CN117204199A - A strawberry harvesting device based on parallel robots - Google Patents
A strawberry harvesting device based on parallel robots Download PDFInfo
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- CN117204199A CN117204199A CN202311183072.XA CN202311183072A CN117204199A CN 117204199 A CN117204199 A CN 117204199A CN 202311183072 A CN202311183072 A CN 202311183072A CN 117204199 A CN117204199 A CN 117204199A
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- harvesting device
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Abstract
The invention discloses a strawberry harvesting device based on parallel robots, which relates to the technical field of agricultural machinery and comprises parallel robots, sectional materials, walking elements, a frame, a transmission element, a driving element and flexible clamping claws, wherein the parallel robots are movably connected with one end of each sectional material, the other end of each sectional material is connected with the walking element, the frame is movably arranged at the lower end of each parallel robot, the driving element and the transmission element are arranged on the frame, the flexible clamping claws are connected with the transmission element, and the driving element is used for driving the transmission element to act and enabling the transmission element to drive the flexible clamping claws to envelop strawberries and achieve picking. The invention can reduce the labor cost and better realize the green, high-quality and high-efficiency harvesting of the ridge culture type strawberries.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a strawberry harvesting device based on a parallel robot.
Background
Strawberry is an important commercial crop and is one of the fruits in large quantities in the world. According to the data statistics of the grain and agriculture organizations of the united nations, the planting area and the yield of strawberries in the world in recent years show a gradually growing trend. There are two main modes of strawberry cultivation at home and abroad, namely overhead cultivation (greenhouse) and ridge culture (field). At present, harvesting of strawberries in a ridge culture mode still mainly depends on manual work, which is caused by factors such as unstructured strawberry planting field environment, slow development of harvesting machinery and the like. However, the manual harvesting has the defects of high labor intensity, low efficiency, high cost and the like; the existing mechanized and semi-mechanized strawberry harvesting device has the defects of low robustness, poor universality, heavy structure and high manufacturing cost, so that the improvement of economic benefits of farmers (especially small farmers) is limited to a certain extent, and the green and sustainable development of the strawberry industry is not facilitated.
Disclosure of Invention
The invention aims to provide a strawberry harvesting device based on a parallel robot, which solves the problems of the prior art, reduces labor cost and better realizes green, high-quality and high-efficiency harvesting of ridge culture strawberries.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a strawberry harvesting device based on parallel robots, which comprises parallel robots, sectional materials, traveling elements, a frame, a transmission element, a driving element and flexible clamping claws, wherein the parallel robots are movably connected with one end of each sectional material, the other end of each sectional material is connected with one traveling element, the frame is movably arranged at the lower end of each parallel robot, the driving element and the transmission element are both arranged on the frame, the flexible clamping claws are connected with the transmission element, and the driving element is used for driving the transmission element to act and enabling the transmission element to drive the flexible clamping claws to envelop strawberries and achieve harvesting.
Preferably, the transmission element comprises a planetary gear set and a rotary lifting element, the driving element, the planetary gear set, the rotary lifting element and the flexible clamping claw are sequentially connected, the driving element is used for driving the planetary gear set to rotate, the planetary gear set drives the rotary lifting element and the flexible clamping claw to lift, and the rotary lifting element can also drive the flexible clamping claw to rotate.
Preferably, the planetary gear set includes a central meshing gear, two external meshing gears, two sector gears and a rack, the central meshing gear is coaxially connected with the output shaft of the driving element, the two external meshing gears are symmetrically meshed with two sides of the central meshing gear, one ends of rotating shafts of the two external meshing gears are rotatably mounted on the rack, the other ends of rotating shafts of the two external meshing gears are respectively connected with a rotating shaft of the sector gears, the rack is located between the two sector gears, the orientations of the two sector gears are the same, each sector gear can rotate to mesh with the rack, and one side, far away from the central meshing gear, of the rack is connected with the rotary lifting element.
Preferably, the rotary lifting element comprises a sliding block, a screw rod, a T-shaped nut and two guide rails, wherein the two guide rails are symmetrically arranged on the frame, one side of the sliding block is connected with the rack, the sliding block is slidably connected between the two guide rails, the lower end of the sliding block is rotationally connected with the upper end of the screw rod, the T-shaped nut is fixed on the frame, the T-shaped nut is rotationally arranged on the periphery of the screw rod, and the lower end of the screw rod is connected with the flexible clamping claw.
Preferably, the cross section of the guide rail is V-shaped.
Preferably, an electric push rod is further installed on one side of the sliding block, a disc is connected to the lower end of the screw rod, a telescopic rod of the electric push rod penetrates through the screw rod and the disc and is connected with the middle of a circular clamp, a plurality of through holes are formed in the circular clamp, claw hooks of the flexible clamping claws correspondingly penetrate through different through holes, and the telescopic rod of the electric push rod can drive the circular clamp to reciprocate on the flexible clamping claws and adjust the clamping range of the flexible clamping claws.
Preferably, the walking element is a universal wheel.
Preferably, the number of the profiles is three, and the three profiles are circumferentially arranged around the parallel robot and are connected with the parallel robot through pins.
Preferably, the upper end of the frame is connected with the parallel robot through a pin.
Preferably, the driving element is a motor.
Compared with the prior art, the invention has the following technical effects:
according to the strawberry harvesting device based on the parallel robot, the parallel robot is movably connected with one end of each section bar, the parallel robot can release the space degree of freedom to simulate manual harvesting, so that the effect of a good robot replacement is achieved, the operation is mild, damage to the environment, the topography and the like of a strawberry field is avoided, the other end of each section bar is connected with the walking element, the walking element can enable the strawberry harvesting device based on the parallel robot to better adapt to the influence of unstructured environments such as the topography of the field on the machine, the robustness and the operation flexibility are improved, the frame is movably arranged at the lower end of the parallel robot, the driving element and the transmission element are arranged on the frame, the flexible clamping claws are connected with the transmission element, the driving element is used for driving the transmission element to drive the flexible clamping claws to envelop strawberries, and achieve picking, and as the strawberry fruits are small in mass and size, other main parts except for the driving element and the like are manufactured and processed through 3D printing or by adopting flexible materials, and the whole structure is simple, light and easy to move, the strawberry harvesting device is easy to accept and has high mechanical harvesting flexibility, and low cost and easy popularization compared with a large mechanical harvesting tool.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a strawberry harvesting device based on a parallel robot provided by the invention;
FIG. 2 is a schematic view of the structure of FIG. 1 with the frame removed;
fig. 3 is a schematic view of a part of the structure of the strawberry harvesting device based on the parallel robot in the invention;
FIG. 4 is a schematic view of the structure of the interior of the frame of FIG. 3;
FIG. 5 is a schematic view of the structure of the driving element and the transmission element of the present invention;
FIG. 6 is a top view of FIG. 5;
in the figure: the device comprises a 1-parallel robot, a 2-section bar, a 3-walking element, a 4-frame, a 5-transmission element, a 6-rotary lifting element, a 7-flexible clamping claw, an 8-driving element, a 9-central meshing gear, a 10-external meshing gear, a 11-sector gear, a 12-rack, a 13-slider, a 14-guide rail, a 15-electric push rod, a 16-T-shaped nut, a 17-screw rod, a 18-telescopic rod, a 19-disc, a 20-round clamp and a 21-claw hook.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a strawberry harvesting device based on a parallel robot, which aims to solve the technical problems of high labor cost, complex structure of semi-mechanized auxiliary tools and poor universality in mechanized and intelligent harvesting of strawberries in the existing large Tian Longzuo cultivation mode.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1-6, the embodiment provides a strawberry harvesting device based on a parallel robot, which comprises a parallel robot 1, a section bar 2, a walking element 3, a frame 4, a transmission element 5, a driving element 8 and a flexible clamping claw 7, wherein the parallel robot 1 is movably connected with one end of each section bar 2, the parallel robot 1 can release the space degree of freedom to simulate the manual harvesting action, thereby playing a good role of robot replacement, ensuring that the working temperature is mild and the environment, the topography and the like of a strawberry field are not damaged, the other end of each section bar 2 is connected with the walking element 3, the walking element 3 can enable the strawberry harvesting device based on the parallel robot to better adapt to the influence of unstructured environments such as the topography and the like of the field on the machine, the robustness and the working flexibility are improved, the frame 4 is movably arranged at the lower end of the parallel robot 1, the driving element 8 and the transmission element 5 are both arranged on the frame 4, the flexible clamping claw 7 is connected with the transmission element 5, the driving element 8 is used for driving the transmission element 5 to act, and the transmission element 5 drives the flexible clamping claw 7 to envelop strawberries and realize picking, as the mass and the volume of strawberry fruits are smaller, too large clamping force or shearing force is not needed during picking, other main parts except the driving element 8 and the like can be manufactured and processed through 3D printing or flexible light materials, the whole structure is simple, light and easy to move, the whole structure has higher operation flexibility and stronger robustness, the manufacturing cost is low, the strawberry harvester is easy to accept by small farmers, and compared with large-scale harvesting machinery or semi-mechanized auxiliary harvesting tools, the strawberry harvester is easier to popularize and use.
Specifically, the transmission element 5 comprises a planetary gear set and a rotary lifting element 6, the driving element 8, the planetary gear set, the rotary lifting element 6 and the flexible gripper jaw 7 are sequentially connected, the driving element 8 is used for driving the planetary gear set to rotate, the planetary gear set drives the rotary lifting element 6 and the flexible gripper jaw 7 to lift, the rotary lifting element 6 can also drive the flexible gripper jaw 7 to rotate, further the gripper jaw is guaranteed to provide torsion when clamping strawberries through the rotary lifting element 6, and therefore fruit stalks are twisted off, and harvesting is completed.
The planetary gear set comprises a central meshing gear 9, two external meshing gears 10, two sector gears 11 and a rack 12, wherein the central meshing gear 9 and the two external meshing gears 10 are straight-tooth cylindrical gears, the central meshing gear 9 is coaxially connected with an output shaft of the driving element 8, the two external meshing gears 10 are symmetrically meshed with two sides of the central meshing gear 9, one ends of rotating shafts of the two external meshing gears 10 are rotatably arranged on the frame 4, the other ends of the rotating shafts of the two external meshing gears 10 are respectively connected with the rotating shafts of one sector gear 11, the rack 12 is positioned between the two sector gears 11, the directions of the two sector gears 11 are the same, each sector gear 11 can be rotated to be meshed with the rack 12, one side, away from the central meshing gear 9, of the rack 12 is connected with the rotary lifting element 6, the central meshing gear 9 is driven to rotate by the driving element 8, the central meshing gear 9 drives the two external meshing gears 10 to synchronously rotate, and as the directions of the two sector gears 11 are consistent, the two sector gears 11 are enabled to alternately mesh with the rack 12 when synchronously rotating, and the two sector gears 11 are driven to move, and the two sector gears 11 are driven to rotate, and the same rotation sequence can be realized by the two sector gears 11 and the two sector gears 11 are driven to rotate, and the same rotation sequence can be respectively.
The rotary lifting element 6 comprises a sliding block 13, a screw rod 17, a T-shaped nut 16 and two guide rails 14, wherein the two guide rails 14 are symmetrically arranged on the frame 4, one side of the sliding block 13 is connected with the rack 12, the sliding block 13 is slidably connected between the two guide rails 14, the lower end of the sliding block 13 is rotationally connected with the upper end of the screw rod 17, the T-shaped nut 16 is fixed on the frame 4, the T-shaped nut 16 is rotationally arranged on the periphery of the screw rod 17, the lower end of the screw rod 17 is connected with the flexible clamping claw 7, the sliding block 13 can ascend and descend along with the rack 12, and meanwhile, the up-down reciprocating movement of the sliding block 13 is converted into the rotation of the screw rod 17 due to the matching relation of the screw rod 17 and the T-shaped nut 16, so that the operation of twisting a fruit handle is realized.
The rail 14 is V-shaped in cross section.
The electric push rod 15 is further installed on one side of the sliding block 13, the disc 19 is connected to the lower end of the screw rod 17, the telescopic rod 18 of the electric push rod 15 penetrates through the screw rod 17 and the disc 19 and is connected with the middle of the circular clamp 20, the telescopic rod 18 of the electric push rod 15 is movably connected with the screw rod 17, relative rotation and relative movement of the telescopic rod 18 of the electric push rod 15 and the screw rod 17 are not affected, a plurality of through holes are formed in the circular clamp 20, the claw hooks 21 of the flexible clamping claw 7 correspondingly penetrate through different through holes, the telescopic rod 18 of the electric push rod 15 can drive the circular clamp 20 to reciprocate on the flexible clamping claw 7, and then the circular clamp 20 moves towards the direction close to or far away from the disc 19, so that the clamping range of the flexible clamping claw 7 is adjusted, and the strawberry fruit picking machine has good robustness and universality.
The walking element 3 is a universal wheel, and has simple structure and low cost.
The number of the profiles 2 is three, and the three profiles 2 are circumferentially arranged around the parallel robot 1 and are connected with the parallel robot 1 through pins.
The upper end of the frame 4 is connected with the parallel robot 1 through a pin.
The driving element 8 is a motor.
The working process of the strawberry harvesting device based on the parallel robot in the embodiment is as follows:
before harvesting, the strawberry harvesting device based on the parallel robot in the embodiment is moved to a ridge culture type strawberry field, and the parallel robot 1 can move the flexible clamping claw 7 to a proper working area;
when the strawberry harvesting machine works, the motor is started, the central meshing gear 9 rotates, the external meshing gears 10 on two sides are driven to rotate, the external meshing gears 11 are driven to synchronously rotate by respective shafts, meanwhile, the external meshing gears are intermittently meshed with the racks 12 to drive the sliding blocks 13 on the racks 12 to reciprocate up and down in the guide rails 14, the sliding blocks 13 drive the screw rods 17 penetrating through the T-shaped nuts 16 to move, so that the up-down linear motion of the sliding blocks 13 is converted into the spiral motion of the screw rods 17, the tail ends of the screw rods 17 are connected with the flexible clamping claws 7 through the discs 19, and therefore actions such as enveloping, clamping, rotating, screwing and breaking of the fruit stalks of strawberries can be completed until harvesting steps in the period are completed. But this embodiment can be used for strawberry picking only.
The strawberry harvesting device based on the parallel robot in the embodiment has the following advantages:
1. the embodiment is mainly applied to strawberry harvesting operation scenes of ridge culture type cultivation, the design of combining the universal wheels with the parallel robot 1 has the advantages of simple structure, easiness in manufacturing and the like, and the operation is mild and cannot damage the environment, the topography and the like of a strawberry field. The embodiment can also carry the portable collecting box for storing the harvested strawberries, so that the frequency of unloading from the field in the picking operation process is reduced, the non-productive time cost is reduced, and the working efficiency is improved;
2. because strawberry fruit quality, volume are less, need not too big clamping force or shearing force when picking, consequently in this embodiment except spare part such as motor, all main spare part of other are accessible 3D prints or adopt flexible light material to make and process, and overall structure is simple, light and easily remove, has higher operation flexibility and stronger robustness. The characteristics also reflect that the cost is low, and the device is easy to be accepted by small farmers, and is easier to popularize and use compared with a large-scale harvesting machine or a semi-mechanized auxiliary harvesting tool;
3. in the embodiment, the two external meshed gears 10 in the planetary gear set and the sector gears 11 on the shafts of the external meshed gears 10 are powered by the motor connected with the central meshed gear 9 in the planetary gear set, and the position of the sector gears 11 is initially set to ensure that the two external meshed gears 10 and the sector gears 11 are synchronous during operation;
4. the tail end of the sliding block 13 is connected with the screw rod 17 while vertically reciprocating, and the T-shaped nut 16 is fixed on the frame 4, so that the vertically reciprocating motion of the sliding block 13 is converted into the spiral reciprocating motion of the screw rod 17, and three flexible clamping claws 7 are uniformly distributed on the disc 19 in the circumferential direction, and the functions can ensure that the flexible clamping claws 7 provide torsion while clamping strawberries, so that the fruit stalks are twisted off, and harvesting is completed;
5. because morphological characteristics among strawberry fruits are different, the flexible clamping claws 7 penetrate through the circular clamp 20, the circular clamp 20 is connected with the tail end of the electric push rod 15, the circular clamp 20 can be driven to move up and down on the flexible clamping claws 7 by changing the stroke of the electric push rod 15, and then the whole open area of the flexible clamping claws 7 is changed, so that a better enveloping effect is achieved on the strawberry fruits, and strawberries are prevented from being separated from the enveloping area in the twisting process.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present invention and its core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In summary, the present description should not be construed as limiting the invention.
Claims (10)
1. Strawberry harvesting device based on parallel robot, its characterized in that: the device comprises a parallel robot, sectional materials, walking elements, a frame, a transmission element, a driving element and a flexible gripper jaw, wherein the parallel robot is movably connected with one end of each sectional material, the other end of each sectional material is connected with one walking element, the frame is movably installed at the lower end of the parallel robot, the driving element and the transmission element are both installed on the frame, the flexible gripper jaw is connected with the transmission element, and the driving element is used for driving the transmission element to act, so that the transmission element drives the flexible gripper jaw to envelop strawberries and pick the strawberries.
2. The parallel robot-based strawberry harvesting device of claim 1, wherein: the transmission element comprises a planetary gear set and a rotary lifting element, wherein the driving element, the planetary gear set, the rotary lifting element and the flexible clamping claw are sequentially connected, the driving element is used for driving the planetary gear set to rotate, the planetary gear set drives the rotary lifting element and the flexible clamping claw to lift, and the rotary lifting element can also drive the flexible clamping claw to rotate.
3. The parallel robot-based strawberry harvesting device of claim 2, wherein: the planetary gear set comprises a central meshing gear, two external meshing gears, two sector gears and a rack, wherein the central meshing gear is coaxially connected with an output shaft of the driving element, the two external meshing gears are symmetrically meshed with two sides of the central meshing gear, one ends of rotating shafts of the external meshing gears are rotatably arranged on the rack, the other ends of the rotating shafts of the external meshing gears are respectively connected with one rotating shaft of the sector gears, the rack is positioned between the two sector gears, the directions of the sector gears are the same, the sector gears can be rotated to mesh with the rack, and one side, far away from the central meshing gear, of the rack is connected with the rotary lifting element.
4. The parallel robot-based strawberry harvesting device of claim 3, wherein: the rotary lifting element comprises a sliding block, a screw rod, a T-shaped nut and two guide rails, wherein the two guide rails are symmetrically arranged on the frame, one side of the sliding block is connected with the rack, the sliding block is slidably connected between the two guide rails, the lower end of the sliding block is rotationally connected with the upper end of the screw rod, the T-shaped nut is fixed on the frame, the T-shaped nut is rotationally arranged on the periphery of the screw rod, and the lower end of the screw rod is connected with the flexible clamping claw.
5. The parallel robot-based strawberry harvesting device of claim 4, wherein: the cross section of the guide rail is V-shaped.
6. The parallel robot-based strawberry harvesting device of claim 4, wherein: the utility model discloses a flexible clamping jaw, including slider, flexible clamping jaw, electric putter, disc, flexible clamping jaw, electric putter, flexible clamping jaw, electric putter is still installed to one side of slider, a disc is connected to the lower extreme of lead screw, electric putter's telescopic link passes the lead screw with the disc and be connected with the middle part of a circular clamp, a plurality of through-holes have been seted up on the circular clamp, each claw hook of flexible clamping jaw corresponds to pass the difference the through-hole, electric putter's telescopic link can drive circular clamp is in reciprocating motion on the flexible clamping jaw, and the adjustment flexible clamping jaw's clamping range.
7. The parallel robot-based strawberry harvesting device of claim 1, wherein: the walking element is a universal wheel.
8. The parallel robot-based strawberry harvesting device of claim 1, wherein: the number of the sectional materials is three, and the three sectional materials are circumferentially arranged around the parallel robot and are connected with the parallel robot through pins.
9. The parallel robot-based strawberry harvesting device of claim 1, wherein: the upper end of the frame is connected with the parallel robot through a pin.
10. The parallel robot-based strawberry harvesting device of claim 1, wherein: the driving element is a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202311183072.XA CN117204199A (en) | 2023-09-14 | 2023-09-14 | A strawberry harvesting device based on parallel robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311183072.XA CN117204199A (en) | 2023-09-14 | 2023-09-14 | A strawberry harvesting device based on parallel robots |
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| CN117204199A true CN117204199A (en) | 2023-12-12 |
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| CN202311183072.XA Pending CN117204199A (en) | 2023-09-14 | 2023-09-14 | A strawberry harvesting device based on parallel robots |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117796228A (en) * | 2024-01-19 | 2024-04-02 | 中国农业大学 | A polar coordinate-type two-arm tomato picking robot |
-
2023
- 2023-09-14 CN CN202311183072.XA patent/CN117204199A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117796228A (en) * | 2024-01-19 | 2024-04-02 | 中国农业大学 | A polar coordinate-type two-arm tomato picking robot |
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