CN109041775B - Single-side clamped pineapple picking device and using method thereof - Google Patents
Single-side clamped pineapple picking device and using method thereof Download PDFInfo
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- CN109041775B CN109041775B CN201810988375.1A CN201810988375A CN109041775B CN 109041775 B CN109041775 B CN 109041775B CN 201810988375 A CN201810988375 A CN 201810988375A CN 109041775 B CN109041775 B CN 109041775B
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- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
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Abstract
The invention provides a single-side clamping pineapple picking device and a using method thereof, aiming at the problems that a pineapple picking machine in the prior art is not flexible enough and is easy to damage pineapple plants, and the single-side clamping pineapple picking device comprises a bearing arm, a clamping and cutting assembly, a sensor assembly and a control assembly; the method is characterized in that: the clamping and cutting assembly comprises a frame body arranged horizontally, a connecting seat arranged in the frame body, a fixed plate arranged on the connecting seat and a movable plate mechanism arranged on the opposite side of the fixed plate; wherein, the fixed plate is used for manually controlling the radial approach of the pineapple bodies to be picked; the movable plate mechanism is used for radially clamping the pineapple fruits under the condition that the fixed plate is not moved. The invention adopts a single-side clamping mode to clamp the pineapple to be picked, and then the cutting mechanism is utilized to cut off the stems of the pineapple bodies, thereby completing the picking of the pineapple bodies.
Description
Technical Field
The invention belongs to the field of agricultural engineering machinery, and particularly relates to a single-side clamped pineapple picking device and a using method thereof.
Background
China is a big agricultural country, and the fruit industry is one of the main economic sources of farmers. The picking of fruits is time-consuming and labor-consuming, and is always a great problem troubling fruit growers. Although fruit farmers adopt various methods for picking fruits, the problem of difficult fruit picking still cannot be solved well, and the currently known fruit picking method mainly comprises the steps that people stand on the ground to directly pick the fruits; therefore, the timely fruit harvesting is ensured, and the harvesting operation cost is reduced, which becomes an important way for increasing the agricultural income.
The pineapple fruits have high nutritional value, fibers in the pineapple leaves can be used as textile materials with excellent natural sterilization performance, the pineapple leaves have wide pharmacological activity and high medicinal value, and the pineapple is perennial fruits and has a special structure, so that the fruits are not damaged, plants are not damaged, and the fruiting condition of the next year cannot be influenced in the picking process, and the conditions determine that the large-scale mechanization cannot be realized in the pineapple picking. At present, pineapple planting areas in China mainly comprise provinces such as Guangdong, Guangxi, Yunnan and Hainan areas, manual picking modes are mostly adopted, and picking personnel are easily injured due to sharp teeth on pineapple blades and burs on fruit peels, so that picking efficiency is seriously influenced. Farmers and friends urgently need a picking device to replace manual direct picking. Therefore, how to efficiently pick the pineapple fruits and reduce the damage of the machine to the plants is the focus of research on picking the pineapple fruits.
Currently, pineapple picking machines usually use a twisting picking mode, such as the technical scheme recorded in CN 201210431101.5. In actual use, when the pineapple is twisted off in the twisting type picking process, the leaves and the root systems of pineapple plants are easily damaged.
The other is an automatic pineapple picking machine, which can pick off the pineapple fruits by scissors according to the fact that the growing places of the pineapple fruits are all on the upper center part of the pineapple tree and the neck part is long. The picking machine is arranged at the front end of a carriage of the walking tractor, when the tractor moves forwards, the elliptical cutter of the picking machine is driven by power to pick pineapples, the picking machine is provided with four harvesting cutters to harvest four rows of fruits at a time, when the tractor moves forwards, the disc type cutter of the picking machine is driven by power to pick pineapples, and the picked pineapple falls on the conveying belt and is conveyed into a carriage of the tractor through belt transmission. The machine has the advantages of high degree of mechanization, time and labor saving, high picking efficiency, long service life, large labor saving and the like.
Also, although the device has high mechanization degree, the fruit is easy to be damaged by the one-time cutting picking, and the economic value of the pineapple is reduced; the fruit bearing condition of the pineapple plant in the next year is influenced by certain damage to the descendant buds on the pineapple plant; the pineapple leaves can be damaged, the quality of leaf vein fibers in the pineapple can be influenced, the growth of plants can be seriously influenced, even the plants are withered, and the yield of the pineapple garden in the next year can be further influenced.
Disclosure of Invention
The invention provides a single-side clamping pineapple picking device and a using method thereof, aiming at the problems that a pineapple picking machine in the prior art is not flexible enough and is easy to damage pineapple plants.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the single-side clamping pineapple picking device comprises a bearing arm, a clamping and cutting component, a sensor component and a control component, wherein the clamping and cutting component is driven by a driving component on the bearing arm and used for radially clamping a pineapple body and cutting off the stem of the pineapple body; the method is characterized in that:
the clamping and cutting assembly comprises a frame body arranged horizontally, a connecting seat arranged in the frame body, a fixed plate arranged on the connecting seat and a movable plate mechanism arranged on the opposite side of the fixed plate; wherein, the fixed plate is used for manually controlling the radial approach of the pineapple bodies to be picked; the movable plate mechanism is used for radially clamping the pineapple fruits under the condition that the fixed plate is not moved.
The movable plate mechanism comprises a clamping slide block arranged on the frame body, a clamping screw corresponding to the clamping slide block, a cross beam, a fixed seat, a movable plate and a clamping motor; wherein, the inside of the clamping slide block is provided with a screw hole corresponding to the clamping screw rod; the clamping motor is connected to the frame body through the motor base and is electrically connected to the control assembly; the movable plate is arranged on the cross beam through the fixed seat;
one end of the clamping screw rod is connected with the clamping motor through a coupler, and the other end of the clamping screw rod is connected to the end part of the frame body through a bearing;
wherein, fly leaf and fixed plate are the arc and the open end sets up relatively.
A first spring is arranged between the movable plate and the fixed seat; the first spring is used for clamping the pineapple fruits, and adjusting the included angle between the movable plate and the fixed seat in the vertical direction according to the shapes of the pineapple fruits; a second spring is also arranged between the fixed plate and the frame body; this second spring is used for pressing from both sides tight pineapple fruit real-time, adjusts the contained angle of vertical direction between fixed plate and the connecting seat according to the shape of pineapple fruit.
The driving assembly comprises a close motor, a close screw, a close slider and a guide rail, wherein the close motor is arranged on the bearing arm and used for driving the frame body to move; wherein, the close motor is electrically connected to the control component; wherein, the inner part of the slide block is provided with a screw hole corresponding to the screw rod.
The bearing arm is H-shaped, and square frame bodies are arranged inside the opposite sides of the two vertical sections of the bearing arm; a proximity motor is arranged on a horizontal section of the bearing arm which is simultaneously connected with the two vertical sections; the frame body is correspondingly provided with a close sliding block close to the edge of the horizontal section in the bearing arm; the ends of the two vertical sections of the bearing arm contacted with the frame body are provided with guide rails which are C-shaped guide rails with opposite openings.
A guide assembly for guiding is arranged between the frame body and the bearing arm; the guide assembly comprises a first bulge, a second bulge and a guide rod, wherein the first bulge, the second bulge and the guide rod are arranged on the frame body; the first bulge and the second bulge are arranged on two sides of the C-shaped guide rail respectively and are connected together through a guide rod in sequence; wherein, the C-shaped guide rail is provided with a hole for passing through the guide rod.
The sensor assembly comprises a pressure sensor, three photoelectric sensors and a Hall sensor;
wherein, the pressure sensor is arranged at the central position of the fixed plate; the photoelectric sensors in three number are arranged in a finished product shape, wherein one photoelectric sensor is arranged below the pressure sensor and used for detecting whether the pineapple fruits are placed between the movable plate and the fixed plate; the other two photoelectric sensors are horizontally arranged on the connecting seat and used for detecting whether the stalks of the pineapple fruits are in place or not; the Hall sensor is arranged on the bearing arm and used for detecting the distance between the bearing arm and the frame body.
The clamping and cutting assembly further comprises a cutting mechanism for cutting pineapple body stalks;
the cutting mechanism comprises a square frame type cutting support, a sliding mechanism, a driving mechanism and an engaging mechanism which enables the driving mechanism to drive the sliding mechanism;
the sliding mechanism comprises a sliding rod horizontally arranged on the cutting bracket and a cutter sleeve arranged outside the sliding rod in a sliding manner;
the driving mechanism comprises a transmission case fixedly connected with the cutter sleeve, a gear connected with the output end of the transmission case, a disc-shaped cutting knife and a cutting motor arranged at the input end of the transmission case;
the meshing mechanism comprises a rack corresponding to the gear and a mounting rod for arranging the rack;
wherein, the mounting rod is horizontally arranged on the cutting bracket;
wherein, the cutting support is arranged below the bearing arm and used for cutting off the stem with the picked pineapple.
The use method of the single-side clamping pineapple picking device is characterized in that: the method comprises the following steps:
s1, a hand-held or machine-carried bearing arm places pineapples between a movable plate and a fixed plate from top to bottom, a proximity motor is driven to enable the fixed plate to be close to pineapple fruits to be harvested and to be in contact with the fixed plate and the pineapple fruits to generate a contact pressure value, the contact pressure value is collected by a pressure sensor and is collected by a control assembly, and when the contact pressure value exceeds a first threshold value, the fixed plate is considered to be in contact with the pineapple fruits to be harvested;
s2, at the moment, a photoelectric sensor used for detecting whether the pineapple fruits are placed between the movable plate and the fixed plate sends in-place data to the control assembly;
s3, in the process that the bearing arm is placed from top to bottom, the photoelectric sensor used for detecting whether the pineapple fruits are placed between the movable plate and the fixed plate in the step S2 is continuously shielded; the control assembly collects signals of two horizontally arranged photoelectric sensors for detecting whether the stalks of the pineapple fruits are in place or not; when the two photoelectric sensors for detecting whether the stalks of the pineapple fruits are in place are all shielded, the bearing arm needs to be adjusted downwards, one of the two photoelectric sensors for detecting whether the stalks of the pineapple fruits are in place is not shielded, and the bearing arm is in place;
s4, under the condition that the bearing arm is in place, the control assembly controls the clamping motor to work, so that the movable plate moves towards the direction of the fixed plate to form a clamping state;
s5, the control assembly acquires data of a pressure sensor on the fixing plate, and when the data reach a preset second threshold value, the clamping motor stops working to finish the clamping step;
s6, the control component sends a signal to the cutting motor, so that the gear is meshed with the rack while the cutting knife rotates, and the cutting knife is driven to cut off the stalks of the pineapple fruits along the sliding rod;
s7, after the pineapple fruits are cut off by the cutter stems, the control assembly sends signals to reset the clamping motor, and the pineapples are taken down;
and S8, the control component rotates reversely close to the motor to further increase the distance between the movable plate and the fixed plate until the Hall sensor sends a position limit signal to the control component, and the control component stops rotating close to the motor to wait for picking the next pineapple fruit.
The invention has the beneficial effects that: the pineapple picking machine adopts a single-side clamping mode that the fixed plate is close to the pineapple body and the movable plate mechanism clamps the pineapple body to be picked, then utilizes the cutting mechanism to cut off the stems of the pineapple body, and finishes picking of the pineapple body. In the picking process, the pineapple bodies are consistent with the growth state of the pineapple bodies in the picking process in a single-side clamping mode, and the twisting of the pineapple bodies and the stem parts during picking is avoided, so that the plants are damaged due to the twisting. Meanwhile, the sensor assembly for detecting whether the stem of the pineapple fruit is in place is arranged in the cutting mechanism, so that the pineapple stem can be cut instead of the pineapple fruit body, and the cutting yield is guaranteed.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a view from a-a of fig. 2.
Fig. 4 is a perspective view of the cutting mechanism of fig. 1.
FIG. 5 is a control block diagram of the present invention.
FIG. 6 is a schematic diagram of the present invention.
Fig. 7 is a schematic view showing a conventional double-side clamping operation.
It is to be understood that: fig. 2 is inverted for length issues, while fig. 3 is not. The tool sleeve 2043 in fig. 4 is largely obscured, but is more clearly shown in fig. 2.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 5, the single-side clamped pineapple picking device comprises a bearing arm 1, a clamping and cutting component 2 which is driven by a driving component 3 on the bearing arm 1 and is used for radially clamping a pineapple body and cutting off the stem thereof, a sensor component 4 which is arranged on the bearing arm 1 and the clamping and cutting component 2, and a control component 5 which is used for acquiring information of the sensor component 4 and controlling the clamping and cutting component 2 to slide on the bearing arm 1; the method is characterized in that:
the clamping and cutting assembly 2 comprises a frame 201 arranged horizontally, a connecting seat 205 arranged in the frame 201, a fixed plate 202 arranged on the connecting seat 205, and a movable plate mechanism 203 arranged on the opposite side of the fixed plate 202; wherein, the fixed plate 202 is used for manually controlling the radial approach of the pineapple body to be picked; the movable plate mechanism 203 is used for radially clamping the pineapple fruit under the condition that the fixed plate 202 is not moved.
It is to be understood that: the fixing plate 202 in the clamping and cutting assembly 2 is used for manually controlling the radial approach of the pineapple bodies to be picked, and then the movable plate mechanism 203 clamps the pineapple bodies tightly, so that the damage to stems and leaves caused in the picking process can be prevented.
The movable plate mechanism 203 comprises a clamping slider 2031 arranged on the frame 201, a clamping lead screw 2032 corresponding to the clamping slider 2031, a cross beam 2033, a fixed seat 2034, a movable plate 2035 and a clamping motor 2036; wherein, the inside of the clamping slide block 2031 is provided with a screw hole corresponding to the clamping screw 2032; the clamping motor 2036 is connected to the frame 201 through the motor base and the clamping motor 2036 is electrically connected to the control assembly 5; the movable plate 2035 is arranged on the beam 2033 through the fixed seat 2034;
one end of the clamping screw 2032 is connected with the clamping motor 2036 through a coupling, and the other end is connected with the end of the frame 201 through a bearing;
the movable plate 2035 and the fixed plate 202 are both arc-shaped plates and have open ends opposite to each other.
It is to be understood that: in order to increase the friction force, the movable plate 2035 and the fixed plate 202 are provided with recesses on opposite sides thereof. The motor mount of the clamp motor 2036 can be welded or bolted.
Preferably, the movable plate 2035 and the fixed plate 202 are made of rigid PVC, so that the service life is prolonged, and the fruits are not damaged.
A first spring 203A is arranged between the movable plate 2035 and the fixed seat 2034; the first spring 203A is used for adjusting an included angle between the movable plate 2035 and the fixed seat 2034 in the vertical direction according to the shape of the pineapple fruit when the pineapple fruit is clamped; a second spring 203B is also provided between the fixing plate 202 and the frame 201; the second spring 203B is used for adjusting the included angle between the fixing plate 202 and the connecting seat 205 in the vertical direction according to the shape of the pineapple fruit when clamping the pineapple fruit.
It is to be understood that: the introduction of the first spring 203A and the second spring 203B can make the movable plate 2035 and the fixed plate 202 form a similar holding shape when clamping the pineapple fruit body, so as to fix the pineapple fruit on one hand and ensure the growth state of the pineapple fruit body to be consistent with the growth state of the pineapple fruit body during picking as much as possible on the other hand.
The driving assembly 3 comprises an approaching motor 301 arranged on the bearing arm 1 and used for driving the frame 201 to move, an approaching screw 302 connected with the output end of the approaching motor 301, an approaching slider 303 arranged on the frame 201 and used for being matched with the approaching screw 302, and a guide rail 304 arranged at the end part of the bearing arm 1 and used for being matched with the frame 201 to slide on the bearing arm 1; wherein the proximity motor 301 is electrically connected to the control assembly 5; wherein, the inner part of the close sliding block 303 is provided with a screw hole corresponding to the close screw 302.
The bearing arm 1 is H-shaped, and a square frame body 201 is arranged inside the opposite sides of the two vertical sections of the bearing arm 1; a horizontal section of the bearing arm 1 which is simultaneously connected with the two vertical sections is provided with a proximity motor 301; the frame body 201 is correspondingly provided with a close sliding block 303 close to the edge of the horizontal section in the bearing arm 1; the ends of the two vertical sections of the carrying arm 1 contacting the frame 201 are provided with guide rails 304, and the guide rails 304 are C-shaped guide rails with opposite openings.
A guide assembly 6 for guiding is also arranged between the frame body 201 and the bearing arm 1; the guiding assembly 6 includes a first protrusion 601, a second protrusion 602, and a guide rod 603 disposed on the frame 201; the first protrusion 601 and the second protrusion 602 are arranged on two sides of the C-shaped guide rail and sequentially connect the first protrusion 601, the C-shaped guide rail and the second protrusion 602 together through a guide rod 603; wherein, the C-shaped guide rail is provided with a hole through the guide rod 603.
The sensor assembly 4 comprises a pressure sensor 401, three photoelectric sensors 402 and a hall sensor 403;
wherein, the pressure sensor 401 is arranged at the center position of the fixing plate 202; three photoelectric sensors 402 are arranged in a shape of Chinese character 'cheng', wherein one photoelectric sensor 402 is arranged below the pressure sensor 401 and is used for detecting whether the pineapple fruit is placed between the movable plate 2035 and the fixed plate 202; the other two photoelectric sensors 402 are horizontally arranged on the connecting seat 205 and used for detecting whether the stalks of the pineapple fruits are in place or not; the hall sensor 403 is provided on the carrier arm 1 to detect the distance between the carrier arm 1 and the housing 201.
In order to prevent the clamping motor 2036 and the approaching motor 301 from overtravel, three pairs of hall sensors 403 are respectively arranged on the side edge of the bearing arm 1, the front end of the frame 201 and the opposite side of the transmission case 2044, and are selected from maidelha industries ltd, with the model number of NJK-5002C.
The pressure sensor 401 is an RP-C resistance type pressure-sensitive sensor produced by Shenzhen force sensing technology, is arranged at the central position of the fixing plate 202, and transmits a signal to the control component 5 by adopting an ADC0808CCN 8 bit analog-to-digital converter DIP-28 IC chip. And calibrating the voltage and the loading capacity by adopting a static loading calibration method. The control mode of the clamping force and the contact force is a threshold voltage comparison method, and the control mode corresponds to a second threshold value and a first threshold value respectively. And setting the second threshold voltage to be 4.4V according to the calibration result and the threshold value, wherein the corresponding clamping force is 30N. The first threshold value may be set according to actual conditions, and is preferably the minimum value of the pressure detected by the pressure sensor 401.
The photoelectric sensor 402 is an E3F-20C/20L type correlation sensor produced by Xinyang electric company, and the response frequency is 50-60 Hz. The detection principle is as follows: one photosensor 402 detects a signal, which is considered to be that the actuator of the present invention enters the fruit area, and two photosensors 402 detect no signal, which is considered to be that the stalk position is reached. The distance between the two photoelectric sensors 402 is an important factor for detecting the fruit stalks, when the distance exceeds the diameter of the fruit stalks, the position of the fruit stalks is detected more inaccurately when the distance is larger, and when the distance is smaller than the diameter of the fruit stalks, the fruit stalks can not be found. According to the test, the position of the fruit handle can be effectively judged when the distance is 10-20 mm.
The clamping and cutting assembly 2 further comprises a cutting mechanism 204 for cutting pineapple body stalks;
the cutting mechanism 204 includes a square frame-shaped cutting support 2041, a sliding mechanism, a driving mechanism, and an engaging mechanism for driving the sliding mechanism by the driving mechanism;
the sliding mechanism comprises a sliding rod 2042 horizontally arranged on the cutting bracket 2041 and a cutter sleeve 2043 slidably arranged on the outer side of the sliding rod 2042;
the driving mechanism comprises a transmission case 2044 fixedly connected to the cutter sleeve 2043, a gear 2045 and a disc-shaped cutting knife 2047 which are connected to the output end of the transmission case 2044, and a cutting motor 2048 which is arranged at the input end of the transmission case 2044;
the meshing mechanism comprises a rack 2046 corresponding to the gear 2045 and a mounting rod 2049 for arranging the rack 2046;
wherein the mounting rod 2049 is horizontally arranged on the cutting support 2041;
wherein, the cutting support 2041 is arranged below the bearing arm 1 and used for cutting the stem with pineapple picking.
The use method of the single-side clamping pineapple picking device is characterized in that: the method comprises the following steps:
s1, a hand-held or airborne bearing arm 1 places pineapples between a movable plate 2035 and a fixed plate 202 from top to bottom, a drive approaching motor 301 brings the fixed plate 202 and pineapple fruits to be harvested close to each other and contacts the fixed plate 202 to contact with pineapple fruits to generate a contact pressure value, the contact pressure value is collected by a pressure sensor 401 and is collected by a control component 5, and when the contact pressure value exceeds a first threshold value, the fixed plate 202 and the pineapple fruits to be harvested are considered to be completely contacted;
s2, at this time, the photoelectric sensor 402 for detecting whether the pineapple fruit is placed between the movable plate 2035 and the fixed plate 202 sends in-place data to the control assembly 5;
s3. in the process of placing the carrying arm 1 from top to bottom, the photoelectric sensor 402 for detecting whether the pineapple fruit is placed between the movable plate 2035 and the fixed plate 202 in step S2 is continuously shielded; the control component 5 collects signals of two horizontally arranged photoelectric sensors 402 for detecting whether the stalks of the pineapple fruits are in place; when the two photoelectric sensors 402 for detecting whether the stalks of the pineapple fruits are in place are all shielded, the bearing arm 1 needs to be adjusted downwards, so that one of the two photoelectric sensors 402 for detecting whether the stalks of the pineapple fruits are in place is not shielded, and the bearing arm 1 is in place;
s4, when the carrying arm 1 is in place, the control module 5 controls the clamping motor 2036 to work, so that the movable plate 2035 moves towards the fixed plate 202 to form a clamping state;
s5, the control assembly 5 collects data of the pressure sensor 401 on the fixing plate 202, and when a preset second threshold value is reached, the clamping motor 2036 stops working to complete the clamping step;
s6, the control component 5 sends a signal to the cutting motor 2048, so that the gear 2045 is meshed with the rack 2046 while the cutting knife 2047 rotates, and the cutting knife 2047 is driven to cut off the stems of the pineapple fruits along the sliding rod 2042;
s7, after the pineapple fruits are cut off by the cutting knife 2047, the control component 5 sends a signal to reset the clamping motor 2036, and the pineapple is taken down;
s8, the control unit 5 rotates reversely near the motor 301 to further increase the distance between the movable plate 2035 and the fixed plate 202 until the hall sensor 403 sends a position limit signal to the control unit 5, and stops rotating near the motor 301 to wait for picking the next pineapple fruit.
It is to be understood that: the advance of the cutting knife 2047 can be controlled by controlling the power-on time or the number of turns of the cutting motor 2048, and generally, the setting gear 2045 advances from one end of the rack 2046 to the other end, and the action of the cutting knife 2047 to cut the pineapple stem is completed.
It is to be understood that: the pineapple picking device can be used for carrying out visual monitoring on the process of picking pineapples manually, finding the center of a pineapple body through a machine vision system, and adjusting the position of the bearing arm 1 to realize automatic picking. The machine vision system is a system that uses imaging devices such as a camera to acquire data and continue analysis, and records exist in the prior art and are not repeated herein.
As shown in fig. 6-7, compared with the existing twisting picking mode and the picking mode with simultaneous movement at both sides, the single-side clamping mode of the invention can effectively protect the stem leaves and even the root systems of plants, and has good protection effect on the plants.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A single-side clamping pineapple picking device comprises a bearing arm (1), a clamping and cutting assembly (2) which is driven by a driving assembly (3) on the bearing arm (1) and is used for radially clamping a pineapple body and cutting off the stem thereof, sensor assemblies (4) arranged on the bearing arm (1) and the clamping and cutting assembly (2), and a control assembly (5) which is used for acquiring the information of the sensor assemblies (4) and controlling the clamping and cutting assembly (2) to slide on the bearing arm (1); the method is characterized in that:
the clamping and cutting assembly (2) comprises a frame body (201) which is horizontally arranged, a connecting seat (205) which is arranged in the frame body (201), a fixed plate (202) which is arranged on the connecting seat (205), a movable plate mechanism (203) which is arranged on the opposite side of the fixed plate (202), and a cutting mechanism (204) which is arranged below the bearing arm and is used for cutting pineapple body stalks;
the movable plate mechanism (203) comprises a clamping slide block (2031) arranged on the frame body (201), a clamping lead screw (2032) corresponding to the clamping slide block (2031), a cross beam (2033), a fixed seat (2034), a movable plate (2035) and a clamping motor (2036), wherein the clamping motor (2036) is connected to the frame body (201) through a motor seat, and the clamping motor (2036) is electrically connected to the control component (5); the movable plate (2035) is arranged on the cross beam (2033) through the fixed seat (2034), one end of the clamping screw rod (2032) is connected with the clamping motor (2036) through the coupling, and the other end is connected to the end part of the frame body (201) through the bearing;
the sensor assembly (4) comprises a pressure sensor (401), three photoelectric sensors (402) and a Hall sensor (403); wherein, the pressure sensor (401) is arranged at the central position of the fixing plate (202); the three photoelectric sensors (402) are arranged in a finished product shape, wherein one photoelectric sensor (402) is arranged below the pressure sensor (401) and used for detecting whether the pineapple fruits are placed between the movable plate (2035) and the fixed plate (202); the other two photoelectric sensors (402) are horizontally arranged on the connecting seat (205) at an interval of 10-20 mm and used for detecting whether the stem of the pineapple fruit is in place, and the Hall sensor (403) is arranged on the bearing arm (1) and used for detecting the distance between the bearing arm (1) and the frame body (201);
the driving assembly (3) comprises an approaching motor (301) which is used for driving the frame body (201) to move and arranged on the bearing arm (1), and the approaching motor (301) is electrically connected to the control assembly (5);
bear arm (1) from the top down and place the pineapple between fly leaf (2035) and fixed plate (202), fixed plate (202) are used for the artificial control to be close radially to wait to pick the pineapple fruit body, control assembly gathers sensor module information after, the drive is close to motor (301) and is close to and contact fixed plate (202) with the pineapple fruit of waiting to gather, fly leaf mechanism (203) are in fixed plate (202) contact wait to gather the pineapple fruit and radial clamp down the pineapple fruit under the motionless condition, cutting mechanism cuts off the stem of the pineapple fruit body.
2. A single-sided clamped pineapple picking device as claimed in claim 1, wherein: a screw hole corresponding to the clamping screw rod (2032) is formed in the clamping slide block (2031); the movable plate (2035) and the fixed plate (202) are both arc-shaped plates and the opening ends are arranged oppositely.
3. A single-sided clamped pineapple picking device as claimed in claim 1, wherein: a first spring (203A) is arranged between the movable plate (2035) and the fixed seat (2034); the first spring (203A) is used for adjusting an included angle between the movable plate (2035) and the fixed seat (2034) in the vertical direction according to the shape of the pineapple fruit when the pineapple fruit is clamped; a second spring (203B) is also arranged between the fixed plate (202) and the frame body (201); the second spring (203B) is used for adjusting an included angle between the fixing plate (202) and the connecting seat (205) in the vertical direction according to the shape of the pineapple fruit when the pineapple fruit is clamped.
4. A single-sided clamped pineapple picking device as claimed in claim 1, wherein: the driving assembly (3) further comprises a close screw (302) which is arranged close to the output end of the motor (301) and connected with the output end of the motor, a close slider (303) which is arranged on the frame body (201) and used for being matched with the close screw (302) to use, and a guide rail (304) which is arranged at the end part of the bearing arm (1) and used for being matched with the frame body (201) to slide on the bearing arm (1); a screw hole corresponding to the approach screw rod (302) is arranged in the approach sliding block (303).
5. A single-side clamped pineapple picking device as claimed in claim 4, wherein: the bearing arm (1) is H-shaped, and a square frame body (201) is arranged inside the opposite sides of the two vertical sections of the bearing arm (1); a close motor (301) is arranged on a horizontal section of the bearing arm (1) which is simultaneously connected with the two vertical sections; the frame body (201) is correspondingly provided with a close sliding block (303) close to the edge of the horizontal section in the bearing arm (1); the end parts of two vertical sections of the bearing arm (1) contacted with the frame body (201) are provided with guide rails (304), and the guide rails (304) are C-shaped guide rails with opposite openings.
6. A single-side clamped pineapple picking device as claimed in claim 5, wherein: a guide assembly (6) for guiding is also arranged between the frame body (201) and the bearing arm (1); the guide assembly (6) comprises a first protrusion (601), a second protrusion (602) and a guide rod (603), wherein the first protrusion, the second protrusion and the guide rod are arranged on the frame body (201); the first protrusion (601) and the second protrusion (602) are arranged on two sides of the C-shaped guide rail and sequentially connect the first protrusion (601), the C-shaped guide rail and the second protrusion (602) together through a guide rod (603); wherein, the C-shaped guide rail is provided with a hole for passing through the guide rod (603).
7. A single-sided clamped pineapple picking device as claimed in claim 1, wherein: the cutting mechanism (204) comprises a square cutting bracket (2041), a sliding mechanism, a driving mechanism and an engaging mechanism which enables the driving mechanism to drive the sliding mechanism;
the sliding mechanism comprises a sliding rod (2042) horizontally arranged on the cutting bracket (2041) and a cutter sleeve (2043) which is arranged outside the sliding rod (2042) in a sliding manner;
the driving mechanism comprises a transmission case (2044) fixedly connected with the cutter sleeve (2043), a gear (2045) and a disc-shaped cutting knife (2047) which are connected with the output end of the transmission case (2044), and a cutting motor (2048) arranged at the input end of the transmission case (2044);
the meshing mechanism comprises a rack (2046) corresponding to the gear (2045) and a mounting rod (2049) for arranging the rack (2046);
wherein the mounting rod (2049) is horizontally arranged on the cutting bracket (2041);
wherein, the cutting support (2041) is arranged below the bearing arm (1) and used for cutting the stem with the picked pineapples.
8. The use method of the single-side clamping pineapple picking device is characterized in that: the method comprises the following steps:
s1, a hand-held or machine-carried bearing arm (1) places pineapples between a movable plate (2035) and a fixed plate (202) from top to bottom, a drive approaching motor (301) brings the fixed plate (202) and pineapple fruits to be harvested close to and contacts the fixed plate (202) to contact with pineapple fruit bodies to generate a contact pressure value, the contact pressure value is collected by a pressure sensor (401) and is collected by a control assembly (5), and when the contact pressure value exceeds a first threshold value, the fixed plate (202) is considered to be in contact with the pineapple fruits to be harvested;
s2, at the moment, a photoelectric sensor (402) for detecting whether the pineapple fruit is placed between the movable plate (2035) and the fixed plate (202) sends in-place data to the control assembly (5);
s3, in the process that the bearing arm (1) is placed from top to bottom, the photoelectric sensor (402) used for detecting whether the pineapple fruits are placed between the movable plate (2035) and the fixed plate (202) in the step S2 is continuously shielded; the control component (5) collects signals of two horizontally arranged photoelectric sensors (402) for detecting whether the stalks of the pineapple fruits are in place; when the two photoelectric sensors (402) for detecting whether the stalks of the pineapple fruits are in place are blocked, the bearing arm (1) needs to be adjusted downwards, one of the two photoelectric sensors (402) for detecting whether the stalks of the pineapple fruits are in place is not blocked, and the bearing arm (1) is in place;
s4, under the condition that the bearing arm (1) is in place, the control component (5) controls the clamping motor (2036) to work, so that the movable plate (2035) moves towards the fixed plate (202) to form a clamping state;
s5, the control assembly (5) collects data of the pressure sensor (401) on the fixing plate (202), and when a preset second threshold value is reached, the clamping motor (2036) stops working to complete the clamping step;
s6, the control component (5) sends a signal to the cutting motor (2048), so that the gear (2045) is meshed with the rack (2046) while the cutting knife (2047) rotates, and the cutting knife (2047) is driven to cut off the stalks of the pineapple fruits along the sliding rod (2042);
s7, after the pineapple fruits are cut off by the cutting knife (2047) through the stems, the control assembly (5) sends a signal to reset the clamping motor (2036) and take down the pineapple;
s8, the control component (5) rotates reversely close to the motor (301) to further increase the distance between the movable plate (2035) and the fixed plate (202) until the Hall sensor (403) sends a position limit signal to the control component (5), the control component stops rotating close to the motor (301) and waits for picking of the next pineapple fruit.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110115152B (en) * | 2019-05-15 | 2024-02-09 | 中国计量大学 | Pineapple harvester |
| CN111406507B (en) * | 2020-04-21 | 2022-09-23 | 安徽爱德葡萄深加工有限公司 | Onion picker |
| CN113785692B (en) * | 2021-11-02 | 2022-11-29 | 华南农业大学 | Pineapple picking device integrating clamping and cutting, picking method and picking robot |
| CN114667894B (en) * | 2022-04-08 | 2023-05-05 | 石首长江明珠食品股份有限公司 | Silvergrass bamboo shoot planting method and harvesting device thereof |
| WO2024100429A1 (en) * | 2022-11-08 | 2024-05-16 | PeK Automotive d.o.o. | Fruit picking manipulator |
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