CN107567814A - A kind of electric heating cutting type strawberry picking mechanical arm end effector - Google Patents
A kind of electric heating cutting type strawberry picking mechanical arm end effector Download PDFInfo
- Publication number
- CN107567814A CN107567814A CN201710945138.2A CN201710945138A CN107567814A CN 107567814 A CN107567814 A CN 107567814A CN 201710945138 A CN201710945138 A CN 201710945138A CN 107567814 A CN107567814 A CN 107567814A
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- China
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- heating wire
- strawberry
- electric heating
- mechanical arm
- wire blade
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Abstract
The invention provides a kind of electric heating cutting type strawberry picking mechanical arm end effector,It is related to Agriculture pick robot field,It is by stepper motor,Ball-screw,Slide rail,Nut slider,Cylinder,Interim collecting bag,Left heating wire blade,Right heating wire blade,End expansion plate,Light filling unit,Kinect sensor,Cant board,Limit switch,Heating wire charger,What air admission hole and L-type installing plate formed,The present invention utilizes electric heating cut-out carpopodium,Strawberry carpopodium cut-off part 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 on the premise of strawberry is not damaged,Complete alignment fruit,Close to carpopodium,Electric heating is cut and the harvest fruit course of work,Realize the whole-course automation harvest operation of strawberry,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 a kind of electric heating cutting type strawberry picking mechanical arm
End effector.
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 a kind of electric heating cutting type strawberry picking mechanical arm end
Actuator, and this picking mechanical arm end effector in the market is no at present.Strawberry picking mechanical arm end effector
Mechanism parameter will have a strong impact on picking efficiency and success rate, its research and development is to improving the market of agricultural production efficiency and strawberry
Value plays vital effect.
The content of the invention
For it is above-mentioned in the prior art the defects of, the present invention provides a kind of electric heating cutting type strawberry picking mechanical arm end and held
Row device, overcomes the defects of existing strawberry picked by hand efficiency is low, mechanization degree is low, and the present invention can have using electric heating cut-out carpopodium
Effect prevents strawberry dehydration, solves the technical barrier that artificial harvesting strawberry is wasted time and energy with strawberry harvesting easy damaged, easy dehydration.
The technical scheme adopted by the invention to solve the technical problem is that：
A kind of electric heating cutting type strawberry picking mechanical arm end effector, is by stepper motor, ball-screw, slide rail, spiral shell
Female sliding block, cylinder, interim collecting bag, left heating wire blade, right heating wire blade, end expansion plate, light filling unit, Kinect are passed
What sensor, cant board, limit switch, heating wire charger, air admission hole and L-type installing plate formed, it is characterized in that：The stepping electricity
Machine is arranged on slide rail left end by L-type installing plate, and described ball-screw one end is connected with stepper motor, and the other end connects with cant board
Connect, the cant board is arranged on slide rail right-hand member, and the nut slider is arranged on ball-screw, and bottom is installed on slide rail, institute
Cylinder is stated on nut slider, the end expansion plate left end and cylinder axis connection, right-hand member and left heating wire blade and the right side
Heating wire blade is connected, and the Kinect sensor is arranged on the expansion plate left end disk of end, and the light filling unit is into circumference
On the expansion plate left end disk of end, the limit switch is arranged on the both ends of slide rail, the heating wire charger installation
On cylinder, the air admission hole is arranged on end expansion plate bottom in cylinder side, the interim collecting bag.
Preferably, the left heating wire blade and right heating wire blade angle are 30 °, and inside is all embedded with heating wire.
Preferably, the interim collecting bag inner surface has 10mm soft silica gel material.
Specifically, the heating wire charger is that left heating wire blade and right heating wire blade are powered.
A kind of course of work of electric heating cutting type strawberry picking mechanical arm end effector of the present invention includes alignment fruit, leaned on
Nearly carpopodium, electric heating cutting and harvest fruit, its detailed operation are：Kinect sensor shoots strawberry image, it is determined that ripe
Strawberry spatial coordinate location, stepper motor control cylinder to move left and right by ball-screw, complete alignment fruit process；Air admission hole
Work, cylinder axis stretch out, and end expansion plate drives left heating wire blade and right heating wire blade to advance, and completes close to carpopodium mistake
Journey；Heating wire charger is that left heating wire blade and right heating wire blade are powered, while left heating wire blade and right heating wire knife
Piece is advanced slowly, and carpopodium breaks in electric heating blade incision, completes electric heating cutting process；The strawberry of carpopodium cut-out falls into interim collecting bag
In, cylinders retract, while ball-screw drives cylinder to move right, and completes harvest fruit process.
Compared with prior art, the present invention has following beneficial effect：
A kind of electric heating cutting type strawberry picking mechanical arm end effector that the present invention designs utilizes electric heating cut-out carpopodium, grass
Certain kind of berries carpopodium cut-off part can effectively be prevented dehydration, be obtained in real time by multi-sensor information fusion, perceive building ring by thermal coagulation
Border and strawberry information, it is ensured that on the premise of strawberry is not damaged, complete alignment fruit, close to carpopodium, electric heating cutting and harvest fruit
Positive activity process, 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 left heating wire blade and right 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 overall structure normal axomometric drawing of the present invention；
Fig. 2 is the three dimensional structure diagram of the other direction 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；
Fig. 6 is the harvest fruit working state schematic representation of present invention harvesting step.
In figure：1 stepper motor, 2 ball-screws, 3 slide rails, 4 nut sliders, 5 cylinders, 6 interim collecting bags, 7 left heating wire
Blade, 8 right heating wire blades, 9 end expansion plates, 10 light filling units, 11Kinect sensors, 12 cant boards, 13 limit switches,
14 heating wire chargers, 15 air admission holes, 16L type installing plates.
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.
A kind of electric heating cutting type strawberry picking mechanical arm end effector that the present invention designs utilizes electric heating cut-out carpopodium, grass
Certain kind of berries carpopodium cut-off part can effectively be prevented dehydration, be obtained in real time by multi-sensor information fusion, perceive building ring by thermal coagulation
Border and strawberry information, it is ensured that on the premise of strawberry is not damaged, complete alignment fruit, close to carpopodium, electric heating cutting and harvest fruit
Positive activity process, realize the whole-course automation harvest operation of strawberry.
Referring to shown in Fig. 1 and Fig. 2, a kind of electric heating cutting type strawberry picking mechanical arm end effector, is by stepper motor
1st, ball-screw 2, slide rail 3, nut slider 4, cylinder 5, interim collecting bag 6, left heating wire blade 7, right heating wire blade 8, end
Hold expansion plate 9, light filling unit 10, Kinect sensor 11, cant board 12, limit switch 13, heating wire charger 14, air admission hole
15 and L-type installing plate 16 form, it is characterized in that：The stepper motor 1 is arranged on the left end of slide rail 3, institute by L-type installing plate 16
State the one end of ball-screw 2 to be connected with stepper motor 1, the other end is connected with cant board 12, and it is right that the cant board 12 is arranged on slide rail 3
End, the nut slider 4 are arranged on ball-screw 2, and bottom is installed on slide rail 3, and the cylinder 5 is arranged on nut slider 4
On, the left end of end expansion plate 9 and the axis connection of cylinder 5, right-hand member are connected with left heating wire blade 7 and right heating wire blade 8, institute
Kinect sensor 11 is stated on the left end disk of end expansion plate 9, the light filling unit 10 is stretched into circumference installed in end
On the left end disk of contracting plate 9, the limit switch 13 is arranged on the both ends of slide rail 3, and the heating wire charger 14 is arranged on cylinder 5
On, the air admission hole 15 is arranged on the bottom of end expansion plate 9 in the side of cylinder 5, the interim collecting bag 6.
It is shown in Figure 2, it is preferable that the left heating wire blade 7 and the right angle of heating wire blade 8 are 30 °, and it is internal all
Embedded with heating wire.
It is shown in Figure 2, it is preferable that the interim inner surface of collecting bag 6 has 10mm soft silica gel material.
Shown in Figure 2, specifically, the heating wire charger 14 is that left heating wire blade 7 and right heating wire blade 8 supply
Electricity.
In order to help to understand the above-mentioned basic embodiment of the present invention, reference picture 3 to Fig. 6 is operated procedure declaration, this
Inventing a kind of course of work of electric heating cutting type strawberry picking mechanical arm end effector includes alignment fruit, close to carpopodium, electricity
Thermal cutting and harvest fruit, its detailed operation are：Kinect sensor 11 shoots strawberry image, it is determined that ripe strawberry space
Coordinate position, stepper motor 1 control cylinder 5 to move left and right by ball-screw 2, complete alignment fruit process；The work of air admission hole 15
Make, the shaft extension of cylinder 5 goes out, and end expansion plate 9 drives left heating wire blade 7 and right heating wire blade 8 to advance, and completes close to carpopodium mistake
Journey；Heating wire charger 14 is that left heating wire blade 7 and right heating wire blade 8 are powered, while left heating wire blade 7 and right electric heating
Silk blade 8 is advanced slowly, and carpopodium breaks in electric heating blade incision, completes electric heating cutting process；The strawberry of carpopodium cut-out falls into temporarily
In collecting bag 6, cylinder 5 is retracted, while ball-screw 2 drives cylinder 5 to move right, and completes harvest fruit process.
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 (4)
1. a kind of electric heating cutting type strawberry picking mechanical arm end effector, it is characterized in that：Be by stepper motor, ball-screw,
Slide rail, nut slider, cylinder, interim collecting bag, left heating wire blade, right heating wire blade, end expansion plate, light filling unit,
What Kinect sensor, cant board, limit switch, heating wire charger, air admission hole and L-type installing plate formed, the stepping electricity
Machine is arranged on slide rail left end by L-type installing plate, and described ball-screw one end is connected with stepper motor, and the other end connects with cant board
Connect, the cant board is arranged on slide rail right-hand member, and the nut slider is arranged on ball-screw, and bottom is installed on slide rail, institute
Cylinder is stated on nut slider, the end expansion plate left end and cylinder axis connection, right-hand member and left heating wire blade and the right side
Heating wire blade is connected, and the Kinect sensor is arranged on the expansion plate left end disk of end, and the light filling unit is into circumference
On the expansion plate left end disk of end, the limit switch is arranged on the both ends of slide rail, the heating wire charger installation
On cylinder, the air admission hole is arranged on end expansion plate bottom in cylinder side, the interim collecting bag.
2. a kind of electric heating cutting type strawberry picking mechanical arm end effector according to claim 1, it is characterized in that：It is described
Left heating wire 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 mechanical arm end effector according to claim 1, it is characterized in that：It is described
Interim collecting bag inner surface has 10mm soft silica gel material.
4. a kind of electric heating cutting type strawberry picking mechanical arm end effector according to claim 1, it is characterized in that：It is described
Heating wire charger is that left heating wire blade and right heating wire blade are powered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945138.2A CN107567814A (en) | 2017-10-12 | 2017-10-12 | A kind of electric heating cutting type strawberry picking mechanical arm end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945138.2A CN107567814A (en) | 2017-10-12 | 2017-10-12 | A kind of electric heating cutting type strawberry picking mechanical arm end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107567814A true CN107567814A (en) | 2018-01-12 |
Family
ID=61036601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710945138.2A Pending CN107567814A (en) | 2017-10-12 | 2017-10-12 | A kind of electric heating cutting type strawberry picking mechanical arm end effector |
Country Status (1)
| Country | Link |
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| CN (1) | CN107567814A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108718690A (en) * | 2018-05-07 | 2018-11-02 | 北京禾泽方圆智能科技有限公司 | A kind of fruit picking robot |
| CN108738699A (en) * | 2018-07-11 | 2018-11-06 | 浙江工业大学 | A kind of strawberry picker |
| CN115316126A (en) * | 2022-08-02 | 2022-11-11 | 华南农业大学 | Device is picked to shaddock |
Citations (6)
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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 |
| CN102577755A (en) * | 2012-02-17 | 2012-07-18 | 中国农业大学 | Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot |
| 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 |
| CN205266285U (en) * | 2015-11-12 | 2016-06-01 | 重庆定青茶业有限责任公司 | Full -automatic tealeaves picking machine |
| CN206274781U (en) * | 2016-12-20 | 2017-06-27 | 山东科技大学 | A kind of automatic picking machine of grape |
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2017
- 2017-10-12 CN CN201710945138.2A patent/CN107567814A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102577755A (en) * | 2012-02-17 | 2012-07-18 | 中国农业大学 | Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot |
| 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 |
| CN205266285U (en) * | 2015-11-12 | 2016-06-01 | 重庆定青茶业有限责任公司 | Full -automatic tealeaves picking machine |
| CN206274781U (en) * | 2016-12-20 | 2017-06-27 | 山东科技大学 | A kind of automatic picking machine of grape |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108718690A (en) * | 2018-05-07 | 2018-11-02 | 北京禾泽方圆智能科技有限公司 | A kind of fruit picking robot |
| CN108738699A (en) * | 2018-07-11 | 2018-11-06 | 浙江工业大学 | A kind of strawberry picker |
| CN108738699B (en) * | 2018-07-11 | 2023-09-08 | 浙江工业大学 | Strawberry picking device |
| CN115316126A (en) * | 2022-08-02 | 2022-11-11 | 华南农业大学 | Device is picked to shaddock |
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Application publication date: 20180112 |