CN108377726A - A kind of pineapple picking robot - Google Patents
A kind of pineapple picking robot Download PDFInfo
- Publication number
- CN108377726A CN108377726A CN201810392133.6A CN201810392133A CN108377726A CN 108377726 A CN108377726 A CN 108377726A CN 201810392133 A CN201810392133 A CN 201810392133A CN 108377726 A CN108377726 A CN 108377726A
- Authority
- CN
- China
- Prior art keywords
- pineapple
- shear
- picking robot
- vehicle body
- pineapple picking
- 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.)
- Pending
Links
- 235000007119 Ananas comosus Nutrition 0.000 title claims abstract description 78
- 244000099147 Ananas comosus Species 0.000 title 1
- 241000234671 Ananas Species 0.000 claims abstract description 80
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000003860 storage Methods 0.000 claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000003028 elevating effect Effects 0.000 claims abstract description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000010008 shearing Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 5
- 241000196324 Embryophyta Species 0.000 description 4
- 235000013399 edible fruits Nutrition 0.000 description 4
- 241000219315 Spinacia Species 0.000 description 3
- 235000009337 Spinacia oleracea Nutrition 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 244000228957 Ferula foetida Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003205 fragrance Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
- A01D43/063—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a container carried by the mower; Containers therefor
Abstract
The invention discloses a kind of pineapple picking robots, including vehicle body, storage device, shear and control device, the shear includes open-and-close mechanism and elevating mechanism, the open-and-close mechanism includes swivel plate, folding blade, guiding axis and the first actuator on the folding blade equipped with several guide grooves, the center of the swivel plate is equipped with through-hole, and the guiding axis is set in the guide groove.The present invention realizes walking of the pineapple picking robot in field using the vehicle body, the swivel plate is under the drive of first actuator, the guide groove is allowed to drive the guiding axis movement, so that the folding blade is driven to do gathering movement or expansion movement in the through-hole, realize the shearing to the stalk portion of pineapple, the pineapple after shearing can be moved on the storage device simultaneously, the pineapple picking robot effectively to pineapple can quickly pick and store, and the automation that can be widely applied in pinery is won.
Description
Technical field
The present invention relates to agricultural equipment technical field more particularly to a kind of pineapple picking robots.
Background technology
Pineapple as famous tropical fruit (tree), because full of nutrition, excellent quality, fragrance is tempting due to be favored by people.Its
Demand is increasing.However the picking of pineapple is a hard work.
It is the provinces such as Guangdong, Hainan, Guangxi, Yunnan, Fujian and Taiwan that pineapple, which mainly plants area, before pineapple industry development
Scape is good, and pineapple cultivation area increases substantially.The acquisition of pineapple has stronger seasonality, the only harvest of or so two weeks
Peak period.China picks that the degree of automation is still very low, and domestic fruit is mainly based on manually harvesting；Entire recovery operations are short-term
The manpower of interior needs, labour heavy workload have accounted for 40% or more of entire pineapple production cost, and pineapple leaves are hard, spinach
Prickle is carried on trailing plants fruit, is easy to damage palm, is seriously affected picking efficiency.
Under the background that cost increasingly rises and under the development spring tide of industry 4.0, if the pineapple cultivation industry in China
Want to obtain tremendous development, it must outstanding behaviours in terms of automatic management.
Invention content
In order to overcome the shortcomings of the prior art, the present invention provides a kind of pineapple that can carry out Quick Acquisition to pineapple and adopt
Pluck robot.
In order to solve the above technical problem, the present invention provides a kind of pineapple picking robots, which is characterized in that including vehicle
Body, storage device, shear and control device, the storage device and the shear are set on the vehicle body, institute
Vehicle body and the shear is stated to be electrically connected with the control device respectively,
The shear includes open-and-close mechanism and the elevating mechanism that is connected with the open-and-close mechanism, the opening-closing machine
Structure include equipped with several guide grooves swivel plate, folding blade, set on it is described folding blade on guiding axis and with the rotation
The center of the first actuator that flap is connected, the swivel plate is equipped with through-hole, and the guiding axis is set in the guide groove, makes
Obtaining the guiding axis can drive the folding blade to do gathering movement or expansion movement in the through-hole.
Preferably, transverse moving mechanism is equipped between the shear and the vehicle body.
Preferably, the transverse moving mechanism include the second actuator, the first lead screw and sliding block, described second
Actuator is connected with first lead screw, to be threadedly coupled between the sliding block and first lead screw, the shear
It is connected with the sliding block.
Preferably, the storage device is set to the both sides of the vehicle body, and the shear has in both sides
The degree of freedom moved between the storage device.
Preferably, the vehicle body includes main frame, pedestal, driving wheel and driving motor, the driving motor
It is connected with the driving wheel, the driving wheel and the driving motor are set on the pedestal, the pedestal and the main frame
Buffer gear is equipped between frame.
Preferably, the buffer gear is several shock-proof springs.
Preferably, the elevating mechanism includes third actuator and the second lead screw, the third actuator with
Second lead screw is connected, and is to be threadedly coupled between second lead screw and the shear.
Preferably, the quantity of second lead screw is two or two or more, different second lead screws
Between transmission be toothed belt transmission.
Preferably, the control device further includes the camera module of pineapple for identification.
Preferably, the control device further includes the gyro sensor for controlling balance.
The pineapple picking robot that the embodiment of the present invention is provided, compared with prior art, advantage is：The present invention
Walking of the pineapple picking robot in field is realized by the vehicle body, the storage device is used to store the spinach after shearing
The open-and-close mechanism can be moved to the stalk portion of pineapple, be sheared to stalk portion convenient for the open-and-close mechanism by trailing plants, the elevating mechanism,
The through-hole passes through for pineapple so that the stalk portion of pineapple is located at the center of open-and-close mechanism, and the swivel plate drives described first
Under the drive of moving part, the guide groove is allowed to drive the guiding axis movement, so that the guiding axis drives the folding leaf
Piece does gathering movement or expansion movement in the through-hole, realizes the shearing to the stalk portion of pineapple, while can be by the spinach after shearing
Trailing plants moves on the storage device, and the pineapple picking robot effectively to pineapple can quickly pick and store, together
When also avoid damaging pineapple in picking process, high degree of automation, feasibility is high, can be widely used in pinery
Automation win.
Description of the drawings
In order to illustrate more clearly of technical scheme of the present invention, attached drawing needed in embodiment will be made below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, general for this field
For logical technical staff, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is the dimensional structure diagram of the pineapple picking robot of the embodiment of the present invention.
Fig. 2 is the shear structural schematic diagram of the pineapple picking robot of the embodiment of the present invention.
Fig. 3 is another viewing angle constructions schematic diagrames of Fig. 2.
Fig. 4 is the open-and-close mechanism structural schematic diagram of the pineapple picking robot of the embodiment of the present invention.
Fig. 5 is the open-and-close mechanism working state structure schematic diagram of the pineapple picking robot of the embodiment of the present invention.
In figure：1. main frame；2. pedestal；3. driving wheel；4. driving motor；5. storing frame；6. swivel plate；7. the first driving
Part；8. guide groove；9. opening and closing blade；10. guiding axis；11. connecting shaft；12. connecting plate；13. the second actuator；14. first
Bar；15. sliding block；16. shock-proof spring；17. third actuator；18. the second lead screw；19. synchronous belt；20. control device.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
In the present invention, it is answered unless otherwise specific regulation and restriction, the terms such as term " connected ", " connection ", " fixation "
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral；Can be mechanical connection,
It can be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary the company inside two elements
Logical or two elements interaction relationship, unless otherwise restricted clearly.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
In addition, in the description of the present invention, it should be noted that term " first ", " second " etc. are used for description purposes only,
It is not understood to indicate or imply relative importance.
As shown in Figures 1 to 5, the preferred embodiment of the invention provides a kind of pineapple picking robot, which is characterized in that
Including vehicle body, storage device, shear and control device 20, the storage device and the shear are set to the vehicle
With, the vehicle body and the shear are electrically connected with the control device 20 respectively, and the shear includes folding
Mechanism and the elevating mechanism being connected with the open-and-close mechanism, the open-and-close mechanism include the rotation equipped with several guide grooves 8
Plate 6, folding blade 9, the guiding axis 10 on the folding blade 9 and the first driving being connected with the swivel plate 6
The center of part 7, the swivel plate 6 is equipped with through-hole, and the guiding axis 10 is set in the guide groove 8 so that the guiding axis 10
The folding blade 9 can be driven to do gathering movement or expansion movement in the through-hole.
Pineapple picking robot based on above-mentioned technical characteristic, the vehicle body realize pineapple picking robot in field
Walking, the storage device are used to store the pineapple after shearing, and the open-and-close mechanism can be moved to pineapple by the elevating mechanism
Stalk portion shears stalk portion convenient for the open-and-close mechanism, and the through-hole passes through for pineapple so that the stalk portion of pineapple, which is located at, to open
The center of mechanism is closed, the swivel plate 6 allows the guide groove 8 to drive the guiding axis under the drive of first actuator 7
10 movements, so that the guiding axis 10 drives the folding blade 9 to do gathering movement or expansion movement in the through-hole,
It realizes the shearing to the stalk portion of pineapple, while the pineapple after shearing can be moved on the storage device, the pineapple picking machine
Device people effectively to pineapple can quickly pick and store, while also avoid damaging pineapple in picking process,
High degree of automation, feasibility is high, and the automation that can be widely used in pinery is won.
As shown in Figures 2 and 3, for the ease of the through-hole set across pineapple, first actuator 7 and the swivel plate
Connecting plate 12 and connecting shaft 11 are additionally provided between 6, the connecting plate 12 is parallel set on the top of the swivel plate 6, the connection
For connecting between the connecting plate 12 and the connecting shaft 11, first actuator 7 is connected axis 11 with the connecting plate 12
It connects, first actuator 7 drives the connecting plate 12 to be rotated, and drives the swivel plate 6 to rotate to realize, described to cut
Cutting apparatus structure is compacter, is more conducive to realizing the shearing to pineapple, in addition, the folding blade 9 is preferably triangle
The stalk portion of pineapple is cut in shape shape, the cutting face convenient for the folding blade 9.
Further, as shown in Figure 1, between the shear and the vehicle body be equipped with transverse moving mechanism, it can be achieved that
The position of the shear is adjusted and storage device is transported to the pineapple after shearing.
Further, the transverse moving mechanism includes the second actuator 13, the first lead screw 14 and sliding block 15, and described the
Two actuators 13 are connected with first lead screw 14, to be threadedly coupled between the sliding block 15 and first lead screw 14, institute
It states shear with the sliding block 15 to be connected, two actuator is set up in the vehicle body with first lead screw 14 by branch
On, by the driving of the second actuator 13, first lead screw 14 is driven to be rotated because first lead screw 14 with it is described
To be threadedly coupled between sliding block 15, so by the linear motion for being converted into the sliding block 15 of first lead screw 14, from
And it realizes to the movement in the horizontal direction of the shear.
The storage device be set to the vehicle body both sides, the shear have both sides the storage device it
Between the degree of freedom that moves, the storage device is storage frame 5, can be passed through from centre convenient for pineapple plant, while can be expanded described
Store the storage capacity of frame 5.
The vehicle body includes main frame 1, pedestal 2, driving wheel 3 and driving motor 4, the driving motor 4 and the drive
Driving wheel 3 is connected, and the driving wheel 3 and the driving motor 4 are set on the pedestal 2, the pedestal 2 and the main frame 1
Between be equipped with buffer gear, the wheel is divided into the bottom of the storage frame 5 of both sides, realizes the vehicle body in pineapple plant
Both sides walking function, it is to be understood that structure commonly used in the art may be used in the main frame 1, and the present invention is to this
It is not particularly limited.For example, the main frame 1 can be the frame structure built by aluminium section bar and connector, also may be used
With to be built by plank.
Further, the buffer gear is several shock-proof springs 16, and 16 one side of the shock-proof spring is in order to protect
Pineapple after picking collides damage, on the other hand because field walking environment is complicated, Uneven road of walking, and the avoidance bullet
Spring can balance the holding of the vehicle body and play a role.
As shown in Figures 2 and 3, the elevating mechanism includes third actuator 17 and the second lead screw 18, and the third is driven
Moving part 17 is connected with second lead screw 18, described to be threadedly coupled between second lead screw 18 and the shear
Third actuator 17 drives second lead screw 18, by the threaded connection, converts the rotation of second lead screw 18 to
The decline or ascending motion of the shear, convenient for the accurate adjustment to the shear position, the elevating mechanism
Can also include the optical axis for limit, the smoothly rise and fall of the shear of auxiliary.
The quantity of second lead screw 18 is two or two or more, ensures the shear in the flat of adjustment position
Weighing apparatus degree, the transmission between different second lead screws 18 are that synchronous belt 19 is driven, and realize moving synchronously between different lead screws,
It is, of course, understood that the transmission between different second lead screws 18 can also be gear drive etc., other synchronize biography
Flowing mode.
It is understood that the first actuator 7, the second actuator 13, third actuator 17 described in the present embodiment with
And this field various common motors, such as stepper motor, direct current generator motor etc. may be used in driving motor 4, the present invention
It is not specifically limited to this.
In addition, gyro of the control device 20 including the camera module of pineapple for identification and for controlling balance
Instrument sensor realizes automatic identification pineapple and is sheared to the automation of pineapple that the gyro sensor may make described
Robot is applicable in the field of topography variation complexity, by the monitoring of angular acceleration, is carried out in advance to the state of the robot
Control, reduces the probability of rollover.
In conclusion the pineapple picking robot described in the embodiment of the present invention is the complex environment of field suitable for walking,
Because pineapple cultivation is generally arranged all in accordance with straight line, by passing through in the both sides of pineapple plant so that robot carries out picking institute
The space needed is small, versatile, and can be by the position of the adjusting shear, to reach best clipped position, institute
It states through-hole for pineapple to pass through so that the stalk portion of pineapple is located at the center of open-and-close mechanism, and the swivel plate 6 is in first driving
Under the drive of part 7, allow the guide groove 8 that the guiding axis 10 is driven to move, so that the guiding axis 10 drives described open
Hing straps 9 do gathering movement or expansion movement in the through-hole, make full use of unique growthform of pineapple fruit, realization pair
The shearing in the stalk portion of pineapple, while the pineapple after shearing can be moved on the storage device, the pineapple picking robot energy
Effectively pineapple quickly pick and store, while also avoiding damaging pineapple in picking process, automated
Degree is high, and feasibility is high, and the automation that can be widely used in pinery is won, and solves pineapple in current plantation and picks
Inefficiency, pineapple robot the problems such as can not effectively winning, have that target accurate positioning, picking be simple and convenient, liberation labor
The advantages that power.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of pineapple picking robot, which is characterized in that including vehicle body, storage device, shear and control device, institute
It states storage device and the shear is set on the vehicle body, the vehicle body and the shear are filled with the control respectively
Electric connection is set,
The shear includes open-and-close mechanism and the elevating mechanism that is connected with the open-and-close mechanism, the open-and-close mechanism packet
Include equipped with several guide grooves swivel plate, folding blade, set on it is described folding blade on guiding axis and with the swivel plate
The center of the first actuator being connected, the swivel plate is equipped with through-hole, and the guiding axis is set in the guide groove so that institute
Stating guiding axis can drive the folding blade to do gathering movement or expansion movement in the through-hole.
2. pineapple picking robot according to claim 1, which is characterized in that between the shear and the vehicle body
Equipped with transverse moving mechanism.
3. pineapple picking robot according to claim 2, which is characterized in that the transverse moving mechanism includes the second drive
Moving part, the first lead screw and sliding block, second actuator are connected with first lead screw, the sliding block with described first
To be threadedly coupled between bar, the shear is connected with the sliding block.
4. pineapple picking robot according to claim 1, which is characterized in that the storage device is set to the vehicle body
Both sides, the shear have the degree of freedom moved between the storage device of both sides.
5. pineapple picking robot according to claim 1, which is characterized in that the vehicle body includes main frame, pedestal, drive
Driving wheel and driving motor, the driving motor are connected with the driving wheel, and the driving wheel and the driving motor are set to
On the pedestal, buffer gear is equipped between the pedestal and the main frame.
6. pineapple picking robot according to claim 5, which is characterized in that the buffer gear is several shock-absorbing bullets
Spring.
7. pineapple picking robot according to claim 1, which is characterized in that the elevating mechanism includes third actuator
And second lead screw, the third actuator are connected with second lead screw, second lead screw and the shear it
Between for be threadedly coupled.
8. pineapple picking robot according to claim 7, which is characterized in that the quantity of second lead screw be two or
Person two or more, the transmission between different second lead screws are toothed belt transmission.
9. the pineapple picking robot according to any one of claim 1-8, which is characterized in that the control device also wraps
Include the camera module of pineapple for identification.
10. the pineapple picking robot according to any one of claim 1-8, which is characterized in that the control device is also
It include the gyro sensor for controlling balance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810392133.6A CN108377726A (en) | 2018-04-27 | 2018-04-27 | A kind of pineapple picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810392133.6A CN108377726A (en) | 2018-04-27 | 2018-04-27 | A kind of pineapple picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108377726A true CN108377726A (en) | 2018-08-10 |
Family
ID=63065748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810392133.6A Pending CN108377726A (en) | 2018-04-27 | 2018-04-27 | A kind of pineapple picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108377726A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109716921A (en) * | 2019-03-12 | 2019-05-07 | 南宁职业技术学院 | A kind of pineapple automatic harvester |
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