CN109328633A - It is a kind of to cut rolling end effector and collecting method suitable for white asparagus selectively harvesting robot - Google Patents
It is a kind of to cut rolling end effector and collecting method suitable for white asparagus selectively harvesting robot Download PDFInfo
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- CN109328633A CN109328633A CN201811549898.2A CN201811549898A CN109328633A CN 109328633 A CN109328633 A CN 109328633A CN 201811549898 A CN201811549898 A CN 201811549898A CN 109328633 A CN109328633 A CN 109328633A
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- motor
- fixed frame
- white asparagus
- fixed
- recovering device
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/007—Harvesting of standing crops of asparagus
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
Rolling end effector and collecting method, including fixed frame, adjustment device, recovering device and control system are cut suitable for white asparagus selectively harvesting robot the present invention relates to a kind of.Fixed frame drives recovering device into and out soil for fixed adjustment device, recovering device and control system；It adjusts device and holds tightening for realizing the volume to white asparagus stem；Recovering device is held for realizing the shearing volume of dialogue asparagus root；Control system is for controlling entire end effector.The present invention holds substep using blade and volume and acts, and the shearing of realization white asparagus root holds substep progress with stem's volume.
Description
Technical field
The invention belongs to agricultural mechanical field, it is related to a kind of cutting rolling end suitable for white asparagus selectively harvesting robot
Hold actuator and collecting method, realize white asparagus cut root, volume is held, the operation and without backfill of cutting the earth of choosing.
Background technique
Asparagus is a kind of health-care nutritive top grade vegetables being loved by consumers.Asparagus also known as asparagus, are divided into Bai Lu
Bamboo shoot and green asparagus, and white asparagus contains more microelements, matter is tender delicious, and full of nutrition, unique flavor is known as " vegetables
King ", the good reputation of " one of big famous dish in the world ten ".
China's Asparagus Industry development in recent years is swift and violent, it has also become the first big asparagus producing country and exported country in the world.2011
Year, for global asparagus harvest area up to 1,460,000 hectares, China's asparagus harvest area accounts for the 90% of the whole world up to 1,320,000 hectares.Bai Lu
Bamboo shoot harvest tool be mostly elongated asparagus knife, in addition the collecting time of white asparagus mostly in the morning the sun come out before or the dusk sun
After going down the hill, collecting time is concentrated, and recovery process is taken a lot of work more, heavy workload, therefore the efficiency of crop of current white asparagus is very low.
Through the literature search of existing technologies, Chinese invention patent " a kind of folder cut type white asparagus recovering device and is adopted
Receiving method " number of patent application 201610887545.8, using clamping cutting mode harvest white asparagus, this picking methods exist with
Under several aspects need to improve: 1. clamp that cutting action step is more, and Design of Mechanical Structure is complicated.2. cutting blade needs additional
Knife plate protection.3. recovery process middle clamp plate can generate mechanical injuries to white asparagus.Fall behind for existing white asparagus harvesting tool
Situation, invent it is a kind of cut rolling end effector and collecting method suitable for white asparagus selectively harvesting robot, utilize
The shearing of the mobile realization white asparagus of the mobile drive recovering device of fixed frame is realized by adjusting the movement of device to white asparagus
Volume hold, keep job step more simple, quick, improve harvest efficiency.
Summary of the invention
The present invention is existing insufficient for white asparagus harvesting, provides one kind and is suitable for white asparagus selectively harvesting robot
Cut rolling end effector and collecting method, realize that the shearing of white asparagus root is held substep with stem volume and carried out, make job step
It is more simple, quick, improve harvest efficiency.
A kind of technical side for cutting the use of rolling end effector suitable for white asparagus selectively harvesting robot of the present invention
Case includes: fixed frame, adjustment device, recovering device and control system.The fixed frame is a rectangular metal plate, for solid
Fixed other devices realize recovering devices into and out soil；The adjustment device is fixed on fixed frame, for realizing
Harvest the adjustment of component；The recovering device be connected to adjustment device on, for realizing to asparagus shearing and volume hold.
The fixed frame includes a rectangular metal plate, for fixing recovering device, adjustment device and control system, band
Recovering device is moved into and out soil.
The adjustment device includes motor, shaft coupling, bearing block, screw slider, lead screw guide rails, stepper motor.It is described
Motor and bearing block be fixed on fixed frame；The shaft coupling both ends are separately connected in motor output shaft and recovering device
Rotary shaft；The lead screw guide rails, stepper motor are fixed on fixed frame；The screw slider is fixed in lead screw guide rails,
For driving the sliding block connecting shaft in recovering device to move.
The recovering device includes rotary shaft, sliding block connecting shaft, rolls up and hold line, shear line.The rotary shaft is side wall
There is the hollow metal axis of opening, is connected by shaft coupling with motor output shaft；The sliding block connecting shaft is that side wall has opening
Hollow metal axis, one end are fixed on screw slider；The volume is held line and is made of the flexible material of one fixed width, and harvesting is located at
Device middle and lower part both ends are separately fixed at the sidewall opening of rotary shaft and sliding block connecting shaft；The shear line is to have centainly just
Property wire, be individually fixed at rotary shaft and sliding block connecting shaft pivot positioned at recovering device bottom both ends.
The control system includes control cabinet, controller, motor driver, power supply.The control cabinet includes control
Device, motor driver, are fixed on the rack, and mainly realize the functions such as motor control, communication；The controller can be by monolithic
Machine, microprocessor, industrial personal computer etc. other have same processing capacity equipment and I/O driving interface circuit and constitute；The motor
Driver selects the AC and DC motor driver, stepper motor driver, servo motor of different model to drive according to motor type
Dynamic device etc. receives the control signal issued by controller, driving motor rotation；The power supply can mention for the work of control system
For electric energy.
The collecting method includes two kinds of technical solutions of fixed bit harvesting and harvesting in situ.
A kind of rolling end effector of cutting suitable for white asparagus selectively harvesting robot uses technical solution
One collecting method the following steps are included:
1) fixed frame, which moves horizontally, drives recovering device is mobile the white asparagus for exposing topsoil is made to be located at shear line just
Front, fixed frame move straight down, are inserted into recovering device smoothly in soil.
2) fixed frame moves horizontally forward, reaches immediately ahead of white asparagus after driving shearing wire cutting white asparagus stem, then
Stepper motor rotation keeps the sliding block being fixed on screw slider connection rotational axial shaft close, and after reaching distance to a declared goal, motor turns
Dynamic to drive rotary shaft rotation, tightening volume holds line, while detecting current of electric, when motor load current differential value is more than setting value
Indicate that volume is held line and tightened, control system controls motor stalls, and the volume of white asparagus is held in completion.
3) fixed frame moves straight up, extracts recovering device, and white asparagus is carried over soil, and it is anti-that control system controls motor
The rotary shaft opposite direction rotation band movable slider connecting shaft of stepper motor opposite direction rotation simultaneously is driven to return to initial position to rotation, it is white
Asparagus will fall, and complete primary harvesting work.
A kind of rolling end effector of cutting suitable for white asparagus selectively harvesting robot uses technical solution
Two collecting method the following steps are included:
1) fixed frame is connect by slide unit with work car, and fixed frame, which moves horizontally, drives recovering device is mobile to make to expose surface layer
The white asparagus of soil is located at the front of shear line, and fixed frame moves straight down, while slide unit drives fixed frame to work car
It is mobile to move opposite direction, so that fixed frame is kept opposing stationary with ground, is inserted into recovering device smoothly in soil.
2) work car drives fixed frame to move horizontally forward, reaches white asparagus just after driving shearing wire cutting white asparagus stem
Front, while slide unit drives fixed frame to move opposite direction movement to work car, so that fixed frame and ground is kept opposing stationary, then
Stepper motor rotation keeps the sliding block being fixed on screw slider connection rotational axial shaft close, and after reaching distance to a declared goal, motor turns
Dynamic to drive rotary shaft rotation, tightening volume holds line, while detecting current of electric, when motor load current differential value is more than setting value
Indicate that volume is held line and tightened, control system controls motor stalls, and the volume of white asparagus is held in completion.
3) fixed frame moves straight up, extracts recovering device, and white asparagus is carried over soil, and it is anti-that control system controls motor
The rotary shaft opposite direction rotation band movable slider connecting shaft of stepper motor opposite direction rotation simultaneously is driven to return to initial position to rotation, it is white
Asparagus will fall, and complete primary harvesting work.
Compared with present technology, the invention has the following advantages:
1, the present invention, using two axis bottom shear wire cutting white asparagus roots, utilizes sliding block using rolling collecting method is cut
Connection rotational axial shaft holds line close to rotary shaft rotation tightening volume and realizes that white asparagus volume is held, and compares harvest white asparagus manually, saves
Multiple cumbersome harvesting steps.
2, the volume in recovering device of the present invention, which holds line, can be used nonrigid material, avoid generating machine to white asparagus
Tool damage.
3, the present invention is easy to use, low in cost, easy to maintenance.
Detailed description of the invention
Fig. 1 cuts rolling end effector main view suitable for white asparagus selectively harvesting robot to be a kind of
Fig. 2 cuts rolling end effector axonometric drawing suitable for white asparagus selectively harvesting robot to be a kind of
Fig. 3 cuts rolling end effector left view suitable for white asparagus selectively harvesting robot to be a kind of
Fig. 4 cuts rolling end effector control system figure suitable for white asparagus selectively harvesting robot to be a kind of
In figure: 1, fixed frame 2, adjustment device 3, recovering device 4, control system 5, motor 6, shaft coupling 7, bearing
Seat 8, screw slider 9, lead screw guide rails 10, stepper motor 11, volume hold line 12, rotary shaft 13, sliding block connecting shaft 14, cut
Tangent line
Specific embodiment
The invention patent is described further with reference to the accompanying drawing.As shown in Figure 1, 2, 3, a kind of white asparagus of the present invention
Selectivity harvesting end effector of robot includes fixed frame, adjustment device, recovering device and control system.
The fixed frame (1) is a rectangular solid metal plate, for realizing recovering device into and out soil；
The adjustment device (2) is fixed on fixed frame (1), for realizing the adjustment of harvesting component；The recovering device (3) is even
Connect adjustment device (2) on, for realizing to asparagus shearing and volume hold.
The adjustment device (2) includes: that motor (5), shaft coupling (6), bearing block (7), screw slider (8), lead screw are led
Rail (9), stepper motor (10).The motor (5) and bearing block (7) is fixed on fixed frame (1)；The shaft coupling (6)
Both ends are separately connected motor output shaft and rotary shaft (12)；The lead screw guide rails (9), stepper motor (10) are fixed on fixed frame
(1) on；The screw slider (8) is fixed on lead screw guide rails (9), is moved for band movable slider connecting shaft (13).
The recovering device (3) includes: rotary shaft (12), sliding block connecting shaft (13), rolls up and hold line (11), shear line
(14).The rotary shaft (12) is the hollow metal axis that side wall has opening, is connected by shaft coupling (6) with motor output shaft；
The sliding block connecting shaft (13) is the hollow metal axis that side wall has opening, and one end is fixed on screw slider (8)；The volume
It holds line (11) to be made of the flexible material of one fixed width, is located at recovering device (3) middle and lower part both ends and is separately fixed at rotary shaft
(12) and at the sidewall opening of sliding block connecting shaft (13)；The shear line (14) is the wire for having certain rigidity, positioned at adopting
Receiving apparatus (3) bottom both ends are individually fixed at rotary shaft (12) and sliding block connecting shaft (13) pivot.
The control system (4) includes: control cabinet, controller, motor driver, power supply.The control cabinet includes
Controller, motor driver are fixed on fixed frame (1), mainly realize the functions such as motor control, communication；The controller
It can by single-chip microcontroller, microprocessor, industrial personal computer etc., other have same processing capacity equipment and I/O driving interface circuit is constituted；Institute
The motor driver stated is selected the AC and DC motor driver of different model according to motor type, stepper motor driver, is watched
Motor driver etc. is taken, the control signal issued by controller, driving motor rotation are received；The power supply can be control system
(4) work provides electric energy.
The collecting method includes two kinds of technical solutions of fixed bit harvesting and harvesting in situ.
A kind of rolling end effector of cutting suitable for white asparagus selectively harvesting robot uses technical solution
One collecting method the following steps are included:
1) fixed frame (1), which moves horizontally, drives recovering device (3) are mobile the white asparagus for exposing topsoil is made to be located at shearing
The front of line (14), fixed frame (1) move straight down, are inserted into recovering device (3) smoothly in soil.
2) fixed frame (1) moves horizontally forward, before white asparagus is reached after driving shear line (14) to cut white asparagus stem just
Side, subsequent stepper motor (10) rotation keep the sliding block connecting shaft (13) being fixed on screw slider (8) close to rotary shaft (12),
After reaching distance to a declared goal, motor (5) rotation drives rotary shaft (12) rotation, and tightening volume holds line (11), while detecting motor (5) electricity
Stream indicates that volume is held line (11) and tightened when motor (5) load current differential value is more than setting value, control system (4) control
Motor (5) stops operating, and the volume of white asparagus is held in completion.
3) fixed frame (1) moves straight up, extracts recovering device (3), and white asparagus is carried over soil, control system (4)
Control motor (5), which rotates backward, drives rotary shaft (12) the opposite direction rotation band movable slider of stepper motor (10) opposite direction rotation simultaneously
Connecting shaft (13) returns to initial position, and white asparagus will fall, and completes primary harvesting work.
A kind of rolling end effector of cutting suitable for white asparagus selectively harvesting robot uses technical solution
Two collecting method the following steps are included:
1) fixed frame (1) is connect by slide unit with work car, and fixed frame (1), which moves horizontally, drives recovering device (3) mobile
The white asparagus for exposing topsoil is set to be located at the front of shear line (14), fixed frame (1) moves straight down, while slide unit band
Dynamic fixed frame moves opposite direction movement to work car, so that fixed frame and ground is kept opposing stationary, inserts recovering device (3) smoothly
Enter in soil.
2) fixed frame (1) moves horizontally forward, before white asparagus is reached after driving shear line (14) to cut white asparagus stem just
Side, while slide unit drives fixed frame (1) to move opposite direction movement to work car, and fixed frame (1) and ground is made to keep opposing stationary,
Subsequent stepper motor (10) rotation keeps the sliding block connecting shaft (13) being fixed on screw slider (8) close to rotary shaft (12), arrives
Up to after distance to a declared goal, motor (5) rotation drives rotary shaft (12) rotation, and tightening volume holds line (11), while detecting motor (5) electricity
Stream indicates that volume is held line (11) and tightened when motor (5) load current differential value is more than setting value, control system (4) control
Motor (5) stops operating, and the volume of white asparagus is held in completion.
3) fixed frame (1) moves straight up, extracts recovering device (3), and white asparagus is carried over soil, control system (4)
Control motor (5), which rotates backward, drives rotary shaft (12) the opposite direction rotation band movable slider of stepper motor (10) opposite direction rotation simultaneously
Connecting shaft (13) returns to initial position, and white asparagus will fall, and completes primary harvesting work.
Claims (3)
1. a kind of cut rolling end effector suitable for white asparagus selectively harvesting robot, it is characterised in that including fixation
Frame, adjustment device, recovering device and control system composition；
The fixed frame is a rectangular solid metal plate, for fixed adjustment device, recovering device and control system, is driven
Recovering device has been realized into and out soil；The adjustment device is fixed on fixed frame, for realizing harvesting component
Adjustment；The recovering device be connected to adjustment device on, for realizing to asparagus shearing and volume hold；
The adjustment device includes motor, shaft coupling, bearing block, screw slider, lead screw guide rails, stepper motor；The electricity
Machine and bearing block are fixed on fixed frame；The shaft coupling both ends are separately connected motor output shaft and rotary shaft；The silk
Thick stick guide rail, stepper motor are fixed on fixed frame；The screw slider is fixed in lead screw guide rails, is connected for band movable slider
Axis movement；
The recovering device includes rotary shaft, sliding block connecting shaft, rolls up and hold line, shear line；The rotary shaft is that side wall has out
The hollow metal axis of mouth, is connected by shaft coupling with motor output shaft；The sliding block connecting shaft is that side wall has the hollow of opening
Metal shaft, one end are fixed on screw slider；The volume is held line and is made of the flexible material of one fixed width, and recovering device is located at
Middle and lower part both ends are separately fixed at the sidewall opening of rotary shaft and sliding block connecting shaft；The shear line is to have certain rigidity
Wire is individually fixed at rotary shaft and sliding block connecting shaft pivot positioned at recovering device bottom both ends；
The control system includes control cabinet, controller, motor driver, power supply；The control cabinet includes controller, electricity
Machine driver, is fixed on the rack, and mainly realizes the functions such as motor control, communication；The controller can be by single-chip microcontroller, Wei Chu
Managing device, industrial personal computer etc., other have same processing capacity equipment and I/O driving interface circuit composition；The motor driver,
The AC and DC motor driver, stepper motor driver, motor servo driver etc. of different model are selected according to motor type,
Receive the control signal issued by controller, driving motor rotation；The power supply can provide electric energy for the work of control system.
2. a kind of rolling end effector of cutting suitable for white asparagus selectively harvesting robot uses according to claim 1
Technical solution one the course of work, it is characterised in that include the following steps:
1) fixed frame, which moves horizontally, drives the mobile front for making the white asparagus for exposing topsoil be located at shear line of recovering device,
Fixed frame moves straight down, is inserted into recovering device smoothly in soil；
2) fixed frame moves horizontally forward, reaches immediately ahead of white asparagus after driving shearing wire cutting white asparagus stem, subsequent stepping
Motor rotation keeps the sliding block being fixed on screw slider connection rotational axial shaft close, and after reaching distance to a declared goal, motor rotates band
Dynamic rotary shaft rotation, tightening volume holds line, while detecting current of electric, indicates when motor load current differential value is more than setting value
Volume is held line and has been tightened, and control system controls motor stalls, and the volume of white asparagus is held in completion；
3) fixed frame moves straight up, extracts recovering device, and white asparagus is carried over soil, and control system control motor reversely turns
It is dynamic that the rotary shaft opposite direction rotation band movable slider connecting shaft of stepper motor opposite direction rotation simultaneously is driven to return to initial position, white asparagus
It will fall, complete primary harvesting work.
3. a kind of rolling end effector of cutting suitable for white asparagus selectively harvesting robot uses according to claim 1
Technical solution two the course of work, it is characterised in that include the following steps:
1) fixed frame is connect by slide unit with work car, and fixed frame, which moves horizontally, drives recovering device is mobile to make to expose topsoil
White asparagus be located at the front of shear line, fixed frame moves straight down, while slide unit drives fixed frame to move to work car
Opposite direction is mobile, so that fixed frame is kept opposing stationary with ground, is inserted into recovering device smoothly in soil；
2) work car drives fixed frame to move horizontally forward, drives before reaching white asparagus after shearing wire cutting white asparagus stem just
Side, while slide unit drives fixed frame to move opposite direction movement to work car, so that fixed frame and ground is kept opposing stationary, then walks
Keep the sliding block being fixed on screw slider connection rotational axial shaft close into motor rotation, after reaching distance to a declared goal, motor rotation
Rotary shaft rotation is driven, tightening volume holds line, while detecting current of electric, the table when motor load current differential value is more than setting value
Show that volume is held line and tightened, control system controls motor stalls, and the volume of white asparagus is held in completion；
3) fixed frame moves straight up, extracts recovering device, and white asparagus is carried over soil, and control system control motor reversely turns
It is dynamic that the rotary shaft opposite direction rotation band movable slider connecting shaft of stepper motor opposite direction rotation simultaneously is driven to return to initial position, white asparagus
It will fall, complete primary harvesting work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811549898.2A CN109328633B (en) | 2018-12-18 | 2018-12-18 | Cut-roll type end effector suitable for white asparagus selective harvesting robot and harvesting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811549898.2A CN109328633B (en) | 2018-12-18 | 2018-12-18 | Cut-roll type end effector suitable for white asparagus selective harvesting robot and harvesting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109328633A true CN109328633A (en) | 2019-02-15 |
| CN109328633B CN109328633B (en) | 2023-07-25 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811549898.2A Active CN109328633B (en) | 2018-12-18 | 2018-12-18 | Cut-roll type end effector suitable for white asparagus selective harvesting robot and harvesting method |
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| Publication number | Publication date |
|---|---|
| CN109328633B (en) | 2023-07-25 |
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