CN108702928B - Use method of intelligent pineapple harvesting robot - Google Patents
Use method of intelligent pineapple harvesting robot Download PDFInfo
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- CN108702928B CN108702928B CN201810780958.5A CN201810780958A CN108702928B CN 108702928 B CN108702928 B CN 108702928B CN 201810780958 A CN201810780958 A CN 201810780958A CN 108702928 B CN108702928 B CN 108702928B
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- 238000003306 harvesting Methods 0.000 title claims abstract description 197
- 235000007119 Ananas comosus Nutrition 0.000 title claims abstract description 160
- 238000000034 method Methods 0.000 title claims description 20
- 244000099147 Ananas comosus Species 0.000 title 1
- 241000234671 Ananas Species 0.000 claims abstract description 159
- 210000000078 claw Anatomy 0.000 claims abstract description 62
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 41
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims abstract 2
- 235000017491 Bambusa tulda Nutrition 0.000 claims abstract 2
- 244000082204 Phyllostachys viridis Species 0.000 claims abstract 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims abstract 2
- 239000011425 bamboo Substances 0.000 claims abstract 2
- 238000013459 approach Methods 0.000 claims description 32
- 230000001681 protective effect Effects 0.000 claims description 10
- 239000013013 elastic material Substances 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims 3
- 230000007423 decrease Effects 0.000 claims 2
- 230000006698 induction Effects 0.000 claims 2
- 230000001174 ascending effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 2
- 208000034656 Contusions Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Harvesting Machines For Specific Crops (AREA)
Abstract
The intelligent pineapple harvesting robot comprises a harvesting manipulator, a mechanical arm and a controller, wherein the harvesting manipulator comprises a harvesting cylinder and a cutting sleeve, the cutting sleeve comprises a positioning device and a cutting device, the positioning device comprises a positioning claw, and the cutting device comprises a cutting knife; during the use, utilize the controller to control the mechanical arm to drive and reap the manipulator and remove, the harvesting cylinder cover that will reap the manipulator is on the pineapple that is reaped, the controller cuts the position that the cover drove positioner's locating claw and cutting device's cutting knife removed the pineapple stalk that needs to cut, utilize the locating claw to block the fruit handle of pineapple, utilize the cutting knife to cut off the fruit handle of pineapple, and utilize the cutting knife to keep off the pineapple that is reaped in reaping the section of thick bamboo, then unload the pineapple that reaps on the carriage of motor vehicle, the intelligent machinery of having implemented the pineapple reaps, the efficiency that the pineapple was reaped has been improved.
Description
Technical Field
The invention relates to a using method of pineapple harvesting equipment, in particular to a using method of an intelligent pineapple harvesting robot for harvesting pineapples.
Background
At present, the pineapple is harvested by manual picking, which has high labor intensity and low efficiency; an application method of an intelligent pineapple harvesting robot is a requirement of enterprises for reducing the labor intensity of farmers and improving the harvesting efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a using method of an intelligent pineapple harvesting robot, which is used for reducing the labor intensity of workers for picking pineapples and improving the pineapple harvesting efficiency.
The technical scheme adopted by the invention is as follows: the intelligent pineapple harvesting robot comprises a harvesting manipulator, a mechanical arm, a mechanical seat and a controller, wherein the mechanical seat and the controller are mounted on a motor vehicle; the harvesting manipulator comprises a harvesting cylinder, a cutting sleeve and a lifting electric pull rod, the harvesting cylinder is connected with the manipulator, the cutting sleeve is movably matched and connected with the harvesting cylinder, a lifting base of the lifting electric pull rod is fixedly connected with the harvesting cylinder, a lifting driving rod of the lifting electric pull rod is connected with the cutting sleeve, and the lifting electric pull rod is used for driving the cutting sleeve to lift; the cutting sleeve comprises a positioning device and a cutting device, the positioning device comprises a positioning claw, a positioning electric push rod and a positioning sliding seat, the positioning sliding seat is connected with the cutting sleeve, a positioning base of the positioning electric push rod is connected with the positioning sliding seat, a positioning driving rod of the positioning electric push rod is connected with the positioning claw, and the positioning electric push rod is used for driving the positioning claw to move; the cutting device comprises a cutting knife, a cutting electric push rod and a cutting slide seat, the cutting slide seat is connected with the cutting sleeve, a cutting machine seat of the cutting electric push rod is connected with the cutting slide seat, a cutting driving rod of the cutting electric push rod is connected with the cutting knife, and the cutting electric push rod is used for driving the cutting knife to cut the fruit stem of the pineapple; the controller comprises a camera sensor, a pineapple proximity sensor, a cutting sleeve ascending sensor, a cutting sleeve descending sensor, a cutting sleeve sensing piece, a positioning right sensor, a positioning left sensor, a positioning sensing piece, a harvesting sensor, a cutting left sensor, a cutting right sensor, a cutting sensing piece, a starting switch, a stopping switch and a display; the camera sensor and the pineapple approach sensor are arranged in the harvesting cylinder, the cutting sleeve ascending sensor and the cutting sleeve descending sensor are arranged on the lifting machine base, and the cutting sleeve sensing piece is arranged on the lifting driving rod; the positioning right sensor and the positioning left sensor are arranged on the positioning base, the positioning sensing piece is arranged on the positioning driving rod, and the harvesting sensor is arranged on the positioning claw; the cutting left sensor and the cutting right sensor are arranged on the cutting base, and the cutting sensing piece is arranged on the cutting driving rod; the controller, the starting switch, the stopping switch and the display are arranged in a cab of the motor vehicle; the controller is connected with the camera sensor, the pineapple proximity sensor, the cutting sleeve rising sensor, the cutting sleeve falling sensor, the positioning right sensor, the positioning left sensor, the harvesting sensor, the cutting left sensor, the cutting right sensor, the starting switch, the stopping switch and the display through control lines.
In order to carry out the collection, positioning and cutting of the pineapple, the initial state of the cutting sleeve is: the cutting sleeve is positioned at the lower limiting position, and when the cutting sleeve is positioned at the lower limiting position, the cutting sleeve sensing piece approaches the cutting sleeve descending sensor; the initial state of the positioning device is: the positioning claw of the positioning device does not enter the harvesting drum, and the positioning sensing piece approaches the positioning left sensor; the initial state of the cutting device is: the cutting knife of the cutting device does not enter the harvesting cylinder, and the cutting sensing piece is close to the right cutting sensor.
The use method of the intelligent pineapple harvesting robot comprises the following steps: when the pineapple harvesting machine is used, a motor vehicle is driven into a pineapple field, the controller is used for controlling the mechanical arm to drive the harvesting manipulator to move above pineapples, then the harvesting cylinder of the harvesting manipulator is controlled to move towards the pineapples, the pineapples are inserted into the harvesting cylinder, when the pineapple proximity sensor in the harvesting cylinder is close to the pineapples, the pineapple proximity sensor transmits signals to the controller, and the controller controls the harvesting manipulator to stop moving; after the harvesting manipulator stops moving, the controller controls the positioning electric push rod to operate, the positioning driving rod of the positioning electric push rod drives the positioning claw to move towards the fruit handle of the pineapple, but the positioning claw is not in contact with the fruit handle of the pineapple, and a gap is reserved between the positioning claw and the fruit handle of the pineapple, so that the positioning claw can rise; when the positioning claw approaches to the handle of the pineapple, the positioning sensing piece on the positioning driving rod approaches to the positioning right sensor, the positioning right sensor transmits a signal to the controller, and the controller controls the positioning electric push rod to stop; after the positioning electric push rod stops, the controller controls the lifting electric pull rod to run, a lifting driving rod of the lifting electric pull rod drives the cutting sleeve to ascend along the harvesting cylinder, the positioning device and the cutting device on the cutting sleeve ascend along with the cutting sleeve, the positioning claw of the positioning device and a harvesting sensor on the positioning claw ascend along with the cutting sleeve, when the harvesting sensor approaches to a fruit body of a pineapple, the harvesting sensor transmits a signal to the controller, and the controller controls the lifting electric pull rod to stop; after the lifting electric pull rod stops, the controller controls the cutting electric push rod to run, a cutting driving rod of the cutting electric push rod drives a cutting knife to move towards a fruit handle of the pineapple, the fruit handle of the pineapple is cut off by the cutting knife, when the fruit handle of the pineapple is cut off, a cutting sensing piece on the cutting driving rod approaches a cutting left sensor, the cutting left sensor transmits a signal of the cutting left sensor to the controller, and the controller controls the cutting electric push rod to stop; after the fruit stem of the pineapple is cut off, the pineapple is blocked in the harvesting cylinder by the cutting knife, the controller controls the harvesting manipulator to move upwards, the harvesting cylinder of the harvesting manipulator is moved to the position of the compartment of the motor vehicle, the controller controls the positioning device and the cutting device to reset, the positioning device and the cutting device are reset to the initial state, the positioning claw and the cutting knife exit from the inner cavity of the harvesting cylinder, and the harvesting manipulator unloads the harvested pineapple onto the compartment of the motor vehicle; the intelligent and mechanized harvesting of the pineapples is implemented by continuous circulation.
The invention has the beneficial effects that: the intelligent pineapple harvesting robot comprises a harvesting manipulator, a mechanical arm and a controller, wherein the harvesting manipulator comprises a harvesting cylinder and a cutting sleeve, the cutting sleeve comprises a positioning device and a cutting device, the positioning device comprises a positioning claw, and the cutting device comprises a cutting knife; during the use, utilize the controller to control the mechanical arm to drive the mechanical arm of reaping and remove, the harvesting cylinder cover that will reap the mechanical arm is on the pineapple that is reaped, the controller cuts the position that the cover drove positioner's locating claw and cutting device's cutting knife removed the pineapple stalk that needs to cut, utilize the locating claw to block the fruit handle of pineapple, utilize the cutting knife to cut off the fruit handle of pineapple, then unload the pineapple that reaps on the carriage of motor vehicle, the intelligent machinery of having implemented the pineapple reaps, the efficiency that the pineapple was reaped has been improved.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent pineapple harvesting robot;
fig. 2 is a schematic structural view of the positioning pawl and the cutting blade.
Detailed Description
The invention is further described with reference to the following detailed description of embodiments and with reference to the accompanying drawings in which:
as shown in the structural schematic diagram of the intelligent pineapple harvesting robot in fig. 1 and the structural schematic diagram of the positioning claw and the cutting knife in fig. 2, the intelligent pineapple harvesting robot comprises a harvesting manipulator 1, a mechanical arm 2, a mechanical base 3 and a controller 4, wherein the mechanical base 3 and the controller 4 are mounted on a motor vehicle 5, the mechanical base 3 is connected with the mechanical arm 2, and the mechanical arm 2 is connected with the harvesting manipulator 1; the harvesting manipulator 1 comprises a harvesting cylinder 6, a cutting sleeve 7 and a lifting electric pull rod 8, the harvesting cylinder 6 is connected with the mechanical arm 2, the cutting sleeve 7 is movably matched and connected with the harvesting cylinder 6, a lifting machine base 9 of the lifting electric pull rod 8 is fixedly connected with the harvesting cylinder 6, a lifting driving rod 10 of the lifting electric pull rod 8 is connected with the cutting sleeve 7, and the lifting electric pull rod 8 is used for driving the cutting sleeve 7 to lift; the cutting sleeve 7 comprises a positioning device 11 and a cutting device 12, the positioning device 11 comprises a positioning claw 13, a positioning electric push rod 14 and a positioning slide seat 15, the positioning slide seat 15 is connected with the cutting sleeve 7, a positioning base 16 of the positioning electric push rod 14 is connected with the positioning slide seat 15, a positioning driving rod 17 of the positioning electric push rod 14 is connected with the positioning claw 13, and the positioning electric push rod 14 is used for driving the positioning claw 13 to move; the cutting device 12 comprises a cutting knife 18, a cutting electric push rod 19 and a cutting slide seat 20, the cutting slide seat 20 is connected with the cutting sleeve 7, a cutting machine base 21 of the cutting electric push rod 19 is connected with the cutting slide seat 20, a cutting driving rod 22 of the cutting electric push rod 19 is connected with the cutting knife 18, and the cutting electric push rod 19 is used for driving the cutting knife 18 to cut a fruit handle 24 of a pineapple 23; the controller 4 comprises a camera sensor 25, a pineapple approach sensor 26, a cutting sleeve ascending sensor 27, a cutting sleeve descending sensor 28, a cutting sleeve sensing piece 29, a positioning right sensor 30, a positioning left sensor 31, a positioning sensing piece 32, a harvesting sensor 33, a cutting left sensor 34, a cutting right sensor 35, a cutting sensing piece 36, a starting switch 37, a stopping switch 38 and a display 39; the camera sensor 25 and the pineapple approach sensor 26 are arranged in the harvesting cylinder 6, the cutting sleeve ascending sensor 27 and the cutting sleeve descending sensor 28 are arranged on the lifting machine base 9, and the cutting sleeve sensing piece 29 is arranged on the lifting driving rod 10; the positioning right sensor 30 and the positioning left sensor 31 are arranged on the positioning base 16, the positioning sensing piece 32 is arranged on the positioning driving rod 17, and the harvesting sensor 33 is arranged on the positioning claw 13; the cutting left sensor 34 and the cutting right sensor 35 are arranged on the cutting base 21, and the cutting sensing piece 36 is arranged on the cutting driving rod 22; the controller 4, the start switch 37, the stop switch 38 and the display 39 are arranged in a cab 40 of the automobile 5; the controller 4 is connected with a camera sensor 25, a pineapple approach sensor 26, a cutting sleeve rising sensor 27, a cutting sleeve falling sensor 28, a positioning right sensor 30, a positioning left sensor 31, a harvesting sensor 33, a cutting left sensor 34, a cutting right sensor 35, a start switch 37, a stop switch 38 and a display 39 through control lines.
To carry out the collection, positioning and cutting of the pineapple 23, the initial state of the cutting sleeve 7 is: the cutting sleeve 7 is positioned at the lower limit position, and when the cutting sleeve 7 is positioned at the lower limit position, the cutting sleeve sensing part 29 approaches the cutting sleeve descending sensor 28; the initial state of the positioning device 11 is: the positioning claw 13 of the positioning device 11 does not enter the harvesting cylinder 6, and the positioning sensing piece 32 approaches the positioning left sensor 31; the initial state of the cutting device 12 is: the cutting knife 18 of the cutting device 12 does not enter the harvesting drum 6 and the cut sensing member 36 is close to the cut right sensor 35.
In order to collect and harvest pineapples 23 and control the strokes of the cutting sleeve 7, the positioning claw 13 and the cutting knife 18, the cutting sleeve lifting sensor 27 and the cutting sleeve descending sensor 28 are arranged on a lifting connecting plate 41 of the lifting machine base 9, the lifting connecting plate 41 is fixedly connected with the lifting machine base 9, and the cutting sleeve lifting sensor 27 is positioned above the cutting sleeve descending sensor 28; the positioning right sensor 30 and the positioning left sensor 31 are arranged on a positioning connecting plate 42 of the positioning base 16, and the positioning connecting plate 42 is fixedly connected with the positioning base 16, so that the positioning right sensor 30 is positioned on the right side of the positioning left sensor 31; the cutting left sensor 34 and the cutting right sensor 35 are arranged on a cutting connecting plate 43 of the cutting machine base 21, the cutting connecting plate 43 is fixedly connected with the cutting machine base 21, and the cutting left sensor 34 is positioned on the left side of the cutting right sensor 35;
in order to lift the cutting sleeve 7, the positioning claw 13 and the cutting knife 18 are moved towards the stem 24 of the pineapple 23; the cutting sleeve 7 is sleeved outside the harvesting cylinder 6, the axis of the harvesting cylinder 6 is the same as the central line of the cutting sleeve 7, and the axis of a lifting driving rod 10 of a lifting electric pull rod 8 is parallel to the axis of the harvesting cylinder 6; the positioning slide seat 15 of the positioning device 11 is provided with a positioning slide groove 44, the positioning driving rod 17 is provided with a positioning slide block 45, the positioning slide block 45 is connected with the positioning slide groove 44 in a movable fit manner, and the positioning slide block 45 is fixedly connected with the positioning claw 13; the axis of the positioning driving rod 17 is parallel to the positioning chute 44, the axis of the positioning driving rod 17 is vertical to the axis of the harvesting cylinder 6, the harvesting cylinder 6 is provided with a positioning hole 46, the center line of the positioning hole 46 is vertical to the axis of the harvesting cylinder 6, the center line of the positioning hole 46 points to the axis of the harvesting cylinder 6, and the positioning claw 13 is positioned in the positioning hole 46; the cutting slide seat 20 of the cutting device 12 is provided with a cutting chute 47, the cutting driving rod 22 is provided with a cutting slide block 48, the cutting slide block 47 is movably matched and connected with the cutting chute 47, and the cutting slide block 48 is fixedly connected with the cutting knife 18; the axis of the cutting driving rod 22 is parallel to the cutting chute 47, the axis of the cutting driving rod 22 is perpendicular to the axis of the harvesting cylinder 6, the harvesting cylinder 6 is provided with a cutting hole 49, the central line of the cutting hole 48 is perpendicular to the axis of the harvesting cylinder 6, the central line of the cutting hole 49 points to the axis of the harvesting cylinder 6, and the cutting knife 18 is located in the cutting hole 49.
In order to use the positioning claw 13 to push the stem 24 of the pineapple 23, the cutting knife 18 is used to cut off the stem 24 of the pineapple 23, the positioning claw 13 of the positioning device 11 is a flat plate, the front end of the positioning claw 13 is provided with an arc-shaped claw opening 50, the plate plane 51 of the positioning claw 13 is vertical to the axis of the harvesting cylinder 6, and the arc-shaped claw opening 50 of the positioning claw 13 points to the axis of the harvesting cylinder 6; the cutting knife 18 of the cutting device 12 is a flat blade, the knife plane 52 of the cutting knife 18 is vertical to the axis of the harvesting cylinder 6, and the knife edge 53 of the cutting knife 18 points to the axis of the harvesting cylinder 6; the cutting knife 18 of the cutting device 12 is positioned above the positioning claw 13 of the positioning device 11, the knife plane 52 of the cutting knife 18 is parallel to the plate plane 51 of the positioning claw 13, the distance between the knife plane 52 of the cutting knife 18 and the plate plane 51 of the positioning claw 13 is 5 mm to 10 mm, and the cutting knife 18 is positioned opposite to the positioning claw 13
When the pineapples 23 are collected, in order to reduce the bruising of the pineapples 23, a collecting sleeve 54 is arranged in the harvesting cylinder 6, the collecting sleeve 54 is made of soft elastic materials, the collecting sleeve 54 is lined in the harvesting cylinder 6, and the diameter of the collecting sleeve 54 is smaller than that of the harvesting cylinder 6.
The use method of the intelligent pineapple harvesting robot comprises the following steps: when the pineapple harvesting machine is used, a motor vehicle 5 is driven into a pineapple 23 field, the controller 4 is used for controlling the mechanical arm 2 to drive the harvesting manipulator 1 to move above the pineapple 23, then the harvesting cylinder 6 of the harvesting manipulator 1 is controlled to move towards the pineapple 23, the pineapple 23 is inserted into the harvesting cylinder 6, when the pineapple proximity sensor 26 in the harvesting cylinder 6 approaches the pineapple 23, the pineapple proximity sensor 26 transmits a signal to the controller 4, and the controller 4 controls the harvesting manipulator 1 to stop moving; after the harvesting manipulator 1 stops moving, the controller 4 controls the positioning electric push rod 14 to operate, the positioning driving rod 17 of the positioning electric push rod 14 drives the positioning claw 13 to move towards the fruit handle 24 of the pineapple 23, when the positioning claw 13 approaches the fruit handle 24 of the pineapple 23, the positioning sensing piece 32 on the positioning driving rod 17 approaches the positioning right sensor 30, the positioning right sensor 30 transmits a signal of the positioning sensing piece to the controller 4, and the controller 4 controls the positioning electric push rod 14 to stop; after the positioning electric push rod 14 stops, the controller 4 controls the lifting electric pull rod 8 to run, the lifting driving rod 10 of the lifting electric pull rod 8 drives the cutting sleeve 7 to ascend along the harvesting cylinder 6, the positioning device 11 and the cutting device 12 on the cutting sleeve 7 ascend along with the cutting sleeve 7, the positioning claw 13 of the positioning device 11 and the harvesting sensor 33 on the positioning claw 13 ascend along with the cutting sleeve 7, when the harvesting sensor 33 approaches the pineapple 23, the harvesting sensor 33 transmits signals to the controller 4, and the controller 4 controls the lifting electric pull rod 8 to stop; after the lifting electric pull rod 8 stops, the controller 4 controls the cutting electric push rod 19 to run, the cutting drive rod 22 of the cutting electric push rod 19 drives the cutting knife 18 to move towards the fruit handle 24 of the pineapple 23, the fruit handle 24 of the pineapple 23 is cut off by the cutting knife 18, when the fruit handle 24 of the pineapple 23 is cut off, the cutting sensing piece 36 on the cutting drive rod 22 approaches the cutting left sensor 34, the cutting left sensor 34 transmits a signal to the controller 4, and the controller 4 controls the cutting electric push rod 19 to stop; after the stem 24 of the pineapple 23 is cut off, the pineapple 23 is blocked in the harvesting cylinder 6 by the cutting knife 18, the controller 4 controls the harvesting manipulator 1 to move upwards, after the harvesting cylinder 6 of the harvesting manipulator 1 is moved to the position of the compartment 55 of the motor vehicle 5, the controller 4 controls the positioning device 11 and the cutting device 12 to reset, so that the positioning device 11 and the cutting device 12 are reset to the initial state, and the harvesting manipulator 1 unloads the harvested pineapple 23 onto the compartment 55 of the motor vehicle 5; the intelligent and mechanized harvesting of the pineapples 23 is implemented by the continuous circulation.
In order to sleeve the harvesting cylinder 6 on the collected pineapples 23, when the harvesting cylinder 6 moves towards the pineapples 23, the camera sensor 25 mounted on the harvesting cylinder 6 transmits position data signals of the pineapples 23 to the display 39 of the controller 4, the display 39 is provided with an intelligent display touch screen, the pineapples 23 are displayed on the intelligent display touch screen by the display 39, when a driver touches the pineapples 23 on the intelligent display touch screen, the intelligent display touch screen transmits the touch signals to the controller 4, the controller 4 controls the harvesting manipulator 1 to move towards the pineapples 23, and the harvesting cylinder 6 is sleeved on the pineapples 23.
In order to put the harvested pineapples 23 on a compartment 55 of the motor vehicle 5, the controller 4 is provided with a fruit unloading sensor 56, the fruit unloading sensor 56 is arranged on the harvesting cylinder 6, and the fruit unloading sensor 56 is connected with the controller 4 through a control line thereof; when the harvesting manipulator 1 moves the harvested pineapples 23 to a compartment 55 of the motor vehicle 5, the fruit unloading sensor 56 on the harvesting cylinder 6 approaches the compartment 55 of the motor vehicle 5, or the fruit unloading sensor 56 on the harvesting cylinder 6 approaches other pineapples 23 on the compartment 55, the fruit unloading sensor 56 transmits signals to the controller 4, and the controller 4 controls the positioning device 11 and the cutting device 12 to reset, so that the positioning device 11 and the cutting device 12 are reset to an initial state; when the positioning device 11 and the cutting device 12 are reset to the initial state, the pineapple 23 in the harvesting cylinder 6 is discharged to the compartment 55 of the motor vehicle 5.
In order to harvest the pineapples 23 in a continuous circulation manner, the positioning claw 13 is used for blocking the handle 24 of the pineapples 23, when the positioning device 11 is reset, the controller 4 controls the positioning driving rod 17 of the positioning electric push rod 14 to drive the positioning claw 13 to move leftwards, when the positioning claw 13 moves to exit from the inner cavity 57 of the harvesting cylinder 6, the positioning claw 13 is reset to an initial state, the positioning sensing piece 32 of the positioning driving rod 17 approaches the positioning left sensor 31, the positioning left sensor 31 transmits a signal to the controller 4, and the controller 4 controls the positioning electric push rod 14 to stop; when the positioning claw 13 moves, the moving stroke of the positioning claw 13 is equal to the distance from the positioning right sensor 30 to the positioning left sensor 31; the moving stroke of the positioning claw 13 is set according to the radius of the harvesting cylinder 6 and the size of the fruit handle 24 of the pineapple 23, and the moving stroke of the positioning claw 13 is smaller than the radius of the harvesting cylinder 6.
In order to continuously cut off the stem 24 of the pineapple 23 by using the cutting knife 18, when the cutting device 12 is reset, the controller 4 controls the cutting driving rod 22 of the cutting electric push rod 19 to drive the cutting knife 18 to move rightwards, when the cutting knife 18 exits from the inner cavity 57 of the harvesting cylinder 6, the cutting knife 18 is reset to an initial state, the cutting sensing piece 36 on the cutting driving rod 22 approaches the cutting right sensor 35, the cutting right sensor 35 transmits a signal to the controller 4, and the controller 4 controls the cutting electric push rod 19 to stop; when the cutting knife 18 moves, the moving stroke of the cutting knife 18 is equal to the distance from the cutting left sensor 34 to the cutting right sensor 35; the moving stroke of the cutting knife 18 is set according to the radius of the harvesting cylinder 6 and the size of the fruit stem 24 of the pineapple 23, the moving stroke of the cutting knife 18 is larger than the radius of the harvesting cylinder 6, and the moving stroke of the cutting knife 18 is smaller than the diameter of the harvesting cylinder 6.
In order to sleeve pineapples 23 of different sizes into the collecting sleeve 54 of the harvesting cylinder 6, the harvesting manipulator 1 is provided with different specifications, the specification of the harvesting manipulator 1 is set according to the size range of the pineapples 23, and the inner diameter of the collecting sleeve 54 of the harvesting cylinder 6 is larger than the horizontal section size of the pineapples 23, so that the collecting sleeve 54 can be sleeved into the pineapples 23; when in use, the specification of the harvesting manipulator 1 is selected according to the size of the pineapples 23, and the harvesting manipulator 1 is connected with the mechanical arm 2 through the connecting head 58 of the harvesting manipulator 1.
In order to avoid the pineapple 23 from being bruised by the harvesting cylinder 6, the harvesting cylinder 6 is provided with a protective sleeve 59, the protective sleeve 59 is arranged at the lower opening 60 of the harvesting cylinder 6, the protective sleeve 59 is made of soft elastic material, and the inner diameter of the protective sleeve 59 is larger than or equal to that of the harvesting cylinder 6; when the pineapples 23 are harvested, the pineapples 23 enter the collecting sleeve 54 of the harvesting drum 6 through the protective sleeve 59.
In order to reset the positioning device 11, the cutting device 12 and the cutting sleeve 7, after the pineapple 23 is harvested, the stop switch 38 is pressed down, and the controller 4 controls the mechanical arm 2 to drive the harvesting manipulator 1 to return to the position where the motor vehicle 5 is arranged; meanwhile, the controller 4 controls the positioning device 11 and the cutting device 12 to be reset to the initial state; and the controller 4 controls the lifting electric pull rod 8 to drive the cutting sleeve 7 to descend, the cutting sleeve sensing part 29 descends along with the lifting driving rod 10 of the lifting electric pull rod 8, when the cutting sleeve sensing part 29 descends to be close to the cutting sleeve descending sensor 28, the cutting sleeve descending sensor 28 transmits a signal to the controller 4, the controller 4 controls the lifting electric pull rod 8 to stop, and the cutting sleeve 7 resets to an initial state.
In order to avoid the cutting sleeve 7 from being separated from the harvesting cylinder 6, the controller 4 controls the lifting electric pull rod 8 to drive the cutting sleeve 7 to ascend, when the cutting sleeve 7 ascends to the upper limit, the cutting sleeve sensing piece 29 approaches the cutting sleeve ascending sensor 27, the cutting sleeve ascending sensor 27 transmits a signal to the controller 4, and the controller 4 controls the lifting electric pull rod 8 to stop.
Claims (10)
1. The using method of the intelligent pineapple harvesting robot comprises a harvesting manipulator (1), a mechanical arm (2), a mechanical seat (3) and a controller (4), wherein the mechanical seat (3) and the controller (4) are mounted on a motor vehicle (5), the mechanical seat (3) is connected with the mechanical arm (2), and the mechanical arm (2) is connected with the harvesting manipulator (1); the harvesting manipulator (1) comprises a harvesting cylinder (6), a cutting sleeve (7) and a lifting electric pull rod (8), the cutting sleeve (7) comprises a positioning device (11) and a cutting device (12), the positioning device (11) comprises a positioning claw (13), a positioning electric push rod (14) and a positioning sliding seat (15), and the cutting device (12) comprises a cutting knife (18), a cutting electric push rod (19) and a cutting sliding seat (20); the controller (4) comprises a camera sensor (25), a pineapple approach sensor (26), a cutting sleeve descending sensor (28), a cutting sleeve sensing piece (29), a positioning right sensor (30), a positioning left sensor (31), a positioning sensing piece (32), a harvesting sensor (33), a cutting left sensor (34), a cutting right sensor (35), a cutting sensing piece (36), a starting switch (37), a stopping switch (38) and a display (39); the initial state of the cutting sleeve (7) is: the cutting sleeve (7) is positioned at the lower limit position, and when the cutting sleeve (7) is positioned at the lower limit position, the cutting sleeve sensing part (29) approaches the cutting sleeve descending sensor (28); the initial state of the positioning device (11) is: a positioning claw (13) of the positioning device (11) does not enter the harvesting cylinder (6), and a positioning sensing piece (32) approaches a positioning left sensor (31); the initial state of the cutting device (12) is: the cutting knife (18) of the cutting device (12) does not enter the harvesting cylinder (6), and the cutting sensing piece (36) approaches the cutting right sensor (35); the method is characterized in that: the use method of the intelligent pineapple harvesting robot comprises the following steps: when the pineapple harvesting machine is used, a motor vehicle (5) is driven into a pineapple (23) field, the controller (4) is used for controlling the mechanical arm (2) to drive the harvesting manipulator (1) to move to the position above the pineapple (23), then the harvesting cylinder (6) of the harvesting manipulator (1) is controlled to move towards the pineapple (23), the pineapple (23) is inserted into the harvesting cylinder (6), when the pineapple proximity sensor (26) in the harvesting cylinder (6) is close to the pineapple (23), the pineapple proximity sensor (26) transmits a signal to the controller (4), and the controller (4) controls the harvesting manipulator (1) to stop moving; after the harvesting manipulator (1) stops moving, the controller (4) controls the positioning electric push rod (14) to operate, a positioning driving rod (17) of the positioning electric push rod (14) drives a positioning claw (13) to move towards a fruit handle (24) of the pineapple (23), when the positioning claw (13) approaches the fruit handle (24) of the pineapple (23), a positioning sensing piece (32) on the positioning driving rod (17) approaches a positioning right sensor (30), the positioning right sensor (30) transmits a signal to the controller (4), and the controller (4) controls the positioning electric push rod (14) to stop; after the positioning electric push rod (14) stops, the controller (4) controls the lifting electric pull rod (8) to run, a lifting driving rod (10) of the lifting electric pull rod (8) drives the cutting sleeve (7) to ascend along the harvesting cylinder (6), the positioning device (11) and the cutting device (12) on the cutting sleeve (7) ascend along with the cutting sleeve (7), the positioning claw (13) of the positioning device (11) and the harvesting sensor (33) on the positioning claw (13) ascend along with the cutting sleeve (7), when the harvesting sensor (33) approaches to a pineapple (23), the harvesting sensor (33) transmits signals to the controller (4), and the controller (4) controls the lifting electric pull rod (8) to stop; after the lifting electric pull rod (8) stops, the controller (4) controls the cutting electric push rod (19) to run, the cutting driving rod (22) of the cutting electric push rod (19) drives the cutting knife (18) to move towards the fruit handle (24) of the pineapple (23), the fruit handle (24) of the pineapple (23) is cut off by the cutting knife (18), when the fruit handle (24) of the pineapple (23) is cut off, the cutting sensing piece (36) on the cutting driving rod (22) approaches the cutting left sensor (34), the cutting left sensor (34) transmits a signal to the controller (4), and the controller (4) controls the cutting electric push rod (19) to stop; after a fruit handle (24) of the pineapple (23) is cut off, the pineapple (23) is blocked in a harvesting cylinder (6) by a cutting knife (18), a controller (4) controls a harvesting manipulator (1) to move upwards, the harvesting cylinder (6) of the harvesting manipulator (1) is moved to a compartment (55) of a motor vehicle (5), the controller (4) controls a positioning device (11) and a cutting device (12) to reset, the positioning device (11) and the cutting device (12) are reset to an initial state, and the harvesting manipulator (1) unloads the harvested pineapple (23) onto the compartment (55) of the motor vehicle (5); the above steps are repeated continuously, and intelligent mechanical harvesting of the pineapples (23) is implemented.
2. The use method of the intelligent pineapple harvesting robot according to claim 1, is characterized in that: when reaping drum (6) moved to pineapple (23), install camera sensor (25) on reaping drum (6) and transmit display (39) of controller (4) with the position data signal of pineapple (23), display (39) are equipped with the intelligent display touch screen, display (39) show pineapple (23) on the intelligent display touch screen, when driver point touches this pineapple (23) on the intelligent display touch screen, the intelligent display touch screen transmits this point signal for controller (4), controller (4) control harvesting manipulator (1) removes to this pineapple (23), overlap reaping drum (6) on this pineapple (23).
3. The use method of the intelligent pineapple harvesting robot according to claim 2, is characterized in that: the controller (4) is provided with a fruit unloading sensor (56), the fruit unloading sensor (56) is arranged on the harvesting cylinder (6), and the fruit unloading sensor (56) is connected with the controller (4) through a control line thereof; when the harvesting manipulator (1) moves the harvested pineapples (23) to a compartment (55) of a motor vehicle (5), a fruit unloading sensor (56) on the harvesting cylinder (6) approaches the compartment (55) of the motor vehicle (5), or the fruit unloading sensor (56) on the harvesting cylinder (6) approaches other pineapples (23) on the compartment (55), the fruit unloading sensor (56) transmits signals thereof to the controller (4), and the controller (4) controls the positioning device (11) and the cutting device (12) to reset, so that the positioning device (11) and the cutting device (12) reset to initial states; when the positioning device (11) and the cutting device (12) are reset to the initial state, the pineapples (23) in the harvesting cylinder (6) are unloaded onto a compartment (55) of the motor vehicle (5).
4. The use method of the intelligent pineapple harvesting robot according to claim 3, wherein the robot comprises: when positioner (11) reset, location actuating lever (17) of controller (4) control location electric putter (14) drive positioning pawl (13) and move left, when positioning pawl (13) remove and withdraw from interior type chamber (57) of harvesting section of thick bamboo (6), positioning pawl (13) reset to initial condition, positioning induction member (32) of location actuating lever (17) are close location left side sensor (31), location left side sensor (31) give controller (4) its signal transmission, controller (4) control location electric putter (14) stop.
5. The use method of the intelligent pineapple harvesting robot according to claim 4, is characterized in that: when the positioning claw (13) moves, the moving stroke of the positioning claw (13) is equal to the distance from the positioning right sensor (30) to the positioning left sensor (31); the moving stroke of the positioning claw (13) is set according to the radius of the harvesting cylinder (6) and the size of the fruit handle (24) of the pineapple (23), and the moving stroke of the positioning claw (13) is smaller than the radius of the harvesting cylinder (6).
6. The use method of the intelligent pineapple harvesting robot according to claim 5, wherein the robot comprises: cutting device (12) when reseing, cutting actuating lever (22) of controller (4) control cutting electric putter (19) drive cutting knife (18) and move right, when cutting knife (18) withdraw from interior die cavity (57) of reaping cylinder (6), cutting knife (18) reset to initial condition, cutting induction member (36) on cutting actuating lever (22) are close cutting right sensor (35), cutting right sensor (35) give controller (4) with its signal transmission, controller (4) control cutting electric putter (19) stop.
7. The use method of the intelligent pineapple harvesting robot according to claim 6, wherein the robot comprises: when the cutting knife (18) moves, the moving stroke of the cutting knife (18) is equal to the distance from the cutting left sensor (34) to the cutting right sensor (35); the moving stroke of the cutting knife (18) is set according to the radius of the harvesting cylinder (6) and the size of the fruit handle (24) of the pineapple (23), the moving stroke of the cutting knife (18) is larger than the radius of the harvesting cylinder (6), and the moving stroke of the cutting knife (18) is smaller than the diameter of the harvesting cylinder (6).
8. The use method of the intelligent pineapple harvesting robot according to claim 7, is characterized in that: the harvesting manipulator (1) is provided with different specifications, the specification of the harvesting manipulator (1) is set according to the size range of the pineapples (23), and the inner diameter of the collecting sleeve (54) of the harvesting cylinder (6) is larger than the horizontal section size of the pineapples (23), so that the collecting sleeve (54) can be sleeved into the pineapples (23); when in use, the specification of the harvesting manipulator (1) is selected according to the size of the pineapples (23), and the harvesting manipulator is connected with the mechanical arm (2) through a connecting head (58) of the harvesting manipulator (1).
9. The use method of the intelligent pineapple harvesting robot according to claim 8, is characterized in that: the harvesting cylinder (6) is provided with a protective sleeve (59), the protective sleeve (59) is installed at a lower cylinder opening (60) of the harvesting cylinder (6), the protective sleeve (59) is made of soft elastic materials, and the inner diameter of the protective sleeve (59) is larger than or equal to that of the harvesting cylinder (6); when the pineapples (23) are harvested, the pineapples (23) enter the collecting sleeve (54) of the harvesting cylinder (6) through the protective sleeve (59).
10. The use method of the intelligent pineapple harvesting robot according to claim 9, is characterized in that: after the pineapple (23) is harvested, the stop switch (38) is pressed down, and the controller (4) controls the mechanical arm (2) to drive the harvesting manipulator (1) to return to the position where the motor vehicle (5) is arranged; meanwhile, the controller (4) controls the positioning device (11) and the cutting device (12) to reset to an initial state; and controller (4) control lift electric pull rod (8) drive cutting cover (7) and descend, cutting cover response piece (29) descend along with lift actuating lever (10) of lift electric pull rod (8), when cutting cover response piece (29) descend to being close to cutting cover decline sensor (28), cutting cover decline sensor (28) give controller (4) with its signal transmission, controller (4) control lift electric pull rod (8) stop, cutting cover (7) reset to initial condition.
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| CN201810780958.5A CN108702928B (en) | 2018-07-17 | 2018-07-17 | Use method of intelligent pineapple harvesting robot |
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| CN201153393Y (en) * | 2008-01-31 | 2008-11-26 | 中国热带农业科学院农业机械研究所 | Portable pineapple leaf cutting and laying machine |
| CN106307565B (en) * | 2016-08-23 | 2018-05-04 | 东莞市皓奇企业管理服务有限公司 | Mandarin orange peeling machines people's intelligence pawl |
| CN107182435B (en) * | 2017-05-27 | 2019-08-13 | 广西农业职业技术学院 | A kind of device for picking pineapple |
| CN108076822B (en) * | 2017-12-25 | 2023-05-30 | 福建农林大学 | Pineapple picking device and working method thereof |
| CN108307795B (en) * | 2018-03-08 | 2019-10-11 | 湖北工业大学 | A kind of great-leap-forward pineapple picking vehicle |
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Effective date of registration: 20201210 Address after: No.1, East Sichuan Road, Shenghe village, Fanchuan Town, Jiangdu District, Yangzhou City, Jiangsu Province 225200 Patentee after: Yangzhou Shuanglong industrial equipment installation Co.,Ltd. Address before: Room 1302, building 1, Wenjing Huayuan, Civil Aviation Road, Lucheng District, Wenzhou City, Zhejiang Province Patentee before: Ye Hongyue |