CN108702926A - The application method of intelligent pineapple picking robot - Google Patents

The application method of intelligent pineapple picking robot Download PDF

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Publication number
CN108702926A
CN108702926A CN201810780897.2A CN201810780897A CN108702926A CN 108702926 A CN108702926 A CN 108702926A CN 201810780897 A CN201810780897 A CN 201810780897A CN 108702926 A CN108702926 A CN 108702926A
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China
Prior art keywords
harvesting
pineapple
controller
picking
sensor
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Application number
CN201810780897.2A
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Chinese (zh)
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CN108702926B (en
Inventor
郑景文
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Yangzhou Shuanglong industrial equipment installation Co.,Ltd.
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Dongguan Haoqi Enterprise Management Services Ltd
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Priority to CN201810780897.2A priority Critical patent/CN108702926B/en
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D45/00Harvesting of standing crops
    • A01D45/002Harvesting of standing crops of pineapples
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for

Abstract

The application method of intelligent pineapple picking robot, intelligent pineapple picking robot includes harvesting machinery hand, mechanical arm and controller, harvesting machinery hand includes harvesting device, picker and connector, harvesting device includes harvesting rotation motor and harvesting pawl, positioning plate and cutter, and picker includes picking rotation motor and picking claw;When use, harvesting machinery hand is moved using controller control machinery armband to move to pineapple, then control harvesting pawl and picking claw catch pineapple, the cutter for controlling harvesting device cut off the carpopodium of pineapple, the pineapple of harvesting is discharged on the compartment of motor vehicle by mechanical arm and harvesting machinery hand again, the intelligent machine harvesting for implementing pineapple, improves the efficiency of pineapple harvesting.

Description

The application method of intelligent pineapple picking robot
Technical field
The present invention relates to a kind of application method of pineapple harvesting apparatus, more particularly to a kind of intelligent pineapple of harvesting pineapple is adopted Pluck the application method of robot.
Background technology
Currently, pineapple is gathered in, using artificial picking, the labor intensity manually picked is larger, less efficient;A kind of intelligence spinach The application method of trailing plants picking robot, it has also become enterprise reduces peasant's labor intensity, and improves the needs of harvesting efficiency.
Invention content
The purpose of the present invention is overcome the deficiencies of the prior art and provide a kind of user of intelligent pineapple picking robot Method picks the labor intensity of pineapple for reducing worker, and improves the efficiency of pineapple harvesting.
The present invention's is adopted the technical scheme that:Intelligent pineapple picking robot include harvesting machinery hand, mechanical arm, Mechanical block and controller, mechanical block and controller are installed on motor vehicle, and mechanical block is connect with mechanical arm, mechanical arm and receipts Cut manipulator connection;Harvesting machinery hand includes harvesting device, picker and connector, and mechanical arm is connect with connector, Connector is connect with harvesting device and picker, is moved using mechanical arm driving harvesting machinery hand;Harvesting device includes Rotation motor, harvesting pawl, lifting electric pull rod, positioning plate, harvesting electric pushrod and cutter are gathered in, harvesting rotation motor Harvesting engine base is fixedly connected with connector, and the harvesting rotation power head for gathering in rotation motor is fixedly connected with harvesting pawl, utilizes receipts Rotation motor driving harvesting pawl is cut to swing;The lifting seat of lifting electric pull rod is fixedly connected with harvesting pawl, lifting electric pull rod Lifting drive rod be fixedly connected with positioning plate, utilize lifting electric pull rod drive positioning plate lifting;Gather in the receipts of electric pushrod Cutting mill seat is fixedly connected with positioning plate, and the harvesting drive rod for gathering in electric pushrod is fixedly connected with cutter, electronic using gathering in Push rod drives the carpopodium of cutter cutting pineapple;Picker includes picking rotation motor and picking claw, picking rotation electricity The picking engine base of machine is fixedly connected with connector, and the picking rotation power head of picking rotation motor is fixedly connected with picking claw, profit It is swung with rotation motor driving picking claw is plucked;Controller includes image sensor, pineapple proximity sensor, harvesting rotation sensing Device, harvesting rotation induction pieces, upper limit level sensor, lower limit level sensor, carpopodium first sensor, the left sensor of harvesting, harvesting Right sensor, picking rotation sensor, picking rotation induction pieces, carpopodium second sensor, starting switch, stops at harvesting induction pieces Only switch and display;Image sensor and pineapple proximity sensor are installed on connector, for detecting and controlling With the position of pineapple;Harvesting rotation sensor is installed on connector, and harvesting rotation induction pieces are installed on harvesting rotation power head On, carpopodium first sensor is installed on positioning plate, the angle for controlling rotation power head and cutter rotation;Upper limit passes Sensor is installed on positioning plate, and lower limit level sensor is installed on the lower part of harvesting pawl, the stroke for controlling positioning plate;Harvesting is left Sensor and the right sensor of harvesting are installed on positioning plate, and harvesting induction pieces are installed on harvesting drive rod, are cut for controlling The stroke of cutter;Picking rotation sensor is installed on connector, and picking rotation induction pieces are installed on picking rotation power head, Carpopodium second sensor is installed on picking claw, the angle for controlling picking claw swing;Controller, starting switch, stopping are opened It closes and display is installed in the driver's cabin of motor vehicle;Controller passes through control line and the close sensing of image sensor, pineapple Device, harvesting rotation sensor, upper limit level sensor, lower limit level sensor, carpopodium first sensor, the left sensor of harvesting, harvesting Right sensor, picking rotation sensor, carpopodium second sensor, starting switch, shutdown switch and display connection;Gather in pawl And picking claw original state is:It gathers in pawl and picking claw is in the open state;The original state of positioning plate is:At positioning plate In lower limit state;The original state of cutter is:Cutter are in uncut state.
The application method of intelligent pineapple picking robot is:In use, motor vehicle driving is entered pineapple field, control is utilized Device control machinery armband moves the top that harvesting machinery hand is moved to pineapple, then controls harvesting machinery hand and is moved to pineapple, works as receipts When cutting the pineapple proximity sensor on manipulator connector close to pineapple, pineapple proximity sensor is by its signal transmission to control Device, controller control harvesting machinery hand and stop movement;After harvesting machinery hand stops movement, controller controls the harvesting of harvesting device Rotation motor driving harvesting pawl is from original state to lower swing, and harvesting pawl is swung to pineapple, and the positioning plate gathered on pawl follows receipts Pawl swing is cut, when carpopodium of the carpopodium first sensor on positioning plate close to pineapple, carpopodium first sensor passes its signal It is defeated by controller, controller control harvesting rotation motor stops, and harvesting pawl stops swinging;After harvesting pawl stops swinging, controller Controlling lifting electric pull rod drives positioning plate to rise, and the upper limit level sensor on positioning plate follows positioning plate to rise, and works as upper limit When sensor is close to pineapple, by its signal transmission to controller, controller controls lifting electric pull rod to be stopped upper limit level sensor, Positioning plate, which rises, to be stopped, and cutter is made to be located at the position for needing to cut pineapple carpopodium;After positioning plate rises stopping, controller control Picking rotation motor drives picking claw from original state to lower swing, and picking claw is swung to pineapple, the carpopodium second on picking claw Sensor follows picking claw to swing, and when carpopodium of the carpopodium second sensor close to pineapple, carpopodium second sensor is by its signal It is transferred to controller, controller control picking rotation motor stops, and picking claw stops swinging;Using harvesting pawl positioning plate and The carpopodium of pineapple is limited in the space of setting by picking claw;Meanwhile gather in pawl and picking claw by pineapple grip in harvesting pawl with And in the picking space of picking claw composition;After picking claw stops swinging, the harvesting drive rod of controller control harvesting electric pushrod It drives cutter to be moved to the carpopodium of pineapple, the carpopodium of pineapple is cut off;Meanwhile the harvesting induction pieces for gathering in drive rod follow receipts Cut drive rod movement, when harvesting induction pieces close to positioning plate the right sensor of harvesting, gather in right sensor by its signal transmission to Controller, controller control harvesting electric pushrod stop;After gathering in electric pushrod stopping, the carpopodium of pineapple is cut off, controller Control machinery armband is moved harvesting machinery hand and is moved to the compartment of motor vehicle, and harvesting machinery hand is moved to the car position of motor vehicle When, controller control harvesting pawl, picking claw, positioning plate and cutter reset, and make harvesting pawl, picking claw, positioning plate and cut Cutter resets to original state, opens harvesting pawl and picking claw, the pineapple of harvesting is discharged on the compartment of motor vehicle;So not Disconnected cycle implements the intelligence machineization harvesting of pineapple.
The beneficial effects of the invention are as follows:Intelligent pineapple picking robot includes harvesting machinery hand, mechanical arm and control Device, harvesting machinery hand include harvesting device, picker and connector, harvesting device include harvesting rotation motor and Pawl, positioning plate and cutter are gathered in, picker includes picking rotation motor and picking claw;In use, utilizing control Device control machinery armband is moved harvesting machinery hand and is moved to pineapple, and then control harvesting pawl and picking claw catch pineapple, control The carpopodium of pineapple is cut off, then the pineapple of harvesting is discharged at machine by mechanical arm and harvesting machinery hand by the cutter of harvesting device On the compartment of motor-car, the intelligent machine harvesting of pineapple is implemented, the efficiency of pineapple harvesting is improved.
Description of the drawings
Fig. 1 is the structural schematic diagram of intelligent pineapple picking robot.
Specific implementation mode
The present invention is further detailed with specific embodiment below in conjunction with the accompanying drawings:
The structural schematic diagram of intelligent pineapple picking robot as shown in Figure 1, intelligent pineapple picking robot includes harvester Tool hand 1, mechanical arm 2, mechanical block 3 and controller 4, mechanical block 3 and controller 4 are installed on motor vehicle 5, mechanical block 3 with Mechanical arm 2 connects, and mechanical arm 2 is connect with harvesting machinery hand 1;Harvesting machinery hand 1 include harvesting device 6, picker 7 and Connector 8, mechanical arm 2 are connect with connector 8, and connector 8 is connect with harvesting device 6 and picker 7, utilize mechanical arm 2 Harvesting machinery hand 1 is driven to move;Harvesting device 6 includes harvesting rotation motor 9, harvesting pawl 10, lifting electric pull rod 11, positioning The harvesting engine base 15 of plate 12, harvesting electric pushrod 13 and cutter 14, harvesting rotation motor 9 is fixedly connected with connector 8, is received The harvesting rotation power head 16 for cutting rotation motor 9 is fixedly connected with harvesting pawl 10, utilizes the harvesting driving harvesting pawl 10 of rotation motor 9 It swings;The lifting seat 17 of lifting electric pull rod 11 is fixedly connected with harvesting pawl 10, the lifting drive rod of lifting electric pull rod 11 18 are fixedly connected with positioning plate 12, drive positioning plate 12 to lift using lifting electric pull rod 11;Gather in the harvesting of electric pushrod 13 Engine base 19 is fixedly connected with positioning plate 12, and the harvesting drive rod 20 of harvesting electric pushrod 13 is fixedly connected with cutter 14, is utilized Gather in the carpopodium 22 that electric pushrod 13 drives cutter 14 to cut pineapple 21;Picker 7 include picking rotation motor 24 with And picking claw 25, the picking engine base 26 of picking rotation motor 24 are fixedly connected with connector 8, the picking pendulum of picking rotation motor 24 Rotatory force head 27 is fixedly connected with picking claw 25, drives picking claw 25 to swing using rotation motor 24 is plucked;Controller 4 includes to take the photograph As sensor 28, pineapple proximity sensor 29, harvesting rotation sensor 23, harvesting rotation induction pieces 30, upper limit level sensor 31, Lower limit level sensor 32, the left sensor 34 of harvesting, the right sensor 35 of harvesting, harvesting induction pieces 36, is adopted carpopodium first sensor 33 It plucks rotation sensor 37, picking rotation induction pieces 38, carpopodium second sensor 39, starting switch 40, shutdown switch 41 and shows Show device 42;Image sensor 28 and pineapple proximity sensor 29 are installed on connector 8, for detecting and controlling and pineapple 21 position;Harvesting rotation sensor 23 is installed on connector 8, and harvesting rotation induction pieces 30 are installed on harvesting rotation power head On 16, carpopodium first sensor 33 is installed on positioning plate 12, the angle for controlling 14 rotation of rotation power head 16 and cutter Degree;Upper limit level sensor 31 is installed on positioning plate 12, and lower limit level sensor 32 is installed on the lower part of harvesting pawl 10, for controlling The stroke of positioning plate 12;It gathers in left sensor 34 and gathers in right sensor 35 and be installed on positioning plate 12, gather in induction pieces 36 It is installed on harvesting drive rod 20, the stroke for controlling cutter 14;Picking rotation sensor 37 is installed on connector 8, Picking rotation induction pieces 38 are installed on picking rotation power head 27, and carpopodium second sensor 39 is installed on picking claw 25, are used In the angle that control picking claw 25 is swung;Controller 4, starting switch 40, shutdown switch 41 and display 42 are installed on motor-driven In the driver's cabin 43 of vehicle 5;Controller 4 passes through control line and image sensor 28, pineapple proximity sensor 29, harvesting rotation sensing Device 23, upper limit level sensor 31, lower limit level sensor 32, carpopodium first sensor 33, the left sensor 34 of harvesting, the right sensing of harvesting Device 35, picking rotation sensor 37, carpopodium second sensor 39, starting switch 40, shutdown switch 41 and display 42 connect.
In order to implement the acquisition, positioning and harvesting of pineapple 21, gathers in and adopt using harvesting pawl 10 and picking claw 25 Pineapple 21 is plucked, image sensor 28 and pineapple proximity sensor 29 are installed on the lower part of connector 8, and image sensor 28 is taken the photograph As the detector of head and pineapple proximity sensor 29 is downward;Harvesting pawl 10 is located at the left side of connector 8, and picking claw 25, which is located at, to be connected The right of connector 8.
In order to implement the continuous cycle harvesting of pineapple 21, gathering in pawl 10 and 25 original state of picking claw is:Gather in pawl 10 And picking claw 25 is in the open state;Gather in pawl 10 in the open state, the 30 close harvesting rotation of harvesting rotation induction pieces Sensor 23;In the open state, picking rotation induction pieces 38 are close to pick rotation sensor 37 to picking claw 25;Gather in rotation The axis of motor 9 is parallel with the picking axis of rotation motor 24, the axis of the axis and picking rotation motor 24 of harvesting rotation motor 9 Line is in the same plane;Axis of the axis of harvesting rotation motor 9 to the distance and picking rotation motor 24 of the axis of connector 8 Distance to the axis of connector 8 is equal.
In order to be suitble to gather in the pineapple 21 of different height, control lifting electric pull rod 11 and the row for gathering in electric pushrod 13 Journey, controls the cutting position of 21 carpopodium 22 of pineapple, and the original state of positioning plate 12 is:Positioning plate 12 is in lower limit state, fixed Position plate 12 is when being in lower limit state, and positioning plate 12 is close to lower limit level sensor 32;The original state of cutter 14 is:Cutter 14 are in uncut state, and when cutter 14 are in uncut state, harvesting induction pieces 36 are close to gather in left sensor 34;Lifting The axis of electronic tie rod 11 is parallel with the axis of connector 8, gathers in the axis of the axis and lifting electric pull rod 11 of electric pushrod 13 Line is vertical;The angle for gathering in the center line of rotation sensor 23 and the axis of connector 8 is 45° angle, picking rotation sensor 37 The angle of axis of center line and connector 8 be 45° angle.
In order to be clamped the carpopodium 22 of pineapple 21 using harvesting pawl 10 and picking claw 25, using cutter 14 by pineapple 21 Carpopodium 22 cut off, harvesting pawl 10 is equipped with left socket 44, and picking claw 25 is equipped with right socket 45, gathers in pawl 10 and picking claw 25 and receives When clipping to, the left socket 44 of harvesting pawl 10 is located at 22 left side of carpopodium, and the right socket 45 of picking claw 25 is located on the right of carpopodium 22, adopts The right socket 45 for plucking pawl 25 is located at the opposite for the left socket 44 for gathering in pawl 10;Utilize the left socket 44 and picking claw 25 of harvesting pawl 10 Right socket 45 carpopodium 22 of pineapple 21 is clamped.
It is equipped with lifting sliding slot in order to implement the lifting of cutter 14 and the carpopodium 22 of mobile cutting pineapple 21, harvesting pawl 10 46, the lifting seat 17 of lifting electric pull rod 11 is fixedly connected with lifting sliding slot 46, the lifting drive rod of lifting electric pull rod 11 18 are equipped with lifting slider 47, and lifting slider 47 is fixedly connected with positioning plate 12, and lifting slider 47 connects with the dynamic cooperation of lifting sliding slot 46 It connects;Positioning plate 12 is equipped with harvesting sliding slot 48, and the harvesting drive rod 20 of harvesting electric pushrod 13 is equipped with harvesting sliding block 49, and harvesting is electronic The harvesting engine base 19 of push rod 13 is fixedly connected with sliding slot 48 is gathered in, and harvesting sliding block 49 moves mating connection with harvesting sliding slot 48, receives It cuts sliding block 49 to be fixedly connected with cutter 14, harvesting induction pieces 36 are installed on the harvesting sliding block 49 of harvesting drive rod 20.
When acquiring pineapple 21, in order to reduce damaging for pineapple 21, harvesting pawl 10 is equipped with left lining 50, and picking claw 25 is set There is right lining 51.
The application method of intelligent pineapple picking robot is:In use, driving motor vehicle 5 into 21 field of pineapple, utilize 4 control machinery arm 2 of controller drives harvesting machinery hand 1 to be moved to the top of pineapple 21, then controls harvesting machinery hand 1 to pineapple 21 movements, when the pineapple proximity sensor 29 on 1 connector 8 of harvesting machinery hand is close to pineapple 21, pineapple proximity sensor 29 By its signal transmission to controller 4, controller 4 controls harvesting machinery hand 1 and stops movement;After harvesting machinery hand 1 stops movement, control Device 4 processed controls the driving of the harvesting rotation motor 9 harvesting pawl 10 of harvesting device 6 from original state to lower swing, gathers in pawl 10 to spinach Trailing plants 21 swings, and gathers in the positioning plate 12 on pawl 10 and harvesting pawl 10 is followed to swing, when the carpopodium first sensor 33 on positioning plate 12 Close to pineapple 21 carpopodium 22 when, carpopodium first sensor 33 by its signal transmission to controller 4, the control harvesting pendulum of controller 4 Rotating motor 9 stops, and harvesting pawl 10 stops swinging;After harvesting pawl 10 stops swinging, controller 4 controls lifting electric pull rod 11 and drives Positioning plate 12 rises, and the upper limit level sensor 31 on positioning plate 12 follows positioning plate 12 to rise, when upper limit level sensor 31 is close When pineapple 21, by its signal transmission to controller 4, controller 4 controls lifting electric pull rod 11 to be stopped upper limit level sensor 31, fixed Position plate 12, which rises, to be stopped, and cutter 14 is made to be located at the position for needing to cut 21 carpopodium 22 of pineapple;After positioning plate 12 rises stopping, control The control of device 4 picking rotation motor 24 processed drives picking claw 25 from original state to lower swing, and picking claw 25 swings to pineapple 21, adopts Plucking the carpopodium second sensor 39 on pawl 25 follows picking claw 25 to swing, when carpopodium second sensor 39 is close to the carpopodium of pineapple 21 When 22, carpopodium second sensor 39 is by its signal transmission to controller 4, and the control picking rotation of controller 4 motor 24 stops, picking Pawl 25 stops swinging;The carpopodium 22 of pineapple 21 is limited in the sky of setting using the positioning plate 12 and picking claw 25 of harvesting pawl 10 In;Meanwhile it gathering in pawl 10 and picking claw 25 and pineapple 21 is gripped in into the picking space that harvesting pawl 10 and picking claw 25 are constituted In 52;After picking claw 25 stops swinging, controller 4 control harvesting electric pushrod 13 harvesting drive rod 20 drive cutter 14 to The carpopodium 22 of pineapple 21 moves, and the carpopodium 22 of pineapple 21 is cut off;Meanwhile the harvesting induction pieces 36 for gathering in drive rod 20 follow receipts Cut drive rod 20 movement, when harvesting induction pieces 36 close to positioning plate 12 the right sensor 35 of harvesting, gather in right sensor 35 by its Signal transmission stops to controller 4, the control harvesting electric pushrod 13 of controller 4;After gathering in the stopping of electric pushrod 13, pineapple 21 Carpopodium 22 is cut off, and 4 control machinery arm 2 of controller drives harvesting machinery hand 1 to be moved to the compartment 53 of motor vehicle 5, by harvester When tool hand 1 is moved to 53 position of compartment of motor vehicle 5, the control of controller 4 is gathered in pawl 10, picking claw 25, positioning plate 12 and is cut Cutter 14 resets, and harvesting pawl 10, picking claw 25, positioning plate 12 and cutter 14 is made to reset to original state, opens harvesting pawl 10 and picking claw 25, the pineapple 21 of harvesting is discharged on the compartment 53 of motor vehicle 5;It so constantly recycles, implements pineapple 21 Intelligence machineization harvesting.
In order to implement to grip in pineapple 21 in the picking space 52 that harvesting pawl 10 and picking claw 25 are constituted;Gather in pawl 10 to When pineapple 21 swings, the control harvesting of controller 4 rotation motor 9 drives harvesting pawl 10 to swing counterclockwise, positioning plate 12 with It is swung counterclockwise with the carpopodium 22 of harvesting pawl 10 towards pineapple 21, the carpopodium first sensor 33 on positioning plate 12 follows The carpopodium 22 of positioning plate 12 towards pineapple 21 is swung counterclockwise, when carpopodium first sensor 33 is close to the carpopodium of pineapple 21 When 22, carpopodium first sensor 33 is by its signal transmission to controller 4, and the control harvesting rotation of controller 4 motor 9 stops, harvesting Pawl 10 stops swinging;When picking claw 25 is swung to pineapple 21, the control picking rotation of controller 4 motor 24 drives picking claw 25 by suitable Clockwise is swung, and the carpopodium second sensor 39 on picking claw 25 follows picking claw 25 towards the carpopodium 22 of pineapple 21 by up time Needle direction is swung, and when carpopodium 22 of the carpopodium second sensor 39 close to pineapple 21, carpopodium second sensor 39 passes its signal It is defeated by controller 4, the control picking rotation of controller 4 motor 24 stops, and picking claw 25 stops swinging.
In order to detect the position of pineapple 21, pineapple proximity sensor 29 is controlled close to pineapple 21;The connection of harvesting machinery hand 1 First 8 to pineapple 21 when moving, and the location data signal of pineapple 21 is transferred to control by the image sensor 28 being installed on connector 8 The display 42 of device 4 processed, display 42 are equipped with intelligent display touch screen 54, and pineapple 21 is shown in intelligent display touch screen by display 42 On 54, when driver's point touches the pineapple 21 on intelligent display touch screen 54, which is touched signal transmission and given by intelligent display touch screen 54 Controller 4,4 harvesting machinery hand 1 of controller move to the pineapple 21, connector 8 are moved to the top of pineapple 21, makes pineapple 21 Close to pineapple proximity sensor 29.
In order to which the pineapple 21 for implementing harvesting is put on the compartment 53 of motor vehicle 5, controller 4 is equipped with and unloads fruit sensor 55, The lower part that fruit sensor 55 is installed on positioning plate 12 is unloaded, fruit sensor 55 is unloaded and is connect with controller 4 by its control line;Harvester When the pineapple 21 of harvesting is moved to the compartment 53 of motor vehicle 5 by tool hand 1, fruit sensor 55 is unloaded close to motor vehicle on positioning plate 12 Fruit sensor 55 is unloaded by its signal transmission to controller 4, control alternatively, close to other pineapples 21 on compartment 53 in 5 compartment 53 The control of device 4 harvesting pawl 10 and picking claw 25 processed are swung up, and gather in pawl 10 and picking claw 25 resets to original state, gather in The pineapple 21 that pawl 10 and picking claw 25 are picked in space 52 is discharged on the compartment 53 of motor vehicle 5.
In order to make harvesting pawl 10 reset to open state, when harvesting pawl 10 resets, the control harvesting rotation motor of controller 4 9 driving harvesting pawls 10 are swung in the direction of the clock, and the harvesting rotation induction pieces 30 on harvesting rotation power head 16 follow harvesting to put Rotatory force head 16 is swung in the direction of the clock, when harvesting rotation induction pieces 30 are passed close to the harvesting rotation being installed on connector 8 When sensor 23, by its signal transmission to controller 4, the control harvesting rotation of controller 4 motor 9 stops harvesting rotation sensor 23, Harvesting pawl 10 stops swinging, and harvesting pawl 10 resets to original state;The angle that harvesting pawl 10 is swung in the direction of the clock is 45 ° Angle.
In order to make picking claw 25 reset to open state, when picking claw 25 resets, the control picking rotation motor of controller 4 24 driving picking claws 25 are swung counterclockwise, are plucked to pick rotation induction pieces 38 on rotation power head 27 and follow and are plucked rotation power First 27 swing counterclockwise, when the close picking rotation sensor 37 being installed on connector 8 of picking rotation induction pieces 38 When, picking rotation sensor 37 is by its signal transmission to controller 4, and the control picking rotation of controller 4 motor 24 stops, picking claw 25 stop swinging, and picking claw 25 resets to original state;The angle that picking claw 25 is swung counterclockwise is 45° angle.
In order to make positioning plate 12 reset to original state, when positioning plate 12 resets, controller 4 controls lifting electric pull rod 11 Positioning plate 12 is driven to decline, the lifting slider 47 of lifting electric pull rod 11 declines along the lifting sliding slot 46 of harvesting pawl 10, positioning plate 12 when dropping to close to be installed on the lower limit level sensor 32 of 10 lower part of harvesting pawl, and lower limit level sensor 32 gives its signal transmission Controller 4, controller 4, which controls lifting electric pull rod 11, to be stopped, and positioning plate 12 stops declining, and positioning plate 12 resets to initial shape State.
In order to make cutter 14 reset to original state, when cutter 14 reset, the control harvesting electric pushrod 13 of controller 4 Harvesting drive rod 20 drive its gather in sliding block 49 be moved to the left along the harvesting sliding slot 48 of positioning plate 12, harvesting sliding block 49 drive cuts Cutter 14 is moved to the left, and the harvesting induction pieces 36 being installed on harvesting sliding block 49 gather in left biography close to when gathering in left sensor 34 Sensor 34 is by its signal transmission to controller 4, and the control harvesting electric pushrod 13 of controller 4 stops, and cutter 14 stop movement, cut Cutter 14 resets to original state.
It is resetted to implement fixed harvesting pawl 10, picking claw 25, positioning plate 12 and cutter 14, the harvesting of pineapple 21 is completed Afterwards, shutdown switch 41 is pressed, the control harvesting of controller 4 pawl 10, picking claw 25, positioning plate 12 and cutter 14 are reset to initially State.

Claims (10)

1. the application method of intelligent pineapple picking robot, the intelligent pineapple picking robot includes harvesting machinery hand (1), mechanical arm(2), mechanical block(3)And controller(4), mechanical block(3)And controller(4)It is installed on motor vehicle(5)On, Mechanical block(3)With mechanical arm(2)Connection, mechanical arm(2)With harvesting machinery hand(1)Connection;Harvesting machinery hand(1)It include harvesting Device(6), picker(7)And connector(8), mechanical arm(2)With connector(8)Connection, connector(8)With harvesting device (6)And picker(7)Connection;Harvesting device(6)It include harvesting rotation motor(9), harvesting pawl(10), lifting electric draw Bar(11), positioning plate(12), harvesting electric pushrod(13)And cutter(14);Picker(7)It include picking rotation electricity Machine(24)And picking claw(25);Controller(4)It include image sensor(28), pineapple proximity sensor(29), harvesting pendulum Turn sensor(23), harvesting rotation induction pieces(30), upper limit level sensor(31), lower limit level sensor(32), carpopodium first pass Sensor(33), the left sensor of harvesting(34), the right sensor of harvesting(35), harvesting induction pieces(36), picking rotation sensor(37), Pick rotation induction pieces(38), carpopodium second sensor(39), starting switch(40), shutdown switch(41)And display (42);Gather in pawl(10)And picking claw(25)Original state is:Gather in pawl(10)And picking claw(25)It is in the open state; Positioning plate(12)Original state be:Positioning plate(12)In lower limit state;Cutter(14)Original state be:Cutter (14)In uncut state;It is characterized in that:The application method of the intelligent pineapple picking robot is:In use, will Motor vehicle(5)It drives into pineapple(21)Field utilizes controller(4)Control machinery arm(2)Drive harvesting machinery hand(1)It is moved to Pineapple(21)Top, then control harvesting machinery hand(1)To pineapple(21)It is mobile, when harvesting machinery hand(1)Connector(8)On Pineapple proximity sensor(29)Close to pineapple(21)When, pineapple proximity sensor(29)By its signal transmission to controller(4), Controller(4)Control harvesting machinery hand(1)Stop movement;Harvesting machinery hand(1)After stopping movement, controller(4)Control harvesting Device(6)Harvesting rotation motor(9)Driving harvesting pawl(10)From original state to lower swing, pawl is gathered in(10)To pineapple(21) It swings, gathers in pawl(10)On positioning plate(12)Follow harvesting pawl(10)It swings, works as positioning plate(12)On carpopodium first sense Device(33)Close to pineapple(21)Carpopodium(22)When, carpopodium first sensor(33)By its signal transmission to controller(4), control Device(4)Control harvesting rotation motor(9)Stop, gathering in pawl(10)It stops swinging;Gather in pawl(10)After stopping swinging, controller (4)Control lifting electric pull rod(11)Drive positioning plate(12)Rise, positioning plate(12)On upper limit level sensor(31)It follows Positioning plate(12)Rise, when upper limit level sensor(31)Close to pineapple(21)When, upper limit level sensor(31)By its signal transmission To controller(4), controller(4)Control lifting electric pull rod(11)Stop, positioning plate(12)Rise and stop, making cutter(14) Positioned at need cut pineapple(21)Carpopodium(22)Position;Positioning plate(12)Rise after stopping, controller(4)Control picking rotation Motor(24)Drive picking claw(25)From original state to lower swing, picking claw(25)To pineapple(21)It swings, picking claw(25) On carpopodium second sensor(39)Follow picking claw(25)It swings, when carpopodium second sensor(39)Close to pineapple(21)Fruit Handle(22)When, carpopodium second sensor(39)By its signal transmission to controller(4), controller(4)Control picking rotation motor (24)Stop, picking claw(25)It stops swinging;Utilize harvesting pawl(10)Positioning plate(12)And picking claw(25)By pineapple (21)Carpopodium(22)It is limited in the space of setting;Meanwhile gathering in pawl(10)And picking claw(25)By pineapple(21)It grips in Gather in pawl(10)And picking claw(25)The picking space of composition(52)It is interior;Picking claw(25)After stopping swinging, controller(4)Control System harvesting electric pushrod(13)Harvesting drive rod(20)Drive cutter(14)To pineapple(21)Carpopodium(22)It is mobile, by spinach Trailing plants(21)Carpopodium(22)Cut-out;Meanwhile gathering in drive rod(20)Harvesting induction pieces(36)Follow harvesting drive rod(20)It moves It is dynamic, when harvesting induction pieces(36)Close to positioning plate(12)The right sensor of harvesting(35), gather in right sensor(35)By its signal It is transferred to controller(4), controller(4)Control harvesting electric pushrod(13)Stop;Gather in electric pushrod(13)After stopping, pineapple (21)Carpopodium(22)It is cut off, controller(4)Control machinery arm(2)Drive harvesting machinery hand(1)To motor vehicle(5)Compartment (53)It is mobile, by harvesting machinery hand(1)It is moved to motor vehicle(5)Compartment(53)When position, controller(4)Control harvesting pawl (10), picking claw(25), positioning plate(12)And cutter(14)It resets, makes harvesting pawl(10), picking claw(25), positioning plate (12)And cutter(14)Original state is reset to, harvesting pawl is opened(10)And picking claw(25), by the pineapple of harvesting (21)It is discharged to motor vehicle(5)Compartment(53)On;It so constantly recycles, implements pineapple(21)Intelligence machineization harvesting.
2. the application method of intelligence pineapple picking robot according to claim 1, it is characterised in that:The harvesting pawl (10)To pineapple(21)When swing, controller(4)Control harvesting rotation motor(9)Driving harvesting pawl(10)It puts counterclockwise It is dynamic, positioning plate(12)Follow harvesting pawl(10)Towards pineapple(21)Carpopodium(22)It swings counterclockwise, positioning plate(12) On carpopodium first sensor(33)Follow positioning plate(12)Towards pineapple(21)Carpopodium(22)It swings counterclockwise, when Carpopodium first sensor(33)Close to pineapple(21)Carpopodium(22)When, carpopodium first sensor(33)By its signal transmission to control Device processed(4), controller(4)Control harvesting rotation motor(9)Stop, gathering in pawl(10)It stops swinging.
3. the application method of intelligence pineapple picking robot according to claim 2, it is characterised in that:The picking claw (25)To pineapple(21)When swing, controller(4)Control picking rotation motor(24)Drive picking claw(25)In the direction of the clock It swings, picking claw(25)On carpopodium second sensor(39)Follow picking claw(25)Towards pineapple(21)Carpopodium(22)By suitable Clockwise is swung, when carpopodium second sensor(39)Close to pineapple(21)Carpopodium(22)When, carpopodium second sensor(39) By its signal transmission to controller(4), controller(4)Control picking rotation motor(24)Stop, picking claw(25)It stops swinging.
4. the application method of intelligence pineapple picking robot according to claim 3, it is characterised in that:The harvester Tool hand(1)Connector(8)To pineapple(21)When mobile, it is installed on connector(8)On image sensor(28)By pineapple (21)Location data signal be transferred to controller(4)Display(42), display(42)Equipped with intelligent display touch screen(54), Display(42)By pineapple(21)It is shown in intelligent display touch screen(54)On, driver's point touches intelligent display touch screen(54)On should Pineapple(21)When, intelligent display touch screen(54)The point is touched into signal transmission to controller(4), controller(4)Harvesting machinery hand(1) To the pineapple(21)It is mobile, by connector(8)It is moved to pineapple(21)Top, make pineapple(21)Close to pineapple proximity sensor (29).
5. the application method of intelligence pineapple picking robot according to claim 4, it is characterised in that:The controller (4)Equipped with unloading fruit sensor(55), unload fruit sensor(55)It is installed on positioning plate(12)Lower part, unload fruit sensor(55)Pass through Its control line and controller(4)Connection;Harvesting machinery hand(1)By the pineapple of harvesting(21)It is moved to motor vehicle(5)Compartment (53)When, positioning plate(12)On unload fruit sensor(55)Close to motor vehicle(5)Compartment(53), alternatively, close to compartment(53) On other pineapples(21), unload fruit sensor(55)By its signal transmission to controller(4), controller(4)Control harvesting pawl (10)And picking claw(25)It is swung up, gathers in pawl(10)And picking claw(25)Original state is reset to, pawl is gathered in(10) And picking claw(25)Pick space(52)Interior pineapple(21)It is discharged into motor vehicle(5)Compartment(53)On.
6. the application method of intelligence pineapple picking robot according to claim 5, it is characterised in that:The harvesting pawl (10)When reset, controller(4)Control harvesting rotation motor(9)Driving harvesting pawl(10)It swings in the direction of the clock, harvesting pendulum Rotating motor(9)Harvesting rotation power head(16)On harvesting rotation induction pieces(30)Follow harvesting rotation power head(16)By suitable Clockwise is swung, when harvesting rotation induction pieces(30)It is close to be installed on connector(8)On harvesting rotation sensor(23)When, Gather in rotation sensor(23)By its signal transmission to controller(4), controller(4)Control harvesting rotation motor(9)Stop, receiving Cut pawl(10)It stops swinging, gathers in pawl(10)Reset to original state.
7. the application method of intelligence pineapple picking robot according to claim 6, it is characterised in that:The picking claw (25)When reset, controller(4)Control picking rotation motor(24)Drive picking claw(25)It swings counterclockwise, picking pendulum Rotating motor(24)Pluck rotation power head(27)Upper picking rotation induction pieces(38)It follows and plucks rotation power head(27)By counterclockwise Direction is swung, when picking rotation induction pieces(38)It is close to be installed on connector(8)On picking rotation sensor(37)When, picking Rotation sensor(37)By its signal transmission to controller(4), controller(4)Control picking rotation motor(24)Stop, picking Pawl(25)It stops swinging, picking claw(25)Reset to original state.
8. the application method of intelligence pineapple picking robot according to claim 7, it is characterised in that:The positioning plate (12)When reset, controller(4)Control lifting electric pull rod(11)Drive positioning plate(12)Decline, lifting electric pull rod(11)'s Lifting slider(47)Along harvesting pawl(10)Lifting sliding slot(46)Decline, positioning plate(12)It drops to close to be installed on harvesting pawl (10)The lower limit level sensor of lower part(32)When, lower limit level sensor(32)By its signal transmission to controller(4), controller (4)Control lifting electric pull rod(11)Stop, positioning plate(12)Stop declining, positioning plate(12)Reset to original state.
9. the application method of intelligence pineapple picking robot according to claim 8, it is characterised in that:The cutter (14)When reset, controller(4)Control harvesting electric pushrod(13)Harvesting drive rod(20)It is driven to gather in sliding block(49)Edge Positioning plate(12)Harvesting sliding slot(48)It is moved to the left, gathers in sliding block(49)Drive cutter(14)It is moved to the left, is installed on receipts Cut sliding block(49)On harvesting induction pieces(36)Close to the left sensor of harvesting(34)When, gather in left sensor(34)Its signal is passed It is defeated by controller(4), controller(4)Control harvesting electric pushrod(13)Stop, cutter(14)Stop movement, cutter(14) Reset to original state.
10. the application method of intelligence pineapple picking robot according to claim 9, it is characterised in that:The pineapple (21)Harvesting after the completion of, press shutdown switch(41), controller(4)Control harvesting pawl(10), picking claw(25), positioning plate (12)And cutter(14)Reset to original state.
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