CN107690959A - Strawberry seed harvester - Google Patents
Strawberry seed harvester Download PDFInfo
- Publication number
- CN107690959A CN107690959A CN201711180583.0A CN201711180583A CN107690959A CN 107690959 A CN107690959 A CN 107690959A CN 201711180583 A CN201711180583 A CN 201711180583A CN 107690959 A CN107690959 A CN 107690959A
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- China
- Prior art keywords
- mounting bracket
- mounting seat
- block
- hinged
- fixed
- 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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Links
- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 40
- 235000011363 Fragaria x ananassa Nutrition 0.000 title claims abstract description 40
- 240000001441 Fragaria vesca Species 0.000 title 1
- 241000220223 Fragaria Species 0.000 claims abstract description 40
- 238000003306 harvesting Methods 0.000 claims abstract description 28
- 210000000078 Claw Anatomy 0.000 claims abstract description 19
- 230000003028 elevating Effects 0.000 claims abstract description 4
- 230000000875 corresponding Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 3
- 239000004411 aluminium Substances 0.000 description 8
- 229910052782 aluminium Inorganic materials 0.000 description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminum Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000002390 adhesive tape Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 2
- 239000004810 polytetrafluoroethylene Substances 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 1
- 230000001914 calming Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 235000021012 strawberries Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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
Abstract
The invention discloses a kind of strawberry seed harvester, mounting bracket including being disposed with least one harvesting component, each harvesting component includes two mounting seats, each mounting seat is slidably mounted on mounting bracket, driving is respectively connected with each mounting seat, and it does the first driving means of linear slide, linking arm is hinged with each mounting seat, the other end of two linking arms is hinged by the block that crosses, the guide rod vertical with mounting seat glide direction is fixed with block crossing, kink has sliding sleeve on guide rod, two connecting rods are hinged with sliding sleeve, the other end of two connecting rods is hinged with two linking arms respectively, crossing, the one end of block away from mounting bracket is hinged with pitch arm, driving is connected with pitch arm, and it does the second drive device of elevating movement, picking claw is installed in the one end of pitch arm away from the block that crosses.So as to provide a kind of delicate structure, respond fast, strong adaptability, energy-conserving and environment-protective, strawberry seed harvester easy to use.
Description
Technical field
The invention belongs to field of agricultural machinery, specifically, more particularly to a kind of strawberry seed harvester.
Background technology
Traditional strawberry harvesting fully relies on artificial work, and labor intensity is big, efficiency is low.With the improvement of living standards,
The plantation amount of strawberry dramatically increases, and the mode manually plucked can not meet timely, efficient, substantial amounts of strawberry harvesting demand.
In recent years, domestic and foreign scholars have carried out substantial amounts of research and development for strawberry seed harvester, also devise various strawberries
Seed harvester.These strawberry seed harvesters are mainly the position that strawberry to be plucked is determined using image recognition, then utilize harvesting
Mechanism is plucked.Wherein image recognition determines that the technology of position is quite ripe, the difference master of various strawberry picking mechanisms
Concentrate on for different planting patterns, different fields, design different picking mechanisms, or exploitation is applicable a variety of plantations
The picking mechanism of mode.
At present, more practicable strawberry picking mechanism is using the side of three-axis reference movement auxiliary rotary motion
Formula, the patent of invention of such as application number 201210037967.8 disclose such a strawberry picking robot.It is such big
Type strawberry picking robot space-consuming is big, total quality is big, and the requirement height to space and power is, it is necessary to arrange that cable carries
For alternating current, can not be realized at all in the field of small-scale；And high energy consumption, it is unfavorable for energy-conserving and environment-protective, cost is high, for big
Cost performance is very low for the orchard worker of part.Also small-sized strawberry picking robot is used for small-scale farm, but these are small-sized
Picking robot is only applicable to the strawberry of high-trellis cultivation, and such as utility model patent of Application No. 201520042814.1 is just public
Such a strawberry picking robot has been opened, for the strawberry of relatively low field plantation, can not have been plucked.
In fact, for control cost, most of small-scale farms on relatively low field, show still by strawberry cultivating
Some strawberry picking mechanisms can not meet the Mechaniaed harvest of this planting patterns.
The content of the invention
The technical problems to be solved by the invention are, there is provided a kind of delicate structure, respond fast, strong adaptability, energy-saving ring
Protect, strawberry seed harvester easy to use.
Technical scheme is as follows：A kind of strawberry seed harvester, including horizontal mounting bracket, on the mounting bracket
At least one harvesting component is disposed with, each harvesting component includes the mounting seat two side by side, each mounting seat
It is slidably mounted on mounting bracket, first driving means is respectively connected with each mounting seat, in the effect of first driving means
Mounting seat corresponding to lower does linear slide along mounting bracket；Linking arm, two companies are hinged with each mounting seat
It is hinged by the block that crosses to connect the other end of arm, guide rod, the length direction of the guide rod are fixed with the block that crosses
Vertical with the glide direction of mounting seat, kink has sliding sleeve on the guide rod, is hinged with two connecting rods on the sliding sleeve, two
The other end of the connecting rod is hinged with two linking arms respectively, when the mounting seat is slided, two linking arm opening and closing, is promoted
Make the block that crosses close or away from mounting bracket；Pitch arm is hinged with the described one end of block away from mounting bracket that crosses, in institute
State and the second drive device is connected with pitch arm, in the presence of the second drive device, the pitch arm does elevating movement；Institute
State the one end of pitch arm away from the block that crosses and picking claw is installed.
Two linking arms are hinged and form parallel arm by the present invention, and the opening and closing of parallel arm are driven using the movement of mounting seat,
So as to realize the flexible of picking claw, the change of picking point height is realized using the pitching of pitch arm, so as to provide a kind of structure
Compact, compact strawberry seed harvester, it is only necessary to which battery-mounted to be driven as power supply, not only energy consumption is low, is advantageous to save
Environmental protection, and cable need not be arranged, it is easy to move harvesting operation between field.Also, relative to existing by multiple
The three-axis reference displacement system that leading screw and nut mechanism is formed, the response of parallel arm is in time, action is fast, accurate positioning, significantly
Improve picking efficiency.Moreover because complete machine structure is compact, light weight, using also more flexibly, for low field, Ke Yi
Wheel is set on mounting bracket, and in field, direct hand pushing movable carries out harvesting operation；, can be under mounting bracket for higher field
Side sets support frame and wheel to carry out high-position picking, so as to suitable for the harvesting operation of the strawberry of various planting patterns.Specific
In structure design, the location guide on the block that crosses of parallel arm, and rod hinge connection is set between linking arm and sliding sleeve, connecting
When arm rotates with the movement of mounting seat, also rotated using guide rod and the connecting rod block that avoids crossing, so that it is guaranteed that the block that crosses
On pitch arm it is vertical with the glide direction of mounting seat all the time.In actual use, the position that IMAQ determines strawberry is first passed through,
Then the action for determining each drive device is calculated by control system, you can plucked.
The picking claw includes two hinged fingers of one end, is fixed with wherein on the inside of a finger up and down
Blade and the first rubber strip side by side, first rubber strip are located at below blade, and cutter block is fixed with the inside of another finger
With the second rubber strip, the cutter block face blade arrangement, second rubber strip and the first rubber strip are positioned opposite；In picking claw
At least one finger on be connected with the 3rd drive device, in the presence of the 3rd drive device, the freedom of two fingers
Hold opening and closing；Also, when the free end of two fingers closes, first rubber strip and the second rubber strip first close, the knife
Block after blade with closing.The structure of the picking claw is simple, in actual use, when two fingers of picking claw close, and the first rubber
Adhesive tape and the second rubber strip, which first close, handles strawberry spindle clamp, and then blade closes to cut off strawberry handle with cutter block realizes harvesting.
Two slide rails side by side are fixed with the mounting bracket, are respectively and fixedly provided with and two in each mounting seat bottom
The sliding block that slide rail is slidably matched, the mounting seat are slidably mounted on mounting bracket by slide rail and sliding block.Mounting seat is in mounting bracket
On be slidably installed it is simple in construction, reliable.
The first driving means include motor, and the motor is fixed in corresponding mounting seat, in the output shaft of motor
On be installed with gear, be fixed with the rack parallel with slide rail on the mounting bracket, the gear on each motor is and tooth
Bar engages, and when motor rotates, the mounting seat moves along slide rail.The structures of first driving means is simple, assembly manipulation is simple,
Transmission response is timely.
It is further fixed on the mounting bracket and the one-to-one limit switch of mounting seat.So set with mounting seat one by one
Corresponding limit switch, the motion datum mark of corresponding mounting seat and displacement are determined using limit switch, consequently facilitating control
System processed determines the position of junction member, in conjunction with the motion of pitch arm, so that it is determined that the position of picking claw.
It there also is provided on the mounting bracket and adopted with the harvesting one-to-one image collection assembly of component, each described image
Collection component includes two cameras, and two cameras are fixed on mounting bracket.It is easy to obtain the position of strawberry, with reference to control
The algorithm of system, it is final to realize automatic harvesting.
The harvesting component has two, and the picking claw of two harvesting components is located at the both sides of mounting bracket respectively.It is easy to a left side
The field of right both sides is plucked simultaneously, is advantageous to further improve picking efficiency.
The sliding sleeve is made up of linear bearing.
Wheel is installed on the mounting bracket, vertical link is fixed with wherein one end of the mounting bracket,
Two handles in left and right are fixed with the link.It is easy to use.
Beneficial effect：The present invention forms parallel arm by the way that two linking arms are hinged, and is driven using the movement of mounting seat
The opening and closing of parallel arm, so as to realize the flexible of picking claw, the change of picking point height is realized using the pitching of pitch arm, so as to carry
Fast a kind of delicate structure, response, strong adaptability, energy-conserving and environment-protective, strawberry seed harvester easy to use have been supplied, has had design skilful
The features such as wonderful, production is easily and production cost is low.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art.In all of the figs, similar element
Or part is typically identified by similar reference.In accompanying drawing, each element or part might not be drawn according to the ratio of reality.
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of harvesting component.
Fig. 3 is Fig. 1 J portions enlarged drawing.
Fig. 4 is Fig. 3 K portions enlarged drawing.
Reference：Mounting bracket 1, slide rail 2, rack 3, mounting seat 4, limit switch 5, link 6, handle 7, wheel 8, company
Connect arm 9, guide rod 10, connecting rod 11, the block 12 that crosses, pitch arm 13, finger 14, motor 15, sliding sleeve 16, the first rubber strip 17, blade
18th, the second rubber strip 19, cutter block 20, camera 21.
Embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Clearly illustrate technical scheme, therefore be only used as example, and the protection model of the present invention can not be limited with this
Enclose.
In the description of the present application, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
The instruction such as " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer "
Orientation or position relationship are based on orientation shown in the drawings or position relationship, are for only for ease of the description present invention and simplification is retouched
State, rather than instruction or imply signified device or element there must be specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying relatively important
Property or the implicit quantity for indicating indicated technical characteristic.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In this application, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In this application, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
As shown in figure 1, the present embodiment includes horizontal mounting bracket 1, the concrete structure of the mounting bracket 1 does not limit, can
To be the support body of metal material, can also be the support body of plastic material, the platform-like that support body combination plate body is formed can also be.This
The preferably described mounting bracket 1 of embodiment includes rectangular base plate and the aluminium section bar fixed along two long sides of bottom plate, in two length directions
Horizontal aluminium section bar is fixed between the both ends of the aluminium section bar of arrangement.Pluck for the ease of mobile, installed on the mounting bracket 1
There is wheel 8, the wheel 8 can install four or six in matrix on mounting bracket 1.The present embodiment is preferably only
One wheel 8 is respectively only installed in the left and right ends of the front end transverse direction aluminium section bar of mounting bracket 1, in the rear end transverse direction aluminium section bar of mounting bracket 1
Lower section be fixed with left and right two legs.Vertical link 6 is fixed with wherein one end of the mounting bracket 1, in the company
Connect and two handles 7 in left and right are fixed with frame 6.Because wheel 8 is located at the front end of mounting bracket 1, leg positioned at installation in the present embodiment
The rear end of frame 1, is used for convenience, and the preferred link 6 of the present embodiment is located at the rear end of mounting bracket 1.The link 6 includes a left side
Right two vertical aluminium section bars side by side, the handle 7 of left and right two are separately fixed at the top of the two vertical aluminium section bars in left and right.In reality
In use, for the strawberry of higher field or high-trellis cultivation, corresponding support frame can be fixed below mounting bracket 1, then
Installing wheel 8 on support frame, so as to raise mounting bracket 1, adapt to high-position picking.
As depicted in figs. 1 and 2, at least one harvesting component, each harvesting component are disposed with the mounting bracket 1
Include the mounting seat 4 two side by side, each mounting seat 4 is slidably mounted on mounting bracket 1, in each mounting seat 4
First driving means are respectively connected with, corresponding mounting seat 4 does linear slide along mounting bracket 1 in the presence of first driving means.
Be slidably installed structure of the mounting seat 4 on mounting bracket 1 is not limited, and those skilled in the art are slidably installed from existing
Mode.In order to simplify structure, control production cost, the present embodiment is preferably fixed with two side by side on the mounting bracket 1
Bar slide rail 2, two slide rails 2 are fixed on two aluminium section bars of the length direction of mounting bracket 1.At each bottom of mounting seat 4
Portion is respectively and fixedly provided with the sliding block being slidably matched with two slide rails 2, and the mounting seat 4 is slidably mounted on installation by slide rail 2 and sliding block
On frame 1.The structure of the first driving means does not also limit, and can be motor-driven leading screw and nut mechanism, can also liquid
The mode that cylinder pressure of calming the anger promotes.For the ease of precise positioning, the preferably described first driving means of the present embodiment include motor 15, institute
State motor 15 to be fixed in corresponding mounting seat 4, the output shaft of the motor 15 is vertically arranged, in the output shaft of the motor 15
Lower end is installed with gear.The rack 3 parallel with slide rail 2 is fixed with the mounting bracket 1, the rack 3 is located at two one slide rails 2
Between.Gear on each motor 15 is engaged with rack 3, and when motor 15 rotates, the mounting seat 4 is moved along slide rail 2
It is dynamic.
As depicted in figs. 1 and 2, linking arm 9 is hinged with each mounting seat 4, the linking arm 9 is by hollow
Pipe fitting is formed.Articulated manner of the linking arm 9 in mounting seat 4 does not limit, and can be cut with scissors by rotation platform and bearing
Connect or by rotating shaft and bearing hinge connection.In order that the linking arm 9 of suspension is more stable, the present embodiment is preferably described
Rotation platform is provided with by bearing in mounting seat 4, the linking arm 9 is fixed on rotation platform.Two linking arms 9
The other end is hinged by the block 12 that crosses, and guide rod 10 is fixed with the block 12 that crosses.The length side of the guide rod 10
To vertical with the glide direction of mounting seat 4 all the time, kink has sliding sleeve 16 on the guide rod 10, is hinged with the sliding sleeve 16
Two connecting rods 11, the middle part of the other ends of two connecting rods 11 respectively with two linking arms 9 are hinged.Also, two companies
It is in along the symmetrical quadrangle of the center line of guide rod 10 all the time to connect 9, two connecting rods 11 of arm.When it is same harvesting component in it is any or
The mounting seat 4 of person two along slide rail 2 slide when, two opening and closing of linking arm 9, promote the block 12 that crosses close or remote
From mounting bracket 1.Due to the mutual restriction of guide rod 10, connecting rod 11 and linking arm 9, the block 12 that crosses does not rotate all the time.Institute
The concrete mode for stating sliding sleeve 16 does not limit, and can be that the polytetrafluoroethylene (PTFE) of self-lubricating covers or is made up of linear bearing.
In order to improve the response speed of picking claw, improve picking efficiency, the preferably described sliding sleeve 16 of the present embodiment is linear bearing.
As shown in Figure 1, Figure 2 and Figure 3, pitch arm 13 is hinged with the described one end of block 12 away from mounting bracket 1 that crosses, in institute
State and the second drive device is connected with pitch arm 13, in the presence of the second drive device, the pitch arm 13 does elevating movement.
The specific implementation of second drive device does not limit, and can be directly connected to electricity outside the jointed shaft of pitch arm 13
Machine or motor is connected with pitch arm 13, can also be and realized by way of torsion spring and drag-line coordinate,
The factor such as those skilled in the art's considering cost and installing space is selected.
As shown in Figure 3 and Figure 4, picking claw is installed in the one end of the pitch arm 13 away from the block 12 that crosses.The harvesting
Pawl includes two hinged fingers 14 of one end, and the inner side of a finger 14 is fixed with blade 18 side by side up and down wherein
With the first rubber strip 17, first rubber strip 17 is located at the lower section of blade 18.Cutter block 20 is fixed with the inner side of another finger 14
With the second rubber strip 19, the face blade 18 of cutter block 20 is arranged, 19 and first rubber strip of the second rubber strip, the 17 relative cloth
Put.The 3rd drive device is connected with least one finger 14 of picking claw, in the presence of the 3rd drive device, two institutes
State the free end opening and closing of finger 14.Also, when the free end of two fingers 14 closes, the rubber of the first rubber strip 17 and second
Adhesive tape 19 first closes, and the cutter block 20 after blade 18 with closing.The finger 14 of the 3rd drive device is connected with each picking claw
Can be that only one of which or two are respectively connected with the 3rd drive device.The specific reality of 3rd drive device
Existing mode does not also limit, and can be the mode that motor-driven gear transmission one or both of which finger rotates, can also
It is that motor driving drag-line pulls the mode that one of finger 14 is swung, can also be that motor drives same drag-line, drag-line profit
With the pulley mode that reversely two fingers 14 of rear pulling simultaneously are swung.As for first/second rubber strip in the closing course of finger 14
17/19 implementation closed prior to blade 18 and cutter block 20 is also varied, the preferred cutter block 20 of the present embodiment and blade 18
During closure, the first rubber strip 17 and the second rubber strip 19 are in the state mutually extruded, that is to say, that are closed in two fingers 14
During, experience is by interval to the process for being closed into extruding between the first rubber strip 17 and the second rubber strip 19.
As shown in figure 1, limit switch 5 one-to-one with mounting seat 4 is further fixed on the mounting bracket 1.Described
There also is provided on mounting bracket 1 includes with the harvesting one-to-one image collection assembly of component, each described image acquisition component
Two cameras 21 side by side, two cameras 21 are fixed on mounting bracket 1.
As shown in figure 1, the preferably described harvesting component of the present embodiment has two, the picking claw of two harvesting components is located at respectively
The left and right sides of the length direction of mounting bracket 1.Therefore, length direction of the mounting seat 4 along mounting bracket 1 is disposed with four, in the past
It is defined as the mounting seat 4 of first/second/the 3rd/the 4th successively backward.The limit switch 5 also has four, fixed successively from front to back
Justice is the limit switch 5 of first/second/the 3rd/the 4th.Described first/the 4th limit switch 5 is respectively positioned at the front and rear of mounting bracket 1
Both ends, the described second/the 3rd limit switch 5 are respectively positioned on the middle part of the length direction of mounting bracket 1.First mounting seat 4 and second
Mounting seat 4 is between the first limit switch 5 and the second limit switch 5, wherein the first limit switch 5 is used for the first mounting seat
4 carry out origin reference location, and the second limit switch 5 is used to carry out origin reference location to the second mounting seat 4.3rd mounting seat 4 and
Four mounting seats 4 are between the 3rd limit switch 5 and the 4th limit switch 5, wherein the 3rd limit switch 5 is used to install to the 3rd
Seat 4 carries out origin reference location, and the 4th limit switch 5 is used to carry out origin reference location to the 4th mounting seat 4.Described image acquisition component
There are two groups, the image collection assembly of each of which group is respectively positioned between two limit switches 5 of corresponding harvesting component.In fact,
The quantity that component is plucked on the mounting bracket does not limit or one, three, five etc..
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover among the claim of the present invention and the scope of specification.
Claims (9)
- A kind of 1. strawberry seed harvester, it is characterised in that：Include the mounting bracket (1) of level, be disposed with the mounting bracket (1) At least one harvesting component, each harvesting component include the mounting seat (4) two side by side, each mounting seat (4) It is slidably mounted on mounting bracket (1), first driving means is respectively connected with each mounting seat (4), in first driving means In the presence of corresponding mounting seat (4) do linear slide along mounting bracket (1)；Linking arm (9) is hinged with each mounting seat (4), the other end of two linking arms (9) is by crossing Block (12) is hinged, and guide rod (10), the length direction and peace of the guide rod (10) are fixed with the block that crosses (12) The glide direction of dress seat (4) is vertical, and kink has sliding sleeve (16) on the guide rod (10), and two are hinged with the sliding sleeve (16) Root connecting rod (11), the other end of two connecting rods (11) is be hinged with two linking arms (9) respectively, when the mounting seat (4) is sliding When dynamic, two linking arm (9) opening and closing, promote the block (12) that crosses close or away from mounting bracket (1)；Pitch arm (13) is hinged with the one end of the block that crosses (12) away from mounting bracket (1), is connected in the pitch arm (13) The second drive device is connected to, in the presence of the second drive device, the pitch arm (13) does elevating movement；In the pitch arm (13) one end away from the block (12) that crosses is provided with picking claw.
- 2. strawberry seed harvester according to claim 1, it is characterised in that：It is hinged that the picking claw includes one end Two fingers (14), be fixed with blade side by side up and down (18) and the first rubber strip on the inside of a finger (14) wherein (17), first rubber strip (17) is located at below blade (18), be fixed with the inside of another finger (14) cutter block (20) and Second rubber strip (19), cutter block (20) face blade (18) arrangement, second rubber strip (19) and the first rubber strip (17) it is positioned opposite；The 3rd drive device is connected with least one finger (14) of picking claw, in the 3rd drive device Under effect, the free end opening and closing of two fingers (14)；Also, when the free end closure of two fingers (14), described the One rubber strip (17) and the second rubber strip (19) first close, and the cutter block (20) closes afterwards with blade (18).
- 3. strawberry seed harvester according to claim 1 or 2, it is characterised in that：It is fixed with simultaneously on the mounting bracket (1) Two slide rails (2) of row, the sliding block being slidably matched with two slide rails (2), institute are respectively and fixedly provided with each mounting seat (4) bottom Mounting seat (4) is stated to be slidably mounted on mounting bracket (1) by slide rail (2) and sliding block.
- 4. strawberry seed harvester according to claim 3, it is characterised in that：The first driving means include motor (15), the motor (15) is fixed on corresponding mounting seat (4), gear is installed with the output shaft of motor (15), in institute State and the rack (3) parallel with slide rail (2) be fixed with mounting bracket (1), the gear on each motor (15) with rack (3) Engagement, when motor (15) rotates, the mounting seat (4) is mobile along slide rail (2).
- 5. strawberry seed harvester according to claim 1, it is characterised in that：Be further fixed on the mounting bracket (1) with The one-to-one limit switch (5) of mounting seat (4).
- 6. strawberry seed harvester according to claim 1, it is characterised in that：There also is provided on the mounting bracket (1) with The one-to-one image collection assembly of component is plucked, each described image acquisition component includes two cameras (21), and this two Individual camera (21) is fixed on mounting bracket (1).
- 7. strawberry seed harvester according to claim 1, it is characterised in that：The harvesting component has two, two harvestings The picking claw of component is located at the both sides of mounting bracket (1) respectively.
- 8. strawberry seed harvester according to claim 1, it is characterised in that：The sliding sleeve (16) is made up of linear bearing.
- 9. strawberry seed harvester according to claim 1, it is characterised in that：Wheel is installed on the mounting bracket (1) (8) vertical link (6), is fixed with wherein one end of the mounting bracket (1), a left side is fixed with the link (6) Right two handles (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711180583.0A CN107690959B (en) | 2017-11-23 | 2017-11-23 | Strawberry seed harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711180583.0A CN107690959B (en) | 2017-11-23 | 2017-11-23 | Strawberry seed harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107690959A true CN107690959A (en) | 2018-02-16 |
| CN107690959B CN107690959B (en) | 2019-04-16 |
Family
ID=61180804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711180583.0A Expired - Fee Related CN107690959B (en) | 2017-11-23 | 2017-11-23 | Strawberry seed harvester |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107690959B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108377737A (en) * | 2018-04-27 | 2018-08-10 | 西安交通大学 | A kind of strawberry picker and its picking method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101317516A (en) * | 2008-07-22 | 2008-12-10 | 中国农业大学 | Automatic picking apparatus for middle/low layer of elevated strawberry |
| JP2012110257A (en) * | 2010-11-22 | 2012-06-14 | National Agriculture & Food Research Organization | Mechanism for cutting fruit stem |
| 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 |
| CN104206121A (en) * | 2014-09-16 | 2014-12-17 | 中国农业大学 | Strawberry picking end effector and working process thereof |
| CN107258227A (en) * | 2017-06-05 | 2017-10-20 | 三峡大学 | A kind of automatic picking machine of strawberry |
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2017
- 2017-11-23 CN CN201711180583.0A patent/CN107690959B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101317516A (en) * | 2008-07-22 | 2008-12-10 | 中国农业大学 | Automatic picking apparatus for middle/low layer of elevated strawberry |
| JP2012110257A (en) * | 2010-11-22 | 2012-06-14 | National Agriculture & Food Research Organization | Mechanism for cutting fruit stem |
| 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 |
| CN104206121A (en) * | 2014-09-16 | 2014-12-17 | 中国农业大学 | Strawberry picking end effector and working process thereof |
| CN107258227A (en) * | 2017-06-05 | 2017-10-20 | 三峡大学 | A kind of automatic picking machine of strawberry |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108377737A (en) * | 2018-04-27 | 2018-08-10 | 西安交通大学 | A kind of strawberry picker and its picking method |
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| CN107690959B (en) | 2019-04-16 |
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