CN102318473B - Melon and fruit picking device and picking method thereof - Google Patents
Melon and fruit picking device and picking method thereof Download PDFInfo
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- CN102318473B CN102318473B CN 201110144820 CN201110144820A CN102318473B CN 102318473 B CN102318473 B CN 102318473B CN 201110144820 CN201110144820 CN 201110144820 CN 201110144820 A CN201110144820 A CN 201110144820A CN 102318473 B CN102318473 B CN 102318473B
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 55
- 241000219112 Cucumis Species 0.000 title claims abstract description 52
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 title claims abstract description 52
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 238000003306 harvesting Methods 0.000 claims description 5
- 238000007514 turning Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 208000037805 labour Diseases 0.000 description 2
- 235000000832 Ayote Nutrition 0.000 description 1
- 244000241235 Citrullus lanatus Species 0.000 description 1
- 235000012828 Citrullus lanatus var citroides Nutrition 0.000 description 1
- 241000675108 Citrus tangerina Species 0.000 description 1
- 240000008067 Cucumis sativus Species 0.000 description 1
- 235000010799 Cucumis sativus var sativus Nutrition 0.000 description 1
- 240000004244 Cucurbita moschata Species 0.000 description 1
- 235000009854 Cucurbita moschata Nutrition 0.000 description 1
- 235000009804 Cucurbita pepo subsp pepo Nutrition 0.000 description 1
- 244000061458 Solanum melongena Species 0.000 description 1
- 235000002597 Solanum melongena Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000015136 pumpkin Nutrition 0.000 description 1
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- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a melon and fruit picking device and a picking method thereof, which relate to the technical field of agricultural equipment. The melon and fruit picking device comprises a clamping device, a cutting device and a control device, wherein the clamping device comprises a step motor, a driven gear, a left support swinging rod, a left finger, a driving gear, a right support swinging rod, a right finger and supporting blocks, the supporting blocks are arranged under the left finger and the right finger, the driving gear and the step motor are connected, the driving gear and the driven gear are connected through a gear pair, the left finger is arranged at the end parts of the left support swinging rod and the driven gear, the right finger is arranged at the end parts of the right support swinging rod and the driving gear, the cutting device comprises a cutter, a swinging air cylinder and an electromagnetic reversing valve, the cutter is arranged on an output shaft of the swinging air cylinder, the electromagnetic reversing valve is arranged on the swinging air cylinder, the swinging air cylinder is arranged on a cutter frame, and the cutter frame is arranged on a back seat vertically and fixedly arranged on a base. The melon and fruit picking device and the method can be used for automatically picking melons and fruits, and a large amount of time and labor can be saved for laborers.
Description
Technical field
The present invention relates to the agricultural equipment technical field, relate in particular to a kind of melon and fruit picker and picking method thereof.
Background technology
Traditional melon and fruit is gathered and is usually adopted artificial mode of plucking, and labourer's labour intensity is large, and operating efficiency is low, need to expend a large amount of time and muscle power.Development melon and fruit picking robot can free a large amount of labours from these numerous and diverse, dull work.The melon and fruit picking robot belongs to a kind of of agricultural robot, and along with popularizing of the intelligentized development of agricultural equipment and related science technology, picking robot will have more wide prospect.
Existing melon and fruit picker is mainly to concentrate on the gathering of the minitype fruits such as apple, oranges and tangerines and cucumber, eggplant.And being not suitable for that all larger large-scale melon and fruit is such as the gathering of watermelon, pumpkin etc. to volume, weight, large-scale melon and fruit has different requirements to the load of picker, weight, flexibility, Grasp Modes etc.Therefore be necessary that designing a kind of energy is used for the picker that large-scale melon and fruit is gathered.
Summary of the invention
The technical problem that (one) will solve
The technical problem to be solved in the present invention is: a kind of melon and fruit picker and picking method thereof are provided, and it can carry out melon and fruit automatically plucks, and has improved the efficient of melon and fruit harvesting work, makes simultaneously labourer save a large amount of time and muscle power.
(2) technical scheme
For addressing the above problem, the invention provides a kind of melon and fruit picker, comprise: clamping device, cutter sweep and control device, wherein, described clamping device comprises: stepper motor, driven gear, left support fork, left hand refer to, driving gear, right support fork, the right hand refers to and be installed on left hand refers to lift piece with the right hand refers to the below;
Described stepper motor is installed on the base bottom, and driven gear, left support fork, left hand refer to, driving gear, right support fork and the right hand refer to be installed on base top;
Described stepper motor is used for driving the driving gear rotation, thereby makes driving gear and driven gear opposite direction rotating;
Described driving gear is connected with stepper motor; Be connected for gear pair between driving gear and driven gear; Described driving gear and driven gear are used for driving left hand and refer to point to front or translation to the left and right with the right hand;
Left hand refers to be installed on the end of left support fork and driven gear, makes driven gear, left support fork and left hand refer to consist of a parallel-crank mechanism;
The right hand refers to be installed on the end of right support fork and driving gear, makes driving gear, right support fork and the right hand refer to also consist of a parallel-crank mechanism;
Described cutter sweep comprises: cutter, oscillating cylinder and solenoid directional control valve;
Described cutter is installed on the output shaft of oscillating cylinder, and solenoid directional control valve is installed on oscillating cylinder, is used for oscillating cylinder is controlled; Described oscillating cylinder is used for driving cutter and rotates;
Described oscillating cylinder is installed on knife rest, and knife rest is arranged on the back of the body seat that vertically is fixed in base.
Wherein, described device also comprises control device, and described control device comprises: single-chip microcomputer, electromagnetic relay and stepper motor driver; Described single-chip microcomputer is electrically connected to electromagnetic relay and stepper motor driver respectively, and described stepper motor driver is electrically connected to stepper motor, and described electromagnetic relay is electrically connected to solenoid directional control valve;
Described electromagnetic relay is used for solenoid directional control valve is controlled;
Described stepper motor driver is used for step motor control.
Wherein, described device comprises that also being installed on left hand refers to the rubber strip that refers to the right hand, and left hand is referred to and the right hand refer to fit more in large area melon and fruit surface, increasing friction force, and avoid mechanical damage to melon and fruit.
Wherein, have the strip hole on described back of the body seat, be used for regulating the distance between knife rest and base, knife rest is installed on back of the body seat by the strip hole.
Wherein, described back of the body seat is provided with the connection annulus, is used for the melon and fruit picker is connected with mechanical arm.
A kind of method of utilizing front described melon and fruit picker to carry out the melon and fruit harvesting comprises the following steps:
S1, the stepper motor forward drives driving gear and is rotated counterclockwise, and driving gear drives driven gear and turns clockwise, angle between left support fork and right support fork is reduced gradually, left hand refers to refer to protract with the right hand, and left hand refers to and the distance of the right hand between referring to reduces, and then clamps melon and fruit;
S2, solenoid directional control valve drive the oscillating cylinder axle and rotate, thereby drive cutter Rotate 180 °, complete cutting action; Then solenoid directional control valve makes the gas circuit commutation in oscillating cylinder, resets after 180 ° of cutter reversed turnings;
S3, the stepper motor counter-rotating drives driving gear and clockwise rotates, and driven gear rotates counterclockwise thereupon, and the angle between left support fork and right support fork increases gradually, and left hand refers to refer to retraction and then break away from melon and fruit with the right hand.
Wherein, described method also comprises single-chip microcomputer transmitted signal and direction signal to stepper motor driver, and then the rotation of control step motor and single-chip microcomputer transmit button signal be to electromagnetic relay, and then controls the step of electromagnetic switch valve events.
Wherein, described step S2 also comprises by regulating the distance between knife rest and base, the step of regulating cutting position.
(3) beneficial effect
The present invention can automatically carry out melon and fruit and pluck, and has improved the efficient of melon and fruit harvesting work, makes simultaneously labourer save a large amount of time and muscle power.In addition, control mode of the present invention is simple, only needs to control the folding of finger and the swing of cutter, and control signal is few, implements simple, reliable.The present invention adopts the mode of rigidity finger and the combination of flexible rubber band, has increased the contact area with melon and fruit, with difformity and the frictional force that adapts to melon and fruit.It adopts and embraces-mode of Tuo combination, can reduce chucking power, in order to avoid destroy fruit.Adopt the mode of two gear engagements, can guarantee the synchronism of left and right finger motion.The left and right finger has adopted parallel-crank mechanism, can make relative bar remain parallel, and the angular displacement of two connecting rods, angular speed and angular acceleration are also equal all the time, can help to tide over the motion undefined position, can increase again the maximum tractive force that starts.Cutter adopts oscillating cylinder to drive, and can make cutter have fast, the sensitive characteristics of movement velocity.Variable between knife rest and base can be realized the cutting of fruit diverse location.
Description of drawings
Fig. 1 is the structural representation (a) of melon and fruit picker of the present invention;
Fig. 2 is the structural representation (b) of melon and fruit picker of the present invention;
Fig. 3 is the flow chart of melon and fruit picking method of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for explanation the present invention, but are not used for limiting the scope of the invention.
As shown in Fig. 1-2; Melon and fruit picker of the present invention comprises: clamping device and cutter sweep, wherein,
Described clamping device comprises: stepper motor 2, driven gear 3, left support fork 4, left hand refer to 5, driving gear 6, right support fork 7, the right hand refer to 8 and be installed on left hand refer to 5 and the right hand refer to 8 belows lift piece 9;
Described stepper motor 2 is installed on base 1 bottom, and driven gear 3, left support fork 4, left hand refer to 5, driving gear 6, right support fork 7 and the right hand refer to that 8 are installed on base 1 top;
Described stepper motor 2 is used for driving driving gear 6 rotations, thereby makes driving gear 6 and driven gear 3 opposite direction rotatings;
Described driving gear 6 is connected with stepper motor 2; Be connected for gear pair between driving gear 6 and driven gear 3; Described driving gear 6 and driven gear 3 be used for to drive left hand and refer to 5 and the right hand refers to 8 forward or translation to the left and right;
Left hand refers to that 5 are installed on the end of left support fork 4 and driven gear 3 by straight pin, makes driven gear 3, left support fork 4 and left hand refer to that 5 consist of a parallel-crank mechanism;
The right hand refers to that 8 are installed on the end of right support fork 7 and driving gear 6 by straight pin, makes driving gear 6, right support fork 7 and the right hand refer to that 8 also consist of a parallel-crank mechanism;
Left hand refer to 5 and the right hand refer to be equipped with on 8 rubber strip 14, make when being used for crawl left hand refer to 5 and the right hand refer to 8 fit melon and fruit surfaces more in large area, and increasing friction force, and avoid mechanical damage to melon and fruit.
Described cutter sweep comprises: cutter 10, oscillating cylinder 11 and solenoid directional control valve;
Described cutter 10 is installed on the output shaft of oscillating cylinder 11, and solenoid directional control valve is installed on oscillating cylinder 11, is used for oscillating cylinder 11 is controlled; Described oscillating cylinder 11 is used for driving cutter 10 and rotates;
Described oscillating cylinder 11 is installed on knife rest 12, and knife rest 12 is arranged on the back of the body seat 13 that vertically is fixed in base 1.
Have the strip hole on described back of the body seat 13, be used for regulating the distance between knife rest 12 and base 1, knife rest 12 is fixed on the back of the body 13 by the strip hole.Described back of the body seat is provided with and connects annulus 15, is used for the melon and fruit picker is connected with mechanical arm.
Described device also comprises control device, and described control device comprises: single-chip microcomputer, electromagnetic relay and stepper motor driver; Described single-chip microcomputer is electrically connected to electromagnetic relay and stepper motor driver respectively, and described stepper motor driver is electrically connected to stepper motor, and described electromagnetic relay is electrically connected to solenoid directional control valve;
Described electromagnetic relay is used for solenoid directional control valve is controlled;
Described stepper motor driver is used for step motor control.
As shown in Figure 3, a kind of method of utilizing aforesaid melon and fruit picker to carry out the melon and fruit harvesting of the present invention comprises the following steps:
S1, stepper motor 2 forwards drive driving gear 6 and are rotated counterclockwise, driving gear 6 drives driven gear 3 and turns clockwise, angle between left support fork 4 and right support fork 7 is reduced gradually, left hand refer to 5 and the right hand refer to that 8 protract, left hand refer to 5 and the right hand refer to that the distance between 8 reduces, and then clamp melon and fruit;
In this step, single-chip microcomputer transmitted signal and direction signal be to stepper motor driver, and then make the stepper motor forward.
S2, solenoid directional control valve drive oscillating cylinder axle 11 and rotate, thereby drive cutter 10 Rotate 180s °, complete cutting action; Then solenoid directional control valve makes the gas circuit commutation in oscillating cylinder 11, resets after 180 ° of cutter 10 reversed turnings;
In this step, single-chip microcomputer to electromagnetic relay, is controlled the electromagnetic switch valve events by the transmit button signal; This step can by regulating the distance between knife rest 12 and base 1, be regulated the cutting position of cutter 10.
S3, stepper motor 2 counter-rotating drives driving gears 6 and clockwise rotates, driven gear 3 rotates counterclockwise thereupon, the angle between left support fork 4 and right support fork 7 increases gradually, left hand refer to 5 and the right hand refer to 8 retractions and then break away from melon and fruit.
In this step, single-chip microcomputer transmitted signal and direction signal be to stepper motor driver, and then make the stepper motor backward rotation.
Above embodiment only is used for explanation the present invention; and be not limitation of the present invention; the those of ordinary skill in relevant technologies field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (6)
1. a melon and fruit picker, is characterized in that, comprising: clamping device and cutter sweep, wherein,
Described clamping device comprises: what stepper motor (2), driven gear (3), left support fork (4), left hand referred to that (5), driving gear (6), right support fork (7), the right hand refer to (8) and be installed on that left hand refers to that (5) and the right hand refer to (8) below lifts piece (9);
Described stepper motor (2) is installed on base (1) bottom, and driven gear (3), left support fork (4), left hand refer to that (5), driving gear (6), right support fork (7) and the right hand refer to that (8) are installed on base (1) top;
Described stepper motor (2) is used for driving driving gear (6) rotation, thereby makes driving gear (6) and driven gear (3) opposite direction rotating;
Described driving gear (6) is connected with stepper motor (2); Be connected for gear pair between driving gear (6) and driven gear (3); Described driving gear (6) and driven gear (3) are used for driving left hand and refer to that (5) and the right hand refer to (8) forward or translation to the left and right;
Left hand refers to that (5) are installed on the end of left support fork (4) and driven gear (3), makes driven gear (3), left support fork (4) and left hand refer to that (5) consist of a parallel-crank mechanism;
The right hand refers to that (8) are installed on the end of right support fork (7) and driving gear (6), makes driving gear (6), right support fork (7) and the right hand refer to that (8) also consist of a parallel-crank mechanism;
Described cutter sweep comprises: cutter (10), oscillating cylinder (11) and solenoid directional control valve;
Described cutter (10) is installed on the output shaft of oscillating cylinder (11), and solenoid directional control valve is installed on oscillating cylinder (11), is used for oscillating cylinder (11) is controlled; Described oscillating cylinder (11) is used for driving cutter (10) and rotates;
Described oscillating cylinder (11) is installed on knife rest (12), and knife rest (12) is arranged on the back of the body seat (13) that vertically is fixed in base (1);
Have the strip hole on described back of the body seat (13), be used for regulating the distance between knife rest (12) and base (1), knife rest (12) is installed on the back of the body (13) by the strip hole.
2. melon and fruit picker as claimed in claim 1, is characterized in that, also comprises control device, and described control device comprises: single-chip microcomputer, electromagnetic relay and stepper motor driver; Described single-chip microcomputer is electrically connected to electromagnetic relay and stepper motor driver respectively, and described stepper motor driver is electrically connected to stepper motor, and described electromagnetic relay is electrically connected to solenoid directional control valve;
Described electromagnetic relay is used for solenoid directional control valve is controlled;
Described stepper motor driver is used for step motor control.
3. melon and fruit picker as claimed in claim 1, it is characterized in that, comprise that also being installed on left hand refers to that (5) and the right hand refer to the rubber strip (14) on (8), make left hand refer to that (5) and the right hand refer to (8) fit melon and fruit surface more in large area when being used for crawl, increasing friction force, and avoid mechanical damage to melon and fruit.
4. melon and fruit picker as claimed in claim 1, is characterized in that, described back of the body seat (13) is provided with and connects annulus (15), is used for the melon and fruit picker is connected with mechanical arm.
5. one kind is utilized the method that in claim 1-4, the described melon and fruit picker of any one carries out the melon and fruit harvesting, it is characterized in that, comprises the following steps:
S1, stepper motor (2) forward drives driving gear (6) and is rotated counterclockwise, driving gear (6) drives driven gear (3) and turns clockwise, angle between left support fork (4) and right support fork (7) is reduced gradually, left hand refers to that (5) and the right hand refer to that (8) protract, left hand refers to that (5) and the right hand refer to that the distance between (8) reduces, and then clamps melon and fruit;
S2, solenoid directional control valve drive oscillating cylinder axle (11) and rotate, thereby drive cutter (10) Rotate 180 °, complete cutting action; Then solenoid directional control valve makes the gas circuit commutation in oscillating cylinder (11), resets after 180 ° of cutter (10) reversed turnings;
S3, stepper motor (2) counter-rotating drives driving gear (6) and clockwise rotates, driven gear (3) rotates counterclockwise thereupon, and the angle between left support fork (4) and right support fork (7) increases gradually, and left hand refers to that (5) and the right hand refer to (8) retraction and then break away from melon and fruit;
Described step S2 also comprises by regulating the distance between knife rest (12) and base (1), the step of regulating cutting position.
6. melon and fruit picking method as claimed in claim 5, it is characterized in that, also comprise, single-chip microcomputer transmitted signal and direction signal are to stepper motor driver, and then the rotation of control step motor and single-chip microcomputer transmit button signal be to electromagnetic relay, and then control the step of electromagnetic switch valve events.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110144820 CN102318473B (en) | 2011-05-31 | 2011-05-31 | Melon and fruit picking device and picking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110144820 CN102318473B (en) | 2011-05-31 | 2011-05-31 | Melon and fruit picking device and picking method thereof |
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| Publication Number | Publication Date |
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| CN102318473A CN102318473A (en) | 2012-01-18 |
| CN102318473B true CN102318473B (en) | 2013-06-12 |
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| CN 201110144820 Expired - Fee Related CN102318473B (en) | 2011-05-31 | 2011-05-31 | Melon and fruit picking device and picking method thereof |
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| CN108124591B (en) * | 2018-03-19 | 2019-11-01 | 杨柳锋 | Automatic watermelon picking vehicle |
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| CN108811731B (en) * | 2018-06-15 | 2021-02-09 | 海安爵珈机械科技有限公司 | Agricultural vegetables and fruits are with conveniently picking clamping device |
| CN109769467B (en) * | 2019-03-15 | 2022-03-25 | 西安航空职业技术学院 | Automatic watermelon picking and loading machine |
| CN110741809A (en) * | 2019-11-29 | 2020-02-04 | 福州大学 | Fruit and vegetable picking device and working method thereof |
| CN111226601B (en) * | 2020-03-26 | 2021-03-02 | 广州飞利信息科技有限公司 | Automatic watermelon picking device capable of judging sequential arrangement during transfer |
| CN111713257B (en) * | 2020-07-03 | 2021-07-06 | 浙江理工大学 | Spherical cutter type self-propelled famous and high-quality tea plucking machine |
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|---|---|---|---|---|
| JPH04135413A (en) * | 1990-09-26 | 1992-05-08 | Kubota Corp | Hand for harvesting fruit vegetables |
| CN101066022B (en) * | 2007-04-03 | 2012-05-23 | 江苏大学 | Linear motor driven terminal executor of picking robot |
| CN100591202C (en) * | 2008-05-05 | 2010-02-24 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
| CN101317516B (en) * | 2008-07-22 | 2010-09-29 | 中国农业大学 | Automatic picking apparatus for middle/low layer of elevated strawberry |
| CN101395989B (en) * | 2008-10-10 | 2010-12-08 | 江苏大学 | End effector of apple picking robot |
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