CN207135689U - A kind of robot system of intelligent bagging - Google Patents
A kind of robot system of intelligent bagging Download PDFInfo
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- CN207135689U CN207135689U CN201720954020.1U CN201720954020U CN207135689U CN 207135689 U CN207135689 U CN 207135689U CN 201720954020 U CN201720954020 U CN 201720954020U CN 207135689 U CN207135689 U CN 207135689U
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Abstract
The utility model discloses a kind of robot system of intelligent bagging, including base, controller, chassis, cross slide way, longitudinal rail, supply unit, the car body upper end of bagging dolly, bagging dolly；Described bagging dolly is provided with base, handle, the car body upper end of bagging dolly；Controller, supply unit are installed inside the car body upper end of described bagging dolly；Described controller as a kind of controller of the robot system of intelligent bagging, completes the intelligent bagging of fruit tree using Arduino single-chip microcomputers；Described chassis is arranged on the upper end of the car body upper end of bagging dolly, and cross slide way, longitudinal rail are provided with described chassis, completes a kind of fruit tree bag cover of the robot system of intelligent bagging.The features such as the utility model can realize a kind of fruit tree bag cover of the robot system of intelligent bagging, and its fruit tree bag cover is simple in construction, easy to operate, time saving and energy saving, practical, can produce good economic benefit and social benefit.
Description
Technical field
The utility model belongs to the field of Technique of Dressing Fruit Trees in Bags, robot technology, automatic control technology, in particular,
It is related to a kind of robot system of intelligent bagging.
Background technology
Fruit industry is the pillar industry of China's Economy of agriculture and countryside, the important sources of farmers' income.But current China fruit
Total quality it is not high, commodity rate is low, and the market competitiveness is weak.As the improvement of people's living standards, consumer psychology is sent out
Raw new transformation, consumption green product, the idea of organic food turn into fashion.Grape bagging significantly can improve outside fruit
Quality is seen, prevents pest and disease damage, pollution by pesticides residual is reduced, improves taste of fruit, improve fruit quality.Market can also be met simultaneously
To the demand of high-grade grape.Grape PB-Cultivating Technique turns into an important technology for currently producing high-quality, high-grade fruit.
The fruit bagging time：According to the difference of species and cultivars and difference of specific time.After being essentially physiological fallen fruit,
Namely thank and spend latter 30-35 days.The bagging time of grape is in early June, and Jing-Qiu Pear is in late April, and navel orange is on June, the middle ten days.
Grape selects the individual layer primary colors paper bag of 33cm × 27cm specifications, Jing-Qiu Pear and navel orange from black in the outer ash of 20cm × 15cm specifications
Compound paper bag.The paper bag that can not be pasted with paper, because newspaper bag lead tolerance is too high, increase the pollution to fruit.
The item that should be noted that in bagging work：
1. to carry out flower and fruit thinning before bagging, insecticidal bactericide of general spray, disease pest source is utterly destroyed.
2. horse back bagging after spray should be accomplished, such as rainy, bagging again after the agricultural chemicals that should fill spray.
3. bagging operation is a careful work, gate of the quality monitoring is maintained strict control over, otherwise all that has been achieved is spoiled, loses more than gain.
First, pear fruit bagging technique
1st, bagging time.20-40 days after fallen flowers（About the first tenday period of a month in late April to May）, when young fruit is big such as thumb, dredged fruit
That is bagging, terminated with 10 days or so time.Too early or too late, ideal effect can not be reached.
2nd, fruit thinning before bagging.Will be by the conscientious fruit thinning of load capacity requirement before bagging.
3rd, pesticide-germicide before bagging.Pesticide-germicide mixing medicine must be sprayed before bagging 1-2 times, emphasis spray fruit face, kill fruit
Bacterium worm on face.Medication object is mainly for pears brown spot, black spot, ring spot and pears cecidomyiia, eliminating pear aphid, pear sucker etc..
4th, fruit is strictly selected during bagging.Selection fruit shape is long, calyx closes strong fruit, big fruit, side fruit bagging.The weak fruit of rejecting disease pest,
Branch fruit, inferior fruit, every bag only covers 1 fruit, and 11 bag of fruit can not 1 bag of double fruit.
5th, bagging order and requirement.Under being set after first tree is upper, conversely, easily touch down, it is inside and outside up and down to be uniformly distributed.
6th, bagging operating method.First reaching into bag swells full bag, then catches carpopodium on the other hand, a hand rest bag bottom,
Young fruit is inserted in the middle part of sack, then by sack from both sides to middle part carpopodium at squeeze folding；After whole sacks are folded to be arrived at carpopodium, in
On sack left side, sack iron wire card length is torn downwards, is finally turn 90 degrees iron wire card is counter, is turned around and tighten on carpopodium.
It is careful not to set to tie up on fruit branch, also does not prick too to exert oneself, hindering carpopodium with anti-sticking influences growth.It is past with hand after having covered
Pop-up is beaten in the middle part of bag bottom, is swelled full bag and is come.Young fruit is not attached with bag wall vacantly in bag, can prevent stinkbug bur and
Liquid medicine, bacterium worm secretion pollution fruit get rusty and mildewed.
7th, the pocket culture of bagging points for attention pear tree be unable to do without good fertile training management and insect pest preventing and controlling, is otherwise also
It is futile.
2nd, the selection of the selection grape bagging paper bag of the paper bag species of grape bagging technology 1. should be according to tree growing way shape in garden
Condition, productive target, economic capability reasonable selection.Because grape production in China's is based on domestic, therefore preferably select reliable in quality
The triumphant sample bag of domestic double-ply bag, such as Longkou, Tianjin modern times bag, the good field bag in Qingdao；Plastic film bag and self-control newspaper bag as far as possible it is few use or
No.
2. bagged stage grape is typically in grape physiological fallen fruit（15-20 days after bearing fruit）After carry out bagging, i.e., fruit is grown
To during beans size through dredging grain, bagging immediately after whole fringe.Bagging time should the fine day morning 9 to --- when 11 and during afternoon 2 to 6
It is advisable.
3. bagging operating technology
Entire bundle fruit bag is put in moist place before bagging, is allowed to get damp, is flexible；After selecting young fringe, carefully remove and be attached to
Debris on young fringe, left hand hold paper bag, and the right hand struts sack, or blows sack open with mouth, makes bag body swell, and makes bag bottom two corners
Ventilation dewatering orifice is opened, and hand is held under sack at 2-3cm, and sack up or down, is inserted in fruit ear, puts carpopodium after putting fruit ear
In the open base of bag（Blade and branch are not loaded in sack）, then " folding fan " mode foldable bag is pressed successively from sack both sides
Mouthful, silk will be tied up and tighten sack at folding, tear at tie point to tie up silk and return above line mouth and turn 90 degrees.Revolved along sack
Turn to tighten sack in 1 week, young fringe is in bag body center, it is hanging in bag, to prevent a bag body friction fruit face, silk will not tied up and twined
On carpopodium, power thrusts are light with being advisable all the time upwards, in order to avoid pull off young fringe during bagging, not touch young fringe, sack as far as possible
Tighten, endanger fruit ear in order to avoid insect is climbed into bag and prevent paper bag to be blown off.In addition, tree crown top and skeleton branch back are naked
Dew fruit should lack set, and to avoid the generation of sun burn, the average bagging quantity in every mu of vineyard is 1600 or so.
4. Packing season Packing season is according to bag kind, kind is different and has bigger difference, red grape 1--2 before harvesting
Week plucks bag, and to promote berry to colour, bag is not removed before the harvesting of remaining grape.In one day suitably except the bag time be the morning 9 when 11,
Afternoon 3, removed the paper bag in southern side in the morning, must avoid the noon daylight most strong time when 5 or so, in case fruit is by day
Burn.Pluck bag time too early or all do not reach the Expected Results of bagging too late, pluck bag too early, fruit face color is dark, and finish is poor；Too late
Except bag, fruit face color is light, stores fugitive color.
5. bagging orchard is managed after bagging strengthens rich water quality management and blade protection, to maintain healthy and strong tree vigo(u)r, meet fruit
Growth needs.In addition to the annual normal insect pest preventing and controlling in orchard are carried out, 1 before bagging --- a bactericide and insecticide are sprayed in 2 Tian Quan gardens,
Effectively to prevent all kinds of disease pests from causing harm.Medicament includes 70% section and wins 500 times, 800 times of 70% thiophanate methyl, Pola peace 1500
Times, it is hypertonic kill it is net etc..After harvesting, used waste paper bag is concentrated in time and burnt, the disease pest source on bag of hiding is eliminated, to subtract
The harm in few next year.
6th, bagging points for attention
a:Arranged if fruit ear arranges without fruit ear, fruit can be caused less than normal and crimp, and fringe weight is excessive
It can decline maturity period postponement and sugar content, be easily squeezed in storing and sales process and phenomena such as shattering occur.In the 1st medicine
Agent before processing, fruit ear tip is pinched and goes the 1/5~1/4 of Ear-Length, fringe point is also pinched to long Zhi Sui, while remove pair
Fringe, fruit ear surface is trimmed again after the 2nd processing and arrangement makes fruit uniform in size, fruit ear surface is smooth, fringe
Shape is compact, in nearly cylindrical shape.The allowance of fruit should determine according to the size of the robustness and fringe shape of fruit branch in itself, typically
Fruit 70~90 is stayed per fringe.
b:Growing season frame facial canal reason to save and concentrating nutrition, wants timely bud picking and determines branch by spring, on frame face every about
15cm or so retains 1 healthy and strong young sprout, and the quantity of fruitful branch should account for the 60%~70% of young sprout total amount, timely processing sublateral shoot, pinches
Tendril and progress leading shoot pinching, prevent frame face is strongly fragrant from covering and nutrition branch over growth., can be when fruitful branch grows more prosperous before flowering
6~7 leaf pinching more than inflorescence are stayed, the not prosperous person of growing way can be without pinching.Retain 2, top sublateral shoot after fruitful branch pinching, its
Remaining sublateral shoot can stay 1~2 leaf pinching without offspring, each self-sustaining uniaxial extension after 2 sublateral shoots retained, when stayed sublateral shoot is grown
It can be decided whether to carry out the 2nd pinching according to its growing way when going out 5 leaves or so, when the leading shoot of nutrition branch grows to 10 leaves or so
Carry out pinching and sublateral shoot processing.Sublateral shoot processing method and the method for fruitful branch are essentially identical, but it is noted that prevent its over growth.
c:Should be according to putting prevention first in prevention and control of plant diseases, pest control production, the policy of integrated control is prevented and treated.In the winter time, take off
Fall the old of grape branches and tendrils and stick up skin, and carry out clear garden work, 1 3~5 ° of Be lime sulfur is sprayed before grape rudiment, can be killed a variety of
Survive the winter germ and worm's ovum.The season of growth mainly prevent and treat anthrachose of grape, downy mildew, white rot, anthracnose and leafhopper, chafer and
Bird pest.Prevention anthrachose of grape should spray 1 lime half in 5~6 leaves of young sprout and measure formula Bordeaux mixture；Prevent white rot and anthracnose,
Before flowering with each spray after grape physiological fallen fruit 1 800 times of 80% sprays gram, 70% thiophanate methyl wettable powders etc., emphasis spray
The inflorescence and fruit ear of grape；Physiological fallen fruit terminates, and fruit ear is trimmed, and it is careful spray microbial inoculum after carry out fruit bagging, so both
The disease of fruit can be prevented, can prevent chafer and bird from causing harm again, using the special grape fruit bag of white during bagging；After harvesting
Attention control downy mildew and grape leafhopper, blade is protected, improve the bud quality and vegetative storage is horizontal, got bumper crops for next year
Lay the first stone.
China is a large agricultural country, while is also the production and consumption big country of a fruit, but China's fruit bag
But lag far behind level of developed countries using technical merit, some aspects even lag behind other developing countries.
With the development of mechanization of agriculture, the increase of working area, increasingly tend to be tight the drawbacks of traditional hand bagging methods
Weight, i.e., using the bagging device of robot, the bagging device of its robot is a kind of bagging device of mechanization of agriculture.
In recent years, Technique of Dressing Fruit Trees in Bags is greatly improved, but traditional fruit tree bag cover device, following some lack be present
Point：
1st, traditional fruit tree bag cover device does not use knockdown structure, and its structure does not include：Base, controller, bottom
Disk, cross slide way, longitudinal rail, supply unit, the car body upper end of bagging dolly, bagging dolly；The intelligence of fruit tree can not be completed
Change bagging；
2nd, traditional fruit tree bag cover device needs artificial bagging, and artificial bagging is wasted time and energy, it is impossible to reaches quick spray bagging
Purpose；
3rd, traditional fruit tree bag cover device is more no to use horizontal manipulator, indulge not using cross slide way, longitudinal rail
To manipulator, it is impossible to expand the spatial dimension of fruit tree bag cover.
The content of the invention
The utility model is to overcome above-mentioned deficiency, gives a kind of robot system of intelligent bagging.
Technical scheme is as follows：
A kind of robot system of intelligent bagging, including base, controller, chassis, cross slide way, longitudinal rail, power supply
Device, the car body upper end of bagging dolly, bagging dolly；Described bagging dolly is provided with base, handle, the car body of bagging dolly
Upper end；The lower end of described base is separately installed with range sensor, preceding movable pulley, position sensor, rear movable pulley；Described
Preceding movable pulley is provided with range sensor；Described rear movable pulley installation position sensor；Described bagging dolly left end peace
The handle of an inverted U is filled, pushed for people, draw a kind of robot system of intelligent bagging；The car body of described bagging dolly
Upper end is arranged on the upper end of bagging dolly, and controller, supply unit are provided with inside the car body upper end of described bagging dolly；Institute
The controller stated as a kind of controller of the robot system of intelligent bagging, completes the intelligence of fruit tree using Arduino single-chip microcomputers
Bagging can be changed；Described supply unit, as a kind of electric supply installation of the robot system of intelligent bagging；Described chassis installation
In the upper end of the car body upper end of bagging dolly, cross slide way, longitudinal rail are installed on described chassis.
Further, be provided with described cross slide way lateral position sensor, horizontal camera, horizontal manipulator,
Horizontal bagging case；Described horizontal camera is arranged on the front end of cross slide way, for shooting the fruit tree bag cover of cross slide way
State；Described horizontal manipulator, for capturing fruit bag in horizontal bagging case, complete the bagging of lateral attitude.
Further, be provided with described longitudinal rail longitudinal position sensor, longitudinal bagging case, longitudinal manipulator,
Longitudinal camera；Described longitudinal camera is arranged on the front end of longitudinal rail, for shooting the fruit tree bag cover of longitudinal rail
State；Described longitudinal manipulator, for capturing fruit bag in longitudinal bagging case, complete the bagging of lengthwise position.
The present utility model compared with prior art, has advantages below and high-lighting effect：
First, the robot system of a kind of intelligent bagging that the present invention uses, including base, controller, chassis, laterally lead
Rail, longitudinal rail, supply unit, the car body upper end of bagging dolly, bagging dolly；Described bagging dolly be provided with base,
The car body upper end of hand, bagging dolly；The lower end of described base is separately installed with range sensor, preceding movable pulley, position sensing
Device, rear movable pulley；Described preceding movable pulley is provided with range sensor；Described rear movable pulley installation position sensor；Institute
The bagging dolly left end stated installs the handle of an inverted U, is pushed for people, draws a kind of robot system of intelligent bagging；Institute
The car body upper end for the bagging dolly stated is arranged on the upper end of bagging dolly, is provided with inside the car body upper end of described bagging dolly
Controller, supply unit；Described controller is using Arduino single-chip microcomputers as a kind of control of the robot system of intelligent bagging
Device processed, complete the intelligent bagging of fruit tree；Described supply unit, the power supply as a kind of robot system of intelligent bagging fill
Put；Described chassis is arranged on the upper end of the car body upper end of bagging dolly, cross slide way is provided with described chassis, longitudinal direction is led
Rail, its fruit tree bag cover are simple in construction, easy to operate.
2nd, the bagging dolly that the present invention uses is provided with base, handle, the car body upper end of bagging dolly；Described base
Lower end be separately installed with range sensor, preceding movable pulley, position sensor, rear movable pulley；Described preceding movable pulley is provided with
Range sensor；Described rear movable pulley installation position sensor；Described bagging dolly left end installs the handle of an inverted U
Hand, pushed for people, draw a kind of robot system of intelligent bagging；It is small that the car body upper end of described bagging dolly is arranged on bagging
The upper end of car, controller, supply unit are installed inside the car body upper end of described bagging dolly；Described controller uses
Arduino single-chip microcomputers complete the intelligent bagging of fruit tree as a kind of controller of the robot system of intelligent bagging；Described
Supply unit, as a kind of electric supply installation of the robot system of intelligent bagging；Described chassis is arranged on the car of bagging dolly
The upper end of body upper end, cross slide way, longitudinal rail are installed on described chassis.
3rd, be provided with the cross slide way that uses of the present invention lateral position sensor, horizontal camera, horizontal manipulator,
Horizontal bagging case；Described horizontal camera is arranged on the front end of cross slide way, for shooting the fruit tree bag cover of cross slide way
State；Described horizontal manipulator, for capturing fruit bag in horizontal bagging case, complete the bagging of lateral attitude.
4th, be provided with the longitudinal rail that uses of the present invention longitudinal position sensor, longitudinal bagging case, longitudinal manipulator,
Longitudinal camera；Described longitudinal camera is arranged on the front end of longitudinal rail, for shooting the fruit tree bag cover of longitudinal rail
State；Described longitudinal manipulator, for capturing fruit bag in longitudinal bagging case, complete the bagging of lengthwise position.
Except the above, the present invention：
First, existing agricultural chemicals chemical spraying device is overcome, it is necessary to which artificial bagging, artificial bagging are wasted time and energy, it is impossible to reaches fast
Speed spray bagging purpose；
2nd, existing agricultural chemicals chemical spraying device is overcome not using cross slide way, longitudinal rail, more without using horizontal machine
Tool hand, longitudinal manipulator, it is impossible to expand the spatial dimension of fruit tree bag cover.
3rd, on the basis of solving the above problems, have it is simple in construction, bagging is easy to operate, bagging is quick, practical
The features such as, good economic benefit and social benefit can be produced.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the robot system of intelligent bagging of the present invention；
Mark in figure：1st, range sensor, 2, preceding movable pulley, 3, position sensor, 4, rear movable pulley, 5, base, 6,
Handle, 7, controller, 8, chassis, 9, longitudinal position sensor, 10, longitudinal bagging case, 11, longitudinal manipulator, 12, longitudinal direction shooting
Head, 13, lateral position sensor, 14, horizontal camera, 15, horizontal manipulator, 16, cross slide way, 17, horizontal bagging case,
18th, longitudinal rail, 19, supply unit, 20, the car body upper end of bagging dolly, 21, bagging dolly.
Fig. 2 be a kind of robot system controller of intelligent bagging of the present invention in sensor, cross slide way,
The annexation structural representation of longitudinal rail；
Fig. 3 is the flow chart that a kind of robot system of intelligent bagging of the present invention realizes fruit tree bag cover process.
Embodiment
Embodiment 1
Hereinafter with reference to accompanying drawing, preferred embodiment of the present utility model is described in detail.It is it should be appreciated that it is preferred that real
Example is applied only for illustrating the utility model, rather than in order to limit this practical protection domain.
As shown in figure 1, a kind of robot system of intelligent bagging, including base 5, controller 7, chassis 8, cross slide way
16th, longitudinal rail 18, supply unit 19, the car body upper end 20 of bagging dolly, bagging dolly 21；Set on described bagging dolly 21
There is the car body upper end 20 of base 5, handle 6, bagging dolly；The lower end of described base 5 is separately installed with range sensor 1, preceding
Movable pulley 2, position sensor 3, rear movable pulley 4；Described preceding movable pulley 2 is provided with range sensor 1；Described rear movable pulley
4 installation position sensors 3；The described left end of bagging dolly 21 installs the handle 6 of an inverted U, is pushed for people, draws one kind
The robot system of intelligent bagging；The car body upper end 20 of described bagging dolly is arranged on the upper end of bagging dolly 21, described
Controller 7, supply unit 19 are installed inside the car body upper end 20 of bagging dolly；Described controller 7 uses Arduino monolithics
Machine completes the intelligent bagging of fruit tree as a kind of controller of the robot system of intelligent bagging；Described supply unit 19,
As a kind of electric supply installation of the robot system of intelligent bagging；Described chassis 8 is arranged on the car body upper end 20 of bagging dolly
Upper end, cross slide way 16, longitudinal rail 18 are installed on described chassis 8.
Also, the robot system of a kind of intelligent bagging that the present invention uses, including base, controller, chassis, laterally lead
Rail, longitudinal rail, supply unit, the car body upper end of bagging dolly, bagging dolly；Described bagging dolly be provided with base,
The car body upper end of hand, bagging dolly；The lower end of described base is separately installed with range sensor, preceding movable pulley, position sensing
Device, rear movable pulley；Described preceding movable pulley is provided with range sensor；Described rear movable pulley installation position sensor；Institute
The bagging dolly left end stated installs the handle of an inverted U, is pushed for people, draws a kind of robot system of intelligent bagging；Institute
The car body upper end for the bagging dolly stated is arranged on the upper end of bagging dolly, is provided with inside the car body upper end of described bagging dolly
Controller, supply unit；Described controller is using Arduino single-chip microcomputers as a kind of control of the robot system of intelligent bagging
Device processed, complete the intelligent bagging of fruit tree；Described supply unit, the power supply as a kind of robot system of intelligent bagging fill
Put；Described chassis is arranged on the upper end of the car body upper end of bagging dolly, cross slide way is provided with described chassis, longitudinal direction is led
Rail, its fruit tree bag cover is simple in construction, easy to operate, is the distinguishing feature of the present invention again.
Also, the bagging dolly that the present invention uses is provided with base, handle, the car body upper end of bagging dolly；Described base
Lower end be separately installed with range sensor, preceding movable pulley, position sensor, rear movable pulley；Described preceding movable pulley is provided with
Range sensor；Described rear movable pulley installation position sensor；Described bagging dolly left end installs the handle of an inverted U
Hand, pushed for people, draw a kind of robot system of intelligent bagging；It is small that the car body upper end of described bagging dolly is arranged on bagging
The upper end of car, controller, supply unit are installed inside the car body upper end of described bagging dolly；Described controller uses
Arduino single-chip microcomputers complete the intelligent bagging of fruit tree as a kind of controller of the robot system of intelligent bagging；Described
Supply unit, as a kind of electric supply installation of the robot system of intelligent bagging；Described chassis is arranged on the car of bagging dolly
The upper end of body upper end, cross slide way, longitudinal rail are installed on described chassis, are the distinguishing feature of the present invention again.
Preferred embodiment is further used as, lateral position sensor 13, horizontal stroke are installed on described cross slide way 16
To camera 14, horizontal manipulator 15, horizontal bagging case 17；Described horizontal camera 14 be arranged on cross slide way 16 most before
End, the state of the fruit tree bag cover for shooting cross slide way 16；Described horizontal manipulator 15, for capturing horizontal bagging case 17
Middle fruit bag, complete the bagging of lateral attitude.
Also, be provided with the cross slide way that uses of the present invention lateral position sensor, horizontal camera, horizontal manipulator,
Horizontal bagging case；Described horizontal camera is arranged on the front end of cross slide way, for shooting the fruit tree bag cover of cross slide way
State；Described horizontal manipulator, for capturing fruit bag in horizontal bagging case, the bagging of lateral attitude is completed, is this hair again
A bright distinguishing feature.
Preferred embodiment is further used as, longitudinal position sensor 9, longitudinal direction are installed on described longitudinal rail 18
Bagging case 10, longitudinal manipulator 11, longitudinal camera 12；Described longitudinal camera 12 be arranged on longitudinal rail 18 most before
End, the state of the fruit tree bag cover for shooting longitudinal rail 18；Described longitudinal manipulator 11, for capturing longitudinal bagging case 10
Middle fruit bag, complete the bagging of lengthwise position.
Also, be provided with the longitudinal rail that uses of the present invention longitudinal position sensor, longitudinal bagging case, longitudinal manipulator,
Longitudinal camera；Described longitudinal camera is arranged on the front end of longitudinal rail, for shooting the fruit tree bag cover of longitudinal rail
State；Described longitudinal manipulator, for capturing fruit bag in longitudinal bagging case, the bagging of lengthwise position is completed, is this hair again
A bright distinguishing feature.
Described controller and sensor, cross slide way, the annexation structural representation of longitudinal rail, as shown in Figure 2.
Preferred embodiment is further used as, described controller is covered using Arduino single-chip microcomputers as a kind of intelligence
The controller of the robot system of bag, complete the intelligent bagging of fruit tree.
Preferred embodiment is further used as, described range sensor passes through ADC interface 1 and Arduino single-chip microcomputers
It is connected.
Preferred embodiment is further used as, described position sensor passes through ADC interface 2 and Arduino single-chip microcomputers
It is connected.
Preferred embodiment is further used as, described longitudinal position sensor is mono- by ADC interface 3 and Arduino
Piece machine is connected.
Preferred embodiment is further used as, described lateral pickup passes through ADC interface 4 and Arduino single-chip microcomputers
It is connected.
Preferred embodiment is further used as, described longitudinal camera passes through ADC interface 5 and Arduino single-chip microcomputers
It is connected.
Preferred embodiment is further used as, described horizontal camera passes through ADC interface 6 and Arduino single-chip microcomputers
It is connected.
Preferred embodiment is further used as, described horizontal bagging case passes through DIO interfaces 1 and Arduino single-chip microcomputers
It is connected.
Preferred embodiment is further used as, described longitudinal bagging case passes through DIO interfaces 2 and Arduino single-chip microcomputers
It is connected.
Preferred embodiment is further used as, described horizontal manipulator passes through DIO interfaces 3 and Arduino single-chip microcomputers
It is connected.
Preferred embodiment is further used as, described cross slide way passes through DIO interfaces 4 and Arduino single-chip microcomputer phases
Connection.
Preferred embodiment is further used as, described longitudinal manipulator passes through DIO interfaces 5 and Arduino single-chip microcomputers
It is connected.
Preferred embodiment is further used as, described longitudinal rail passes through DIO interfaces 6 and Arduino single-chip microcomputer phases
Connection.
Preferred embodiment is further used as, the lower end of described supply unit is connected with Arduino single-chip microcomputers.
In detail, the step of a kind of robot system of intelligent bagging realizes fruit tree bag cover：
Step1, bagging dolly are shifted onto beside the fruit tree of wanted bagging；
Step2, electric supply installation power supply；
Step3, controller work；
Step4, cross slide way work；
（1）, controller send instruction to cross slide way；
（2）, lateral position sensor work；
（3）, horizontal manipulator, for capturing fruit bag in horizontal bagging case；
（4）, horizontal camera shooting cross slide way fruit tree bag cover state；
（5）, complete lateral attitude bagging.
Step5, longitudinal rail work；
（1）, controller send instruction to longitudinal rail；
（2）, longitudinal position sensor work；
（3）, longitudinal manipulator, for capturing fruit bag in horizontal bagging case；
（4）, longitudinal camera shooting cross slide way fruit tree bag cover state；
（5）, complete lengthwise position bagging.
Step6, judge whether to complete a kind of bagging of the robot system of intelligent bagging；
Situation one：If not completing a kind of bagging of the robot system of intelligent bagging, Step3, controller are performed
Work；
Situation two：If completing a kind of bagging of the robot system of intelligent bagging, perform Step7, continue to cover it is next
For fruit bag；Step7, continue to cover fruit bag of future generation；
Step8, the bagging for completing fruit tree.
Embodiment 2
A kind of robot system of intelligent bagging realizes the process of fruit tree bag cover, as shown in Figure 3：Including a kind of intelligent bagging
Robot system, initialization；Electric supply installation is powered；Controller works；Fruit bag in manipulator crawl fruit bag case；Adjustment machinery
The arm of hand；Judge whether to complete a kind of bagging of the robot system of intelligent bagging；Continue to cover fruit bag of future generation；Complete fruit tree
The following steps such as bagging；
Step 1: a kind of robot system of intelligent bagging, initialization；
Step 2: electric supply installation is powered；
Step 3: controller works；
Step 4: the fruit bag in manipulator crawl fruit bag case；
Step 5: the arm of adjustment manipulator；
Step 6: judge whether to complete a kind of bagging of the robot system of intelligent bagging；
Situation one：If not completing a kind of bagging of the robot system of intelligent bagging, step 3, controller are performed
Work；
Situation two：If completing a kind of bagging of the robot system of intelligent bagging, perform Step 7: continuing to cover next
For fruit bag；
Step 7: continue to cover fruit bag of future generation；
Step 8: complete the bagging of fruit tree.
The distinguishing feature of the present invention：
1）, a kind of robot system of intelligent bagging that uses of the present invention, including base, controller, chassis, laterally lead
Rail, longitudinal rail, supply unit, the car body upper end of bagging dolly, bagging dolly；Described bagging dolly be provided with base,
The car body upper end of hand, bagging dolly；The lower end of described base is separately installed with range sensor, preceding movable pulley, position sensing
Device, rear movable pulley；Described preceding movable pulley is provided with range sensor；Described rear movable pulley installation position sensor；Institute
The bagging dolly left end stated installs the handle of an inverted U, is pushed for people, draws a kind of robot system of intelligent bagging；Institute
The car body upper end for the bagging dolly stated is arranged on the upper end of bagging dolly, is provided with inside the car body upper end of described bagging dolly
Controller, supply unit；Described controller is using Arduino single-chip microcomputers as a kind of control of the robot system of intelligent bagging
Device processed, complete the intelligent bagging of fruit tree；Described supply unit, the power supply as a kind of robot system of intelligent bagging fill
Put；Described chassis is arranged on the upper end of the car body upper end of bagging dolly, cross slide way is provided with described chassis, longitudinal direction is led
Rail, its fruit tree bag cover are simple in construction, easy to operate.
2）, the bagging dolly that uses of the present invention be provided with base, handle, the car body upper end of bagging dolly；Described base
Lower end be separately installed with range sensor, preceding movable pulley, position sensor, rear movable pulley；Described preceding movable pulley is provided with
Range sensor；Described rear movable pulley installation position sensor；Described bagging dolly left end installs the handle of an inverted U
Hand, pushed for people, draw a kind of robot system of intelligent bagging；It is small that the car body upper end of described bagging dolly is arranged on bagging
The upper end of car, controller, supply unit are installed inside the car body upper end of described bagging dolly；Described controller uses
Arduino single-chip microcomputers complete the intelligent bagging of fruit tree as a kind of controller of the robot system of intelligent bagging；Described
Supply unit, as a kind of electric supply installation of the robot system of intelligent bagging；Described chassis is arranged on the car of bagging dolly
The upper end of body upper end, cross slide way, longitudinal rail are installed on described chassis.
3）, be provided with the cross slide way that uses of the present invention lateral position sensor, horizontal camera, horizontal manipulator,
Horizontal bagging case；Described horizontal camera is arranged on the front end of cross slide way, for shooting the fruit tree bag cover of cross slide way
State；Described horizontal manipulator, for capturing fruit bag in horizontal bagging case, complete the bagging of lateral attitude.
4）, be provided with the longitudinal rail that uses of the present invention longitudinal position sensor, longitudinal bagging case, longitudinal manipulator,
Longitudinal camera；Described longitudinal camera is arranged on the front end of longitudinal rail, for shooting the fruit tree bag cover of longitudinal rail
State；Described longitudinal manipulator, for capturing fruit bag in longitudinal bagging case, complete the bagging of lengthwise position.
5）, overcome existing agricultural chemicals chemical spraying device, it is necessary to which artificial bagging, artificial bagging are wasted time and energy, it is impossible to reach fast
Speed spray bagging purpose；
6）, overcome existing agricultural chemicals chemical spraying device not using cross slide way, longitudinal rail, more without use horizontal machine
Tool hand, longitudinal manipulator, it is impossible to expand the spatial dimension of fruit tree bag cover.
7）, on the basis of solving the above problems, have it is simple in construction, bagging is easy to operate, bagging is quick, practical
The features such as, good economic benefit and social benefit can be produced.
In addition to the implementation, the present invention can also have other embodiment.What all equivalent substitutions or equivalent transformation deformed
Technical scheme, in the claimed scope of the invention.Of the invention is that many features of embodiment and advantage are retouched in detail according to this
It is clear to state, therefore it is that falling into for embodiment is all in its true spirit and scope that appended claims, which are intended to cover these,
These feature and advantage.Further, since those skilled in the art is readily apparent that many modifications and changes, therefore it is not meant to this
Invention is that embodiment is limited to illustrated and description precision architecture and operation, but can cover and fall into owning in the range of it
Suitable modifications and equivalent.
Unspecified part of the present invention is technology known to the engineers and technicians of this area.
Claims (1)
- A kind of 1. robot system of intelligent bagging, it is characterised in that：It includes base（5）, controller（7）, chassis（8）, it is horizontal Direction guiding rail（16）, longitudinal rail（18）, supply unit（19）, bagging dolly car body upper end（20）, bagging dolly（21）；Described bagging dolly（21）It is provided with base（5）, handle（6）, bagging dolly car body upper end（20）；Described base （5）Lower end be separately installed with range sensor（1）, preceding movable pulley（2）, position sensor（3）, rear movable pulley（4）；Described Preceding movable pulley（2）Range sensor is installed（1）；Described rear movable pulley（4）Position sensor is installed（3）；Described set Bag dolly（21）Left end installs the handle of an inverted U（6）, pushed for people, draw a kind of robot system of intelligent bagging；Institute The car body upper end for the bagging dolly stated（20）Installed in bagging dolly（21）Upper end, the car body upper end of described bagging dolly （20）Inside is provided with controller（7）, supply unit（19）；Described controller（7）Using Arduino single-chip microcomputers as a kind of The controller of the robot system of intelligent bagging, complete the intelligent bagging of fruit tree；Described supply unit（19）, as one kind The electric supply installation of the robot system of intelligent bagging；Described chassis（8）Installed in the car body upper end of bagging dolly（20）It is upper End, described chassis（8）On cross slide way is installed（16）, longitudinal rail（18）；Described cross slide way（16）On lateral position sensor is installed（13）, horizontal camera（14）, horizontal manipulator （15）, horizontal bagging case（17）；Described horizontal camera（14）Installed in cross slide way（16）Front end, for shooting horizontal stroke Direction guiding rail（16）Fruit tree bag cover state；Described horizontal manipulator（15）, for capturing horizontal bagging case（17）Middle fruit bag, Complete the bagging of lateral attitude；Described longitudinal rail（18）On longitudinal position sensor is installed（9）, longitudinal bagging case（10）, longitudinal manipulator （11）, longitudinal camera（12）；Described longitudinal camera（12）Installed in longitudinal rail（18）Front end, it is vertical for shooting Direction guiding rail（18）Fruit tree bag cover state；Described longitudinal manipulator（11）, for capturing longitudinal bagging case（10）Middle fruit bag, Complete the bagging of lengthwise position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720954020.1U CN207135689U (en) | 2017-08-02 | 2017-08-02 | A kind of robot system of intelligent bagging |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109548538A (en) * | 2018-12-31 | 2019-04-02 | 杭州珑亚珀伟科技有限公司 | Apple fast bagging system and method |
| CN111052965A (en) * | 2019-12-05 | 2020-04-24 | 青岛农业大学 | Apple bagging machine |
-
2017
- 2017-08-02 CN CN201720954020.1U patent/CN207135689U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109548538A (en) * | 2018-12-31 | 2019-04-02 | 杭州珑亚珀伟科技有限公司 | Apple fast bagging system and method |
| CN111052965A (en) * | 2019-12-05 | 2020-04-24 | 青岛农业大学 | Apple bagging machine |
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