CN205408984U - Atomizing kiwi fruit pollination end effector - Google Patents
Atomizing kiwi fruit pollination end effector Download PDFInfo
- Publication number
- CN205408984U CN205408984U CN201620195084.3U CN201620195084U CN205408984U CN 205408984 U CN205408984 U CN 205408984U CN 201620195084 U CN201620195084 U CN 201620195084U CN 205408984 U CN205408984 U CN 205408984U
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- pollination
- end effector
- atomizing
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- shower nozzle
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Abstract
The utility model provides an atomizing kiwi fruit pollination end effector for the mechanized pollination of kiwi fruit fruit tree belongs to pollination robot field. Including mechanism, roll adjustment mechanism, fine -tuning, sensing system and the control system of spraying. Spraying mechanism mainly each other is become 120 three shower nozzle and PE nest of tubes one -tenth by the contained angle, guarantee that pollen liquid sprays evenly, roll adjustment mechanism is by erecting the transmission of straight filament thick stick, drives spraying mechanisms through two bracing pieces and reciprocates and reach the pollination optimum distance, fine -tuning realizes the real -time inching of each shower nozzle through three thin cylinder and three shower nozzle difference reciprocal distribution, sensing system includes laser rangefinder sensor, ultrasonic distance measuring sensor, hall position sensor, be used for respectively roll adjustment mechanism, fine -tuning's and the information that resets. Control system comprises singlechip, stepper motor controller, is realized entire system's control by the sensing system cooperation. Each part coordination work of this end effector realizes kiwi fruit pollination operation.
Description
Technical field
This utility model belongs to agricultural mechanical field, particularly relates to the design of a kind of atomizing Fructus actinidiae chinensis pollination end effector.
Background technology
The higher country of Mechanization Development level is in fruit tree supple-mentary pollination technical field achieved with preferable development, and its mechanization pollination mostly is wind and send the technology of dusting, hydraulic atomization technology etc., especially send the technology of dusting to be most widely used with wind.
Nanjing Agriculturing Mechanization Inst., Ministry of Agriculture and Zhengzhou Fruit-tree Inst., Chinese Agriculture Science Academy have developed hand-held wind and send pollination machine.This machine uses the DC motor Driver centrifugal blower of variable-ratio, according to hydrodynamics jet current principle, calculates pollination air outlet velocity and devises centrifugal blower, blade pattern uses radially straight blade, and impeller type is flat shroud, impeller diameter 38mm, the number of blade is 6, and width of blade is 18mm.
The most common BS-CFSF-2 type electric pollinizer.Pressing point driving switch during pollination, pollen uniformly sprays with powder from discharge tube, carries out flower pollination, and pollen powder outlet quantity can be adjusted by powder outlet quantity adjusting knob, and this small product size is less, is suitable for little area manual work.
This utility model, for Mei County, Shaanxi Province periphery booth frame for yangtao cropping pattern feature, have developed high efficiency pollination end effector.Kiwi fruit pollen liquid is made to be atomized by high-pressure atomization pump, distance adjustor changes the operating distance of pollen droplet, three thin cylinders carry out auxiliary adjustment, effectively prevent the uneven waste with pollen of pollination, are greatly saved again the input of cost of labor while improving pollination efficiency.
Summary of the invention
In order to solve the Fructus actinidiae chinensis pollination problem that labor intensity is big, efficiency is low, cost is high, this utility model provides a kind of atomizing Fructus actinidiae chinensis pollination end effector, uses high-pressure fog to combine with frame for movement and realizes the pollination of Fructus actinidiae chinensis flower.
The technical scheme in the invention for solving the technical problem is:
A kind of atomizing Fructus actinidiae chinensis pollination end effector, including humidifier, distance adjustor, micro-adjusting mechanism, sensor-based system and control system；
Described humidifier is mainly made up of with PE pipe three shower nozzles；Described shower nozzle is high-pressure atomization shower nozzle, and three PE pipes at shower nozzle place are connected by four-way branch, are mutually 120 ° in horizontal plane within angle；
Described distance adjustor includes linear stepping motor, upright slide block, support, support bar；The leading screw of described linear stepping motor has a style of one's own with motor output shaft, and leading screw other end bearing is connected with support；Described upright slide block slides at the slide rail of support, and is connected with the gap nut that disappears of linear stepping motor；Described support bar one end connects upright slide block, and the other end is connected through cradle top with supporting platform；
Described micro-adjusting mechanism includes three thin cylinders, supports platform and clip；Described thin cylinder base is fixed on support platform, and the other end is fixing with PE pipe by clip；
Described sensor-based system includes the hall position sensor in laser range sensor, ultrasonic distance-measuring sensor I, II, III, frame；Described laser range sensor is positioned at four-way top；Described ultrasonic distance-measuring sensor I, II, III are adjacent with shower nozzle, are fixed on PE pipe by clip；Described hall position sensor is rack-mount；
Described control system is made up of single-chip microcomputer, stepper motor driver；Described single-chip microcomputer controls stepper motor driver by I/O mouth, receives sensor signal by serial ports, it is achieved feedback control.
The utility model has the advantages that:
This utility model uses Single-chip Controlling, the Fructus actinidiae chinensis feature that the flowers are in blossom is directed downward is planted for booth frame for yangtao formula, shower nozzle is pollinated near flower from bottom, distance between nozzle adjustable and Fructus actinidiae chinensis flower, uniform pollination is good, Design of Mechanical Structure advantages of simple, improves again the utilization ratio of pollen, reduces hand labor intensity while completing the pollination of Fructus actinidiae chinensis flower.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is vernier supporting structure schematic diagram of the present utility model；
Fig. 3 is pitch adjusting structure schematic diagram of the present utility model；
Fig. 4 is workflow schematic diagram of the present utility model；
Fig. 5 position control system of the present utility model schematic diagram.
Drawing reference numeral illustrates: 1-ultrasonic distance-measuring sensor, 2-shower nozzle, 3-PE pipe, 4-cylinder, 5-support that platform, 6-laser range sensor, 7-clip, 8-support bar, 9-upright slide block, 10-support, 11-linear stepping motor, 12-fixing manage, 13-cylinder fixes pillar, 14-hall position sensor I, 15-cross sliding clock, 16-disappear gap nut, 17-hall position sensor II
Detailed description of the invention
See Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, a kind of atomizing Fructus actinidiae chinensis pollination end effector, be made up of humidifier, distance adjustor, micro-adjusting mechanism, sensor-based system and control system, it is characterized in that:
Described humidifier includes shower nozzle 2 and PE pipe 3；Described shower nozzle is high-pressure atomization shower nozzle, shower nozzle direction is upwards, three PE pipes at shower nozzle place are connected by four-way branch, it is mutually 120 ° in horizontal plane within angle, vertically PE pipe is connected through fixing pipe 12 with external high-pressure atomization pump, pollen liquid is provided power, electromagnetic valve to control the circulation of liquid by high-pressure atomization pump, and pollen liquid is managed by PE and shower nozzle, finally acts on Fructus actinidiae chinensis flower；
Described distance adjustor includes linear stepping motor 11, upright slide block 9, support 10, support bar 8, laser range sensor 6, hall position sensor I14 and Hall element II17；The leading screw of described linear stepping motor has a style of one's own with motor output shaft, and leading screw other end bearing is connected with support 10；Described upright slide block 9 slides at the slide rail of support 10, and is connected with the gap nut 16 that disappears of linear stepping motor 11；Described support bar 8 one end connects upright slide block 9, and the other end is connected through cross sliding clock 15 with supporting platform 5, drives whole humidifier and micro-adjusting mechanism to move up and down；Described hall position sensor I14 and hall position sensor II17 is separately mounted at the inner top side of support 10 and at inside lower end, is used for detecting upright slide block repositioning information and anti-locking mechanism collides；
Described micro-adjusting mechanism includes three thin cylinders 4, supports platform 5, ultrasonic distance-measuring sensor 1 and clip 7, described thin cylinder 4 base is fixed pillar 13 by cylinder and is fixed on support platform 5, the other end is connected with PE pipe 3 by clip 7, three ultrasonic distance-measuring sensors are separately fixed at the position of adjacent shower nozzle, direction upwards, and thin cylinder is provided power to carry out up-down adjustment motion by external air pump；
Described control system includes single-chip microcomputer, stepper motor driver；Described single-chip microcomputer controls stepper motor driver by I/O, receives sensor signal by serial ports, forms feedback control, reaches being accurately positioned of whole system；For alleviating weight, end effector is in addition to standard component, and other supports etc. use aluminium alloy to make.
Specifically comprise the following steps that
1, end effector all parts resets, and linear stepping motor inverts, and whether Hall element I detection upright slide block returns to initial position, after having resetted, motor stalls, waits Wait Order；
2, linear stepping motor rotates forward, and end effector is close to flowers, during laser range sensor output low level, it is believed that flowers come into pollination apart from interior, and linear stepping motor stops operating；
3, three ultrasonic distance-measuring sensors start to detect the distance of corresponding flower above shower nozzle, distance is unsatisfactory for being adjusted by thin cylinder of pollination distance, respectively during output low level, high-pressure atomization pump is started working, flower pesticide liquid is sprayed according to the time set, motor resets, and completes the pollination work of this region.Flowers pollination path is adjoined in end effector planning, on the basis of present position, calculate Fructus actinidiae chinensis arrive the displacement that subsequent region flowers coordinate needs are walked, carry out subsequent region flower pollination work, until after whole flowers that computer provides have been pollinated, reset motor.
Claims (6)
1. an atomizing Fructus actinidiae chinensis pollination end effector, including mechanical execution system and control system, it is characterised in that: described end effector mainly includes humidifier, distance adjustor, micro-adjusting mechanism, sensor-based system and control system.
Atomizing Fructus actinidiae chinensis pollination end effector the most according to claim 1, it is characterized in that: described humidifier is mainly made up of with PE pipe three shower nozzles, described shower nozzle is high-pressure atomization shower nozzle, and three PE pipes at shower nozzle place are connected by four-way branch, are mutually 120 ° in horizontal plane within angle.
Atomizing Fructus actinidiae chinensis pollination end effector the most according to claim 1, it is characterised in that: described distance adjustor includes linear stepping motor, upright slide block, support, support bar；The leading screw of described linear stepping motor has a style of one's own with motor output shaft, and leading screw other end bearing is connected with support；Described upright slide block slides at the slide rail of support, and is connected with the gap nut that disappears of linear stepping motor；Described support bar one end connects upright slide block, and the other end is connected through cradle top with supporting platform.
Atomizing Fructus actinidiae chinensis pollination end effector the most according to claim 1, it is characterised in that: described micro-adjusting mechanism includes three thin cylinders, supports platform and clip, and described thin cylinder base is fixed on support platform, and the other end is fixing with PE pipe by clip.
Atomizing Fructus actinidiae chinensis pollination end effector the most according to claim 1, it is characterised in that: described sensor-based system includes laser range sensor, ultrasonic distance-measuring sensor, hall position sensor；Described laser range sensor is positioned at four-way top；Described ultrasonic distance-measuring sensor is adjacent with shower nozzle, is fixed on PE pipe by clip；Described hall position sensor is rack-mount.
Atomizing Fructus actinidiae chinensis pollination end effector the most according to claim 1, it is characterised in that: described control system is made up of single-chip microcomputer, stepper motor driver；Described single-chip microcomputer controls stepper motor driver by I/O mouth, receives sensor signal by serial ports, it is achieved feedback control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620195084.3U CN205408984U (en) | 2016-03-08 | 2016-03-08 | Atomizing kiwi fruit pollination end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620195084.3U CN205408984U (en) | 2016-03-08 | 2016-03-08 | Atomizing kiwi fruit pollination end effector |
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| Publication Number | Publication Date |
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| CN205408984U true CN205408984U (en) | 2016-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620195084.3U Expired - Fee Related CN205408984U (en) | 2016-03-08 | 2016-03-08 | Atomizing kiwi fruit pollination end effector |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106171959A (en) * | 2016-07-18 | 2016-12-07 | 中国农业大学 | A kind of pollination sprays equipment and system |
| CN111587783A (en) * | 2020-06-11 | 2020-08-28 | 扬州大学 | Vegetable liquid spraying and pollination nozzle capable of adjusting spraying width |
| CN111820125A (en) * | 2020-07-27 | 2020-10-27 | 扬州大学 | Multi freedom vegetable pollination support |
-
2016
- 2016-03-08 CN CN201620195084.3U patent/CN205408984U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106171959A (en) * | 2016-07-18 | 2016-12-07 | 中国农业大学 | A kind of pollination sprays equipment and system |
| CN106171959B (en) * | 2016-07-18 | 2018-03-02 | 中国农业大学 | One kind pollination sprays equipment and system |
| CN111587783A (en) * | 2020-06-11 | 2020-08-28 | 扬州大学 | Vegetable liquid spraying and pollination nozzle capable of adjusting spraying width |
| CN111820125A (en) * | 2020-07-27 | 2020-10-27 | 扬州大学 | Multi freedom vegetable pollination support |
| CN111820125B (en) * | 2020-07-27 | 2022-05-13 | 扬州大学 | Multi freedom vegetable pollination support |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20180308 |