CN109328633B - Cut-roll type end effector suitable for white asparagus selective harvesting robot and harvesting method - Google Patents
Cut-roll type end effector suitable for white asparagus selective harvesting robot and harvesting method Download PDFInfo
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- CN109328633B CN109328633B CN201811549898.2A CN201811549898A CN109328633B CN 109328633 B CN109328633 B CN 109328633B CN 201811549898 A CN201811549898 A CN 201811549898A CN 109328633 B CN109328633 B CN 109328633B
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- sliding block
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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
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- 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
Abstract
The invention relates to a roll-cutting type end effector suitable for a white asparagus selective harvesting robot and a harvesting method. The fixing frame is used for fixing the adjusting device, the harvesting device and the control system and driving the harvesting device to insert into and withdraw from soil; the adjusting device is used for realizing the winding and tightening of the stem parts of the white asparagus; the harvesting device is used for realizing shearing and winding of the white asparagus root; the control system is used to control the entire end effector. The invention adopts the step-by-step actions of the blade and the winding and holding to realize the step-by-step cutting of the root and the winding and holding of the stem of the white asparagus.
Description
Technical Field
The invention belongs to the field of agricultural machinery, and relates to a cutting and rolling type end effector suitable for a white asparagus selective harvesting robot and a harvesting method, which are used for realizing the root cutting, rolling and pulling operations of white asparagus without digging soil and backfilling.
Background
Asparagus is a nutritional and health-care high-grade vegetable which is deeply favored by consumers. Asparagus is also called asparagus, which is divided into white asparagus and green asparagus, and white asparagus contains more trace elements, is tender and delicious in quality, rich in nutrition and unique in flavor, and has the reputation of being one of 'vegetable king' and 'ten famous dishes in the world'.
In recent years, the development of the asparagus industry in China is rapid, and the asparagus industry becomes the first big asparagus producing country and export country in the world. In 2011, the global asparagus harvesting area reaches 146 ten thousand hectares, the national asparagus harvesting area reaches 132 ten thousand hectares, and the area accounts for 90% of the world. The white asparagus harvesting tools are mostly slender asparagus cutters, and the harvesting time of the white asparagus is concentrated before the white asparagus comes out in the morning or after the white asparagus comes out in the evening, so that the harvesting process is labor-consuming and large in workload, and the harvesting efficiency of the white asparagus is very low at present.
According to the document search of the prior art, the Chinese patent application No. 201610887545.8 of the invention, namely a clamping and cutting type white asparagus harvesting device and a harvesting method, adopts a clamping and cutting mode to harvest white asparagus, and the harvesting mode has the following aspects to be improved: (1) the clamping and cutting steps are more, and the mechanical structure design is complex. (2) The cutting blade requires additional blade protection. (3) The splint can produce mechanical damage to white asparagus in the harvesting process. Aiming at the situation that the existing white asparagus harvesting tool is behind, the roll-cutting type end effector and the harvesting method suitable for the white asparagus selective harvesting robot are disclosed, the movement of a fixing frame is utilized to drive the movement of a harvesting device to realize the shearing of the white asparagus, and the action of an adjusting device is utilized to realize the rolling of the white asparagus, so that the operation steps are simpler and quicker, and the harvesting efficiency is improved.
Disclosure of Invention
Aiming at the defects of white asparagus harvesting, the invention provides the roll-cutting type end effector and the harvesting method which are suitable for the white asparagus selective harvesting robot, so that the root shearing and the stem rolling of the white asparagus are realized step by step, the operation steps are simpler and quicker, and the harvesting efficiency is improved.
The invention discloses a technical scheme adopted by a roll-cutting type end effector suitable for a white asparagus selective harvesting robot, which comprises the following steps: mount, adjusting device, harvesting device and control system. The fixing frame is a rectangular metal plate and is used for fixing other devices to realize the insertion and extraction of the harvesting device into soil; the adjusting device is fixed on the fixing frame and is used for adjusting the harvesting component; the harvesting device is connected to the adjusting device and used for shearing and winding the asparagus.
The fixing frame comprises a rectangular metal plate and is used for fixing the harvesting device, the adjusting device and the control system and driving the harvesting device to be inserted into and pulled out of soil.
The adjusting device comprises a motor, a coupler, a bearing seat, a screw rod sliding block, a screw rod guide rail and a stepping motor. The motor and the bearing seat are fixed on the fixing frame; the two ends of the coupler are respectively connected with the motor output shaft and the rotating shaft in the harvesting device; the screw guide rail and the stepping motor are fixed on the fixing frame; the screw rod sliding block is fixed on the screw rod guide rail and used for driving a sliding block connecting shaft in the harvesting device to move.
The harvesting device comprises a rotating shaft, a sliding block connecting shaft, a winding holding wire and a shearing wire. The rotating shaft is a hollow metal shaft with an opening on the side wall and is connected with the motor output shaft through a coupler; the sliding block connecting shaft is a hollow metal shaft with an opening on the side wall, and one end of the sliding block connecting shaft is fixed on the screw rod sliding block; the winding and holding wire is made of flexible materials with certain width, and two ends of the lower part of the winding and holding wire are respectively fixed at the side wall openings of the rotating shaft and the sliding block connecting shaft; the shearing line is a metal wire with certain rigidity, and two ends of the bottom of the harvesting device are respectively fixed at the shaft tip of the connecting shaft of the rotating shaft and the sliding block.
The control system comprises a control box, a controller, a motor driver and a power supply. The control box comprises a controller and a motor driver, is fixed on the frame and mainly realizes the functions of motor control, communication and the like; the controller can be composed of a singlechip, a microprocessor, an industrial personal computer and other equipment with the same processing capacity and an I/O driving interface circuit; the motor driver selects alternating current and direct current motor drivers, step motor drivers, servo motor drivers and the like with different types according to the motor types, receives control signals sent by the controller and drives the motor to rotate; the power supply can provide electric energy for the operation of the control system.
The harvesting method comprises two technical schemes of fixed-position harvesting and in-situ harvesting.
The harvesting method of the cut-roll type end effector suitable for the white asparagus selective harvesting robot by adopting the first technical scheme comprises the following steps:
1) The fixed frame moves horizontally to drive the harvesting device to move so that the white asparagus exposed out of the surface soil is positioned right in front of the shear line, and the fixed frame moves vertically downwards so that the harvesting device is smoothly inserted into the soil.
2) The fixing frame moves horizontally forwards to drive the shearing line to cut the white asparagus stem and then to reach the position right ahead of Bai Lusun, then the stepping motor rotates to enable the sliding block fixed on the lead screw sliding block to be connected with the axial rotating shaft to be close to the axial rotating shaft, after the specified distance is reached, the motor rotates to drive the rotating shaft to rotate, the winding wire is tightened, meanwhile, the motor current is detected, when the differential value of the motor load current exceeds a set value, the winding wire is tightened, the control system controls the motor to stop rotating, and winding of the white asparagus is completed.
3) The fixing frame moves vertically upwards, the harvesting device is pulled out, the white asparagus is brought out of the soil, the control system controls the motor to reversely rotate to drive the rotating shaft to reversely rotate, meanwhile, the stepping motor reversely rotates to drive the sliding block connecting shaft to return to the initial position, and the white asparagus falls down to finish one-time harvesting.
The harvesting method of the roll-cutting type end effector suitable for the white asparagus selective harvesting robot by adopting the second technical scheme comprises the following steps of:
1) The fixing frame is connected with the working vehicle through the sliding table, the horizontal movement of the fixing frame drives the harvesting device to move so that white asparagus exposing out of surface soil is located right in front of the shear line, the fixing frame vertically moves downwards, and meanwhile, the sliding table drives the fixing frame to move towards the opposite direction of the movement of the working vehicle, so that the fixing frame and the ground are kept relatively static, and the harvesting device is smoothly inserted into the soil.
2) The working vehicle drives the fixing frame to horizontally move forwards, drives the shearing line to cut the white asparagus stem and then to reach the position right ahead of Bai Lusun, simultaneously the sliding table drives the fixing frame to move in the opposite direction of the movement of the working vehicle, so that the fixing frame and the ground are kept relatively static, then the stepping motor rotates to enable the sliding block fixed on the screw sliding block to be connected with the axial rotating shaft to be close to each other, after a specified distance is reached, the motor rotates to drive the rotating shaft to rotate, the winding wire is tightened, meanwhile, the motor current is detected, when the differential value of the motor load current exceeds a set value, the winding wire is tightened, the control system controls the motor to stop rotating, and winding of the white asparagus is completed.
3) The fixing frame moves vertically upwards, the harvesting device is pulled out, the white asparagus is brought out of the soil, the control system controls the motor to reversely rotate to drive the rotating shaft to reversely rotate, meanwhile, the stepping motor reversely rotates to drive the sliding block connecting shaft to return to the initial position, and the white asparagus falls down to finish one-time harvesting.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the method, a roll-cutting type harvesting method is adopted, the root of Bai Lusun is cut by utilizing the shearing line at the bottom of the two shafts, the rolling and holding line is tightened by utilizing the sliding block to connect the axial rotating shaft to rotate close to the rotating shaft, so that white asparagus is held, and compared with the manual harvesting of white asparagus, a plurality of complicated harvesting steps are omitted.
2. The winding and holding wire in the harvesting device can be made of non-rigid materials, so that mechanical damage to white asparagus is avoided.
3. The invention has the advantages of convenient use, low cost and convenient maintenance.
Drawings
Fig. 1 is a front view of a cut-and-roll end effector suitable for a white asparagus selective harvesting robot
Fig. 2 is an isometric view of a cut-and-roll end effector suitable for a white asparagus selective harvesting robot
Fig. 3 is a left side view of a cut-and-roll end effector suitable for a white asparagus selective harvesting robot
Fig. 4 is a diagram of a cut-roll end effector control system suitable for a white asparagus selective harvesting robot
In the figure: 1. the harvester comprises a fixing frame 2, an adjusting device 3, a harvesting device 4, a control system 5, a motor 6, a coupler 7, a bearing seat 8, a screw slider 9, a screw guide rail 10, a stepping motor 11, a winding holding wire 12, a rotating shaft 13, a slider connecting shaft 14 and a shearing wire
Detailed Description
The patent of the invention is further described below with reference to the accompanying drawings. As shown in fig. 1, 2 and 3, the end effector of the white asparagus selective harvesting robot comprises a fixing frame, an adjusting device, a harvesting device and a control system.
The fixing frame (1) is a rectangular solid metal plate and is used for realizing the insertion and extraction of the harvesting device into soil; the adjusting device (2) is fixed on the fixing frame (1) and is used for adjusting the harvesting component; the harvesting device (3) is connected to the adjusting device (2) and is used for shearing and winding the asparagus.
The adjusting device (2) comprises: the device comprises a motor (5), a coupler (6), a bearing seat (7), a screw slider (8), a screw guide rail (9) and a stepping motor (10). The motor (5) and the bearing seat (7) are fixed on the fixing frame (1); two ends of the coupler (6) are respectively connected with an output shaft of the motor and the rotating shaft (12); the screw guide rail (9) and the stepping motor (10) are fixed on the fixing frame (1); the screw slider (8) is fixed on the screw guide rail (9) and is used for driving the slider connecting shaft (13) to move.
The harvesting device (3) comprises: a rotating shaft (12), a slide block connecting shaft (13), a winding holding wire (11) and a shearing wire (14). The rotating shaft (12) is a hollow metal shaft with an opening on the side wall and is connected with the motor output shaft through the coupler (6); the sliding block connecting shaft (13) is a hollow metal shaft with an opening on the side wall, and one end of the sliding block connecting shaft is fixed on the screw rod sliding block (8); the winding and holding wire (11) is made of flexible materials with certain width, and two ends of the middle lower part of the harvesting device (3) are respectively fixed at the side wall openings of the rotating shaft (12) and the sliding block connecting shaft (13); the shearing line (14) is a metal wire with certain rigidity, and two ends of the bottom of the harvesting device (3) are respectively fixed at the shaft tip of the rotating shaft (12) and the slider connecting shaft (13).
The control system (4) comprises: control box, controller, motor driver, power. The control box comprises a controller and a motor driver, is fixed on the fixing frame (1) and mainly realizes the functions of motor control, communication and the like; the controller can be composed of a singlechip, a microprocessor, an industrial personal computer and other equipment with the same processing capacity and an I/O driving interface circuit; the motor driver selects alternating current and direct current motor drivers, step motor drivers, servo motor drivers and the like with different types according to the motor types, receives control signals sent by the controller and drives the motor to rotate; the power supply can provide electric energy for the operation of the control system (4).
The harvesting method comprises two technical schemes of fixed-position harvesting and in-situ harvesting.
The harvesting method of the cut-roll type end effector suitable for the white asparagus selective harvesting robot by adopting the first technical scheme comprises the following steps:
1) The fixing frame (1) moves horizontally to drive the harvesting device (3) to move so that white asparagus exposed out of the surface soil is positioned right in front of the shear line (14), and the fixing frame (1) moves vertically downwards so that the harvesting device (3) is smoothly inserted into the soil.
2) The fixing frame (1) moves forward horizontally, the shearing line (14) is driven to cut white asparagus stems and then reaches the position right ahead of Bai Lusun, then the stepping motor (10) rotates to enable a slide block connecting shaft (13) fixed on the screw slide block (8) to approach to the rotating shaft (12), after reaching a specified distance, the motor (5) rotates to drive the rotating shaft (12) to rotate, the winding holding wire (11) is tightened, meanwhile, the current of the motor (5) is detected, when the differential value of the load current of the motor (5) exceeds a set value, the winding holding wire (11) is tightened, and the control system (4) controls the motor (5) to stop rotating to finish winding holding of the white asparagus.
3) The fixing frame (1) moves vertically upwards, the harvesting device (3) is pulled out, white asparagus is brought out of soil, the control system (4) controls the motor (5) to reversely rotate to drive the rotating shaft (12) to reversely rotate, meanwhile, the stepping motor (10) reversely rotates to drive the sliding block connecting shaft (13) to return to the initial position, and the white asparagus falls down to finish one-time harvesting.
The harvesting method of the roll-cutting type end effector suitable for the white asparagus selective harvesting robot by adopting the second technical scheme comprises the following steps of:
1) The fixed frame (1) is connected with the working vehicle through the sliding table, the fixed frame (1) horizontally moves to drive the harvesting device (3) to move so that white asparagus exposing out of surface soil is positioned right in front of the shear line (14), the fixed frame (1) vertically moves downwards, and meanwhile, the sliding table drives the fixed frame to move towards the opposite direction of the movement of the working vehicle, so that the fixed frame and the ground are kept relatively static, and the harvesting device (3) is smoothly inserted into the soil.
2) The fixing frame (1) moves forward horizontally, the cutting line (14) is driven to cut white asparagus stems and then reaches the front of Bai Lusun, meanwhile, the sliding table drives the fixing frame (1) to move in the opposite direction of movement of the working vehicle, the fixing frame (1) and the ground are kept relatively static, then the stepping motor (10) rotates to enable a sliding block connecting shaft (13) fixed on a screw sliding block (8) to approach a rotating shaft (12), after reaching a specified distance, the motor (5) rotates to drive the rotating shaft (12) to rotate, the winding holding wire (11) is tightened, meanwhile, the current of the motor (5) is detected, when the differential value of the load current of the motor (5) exceeds a set value, the winding holding wire (11) is tightened, and the control system (4) controls the motor (5) to stop rotating, so that winding holding of the white asparagus is completed.
3) The fixing frame (1) moves vertically upwards, the harvesting device (3) is pulled out, white asparagus is brought out of soil, the control system (4) controls the motor (5) to reversely rotate to drive the rotating shaft (12) to reversely rotate, meanwhile, the stepping motor (10) reversely rotates to drive the sliding block connecting shaft (13) to return to the initial position, and the white asparagus falls down to finish one-time harvesting.
Claims (3)
1. The roll-cutting type end effector suitable for the white asparagus selective harvesting robot is characterized by comprising a fixing frame, an adjusting device, a harvesting device and a control system;
the fixed frame is a rectangular solid metal plate and is used for fixing the adjusting device, the harvesting device and the control system and driving the harvesting device to insert and pull out soil; the adjusting device is fixed on the fixing frame and is used for adjusting the harvesting component; the harvesting device is connected to the adjusting device and is used for shearing and winding the asparagus;
the adjusting device comprises a motor, a coupler, a bearing seat, a screw rod sliding block, a screw rod guide rail and a stepping motor; the motor and the bearing seat are fixed on the fixing frame; the two ends of the coupler are respectively connected with the motor output shaft and the rotating shaft; the screw guide rail and the stepping motor are fixed on the fixing frame; the screw rod sliding block is fixed on the screw rod guide rail and used for driving the sliding block connecting shaft to move;
the harvesting device comprises a rotating shaft, a sliding block connecting shaft, a winding holding wire and a shearing wire; the rotating shaft is a hollow metal shaft with an opening on the side wall and is connected with the motor output shaft through a coupler; the sliding block connecting shaft is a hollow metal shaft with an opening on the side wall, and one end of the sliding block connecting shaft is fixed on the screw rod sliding block; the winding and holding wire is made of flexible materials with certain width, and two ends of the lower part of the winding and holding wire are respectively fixed at the side wall openings of the rotating shaft and the sliding block connecting shaft; the shearing line is a metal wire with certain rigidity, and two ends of the bottom of the harvesting device are respectively fixed at the shaft tip of the connecting shaft of the rotating shaft and the sliding block;
the control system comprises a control box, a controller, a motor driver and a power supply; the control box comprises a controller and a motor driver, is fixed on the frame and mainly realizes the functions of motor control, communication and the like; the controller can be composed of a singlechip, a microprocessor, an industrial personal computer and other equipment with the same processing capacity and an I/O driving interface circuit; the motor driver selects alternating current and direct current motor drivers, step motor drivers, servo motor drivers and the like with different types according to the motor types, receives control signals sent by the controller and drives the motor to rotate; the power supply can provide electric energy for the operation of the control system.
2. The working process of the first technical scheme adopted by the roll-cutting end effector applicable to the white asparagus selective harvesting robot as claimed in claim 1, which is characterized by comprising the following steps:
1) The fixed frame moves horizontally to drive the harvesting device to move so that the white asparagus exposing out of the surface soil is positioned right in front of the shear line, and the fixed frame moves vertically downwards so that the harvesting device is smoothly inserted into the soil;
2) The fixing frame moves horizontally forwards to drive the shearing line to cut the white asparagus stem and then to reach the position right ahead of Bai Lusun, then the stepping motor rotates to enable the sliding block fixed on the lead screw sliding block to be connected with the axial rotating shaft to be close to the axial rotating shaft, after the specified distance is reached, the motor rotates to drive the rotating shaft to rotate, the winding wire is tightened, meanwhile, the motor current is detected, when the differential value of the motor load current exceeds a set value, the winding wire is tightened, the control system controls the motor to stop rotating, and winding of the white asparagus is completed;
3) The fixing frame moves vertically upwards, the harvesting device is pulled out, the white asparagus is brought out of the soil, the control system controls the motor to reversely rotate to drive the rotating shaft to reversely rotate, meanwhile, the stepping motor reversely rotates to drive the sliding block connecting shaft to return to the initial position, and the white asparagus falls down to finish one-time harvesting.
3. The working process of a second technical scheme adopted by a roll-cutting end effector suitable for a white asparagus selective harvesting robot according to claim 1, which is characterized by comprising the following steps:
1) The fixed frame is connected with the working vehicle through the sliding table, the fixed frame horizontally moves to drive the harvesting device to move so that the white asparagus exposing out of the surface soil is positioned right in front of the shear line, the fixed frame vertically moves downwards, and meanwhile, the sliding table drives the fixed frame to move in the opposite direction of the movement of the working vehicle, so that the fixed frame and the ground are kept relatively static, and the harvesting device is smoothly inserted into the soil;
2) The working vehicle drives the fixing frame to horizontally move forwards, the cutting line is driven to cut the stem of the white asparagus to reach the position right ahead of Bai Lusun, meanwhile, the sliding table drives the fixing frame to move in the opposite direction of the movement of the working vehicle, so that the fixing frame and the ground are kept relatively static, then the sliding block fixed on the screw sliding block is connected with the axial rotating shaft to be close to each other through the rotation of the stepping motor, after the specified distance is reached, the rotating shaft is driven to rotate through the rotation of the motor, the winding wire is tightened, meanwhile, the motor current is detected, when the differential value of the motor load current exceeds a set value, the winding wire is tightened, the motor is controlled by the control system to stop rotating, and the winding of the white asparagus is completed;
3) The fixing frame moves vertically upwards, the harvesting device is pulled out, the white asparagus is brought out of the soil, the control system controls the motor to reversely rotate to drive the rotating shaft to reversely rotate, meanwhile, the stepping motor reversely rotates to drive the sliding block connecting shaft to return to the initial position, and the white asparagus falls down to finish one-time harvesting.
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| Application Number | Priority Date | Filing Date | Title |
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| 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 |
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| 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 |
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| CN109328633B true CN109328633B (en) | 2023-07-25 |
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