CN206760103U - A kind of automatic picking machine of strawberry - Google Patents

A kind of automatic picking machine of strawberry Download PDF

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Publication number
CN206760103U
CN206760103U CN201720642023.1U CN201720642023U CN206760103U CN 206760103 U CN206760103 U CN 206760103U CN 201720642023 U CN201720642023 U CN 201720642023U CN 206760103 U CN206760103 U CN 206760103U
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CN
China
Prior art keywords
strawberry
motor
camera
running gear
picking machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201720642023.1U
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Chinese (zh)
Inventor
郭军
李雯璐
杨小康
周遵波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Three Gorges University CTGU
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China Three Gorges University CTGU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Priority to CN201720642023.1U priority Critical patent/CN206760103U/en
Application granted granted Critical
Publication of CN206760103U publication Critical patent/CN206760103U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model provides a kind of automatic picking machine of strawberry, including fuselage, picking head, identifying system, suction system, running gear, control system and battery;Picking head is moved up and down by moving left and right device and moving up and down device realization;Suction system includes getter device, inhaling hose and storage tank;Picking head includes harvesting hole, shearing device and induction installation, and the inlet end for plucking hole and inhaling hose connects;Identifying system includes the first camera and second camera, and the first camera and second camera are arranged on the upper end of vertical beam;The downside of fuselage sets running gear, and running gear moves forward and backward fuselage.The picking machine plucks strawberry by way of air absorption, and the ripe strawberry of automatic identification is plucked, and avoids directly machinery touching strawberry, a greater degree of integrality for ensureing strawberry, realizes the automatic harvesting of strawberry, save labour, improve picking efficiency.

Description

A kind of automatic picking machine of strawberry
Technical field
Agricultural equipment field is the utility model is related to, more particularly to a kind of automatic picking machine of strawberry.
Background technology
The berries surface of agricultural products such as strawberry is easily damaged, like being grown on moistening environment and it is loose, fertile, draining is good Sand soil in, plant is short, when strawberry fruit is heavier ripe distribution be hung in field both sides, modes of reproduction is stem breeding of crawling, When strawberry well-grown, it can bear a kind of tendril, and new plantlet can be born again in the termination of tendril.Strawberry cultivating ground It is interlaced to have a large amount of rhizomes, gap is differed between every plant of strawberry, overall intensive, easily rotten after strawberry is spattered with water by water It is rotten.Because growth pattern and environment that strawberry is unique, the essentially artificial harvesting of strawberry Softening at present, traditional manually adopts Plucking needs to keep semi-crouch stooped over position for a long time, and workload is big, and efficiency is low.Existing harvesting apparatus can not accurately control harvesting power Size is spent, strawberry of easily damaging, a small number of external big machineries can perceive dynamics size with gripper, but bulky, structure Complexity, it is expensive.Have that work workload is big, job area is wide in strawberry harvesting(Fruit distribution height is uneven), touching power Degree control requires high(Rich fruit is easily damaged)And need to selectively it pluck(The single fruit maturity period is inconsistent)The problems such as.
The content of the invention
Technical problem to be solved in the utility model is to provide a kind of automatic picking machine of strawberry, is single fruit list for strawberry Stem, and fruit top stem it is longer the characteristics of, take air draw mode, avoid directly machinery touching strawberry, more Guarantee strawberry integrality.
In order to solve the above technical problems, technical scheme is used by the utility model:A kind of automatic picking machine of strawberry, bag Include fuselage, picking head, identifying system, suction system, running gear, control system and battery;
Front fuselage connects vertical beam and crossbeam, picking head are connected by moving left and right device with crossbeam, and crossbeam is by upper and lower Mobile device connects with vertical beam;
Suction system includes getter device, inhaling hose and storage tank, and getter device is connected by storage tank and inhaling hose Connect;
Picking head includes harvesting hole, shearing device and induction installation, and the inlet end for plucking hole and inhaling hose connects, cut-out Device cuts off the stem for entering the strawberry for plucking hole;
Identifying system includes the first camera and second camera, and the first camera and second camera are arranged on vertical beam Upper end;
The downside of fuselage sets running gear, and running gear moves forward and backward fuselage;
Control system and running gear, identifying system, shearing device, induction installation, move up and down device and left and right is moved Dynamic device is electrically connected with.
In preferable scheme, the connector of the getter device and storage tank is less than 3cm.
In preferable scheme, the device that moves left and right includes transverse screw and the first motor, and the first motor is arranged on horizontal stroke The end of beam, transverse screw are connected with the rotating shaft of the first motor, and picking head is sleeved on transverse screw, the first motor and controller It is electrically connected with.
In preferable scheme, the device that moves up and down includes vertical screw rod and the second motor, and the second motor is arranged on perpendicular The end of beam, the rotating shaft of the second motor are connected with vertical screw rod, and crossbeam both ends are sleeved on vertical screw rod, the second motor and control System is electrically connected with.
In preferable scheme, storage basket is set in the storage tank.
In preferable scheme, the shearing device includes the 3rd motor, disk, connecting rod and chopper piece, connecting rod respectively with circle Disk and chopper piece are hinged, and the rotating shaft of the 3rd motor of circle is connected with disk rotating shaft, and chopper piece is arranged in the chute of picking head, and the 3rd Motor is electrically connected with control system.
In preferable scheme, the running gear includes the 4th motor and road wheel, and the 4th motor driving road wheel rotates, 4th motor is electrically connected with control system.
In preferable scheme, the induction installation is photoelectric sensor, and the photoelectric sensor is arranged on the two of picking head Side.
In preferable scheme, a diameter of 3~5cm in the harvesting hole.
The automatic picking machine of a kind of strawberry provided by the utility model, by using above structure, it is possible to achieve pass through air Absorption mode plucks strawberry, and the ripe strawberry of automatic identification is plucked, and avoids directly machinery touching strawberry, a greater degree of to protect The integrality of strawberry is demonstrate,proved, realizes the automatic harvesting of strawberry, saves labour, improves picking efficiency.Set in preferable scheme Storage basket, can conveniently pluck after strawberry collection with pouring out.A diameter of 3~5cm in harvesting hole, general strawberry leaves are set The size of son prevents from producing strawberry leaves mistake harvesting in 7~8cm or so.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples:
Fig. 1 is overall structure diagram of the present utility model.
Fig. 2 is the structural representation of the utility model picking head.
Fig. 3 is the structural representation of the utility model suction system.
Fig. 4 is the structural representation of another preferable suction system of the utility model.
Fig. 5 is control figure of the present utility model.
In figure:Fuselage 1, picking head 2, identifying system 3, suction system 4, running gear 5, control system 6, battery 7, vertical beam 11, crossbeam 12, device 13 is moved left and right, cross and move up and down device 14, harvesting hole 21, induction installation 22, shearing device 23, first Camera 31, second camera 32, getter device 41, storage tank 42, inhaling hose 43, connector 44, storage basket 45, the 4th electricity Machine 51, road wheel 52, transverse screw 131, the first motor 132, vertical screw rod 141, the second motor 142, the 3rd motor 231, circle Disk 232, connecting rod 233, chopper piece 234.
Embodiment
In Fig. 1~3, a kind of automatic picking machine of strawberry, including fuselage 1, picking head 2, identifying system 3, suction system 4, Running gear 5, control system 6 and battery 7;The front end of fuselage 1 connects vertical beam 11 and crossbeam 12, and picking head 2 is by moving left and right dress Put 13 to be connected with crossbeam 12, crossbeam 12 connects by moving up and down device 14 and vertical beam 11;Suction system 4 includes getter device 41st, inhaling hose 43 and storage tank 42, getter device 41 are connected by storage tank 42 with inhaling hose 43;Picking head 2 includes adopting Hole 21, shearing device 23 and induction installation 22 are plucked, harvesting hole 21 is connected with the air inlet of inhaling hose 43, and shearing device 23 will enter Enter to pluck the stem cut-out of the strawberry in hole 21;Identifying system 3 includes the first camera 31 and second camera 32, the first camera 31 The upper end of vertical beam 11 is arranged on second camera 32;The downside of fuselage 1 sets running gear 5, before running gear 5 makes fuselage 1 After move;Control system 6 and running gear 5, identifying system 3, shearing device 23, induction installation 22, move up and down device 14 with And move left and right device 13 and be electrically connected with.
The one side of identifying system 3 is used for the red and the green of leaf for identifying strawberry, on the other hand passes through strawberry to first Camera 31 and the distance of second camera 32 determine the position of strawberry, and positional information is passed into control system 6.
Running gear 5 controls the movable of picking head 2, moves up and down device 14 and controls moving up and down for picking head 2, left Move right device 13 and control moving left and right for picking head 2, the strawberry of space optional position is plucked so as to realize.
Suction system 4 is used to aspirate air, plucks the air near hole 21 and is acted on by atmospheric pressure, flows into harvesting hole 21, harvesting hole 21, the stem of the cut-out connection strawberry of shearing device 23, so as to real can also be entered with air-flow by plucking the strawberry of the front end of hole 21 Now pluck.The whole gas channel of suction system 4 is in air-tight state, prevents gas leakage.
Preferably, the connector 44 of the getter device 41 and storage tank 42 is less than 3cm.Prevent the strawberry of storage tank 42 from entering Enter in getter device.
The device 13 that moves left and right includes the motor 132 of transverse screw 131 and first, and the first motor 131 is arranged on crossbeam 12 end, transverse screw 131 are connected with the rotating shaft of the first motor 132, and picking head 2 is sleeved on transverse screw 131, the first electricity Machine 132 is electrically connected with control system 6.The rotating of the first motor 132 is controlled by control system 6, drives transverse screw 131 Rotation, realize moving left and right for picking head 2.
The mobile device can also use the cooperation of gear and rack, to realize moving left and right for picking head 2.
The device 14 that moves up and down includes the vertical motor 142 of screw rod 141 and second, and the second motor 142 is arranged on vertical beam 11 end, the rotating shaft of the second motor 142 are connected with vertical screw rod 141, and the both ends of crossbeam 12 are sleeved on vertical screw rod 141, the Two motors 142 are electrically connected with control system 6.The rotating of the second motor 142 is controlled by control system 6, drives vertical spiral shell The rotation of bar 141, realize moving up and down for picking head 2.
It is preferable such as Fig. 4, storage basket 45 is set in the storage tank 42.The collection of strawberry after can conveniently plucking is with falling Go out, enter getter device 41 prevented also from strawberry.
The shearing device 23 includes the 3rd motor 231, disk 232, connecting rod 233 and chopper piece 234, and connecting rod 233 is distinguished Be hinged with disk 232 and chopper piece 234, the rotating shaft of the 3rd motor 231 is connected with the rotating shaft of disk 232, and chopper piece 234, which is arranged on, to be adopted Pluck in first 2 chute 24, the 3rd motor 231 is electrically connected with control system 6.Control system 6 drives the 3rd motor 231 to rotate one Week, disk 232 and connecting rod 233 drive chopper piece 234 to move downwardly to lowest limit position, cut strawberry stem, then motion upwards It is collapsed state to most upper extreme position.
The running gear 5 includes the 4th motor 51 and road wheel 52, and the 4th motor 51 driving road wheel 52 rotates, and the 4th Motor 51 is electrically connected with control system 6.
The induction installation 22 is photoelectric sensor, and the photoelectric sensor is arranged on the both sides of picking head 2.Treat harvesting grass The certain kind of berries enters harvesting hole 21 and is still connected with strawberry stem, and photoelectric sensor sends the signal to control system 6, and the control of control system 6 is cut Disconnected device 23 cuts off strawberry stem.
A diameter of 3~5cm in the harvesting hole 21.The size of general strawberry leaf is prevented to strawberry in 7~8cm or so Leaf produces mistake harvesting.
In specific operating process such as Fig. 5:First camera 31 and second camera 32 identify the position of ripe strawberry, lead to Cross control system 6 and control the first motor 132, the second motor 142 and the 4th motor 51, adjust the locus of picking head 2, make The face maturation strawberry of hole 21 is plucked, starts getter device 41 and is evacuated, when photoelectric sensor senses that strawberry enters harvesting hole After 21, control system 6 is sent information to, control system 6 controls the 3rd motor 231 to start, and cuts off strawberry stem, completes harvesting, It is recycled into the harvesting of next strawberry.
The above embodiments are only optimal technical scheme of the present utility model, and are not construed as limit of the present utility model System, the technical scheme that the scope of protection of the utility model should be recorded with claim, including the technical scheme that claim is recorded The equivalents of middle technical characteristic are protection domain.Equivalent substitution i.e. within this range is improved, also in the utility model Protection domain within.

Claims (9)

  1. A kind of 1. automatic picking machine of strawberry, it is characterised in that:Including fuselage(1), picking head(2), identifying system(3), air-breathing system System(4), running gear(5), control system(6)And battery(7);
    Fuselage(1)Front end connects vertical beam(11)And crossbeam(12), picking head(2)By moving left and right device(13)With crossbeam(12) Connection, crossbeam(12)By moving up and down device(14)And vertical beam(11)Connection;
    Suction system(4)Including getter device(41), inhaling hose(43)And storage tank(42), getter device(41)Pass through storing Case(42)With inhaling hose(43)Connection;
    Picking head(2)Including plucking hole(21), shearing device(23)And induction installation(22), pluck hole(21)With inhaling hose (43)Air inlet connection, shearing device(23)Harvesting hole will be entered(21)Strawberry stem cut-out;
    Identifying system(3)Including the first camera(31)And second camera(32), the first camera(31)And second camera (32)It is arranged on vertical beam(11)Upper end;
    Fuselage(1)Downside set running gear(5), running gear(5)Make fuselage(1)It is movable;
    Control system(6)With running gear(5), identifying system(3), shearing device(23), induction installation(22), move up and down dress Put(14)And move left and right device(13)It is electrically connected with.
  2. A kind of 2. automatic picking machine of strawberry according to claim 1, it is characterised in that:The getter device(41)And storing Case(42)Connector(44)Less than 3cm.
  3. A kind of 3. automatic picking machine of strawberry according to claim 1, it is characterised in that:It is described to move left and right device(13)Bag Include transverse screw(131)With the first motor(132), the first motor(131)Installed in crossbeam(12)End, transverse screw (131)With the first motor(132)Rotating shaft connection, picking head(2)It is sleeved on transverse screw(131)On, the first motor(132)With Control system(6)It is electrically connected with.
  4. A kind of 4. automatic picking machine of strawberry according to claim 1, it is characterised in that:It is described to move up and down device(14)Bag Include vertical screw rod(141)With the second motor(142), the second motor(142)Installed in vertical beam(11)End, the second motor (142)Rotating shaft and vertical screw rod(141)Connection, crossbeam(12)Both ends are sleeved on vertical screw rod(141)On, the second motor (142)With control system(6)It is electrically connected with.
  5. A kind of 5. automatic picking machine of strawberry according to claim 1, it is characterised in that:The storage tank(42)It is middle that storage is set Thing basket(45).
  6. A kind of 6. automatic picking machine of strawberry according to claim 1, it is characterised in that:The shearing device(23)Including Three motors(231), disk(232), connecting rod(233)With chopper piece(234), connecting rod (233)Respectively with disk (232)With chopper piece (234) it is hinged, the rotating shaft of the 3rd motor (231) is connected with disk (232) rotating shaft, chopper piece(234)It is arranged on picking head(2)'s Chute(24)It is interior, the 3rd motor(231)With control system(6)It is electrically connected with.
  7. A kind of 7. automatic picking machine of strawberry according to claim 1, it is characterised in that:The running gear(5)Including Four motors(51)And road wheel(52), the 4th motor(51)Drive road wheel(52)Rotate, the 4th motor(51)With control system (6)It is electrically connected with.
  8. A kind of 8. automatic picking machine of strawberry according to claim 1, it is characterised in that:The induction installation (22) is photoelectricity Sensor, the photoelectric sensor are arranged on the both sides of picking head (2).
  9. A kind of 9. automatic picking machine of strawberry according to claim 1, it is characterised in that:The harvesting hole(21)It is a diameter of 3~5cm.
CN201720642023.1U 2017-06-05 2017-06-05 A kind of automatic picking machine of strawberry Expired - Fee Related CN206760103U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720642023.1U CN206760103U (en) 2017-06-05 2017-06-05 A kind of automatic picking machine of strawberry

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720642023.1U CN206760103U (en) 2017-06-05 2017-06-05 A kind of automatic picking machine of strawberry

Publications (1)

Publication Number Publication Date
CN206760103U true CN206760103U (en) 2017-12-19

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Family Applications (1)

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Country Status (1)

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CN (1) CN206760103U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107258227A (en) * 2017-06-05 2017-10-20 三峡大学 A kind of automatic picking machine of strawberry
CN108476740A (en) * 2018-03-14 2018-09-04 河南工业大学 A kind of ridge-spanning type strawberry picking vehicle
US11445663B2 (en) 2018-02-13 2022-09-20 Saga Robotics As Device for picking fruit comprising overlapping locating members

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107258227A (en) * 2017-06-05 2017-10-20 三峡大学 A kind of automatic picking machine of strawberry
US11445663B2 (en) 2018-02-13 2022-09-20 Saga Robotics As Device for picking fruit comprising overlapping locating members
CN108476740A (en) * 2018-03-14 2018-09-04 河南工业大学 A kind of ridge-spanning type strawberry picking vehicle
CN108476740B (en) * 2018-03-14 2020-11-06 河南工业大学 Ridge-crossing type strawberry picking vehicle

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GR01 Patent grant
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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: 20171219

Termination date: 20200605