CN111492803A - Spiral fruit and vegetable picking device and picking method - Google Patents
Spiral fruit and vegetable picking device and picking method Download PDFInfo
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- CN111492803A CN111492803A CN202010418305.XA CN202010418305A CN111492803A CN 111492803 A CN111492803 A CN 111492803A CN 202010418305 A CN202010418305 A CN 202010418305A CN 111492803 A CN111492803 A CN 111492803A
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- 235000012055 fruits and vegetables Nutrition 0.000 title claims abstract description 145
- 238000000034 method Methods 0.000 title claims description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 235000013399 edible fruits Nutrition 0.000 claims description 33
- 235000013311 vegetables Nutrition 0.000 claims description 12
- 239000013013 elastic material Substances 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 14
- 230000007547 defect Effects 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 241000220225 Malus Species 0.000 description 8
- 239000004677 Nylon Substances 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 3
- 229920001778 nylon Polymers 0.000 description 3
- 235000021016 apples Nutrition 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000005060 rubber Substances 0.000 description 2
- 240000008574 Capsicum frutescens Species 0.000 description 1
- 235000002568 Capsicum frutescens Nutrition 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 241000723382 Corylus Species 0.000 description 1
- 235000007466 Corylus avellana Nutrition 0.000 description 1
- 241001092040 Crataegus Species 0.000 description 1
- 235000014493 Crataegus Nutrition 0.000 description 1
- 241000758791 Juglandaceae Species 0.000 description 1
- 244000185386 Thladiantha grosvenorii Species 0.000 description 1
- 235000011171 Thladiantha grosvenorii Nutrition 0.000 description 1
- 241001247821 Ziziphus Species 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000011869 dried fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 235000021018 plums Nutrition 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 229940126680 traditional chinese medicines Drugs 0.000 description 1
- 235000020234 walnut Nutrition 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Food Science & Technology (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a spiral fruit and vegetable picking device, which comprises a rack, a rotating shaft and a transmission system, wherein the rotating shaft and the transmission system are arranged on the rack; the rotating shaft and the transmission system are connected with each other; the rotating shaft is arranged on the rack in a grid layout, and helical blades are arranged on the rotating shaft; the rotation directions of the helical blades are the same; the invention is suitable for picking the fruits and vegetables blocked by the leaves, and makes up the defect that the existing machine vision technology can not detect the fruits and vegetables blocked by the leaves; the fruit and vegetable picking machine can pick fruits and vegetables with large disturbance in an environment with high wind speed, and enriches the prior micro-disturbance fruit and vegetable picking technology; a plurality of adjacent fruits and vegetables can be picked at one time, and the defect that the prior art is lack of a technology for picking more than two fruits and vegetables at one time is overcome; the spiral blades are in a grid layout, form a multilayer net shape, have large coverage area, do not need to accurately aim at fruits and vegetables or handles of the fruits and vegetables, reduce the requirements of equipment software and hardware, reduce the cost and improve the production efficiency.
Description
Technical Field
The invention relates to the technical field of agricultural picking, in particular to a spiral fruit and vegetable picking device and a picking method.
Background
For more than ten years, there are two main ways of picking fruits and vegetables mechanically and automatically, one is a clamping way, namely clamping the fruits and vegetables by using two or more clamping plates, and then pulling or twisting to separate the fruits and vegetables from the branches; the other mode is a cutting mode, namely a blade is used for being close to the fruit and vegetable stalks, and the blade is used for cutting off the fruit and vegetable stalks or cutting off the fruit and vegetable stalks.
In recent years, in order to improve the modernization level of agricultural production, new technologies such as robotics, machine vision technologies, automation technologies, information technologies, big data applications, artificial intelligence and the like are actively applied to fruit and vegetable picking machines, but the problems which need to be solved urgently by the new technologies are as follows: (1) the machine vision cannot detect the fruits and vegetables blocked by the leaves; (2) for slightly disturbed fruits and vegetables, the accuracy rate of machine vision picking points is lower than 90%, and the picking points confirm that the processing time is close to 10 seconds; (3) machine vision determines dynamic fruits and vegetables with large disturbance, and further research is needed. The above situations cause the problems of missed fruits, slow action, reduced yield, low efficiency and the like in the automatic picking, and hinder the comprehensive mechanized and automatic progress of agriculture.
In the prior art, chinese patent CN109526395A discloses an apple picking device, which comprises a hand-held handle, a main shaft, an auxiliary shaft, a driving device, a telescopic shaft regulator, a fruit basket and a picker, wherein the picking process requires a person to hold the main shaft by hand, and the fruit and vegetable handles are cut off by a knife edge on the main shaft; chinese patent CN109197155A discloses an apple picking device, which comprises a long tube, scissors, a pulley and a pull rope, wherein the pull rope is wound on the pulley, and the working principle of the apple picking device is that the pull rope scissors cut off an apple stem; chinese patent CN109156164A discloses an apple picking robot, which comprises a robot main body, a multi-stage adjusting arm, an adjusting device, a paw and a sorting device, and the working principle of the apple picking robot is that the paw is used for grabbing apples. The above prior arts all have problems of slow action, reduced yield, low efficiency, etc.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a spiral fruit and vegetable picking device, which utilizes the rotation of a spiral blade to generate thrust or tension, so that the fruit and vegetable can swing greatly at high frequency, the action of manually pulling the fruit and vegetable from a branch is simulated, and the effect of breaking a fruit stem is caused, so that the fruit and vegetable can be separated from the branch; the helical blades are in a grid layout to form a multi-layer net shape, so that the multi-layer net type fruit and vegetable picker is suitable for picking fruits and vegetables sheltered from leaves and is also suitable for picking fruits and vegetables swaying in the wind.
The invention also aims to provide a spiral fruit and vegetable picking method.
The purpose of the invention is realized by the following technical scheme:
a spiral fruit and vegetable picking device comprises a rack, a rotating shaft and a transmission system, wherein the rotating shaft and the transmission system are arranged on the rack; the rotating shaft and the transmission system are connected with each other; the rotating shaft is arranged on the rack in a grid layout, and helical blades are arranged on the rotating shaft; the rotation directions of the helical blades are the same;
the transmission system comprises a bearing seat, a gear, a carrier gear, a first belt pulley, a second belt pulley, a belt and a motor, wherein the bearing seat is arranged on the rack; the bearing seat and the gear are arranged corresponding to the rotating shaft and are connected with the rotating shaft; the intermediate gear is arranged between adjacent gears, so that the adjacent gears have the same rotating direction; the first belt pulley is arranged on the motor, the second belt pulley is arranged on a rotating shaft of the rack, and the first belt pulley and the second belt pulley are connected through the belt.
Preferably, the helical blade is made of an elastic material.
Preferably, the spiral blade adopts a reducing spiral line, and the diameter of the front end of the spiral blade is smaller than that of the rear end of the spiral blade.
Preferably, the pitch of the spiral blade is smaller than the diameter of the fruits and vegetables, so that the fruits and vegetables can be stored conveniently.
Preferably, the distance between adjacent helical blades is smaller than the diameter of the fruits and vegetables, so that the fruits and vegetables are prevented from falling from the gap.
A spiral fruit and vegetable picking method comprises the following steps:
(1) in a working state, the spiral fruit and vegetable picking device is arranged at the front end of a mechanical arm of the picking machine, a motor is started to rotate positively, and the spiral blades rotate to generate force for pulling fruits and vegetables outwards; under the guidance of automatic control and mechanical vision, the spiral fruit and vegetable picking device aims at the approximate position of fruits and vegetables, the spiral blade drills into the branches and leaves of the fruits and vegetables like a drill bit, after the preset position is reached, the forward rotation mode and the reverse rotation mode are quickly changed by the motor, the fruits and vegetables and the branches and leaves which are contacted with the spiral blade swing greatly at high frequency by the thrust force and the pull force generated by the spiral blade, and the fruit stalks and partial leaves are broken off and separated from the branches; even if the fruits and vegetables are blocked by the leaves, the leaves are soft and can easily swing, so that the spiral blades can pull the fruits and vegetables through the leaves, and the fruits and vegetables fall into a space between the two spiral blades;
(2) the mechanical arm of the picking machine drives the spiral fruit and vegetable picking device to withdraw from the branches, the spiral blades keep rotating in the withdrawing process, force for pulling the fruits and vegetables outwards is continuously provided, the spiral fruit and vegetable picking device keeps high in the front and low in the back, and the fruits and vegetables are prevented from remaining in the branches or falling from the front end of the device; after the branches are withdrawn, the spiral fruit and vegetable picking device reduces the height and changes the height into the front low and the rear high, the motor rotates reversely, so that the spiral blades rotate reversely to generate force for pushing the fruits and vegetables outwards, and the fruits and vegetables are spit out;
(3) according to the picking path planned in advance, the fruit bearing area of the fruits and the vegetables is divided according to the grids, the fruits and the vegetables are picked in sequence, and the picking actions are repeated, so that the picking of the whole fruit bearing area can be completed.
The working principle of the invention is as follows:
in a working state, the spiral fruit and vegetable picking device is arranged at the front end of a mechanical arm of the picking machine, a motor is started to rotate positively, and the spiral blades rotate to generate force for pulling fruits and vegetables outwards; under the guidance of automatic control and mechanical vision, the spiral fruit and vegetable picking device aims at the approximate position of fruits and vegetables, the spiral blade drills into the branches and leaves of the fruits and vegetables like a drill bit, after the preset position is reached, the forward rotation mode and the reverse rotation mode are quickly changed by the motor, the fruits and vegetables and the branches and leaves which are contacted with the spiral blade swing greatly at high frequency by the thrust force and the pull force generated by the spiral blade, and the fruit stalks and partial leaves are broken off and separated from the branches; even if the fruits and vegetables are blocked by the leaves, the leaves are soft and can easily swing, so that the spiral blades can pull the fruits and vegetables through the leaves, and the fruits and vegetables fall into a space between the two spiral blades; the mechanical arm of the picking machine drives the spiral fruit and vegetable picking device to withdraw from the branches, the spiral blades keep rotating in the withdrawing process, force for pulling the fruits and vegetables outwards is continuously provided, the spiral fruit and vegetable picking device keeps high in the front and low in the back, and the fruits and vegetables are prevented from remaining in the branches or falling from the front end of the device; after the branches are withdrawn, the spiral fruit and vegetable picking device reduces the height and changes the height into the front low and the rear high, the motor rotates reversely, so that the spiral blades rotate reversely to generate force for pushing the fruits and vegetables outwards, and the fruits and vegetables are spit out; according to the picking path planned in advance, the fruit bearing area of the fruits and the vegetables is divided according to the grids, the fruits and the vegetables are picked in sequence, and the picking actions are repeated, so that the picking of the whole fruit bearing area can be completed.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention is suitable for picking the fruits and vegetables blocked by the leaves, and makes up the defect that the existing machine vision technology can not detect the fruits and vegetables blocked by the leaves;
(2) the invention can pick fruits and vegetables with large disturbance in the environment with high wind speed, and enriches the prior micro-disturbance fruit and vegetable picking technology;
(3) the invention can pick a plurality of adjacent fruits and vegetables at one time, and makes up the defect that the prior art lacks a technology of picking more than two fruits and vegetables at one time;
(4) the spiral blades are arranged in a grid manner, form a multi-layer net shape, have large coverage area, do not need to accurately aim at fruits and vegetables or handles of the fruits and vegetables, reduce the requirements of software and hardware of equipment, reduce the cost and improve the production efficiency.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the helical blade arrangement of the present invention;
FIG. 3 is a schematic illustration of the transmission system of the present invention;
FIG. 4 is a perspective view of the present invention;
FIG. 5 is a schematic diagram of an operating state of the present invention;
fig. 6 is a second schematic view of the working state of the present invention.
The reference numbers in the figures are: 1. a helical blade; 2. a rotating shaft; 3. a bearing seat; 4. a gear; 5. a carrier gear; 6. a belt; 7. a first belt pulley; 8. a second belt pulley; 9. a motor; 10. a frame; 11. machine vision camera.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
As shown in fig. 1 to 6, a spiral fruit and vegetable picking device comprises a frame 10, a rotating shaft 2 and a transmission system, wherein the rotating shaft 2 and the transmission system are arranged on the frame 10; the rotating shaft 2 and the transmission system are connected with each other; the rotating shaft 2 is arranged on the rack 10 in a grid manner, the rotating shaft 2 is provided with helical blades 1, the helical blades 1 are coaxial with the rotating shaft 2, and the rotating directions of the helical blades are the same, as shown in fig. 2; the helical blade 1 is made of elastic material, namely light, thin and soft elastic material such as rubber and nylon is adopted; the spiral blade 1 adopts a reducing spiral line, and the diameter of the front end of the spiral blade is smaller than that of the rear end of the spiral blade; the pitch of the spiral blade 1 is smaller than the diameter of the fruits and vegetables, so that the fruits and vegetables can be conveniently stored; the interval between adjacent helical blade is less than the fruit vegetables diameter, avoids the fruit vegetables to drop from the clearance.
The transmission system comprises a bearing seat 3, a gear 4, a carrier gear 5, a first belt pulley 7, a second belt pulley 8, a belt 6 and a motor 9, wherein the bearing seat 3 is arranged on the rack 10; the bearing seat 3 and the gear 4 are both arranged corresponding to the rotating shaft 2 and are both connected with the rotating shaft 2; the carrier gears 5 are arranged between the adjacent gears 4, so that the adjacent gears 4 rotate in the same direction, as shown in fig. 3; the first belt pulley 7 is arranged on the motor 9, the second belt pulley 8 is arranged on a rotating shaft 2 of the rack 10, and the first belt pulley 7 and the second belt pulley 8 are connected through the belt 6. The rotating shaft 2 is made of elastic materials, such as nylon, carbon fiber and rubber wrapped on the outer layer of the hollow tube, and therefore weight can be reduced; the gear 4 is made of non-metal materials such as nylon, so that the weight can be reduced; the helical blade 1 and the rotating shaft 2 are connected by hot melting or riveted; the gear 4 and the rotating shaft 2 are connected by hot melting, riveting or pin and key transmission.
Specifically, as shown in fig. 1 to 3, a helical blade 1 is coaxial with and fixed to a rotating shaft 2; the bearing seat 3 is arranged on the frame 10; the rotating shaft 2 is arranged on the bearing seat 3; the gear 4 is arranged at the lower end of the rotating shaft 2; the carrier gear 5 is arranged between the two gears 4 and is connected in a row; the belt 6 is connected with a first belt pulley 7 and a second belt pulley 8, the first belt pulley 7 is connected with a motor 9, the second belt pulley 8 is connected with the rotating shaft 2, and the motor 9 is installed on the rack 10.
The spiral fruit and vegetable picking device works at the front end of a mechanical arm of the picking machine, and a power supply of the motor is shared with a power supply of the mechanical arm. The invention can pick fruits, vegetables, traditional Chinese medicines and dried fruits, such as apples, oranges, jujubes, hot peppers, plums, hawthorns, momordica grosvenori, walnuts, hazelnuts and the like, which are shielded by leaves. Even in the environment with high wind speed and large disturbance, the picking device can capture dynamic fruits and vegetables to carry out picking operation.
In a working state, the spiral fruit and vegetable picking device is arranged at the front end of a mechanical arm of the picking machine, is in a posture with a high front part and a low back part and has a certain elevation angle, and aims to prevent picked fruits and vegetables from falling off from the front end; the motor 9 is started to rotate positively, the helical blade 1 rotates, and force for pulling the fruits and vegetables outwards is generated; under the guidance of an automatic control and mechanical vision camera 11, the spiral fruit and vegetable picking device aims at the approximate position of fruits and vegetables, the spiral blade 1 drills into branches and leaves of the fruits and vegetables like a drill bit, after the specified position is reached, a motor 9 quickly changes forward and backward modes, the fruits and vegetables and the branches and leaves which are contacted with the spiral blade 1 swing at a high frequency and a large amplitude by the aid of thrust and tension generated by the spiral blade 1, fruit stalks and partial leaves are broken and separated from the branches; even if the fruits and vegetables are blocked by the leaves, the leaves are soft and can easily swing, so that the spiral blades 1 can pull the fruits and vegetables through the leaves, and the fruits and vegetables fall into a space between the two spiral blades; the mechanical arm of the picking machine drives the spiral fruit and vegetable picking device to withdraw from the branches, in the withdrawing process, the spiral blade 1 keeps rotating and continuously provides force for pulling the fruits and vegetables outwards, and the spiral fruit and vegetable picking device keeps high in the front and low in the back, so that the fruits and vegetables are prevented from remaining in the branches or falling from the front end of the device; after the branches are withdrawn, the height of the spiral fruit and vegetable picking device is reduced to be lower at the front and higher at the back, the motor 9 rotates reversely, so that the spiral blades 1 rotate reversely to generate force for pushing the fruits and vegetables outwards, and then the fruits and vegetables are spit out; according to the picking path planned in advance, the fruit bearing area of the fruits and the vegetables is divided according to the grids, the fruits and the vegetables are picked in sequence, and the picking actions are repeated, so that the picking of the whole fruit bearing area can be completed.
Wherein: (1) by using the screw pair transmission principle, the smaller the helix angle, the smaller the component force in the direction of the thread surface, and the larger the component force vertical to the thread surface, the larger the friction force, and on the contrary, the smaller the component force vertical to the thread surface. According to the principle, the axial component force of the spiral blade is applied to the fruits and vegetables to generate the pulling force.
The pull force is calculated as follows:
P＝2πηT/L
wherein η is the transmission efficiency of the screw shaft, about 0.9-0.95, P is the tension, T is the torque, L is the lead of the screw shaft.
(2) The spiral blade rotates, axial component force is transmitted to contacted fruits and vegetables like waves, and even if the fruits and vegetables are blocked by leaves, the leaves are soft and can swing easily, so that the spiral blade can transmit power to the fruits and vegetables through the leaves.
(3) The distance between adjacent helical blades is smaller than the diameter of the fruits and vegetables, so that the picked fruits and vegetables cannot fall to the ground from the gap.
And (3) picking path planning: picking fruits and vegetables at the edge of a tree root, entering from the protruded branches, and gradually picking towards the top of the tree. Such a picking path may reduce the likelihood that the picking device will hit surrounding fruit or vegetables.
The problems and the solutions which may be encountered when the helical blade drills into the branch are as follows: (1) the soft and elastic spiral blade and the rotating shaft can be extruded and bounced to avoid barriers when the soft and elastic spiral blade and the rotating shaft are pushed to the trunk or thick branches; (2) if the resistance is too large, the branch can be withdrawn firstly, and then the branch is deviated from some positions and then drilled into the branch again; (3) when the branches on the front side are thick and cannot be inserted, the branches are inserted from two sides while the thick branches are avoided; (4) in the method for picking individual fruits and vegetables which are not easy to fall off, the helical blades are frequently reversed to rotate, so that the swing frequency and amplitude of the wrapped fruits and vegetables are improved, and the fruit stems are broken and separated from branches; (5) for a plurality of possible fallen leaves in the fruit and vegetable picking process, after investigation and research on part of fruit growers, the fruit growers can accept the fallen leaves in the picking process, and the leaves of the fruit trees basically fall off automatically after autumn harvest; (6) the diameter of the fruit handle is smaller than that of the branch, the thrust of the spiral blade is larger than the force required by breaking the fruit handle and smaller than the force for damaging the branch, and the branch can be protected from being damaged.
The invention is suitable for picking the fruits and vegetables blocked by the leaves, and makes up the defect that the existing machine vision technology can not detect the fruits and vegetables blocked by the leaves; the fruit and vegetable picking machine can pick fruits and vegetables with large disturbance in an environment with high wind speed, and enriches the prior micro-disturbance fruit and vegetable picking technology; a plurality of adjacent fruits and vegetables can be picked at one time, and the defect that the prior art is lack of a technology for picking more than two fruits and vegetables at one time is overcome; the spiral blades are in a grid layout, form a multilayer net shape, have large coverage area, do not need to accurately aim at fruits and vegetables or handles of the fruits and vegetables, reduce the requirements of equipment software and hardware, reduce the cost and improve the production efficiency.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (6)
1. A spiral fruit and vegetable picking device is characterized by comprising a rack, a rotating shaft and a transmission system, wherein the rotating shaft and the transmission system are arranged on the rack; the rotating shaft and the transmission system are connected with each other; the rotating shaft is arranged on the rack in a grid layout, and helical blades are arranged on the rotating shaft; the rotation directions of the helical blades are the same;
the transmission system comprises a bearing seat, a gear, a carrier gear, a first belt pulley, a second belt pulley, a belt and a motor, wherein the bearing seat is arranged on the rack; the bearing seat and the gear are arranged corresponding to the rotating shaft and are connected with the rotating shaft; the intermediate gear is arranged between adjacent gears, so that the adjacent gears have the same rotating direction; the first belt pulley is arranged on the motor, the second belt pulley is arranged on a rotating shaft of the rack, and the first belt pulley and the second belt pulley are connected through the belt.
2. The spiral fruit and vegetable picking device of claim 1, wherein the spiral blade is made of an elastic material.
3. The spiral fruit and vegetable picking device according to claim 1, wherein the spiral blades are variable diameter spirals, and the diameter of the front end of the spiral blades is smaller than that of the rear end of the spiral blades.
4. The spiral fruit and vegetable picking device according to claim 1, wherein the pitch of the spiral blades is smaller than the diameter of the fruit and vegetable, so that the fruit and vegetable can be stored conveniently.
5. The spiral fruit and vegetable picking device according to claim 1, wherein the spacing between adjacent spiral blades is smaller than the diameter of the fruit and vegetable, so as to prevent the fruit and vegetable from falling from the gap.
6. A spiral fruit and vegetable picking method is characterized by comprising the following steps:
(1) in a working state, the spiral fruit and vegetable picking device is arranged at the front end of a mechanical arm of the picking machine, a motor is started to rotate positively, and the spiral blades rotate to generate force for pulling fruits and vegetables outwards; under the guidance of automatic control and mechanical vision, the spiral fruit and vegetable picking device aims at the approximate position of fruits and vegetables, the spiral blade drills into the branches and leaves of the fruits and vegetables like a drill bit, after the preset position is reached, the forward rotation mode and the reverse rotation mode are quickly changed by the motor, the fruits and vegetables and the branches and leaves which are contacted with the spiral blade swing greatly at high frequency by the thrust force and the pull force generated by the spiral blade, and the fruit stalks and partial leaves are broken off and separated from the branches; even if the fruits and vegetables are blocked by the leaves, the leaves are soft and can easily swing, so that the spiral blades can pull the fruits and vegetables through the leaves, and the fruits and vegetables fall into a space between the two spiral blades;
(2) the mechanical arm of the picking machine drives the spiral fruit and vegetable picking device to withdraw from the branches, the spiral blades keep rotating in the withdrawing process, force for pulling the fruits and vegetables outwards is continuously provided, the spiral fruit and vegetable picking device keeps high in the front and low in the back, and the fruits and vegetables are prevented from remaining in the branches or falling from the front end of the device; after the branches are withdrawn, the spiral fruit and vegetable picking device reduces the height and changes the height into the front low and the rear high, the motor rotates reversely, so that the spiral blades rotate reversely to generate force for pushing the fruits and vegetables outwards, and the fruits and vegetables are spit out;
(3) according to the picking path planned in advance, the fruit bearing area of the fruits and the vegetables is divided according to the grids, the fruits and the vegetables are picked in sequence, and the picking actions are repeated, so that the picking of the whole fruit bearing area can be completed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010418305.XA CN111492803A (en) | 2020-05-18 | 2020-05-18 | Spiral fruit and vegetable picking device and picking method |
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| CN202010418305.XA CN111492803A (en) | 2020-05-18 | 2020-05-18 | Spiral fruit and vegetable picking device and picking method |
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| CN111492803A true CN111492803A (en) | 2020-08-07 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112840858A (en) * | 2021-03-31 | 2021-05-28 | 西北农林科技大学 | Executor is picked to spiral depression bar formula apple |
| CN112868379A (en) * | 2021-03-31 | 2021-06-01 | 西北农林科技大学 | Spiral pressing rod type apple batch harvester |
| CN114342685A (en) * | 2021-12-09 | 2022-04-15 | 北京市农林科学院智能装备技术研究中心 | Fruit and vegetable pruning device |
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