting type strawberry picking mechanism according to claim 4, it is characterized in that：The bellows inside surface
Has 10mm soft silica gel material with containing box inner surface.
6. a kind of picking method of electric heating cutting type strawberry picking mechanism according to claim 4, it is characterized in that：Including such as
Lower step：
1) it is directed at fruit
Kinect sensor shoots strawberry image, it is determined that ripe strawberry spatial coordinate location, mobile platform and elevating mechanism are first
End effector is transferred to proper height, stepper motor controls cylinder to move left and right by ball-screw, completes alignment fruit mistake
Journey；
2) close to carpopodium
Cylinder operation, cylinder axis stretch out, and end expansion plate drives right heating wire blade and left heating wire blade to advance, while end
Bellows below expansion plate also follows advance, completes close to carpopodium process；
3) electric heating is cut
Heating wire charger is that right heating wire blade and left heating wire blade are powered, while right heating wire blade and left heating wire knife
Piece is advanced slowly, and carpopodium breaks in electric heating blade incision, completes electric heating cutting process, and the strawberry of carpopodium cut-out slides along bellows
Into containing box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945256.3A CN107517656A (en) | 2017-10-12 | 2017-10-12 | Electric heating cutting type strawberry picking end effector and corresponding picking mechanism and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945256.3A CN107517656A (en) | 2017-10-12 | 2017-10-12 | Electric heating cutting type strawberry picking end effector and corresponding picking mechanism and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107517656A true CN107517656A (en) | 2017-12-29 |
Family
ID=60684457
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710945256.3A Pending CN107517656A (en) | 2017-10-12 | 2017-10-12 | Electric heating cutting type strawberry picking end effector and corresponding picking mechanism and method |
Country Status (1)
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108293418A (en) * | 2018-02-12 | 2018-07-20 | 中国计量大学 | Fruit string picking mechanical arm end effector and its picking method |
| CN108575283A (en) * | 2018-04-27 | 2018-09-28 | 广州大学 | A kind of control method and control system of pineapple picking robot |
| CN108718683A (en) * | 2018-06-05 | 2018-11-02 | 浙江工贸职业技术学院 | A kind of device for picking |
| CN108738699A (en) * | 2018-07-11 | 2018-11-06 | 浙江工业大学 | A kind of strawberry picker |
| CN108848900A (en) * | 2018-07-11 | 2018-11-23 | 浙江工业大学 | A kind of strawberry picking mechanism |
| CN109328643A (en) * | 2018-12-17 | 2019-02-15 | 青岛科技大学 | A kind of self-balancing type apple-picking vehicle |
| CN110100567A (en) * | 2019-05-10 | 2019-08-09 | 云南农业大学 | Rose cut flower cropper |
| CN110574553A (en) * | 2019-09-23 | 2019-12-17 | 南京林业大学 | suzuki ball picking device |
| CN112956333A (en) * | 2021-04-21 | 2021-06-15 | 山东省果树研究所 | Potted strawberry harvesting device |
| CN114190162A (en) * | 2021-10-20 | 2022-03-18 | 舒城县皖香源茶叶有限公司 | Be used for tealeaves to pick and store integrative device |
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| CN102187766A (en) * | 2011-04-28 | 2011-09-21 | 北京农业智能装备技术研究中心 | Fruit picking end effector and fruit picking method |
| CN203369118U (en) * | 2013-07-23 | 2014-01-01 | 徐州工程学院 | Strawberry picking robot |
| CN105144992A (en) * | 2015-09-24 | 2015-12-16 | 江苏农林职业技术学院 | Strawberry picking and collecting device |
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| CN102187766A (en) * | 2011-04-28 | 2011-09-21 | 北京农业智能装备技术研究中心 | Fruit picking end effector and fruit picking method |
| CN203369118U (en) * | 2013-07-23 | 2014-01-01 | 徐州工程学院 | Strawberry picking robot |
| CN105144992A (en) * | 2015-09-24 | 2015-12-16 | 江苏农林职业技术学院 | Strawberry picking and collecting device |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108293418A (en) * | 2018-02-12 | 2018-07-20 | 中国计量大学 | Fruit string picking mechanical arm end effector and its picking method |
| CN108293418B (en) * | 2018-02-12 | 2024-01-30 | 中国计量大学 | End effector of fruit string picking manipulator and picking method thereof |
| CN108575283A (en) * | 2018-04-27 | 2018-09-28 | 广州大学 | A kind of control method and control system of pineapple picking robot |
| CN108718683A (en) * | 2018-06-05 | 2018-11-02 | 浙江工贸职业技术学院 | A kind of device for picking |
| CN108848900B (en) * | 2018-07-11 | 2023-09-05 | 浙江工业大学 | Strawberry picking mechanism |
| CN108738699A (en) * | 2018-07-11 | 2018-11-06 | 浙江工业大学 | A kind of strawberry picker |
| CN108848900A (en) * | 2018-07-11 | 2018-11-23 | 浙江工业大学 | A kind of strawberry picking mechanism |
| CN108738699B (en) * | 2018-07-11 | 2023-09-08 | 浙江工业大学 | Strawberry picking device |
| CN109328643A (en) * | 2018-12-17 | 2019-02-15 | 青岛科技大学 | A kind of self-balancing type apple-picking vehicle |
| CN110100567A (en) * | 2019-05-10 | 2019-08-09 | 云南农业大学 | Rose cut flower cropper |
| CN110574553A (en) * | 2019-09-23 | 2019-12-17 | 南京林业大学 | suzuki ball picking device |
| CN112956333B (en) * | 2021-04-21 | 2022-03-25 | 山东省果树研究所 | Potted strawberry harvesting device |
| CN112956333A (en) * | 2021-04-21 | 2021-06-15 | 山东省果树研究所 | Potted strawberry harvesting device |
| CN114190162A (en) * | 2021-10-20 | 2022-03-18 | 舒城县皖香源茶叶有限公司 | Be used for tealeaves to pick and store integrative device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20171229 |