CN208353962U - A kind of absorption cutting type strawberry harvesting mobile device - Google Patents
A kind of absorption cutting type strawberry harvesting mobile device Download PDFInfo
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- CN208353962U CN208353962U CN201820672910.8U CN201820672910U CN208353962U CN 208353962 U CN208353962 U CN 208353962U CN 201820672910 U CN201820672910 U CN 201820672910U CN 208353962 U CN208353962 U CN 208353962U
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- ontology
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- harvests
- hard tube
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Abstract
The utility model discloses a kind of absorption cutting type strawberries to harvest mobile device, including ontology, blower, support plate, holder, power mechanism, hose, hard tube, end effector and pushing hands；Above body interior, support plate is mounted below body interior assembling；Pressure sensor is installed on the surface of support plate, and pressure sensor signal connects PLC alarm system；Holder places on the supporting plate simultaneously squeeze pressure sensor；Power mechanism is mounted on the outside of body bottom portion, and power mechanism connects and drives traveling wheel；Battery group is arranged in body interior, and battery group is electrically connected with power mechanism, PLC alarm system；Hose is mounted on this body side surface, and hose connects hard tube, and end effector is installed in hard tube periphery；Pushing hands is installed on the body.The utility model conveniently moving is walked in complicated strawberry greenhouse convenient for equipment；Equipment picks strawberry, storage is put conveniently, and work efficiency is high, reduces labor intensity of workers, and guarantee the quality of strawberry.
Description
Technical field
The utility model relates to strawberry production recovery arrangement fields more particularly to a kind of harvesting movement of absorption cutting type strawberry to set
It is standby.
Background technique
In the technology that existing strawberry is taken, China Agricultural University designs the malicious picking robot of a grass；
The end effector of careless poison picking robot is driven by three direct current generators, to complete end effector
Appearance adjustment, fingers opening-closing movement.Cutting mode of the end effector of robot to carpopodium are as follows: electricity is passed through by low voltage direct current
The heat of heated filament blows carpopodium；Under robot on-off electricity condition, picking movement is controlled by computer by solid-state relay, is put down
Equal picking rate is up to 2.86 seconds/, and success rate is 90% or more.
But the above-mentioned malicious picking robot of grass, in picking process, carpopodium is in and is bent state, thus is only applicable to grass
The use of the elongated carpopodium of certain kind of berries class, and the heating wire temperature rise speed of low-voltage electroheating is slow, cutting efficiency is low.
Therefore, the picking efficiency of strawberry how is improved, guarantees picking effect, is problem to be solved.
Utility model content
To solve technical problem present in background technique, the utility model proposes a kind of harvestings of absorption cutting type strawberry to move
Dynamic equipment, walks in complicated strawberry greenhouse convenient for equipment, puts conveniently to strawberry picking, storage, and work efficiency is high, reduces work
People's labor intensity, and guarantee the quality of strawberry.
The utility model proposes a kind of absorption cutting type strawberry harvest mobile device, including ontology, blower, support plate,
Holder, power mechanism, hose, hard tube, end effector and pushing hands；
Above body interior, support plate is mounted below body interior assembling；The air inlet of blower is located at ontology
Inside, the air outlet of blower are located at bodies top and to body exterior air drafts, so that under blower open state, body interior shape
At negative pressure state；
Pressure sensor is installed on the surface of support plate, and pressure sensor signal connects PLC alarm system；Holder is placed on
In support plate and squeeze pressure sensor；
Power mechanism is mounted on the outside of body bottom portion, and power mechanism connects traveling wheel；Battery group is arranged in body interior, stores
Battery pack is electrically connected with power mechanism, PLC alarm system；
Hose is mounted on this body side surface, and installation port is located above holder；The hose other end connects hard tube；Hard tube
End effector is installed in periphery, so that end effector executes cutting movement to carpopodium under crops sucking hard tube internal state；
Pushing hands is installed on the body.
Preferably, holder is peviform vessel.
Preferably, holder bottom is equipped with elastic gum bed course or spongy layer.
Preferably, end effector is four bar linkage；The installation set of end effector is set on hard tube；Installation set
Surface is slidably connected manual switch；The formation linkage mechanism of manual switch and the first pull rod, the second pull rod；First pull rod simultaneously with
First knife plate constitutes linkage mechanism, and the second pull rod constitutes linkage mechanism, and the first knife plate, the second knife plate with the second knife plate simultaneously
Middle part rotation connection；
Manual switch reciprocatingly slides under state on installation set surface, be closed between the first knife plate of pull rod control, the second knife plate,
Opening action, to execute the cutting movement to carpopodium.
Preferably, the first knife plate, the second knife plate are arc setting.
Preferably, traveling wheel is damping type traveling wheel.
Preferably, the type of alarm of PLC alarm system uses audible alarm.
Preferably, hose is elastic tube.
Preferably, pushing hands is equipped with steering wheel, to control the direction of travel of traveling wheel.
The utility model conveniently moving is walked in complicated strawberry greenhouse convenient for equipment；Equipment is picked strawberry, is stored
It puts conveniently, work efficiency is high, reduces labor intensity of workers, and guarantee the quality of strawberry.
Detailed description of the invention
Fig. 1 be the utility model proposes draw cutting type strawberry harvest mobile device structural schematic diagram.
Fig. 2 be the utility model proposes draw cutting type strawberry harvest mobile device in end effector structural representation
Figure.
Fig. 3 be the utility model proposes draw cutting type strawberry harvest mobile device in end effector theory of mechanics
Schematic diagram.
Specific embodiment
As shown in Figure 1-3, Fig. 1 be the utility model proposes a kind of absorption cutting type strawberry harvest mobile device structure
Schematic diagram, Fig. 2 be the utility model proposes draw cutting type strawberry harvest mobile device in end effector structural representation
Figure, Fig. 3 be the utility model proposes draw cutting type strawberry harvest mobile device in end effector theory of mechanics signal
Figure.
Referring to Fig.1-3, the utility model proposes a kind of absorption cutting type strawberry harvest mobile device, including ontology 1, wind
Machine 2, support plate 3, holder 4, power mechanism 7, hose 11, hard tube 12, end effector 9 and pushing hands 10；
Blower 2 is mounted on 1 inner upper of ontology, and support plate 3 is mounted on 1 lower inside of ontology；The air inlet of blower 2 is located at
Inside ontology 1, the air outlet of blower 2 is located at 1 top of ontology and to 1 outside air draft of ontology, so that under 2 open state of blower,
Negative pressure state is formed inside ontology 1；
Pressure sensor 5 is installed on the surface of support plate 3, and 5 signal of pressure sensor connects PLC alarm system；Holder 4 is put
It sets in support plate 3 and squeeze pressure sensor 5；
Power mechanism 7 is mounted on 1 bottom outside of ontology, and power mechanism 7 connects and drives traveling wheel 8, to drive equipment whole
Body is mobile；Battery group 6 is set inside ontology 1, and battery group 6 is electrically connected with power mechanism 7, PLC alarm system；
Hose 11 is mounted on 1 side of ontology, and installation port is located at 4 top of holder；The connection of 11 other end of hose is hard
Pipe 12；End effector 9 is installed in 12 periphery of hard tube, so that end effector 9 is to fruit under crops sucking 12 internal state of hard tube
Stalk executes cutting movement；
End effector 9 is four bar linkage；The installation set 91 of end effector 9 is set on hard tube 12；Installation set
91 surfaces are slidably connected manual switch 92；The formation linkage mechanism of manual switch 92 and the first pull rod 93, the second pull rod 94；First
Pull rod 93 constitutes linkage mechanism with the first knife plate 96 simultaneously, and the second pull rod 94 constitutes linkage mechanism with the second knife plate 95 simultaneously, and
And it is rotatablely connected in the middle part of first knife plate 96, the second knife plate 95；Manual switch 92 reciprocatingly slides under state on 91 surface of installation set, draws
Bar controls closure, opening action between the first knife plate 96, the second knife plate 95, to execute the cutting movement to carpopodium
Pushing hands 10 is mounted on ontology 1, and pushing hands 10 is equipped with steering wheel, to control the direction of travel of traveling wheel 8.
In the present embodiment, walking mechanism 7 connects and drives traveling wheel 8, to drive equipment to move integrally, convenient for equipment multiple
Walking in miscellaneous strawberry greenhouse；End effector 9 executes cutting movement to carpopodium, and holder 4 is for the storage to strawberry, equipment
Work efficiency is high, easy to use, reduces labor intensity of workers, and guarantee product quality.
In the present embodiment, crops are sucked under 12 internal state of hard tube, and end effector 9 executes cutting movement to carpopodium,
By control manual switch 92 can more accurate, rapid executions cutting movement, to improve working efficiency, guarantee product matter
Amount；After the carpopodium of strawberry is cut, strawberry is entered inside ontology 1 by hard tube 12, hose 11, and is fallen into holder 4, completes strawberry
Storage process.
In the present embodiment, pressure sensor 5 is installed on the surface of support plate 3, for monitoring in real time to holder 4；Work as pressure
When the detected value of sensor 5 reaches predetermined value, PLC alarm system is stared blankly alarm, is replaced with prompting personnel to holder 4,
It is damaged to prevent from squeezing between strawberry, to improve the picking quality of strawberry.
In a specific embodiment, holder 4 is peviform vessel, and 4 bottom of holder is equipped with elastic gum bed course or sponge
Layer carries out maximum protection to strawberry, to guarantee the quality of strawberry.
Further, the first knife plate 96, the second knife plate 95 are arc setting, and it is more preferable to cut effect.
Further, traveling wheel 8 is damping type traveling wheel, reduces vibration, and more strawberries are protected, prevented caused by jolting
Damage.
Further, the type of alarm of PLC alarm system uses audible alarm, receives information in time convenient for staff.
Further, hose 11 is elastic tube, prevents from damaging strawberry.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (9)
1. a kind of absorption cutting type strawberry harvests mobile device, which is characterized in that including ontology (1), blower (2), support plate
(3), holder (4), power mechanism (7), hose (11), hard tube (12), end effector (9) and pushing hands (10)；
Blower (2) is mounted on ontology (1) inner upper, and support plate (3) is mounted on ontology (1) lower inside；The air draught of blower (2)
Mouth is located at ontology (1) inside, and the air outlet of blower (2) is located at the top of ontology (1) and to the external air draft of ontology (1), down in wind
Under machine (2) open state, negative pressure state is formed inside ontology (1)；
Pressure sensor (5) are installed on the surface of support plate (3), and pressure sensor (5) signal connects PLC alarm system；Holder
(4) simultaneously squeeze pressure sensor (5) is placed on support plate (3)；
Power mechanism (7) is mounted on ontology (1) bottom outside, and power mechanism (7) connects traveling wheel (8)；Setting inside ontology (1)
Battery group (6), battery group (6) are electrically connected with power mechanism (7), PLC alarm system respectively；
Hose (11) is mounted on ontology (1) side, and installation port is located above holder (4)；Hose (11) other end connects
Connect hard tube (12)；End effector (9) are installed in hard tube (12) periphery, so that under crops sucking hard tube (12) internal state, end
Actuator (9) are held to execute cutting movement to carpopodium；
Pushing hands (10) is mounted on ontology (1).
2. absorption cutting type strawberry according to claim 1 harvests mobile device, which is characterized in that holder (4) is basin
Shape vessel.
3. absorption cutting type strawberry according to claim 1 harvests mobile device, which is characterized in that holder (4) bottom
Equipped with elastic gum bed course or spongy layer.
4. absorption cutting type strawberry according to claim 1 harvests mobile device, which is characterized in that end effector (9)
For four bar linkage；
The installation set (91) of end effector (9) is set on hard tube (12)；Installation set (91) surface is slidably connected manual switch
(92)；The formation linkage mechanism of manual switch (92) and the first pull rod (93), the second pull rod (94)；First pull rod (93) simultaneously with
First knife plate (96) constitutes linkage mechanism, and the second pull rod (94) constitutes linkage mechanism, and first with the second knife plate (95) simultaneously
Rotation connection in the middle part of knife plate (96), the second knife plate (95)；
Manual switch (92) reciprocatingly slides under state on installation set (91) surface, and pull rod controls the first knife plate (96), the second knife plate
(95) closure, opening action between, to execute the cutting movement to carpopodium.
5. absorption cutting type strawberry according to claim 4 harvests mobile device, which is characterized in that the first knife plate (96),
Second knife plate (95) is arc setting.
6. absorption cutting type strawberry according to claim 1 harvests mobile device, which is characterized in that traveling wheel (8) is to subtract
Shake formula traveling wheel.
7. absorption cutting type strawberry according to claim 1 harvests mobile device, which is characterized in that PLC alarm system
Type of alarm uses audible alarm.
8. absorption cutting type strawberry according to claim 1 harvests mobile device, which is characterized in that hose (11) is elasticity
Pipe.
9. absorption cutting type strawberry according to claim 1 harvests mobile device, which is characterized in that pushing hands (10) is equipped with
Steering wheel, to control the direction of travel of traveling wheel (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820672910.8U CN208353962U (en) | 2018-05-07 | 2018-05-07 | A kind of absorption cutting type strawberry harvesting mobile device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820672910.8U CN208353962U (en) | 2018-05-07 | 2018-05-07 | A kind of absorption cutting type strawberry harvesting mobile device |
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| CN208353962U true CN208353962U (en) | 2019-01-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108419518A (en) * | 2018-05-07 | 2018-08-21 | 安徽三联学院 | A kind of absorption cutting type strawberry harvesting mobile device |
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2018
- 2018-05-07 CN CN201820672910.8U patent/CN208353962U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108419518A (en) * | 2018-05-07 | 2018-08-21 | 安徽三联学院 | A kind of absorption cutting type strawberry harvesting mobile device |
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