CN106416621A - Automatic collection vehicle for green picking of tropical pineapples - Google Patents
Automatic collection vehicle for green picking of tropical pineapples Download PDFInfo
- Publication number
- CN106416621A CN106416621A CN201610866677.2A CN201610866677A CN106416621A CN 106416621 A CN106416621 A CN 106416621A CN 201610866677 A CN201610866677 A CN 201610866677A CN 106416621 A CN106416621 A CN 106416621A
- Authority
- CN
- China
- Prior art keywords
- ananadis comosi
- fructus ananadis
- picking
- expansion bar
- electric expansion
- 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.)
- Granted
Links
- 235000007119 Ananas comosus Nutrition 0.000 title claims abstract description 14
- 241000234671 Ananas Species 0.000 title abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 230000005693 optoelectronics Effects 0.000 claims description 34
- 238000003860 storage Methods 0.000 claims description 15
- 238000012360 testing method Methods 0.000 claims description 12
- 238000002266 amputation Methods 0.000 claims description 7
- 210000004247 hand Anatomy 0.000 claims description 5
- 230000002459 sustained effect Effects 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 3
- 244000099147 Ananas comosus Species 0.000 claims 1
- 239000000295 fuel oil Substances 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000010008 shearing Methods 0.000 abstract description 2
- 238000003306 harvesting Methods 0.000 description 7
- 230000006872 improvement Effects 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 235000013399 edible fruits Nutrition 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 241001093152 Mangifera Species 0.000 description 1
- 244000300264 Spinacia oleracea Species 0.000 description 1
- 235000009337 Spinacia oleracea Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 210000002615 epidermis Anatomy 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L8/00—Electric propulsion with power supply from forces of nature, e.g. sun or wind
- B60L8/003—Converting light into electric energy, e.g. by using photo-voltaic systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses an automatic collection vehicle for green picking of tropical pineapples; the technical problem to be solved is as follows: the pineapple picking device aims at the problems that an existing pineapple picking device in the background art is low in automation degree, saves fuel oil and energy and the like. The technical scheme adopted is as follows: an automatic collection vehicle for picking tropical pineapples in green comprises an automatic collection vehicle for collecting pineapples and a double-linkage picking manipulator arranged on the automatic collection vehicle for picking pineapples; the automatic collecting vehicle comprises a solar-driven electric vehicle, a pineapple conveying line and a pineapple position correcting mechanism; the double-linkage picking manipulator comprises a left picking manipulator and a right picking manipulator which are arranged on the lower bottom surface of the supporting plate in parallel; the left picking manipulator and the right picking manipulator comprise a position adjusting mechanism, a clamping and shearing mechanism and a pineapple detecting mechanism. The automatic collecting vehicle has the advantages that tropical solar energy is fully utilized, fuel oil energy is saved, and green picking is realized.
Description
Technical field
The invention discloses a kind of automatic collection vehicle, and in particular to a kind of automatic data collection that plucks for tropical Fructus Ananadis comosi green
Car, belongs to fruit and vegetable picking intelligence equipment field.
Background technology
Fructus Ananadis comosi is one of famous tropical fruit (tree), plants in worldwide torrid areas.Fructus Ananadis comosi epidermis floral organ is more, hard
Firmly thorny, artificial collection crowd is easily hurt, and it is very big manually to pluck labor intensity.Develop agriculture through science and technology war for implementing China
Slightly, domestic emergence is applied to the automated arm of Fructus Ananadis comosi harvesting.
Chinese patent CN101585333 discloses a kind of pineapple harvesting and conveying device, and it includes tractor and conveyer device,
But still need to artificial harvesting.Chinese patent CN101897259B discloses a kind of Pipeapple picking machine, the machine for picking fruits include picking mechanism,
Cutter hoisting mechanism, fruit groove mechanism, horizontal transport agency, elevating conveyor structure being led, Fructus Mangifera Indicae is realized using tractor fuel power
Automatically pluck.Chinese patent CN103688657 discloses a kind of device and method for plucking automatically Fructus Ananadis comosi, and the device includes
Horizontal orientation device, propulsion are corrected Zhi Tai mechanism, twist into two parts harvesting mechanism, but collect problem for being related to the Fructus Ananadis comosi after plucking.Comprehensive
The discovery of above-mentioned patent is analyzed, although all achieves the automatic harvesting to Fructus Ananadis comosi or collection to a certain extent, but its automatization, intelligence
Degree can be changed all have much room for improvement.Especially Fructus Ananadis comosi automatic picking apparatus are utilizing aspect to the abundant solar energy in torrid areas, all
For being related to.
Content of the invention
The technical problem to be solved is：For the existing Fructus Ananadis comosi picker automatization for referring in background technology
Degree is not high, the problems such as the saving fuel oil energy.
For solving above-mentioned technical problem, the proposition of the present invention is a kind of for the green automatic collection vehicle that plucks of tropical Fructus Ananadis comosi,
Concrete technical scheme is：
A kind of automatic collection vehicle that plucks for tropical Fructus Ananadis comosi green, including for collecting the automatic collecting cart of Fructus Ananadis comosi and setting
Put the Double-linkage picking mechanical arm for plucking Fructus Ananadis comosi on automatic collecting cart；
Automatically collecting cart includes that the electric motor car of Driven by Solar Energy is connected with the electric motor car of Driven by Solar Energy double for conveying
Linkage picking mechanical arm is plucked the Fructus Ananadis comosi pipeline of Fructus Ananadis comosi and is arranged on being plucked for adjusting Fructus Ananadis comosi for Fructus Ananadis comosi conveying line front end
The Fructus Ananadis comosi aligning mechanism plucked by Double-linkage picking mechanical arm is easy in front position；
The electric motor car of Driven by Solar Energy include drive-controlling room, vehicle body, Fructus Ananadis comosi storage box, the first solar energy collecting plate,
Two solar energy collecting plates and solar converter；Drive-controlling room is arranged on the head of vehicle body, and Fructus Ananadis comosi storage box is arranged on vehicle body
On, the first solar energy collecting plate is arranged on the top of Fructus Ananadis comosi storage box；Body bottom is provided with electric walking wheel, and body structure passes through
Extension support, pillar and gripper shoe evagination arrange the second solar energy collecting plate；The both sides of extension support are respectively provided with Fructus Ananadis comosi pendulum
Put platform；Solar converter is on extension support and lower section positioned at the second solar energy collecting plate.
Improvement to technical solution of the present invention, Double-linkage picking mechanical arm includes parallel being arranged on gripper shoe bottom surface
Left side picking mechanical arm and right side picking mechanical arm；Left side picking mechanical arm and right side picking mechanical arm all include position adjustment
Mechanism, clamping cutting mechanism and Fructus Ananadis comosi testing agency；Position adjusting mechanism is arranged on the supporting plate, clamps cutting mechanism connection position
Adjustment mechanism is put, Fructus Ananadis comosi testing agency is arranged on the supporting plate；
Position adjusting mechanism includes fixed platform, moving platform, the first electric expansion bar, the second electric expansion bar and the 3rd electricity
Dynamic expansion link；Fixed platform upper surface fixedly mounts on the supporting plate；First electric expansion bar, the second electric expansion bar and the 3rd
The bottom of electric expansion bar is all by radians such as spherical linkages on the circumferential edges of fixed platform lower surface；First electronic stretches
Equipped with the first motor for driving its motion bar stretching motion on contracting bar；Stretch equipped with its activity of driving in second electric expansion bar
Second driving of contracting bar motion is electronic；Equipped with the 3rd driving electricity for driving its movable telescopic bar motion in 3rd electric expansion bar
Machine；Three motion bar tops of the first electric expansion bar, the second electric expansion bar and the 3rd electric expansion bar are all by spherical
It is hingedly connected on the circumferential edges of moving platform plane；
Clamping cutting mechanism includes clamping cylinder, two holding fingers, two finger brackets, two cut-out cylinders and two
Amputation knife；Clamping cylinder is fixed on moving platform, and the piston rod of clamping cylinder connects two clamping handss through moving platform centre bore
Refer to；One end of two finger brackets is separately fixed on moving platform, the other end of two finger brackets passes through hinge one by one respectively
Correspond to the respective holding finger of connection；Two cut-out cylinders are corresponded and are inclined on respective holding finger, and two are cut
Die on the piston rod of cylinder and connect respective amputation knife respectively；
Fructus Ananadis comosi testing agency includes the first optoelectronic distance sensor being vertically installed on gripper shoe bottom surface and the second light
Electrical distance sensor；First optoelectronic distance sensor and the second optoelectronic distance linear sensor are arranged on sustained height, the first light
Spacing between electrical distance sensor and the second optoelectronic distance sensor is equal to the line-spacing of pineapple cultivation.
In this technical scheme using parallel duplex mechanical hand collaborative design, realize efficiently adopting automatically to Fructus Ananadis comosi
Pluck, effectively the saving fuel oil energy.
Improvement to technique scheme, before Fructus Ananadis comosi aligning mechanism is arranged on the Fructus Ananadis comosi display unit of electric motor car both sides
Side；Fructus Ananadis comosi aligning mechanism includes Fructus Ananadis comosi position adjustment plate, and Fructus Ananadis comosi position adjustment plate is arranged in front of Fructus Ananadis comosi display unit, Fructus Ananadis comosi
Position adjustment plate is provided with two rectangular channels corresponding to the first optoelectronic distance sensor and the second optoelectronic distance sensor.
Improvement further to technique scheme, two rectangular channels are located at corresponding first optoelectronic distance sensing respectively
Device, the lower section of the second optoelectronic distance sensor；V-type opening is equipped with the front opening of two rectangular channels.
Improvement to technical solution of the present invention, Fructus Ananadis comosi display unit of the Fructus Ananadis comosi pipeline installed in electric motor car both sides is deposited with Fructus Ananadis comosi
Between storage tank, driven using electric-type, drive mechanism can adopt V belt translation or chain drive.
Compared with prior art, its advantage is the present invention：
This is used for the automatic collection vehicle that tropical Fructus Ananadis comosi green is plucked, and (1) collecting cart makes full use of tropical solar energy energy automatically
Source, has saved the fuel oil energy, also achieves green harvesting；(2) parallel duplex mechanical hand and Double-linkage mechanical hand are utilized
The gentle formula clamping cutting mechanism of interior employing position adjusting mechanism in parallel, Fructus Ananadis comosi vision-based detection mechanism, Fructus Ananadis comosi position adjusting mechanism
Collaborative design, realizes efficiently plucking automatically to Fructus Ananadis comosi.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the automatic collecting cart overall distribution schematic diagram of the Driven by Solar Energy of the present invention.
Fig. 3 is the Driven by Solar Energy electric vehicle structure schematic diagram of the present invention.
Fig. 4 is Fructus Ananadis comosi picking mechanical arm and the Driven by Solar Energy electric motor car attaching schematic diagram of the present invention.
Fig. 5 is the Fructus Ananadis comosi picking mechanical arm structural representation of the present invention.
Fig. 6 is the clamping shearing structural scheme of mechanism of the present invention.
In figure：1000th, automatic collecting cart；1100th, electric motor car；1101st, drive-controlling room；1102nd, vehicle body；1103rd, Fructus Ananadis comosi
Storage box；1104th, the first solar energy collecting plate；1105th, the second solar energy collecting plate；1106th, solar converter；1107th, electricity
Dynamic road wheel；1108th, protract support；1109th, pillar；1110th, gripper shoe；1111st, Fructus Ananadis comosi display unit；1200th, Fructus Ananadis comosi position is rectified
Positive mechanism；1201st, Fructus Ananadis comosi position adjustment plate；1202nd, rectangular channel；1300th, Fructus Ananadis comosi pipeline；2000th, Double-linkage picking mechanical arm；
2100th, position adjusting mechanism；2101st, fixed platform；2102nd, moving platform；2103rd, the first electric expansion bar；2104th, second electronic stretches
Contracting bar；2105th, the 3rd electric expansion bar；2106th, the first motor；2107th, the second driving is electronic；2108th, the 3rd electricity is driven
Machine；2200th, cutting mechanism is clamped；2201st, clamping cylinder；2202nd, holding finger；2203rd, finger bracket；2204th, cylinder is cut off；
2205th, amputation knife；2300th, Fructus Ananadis comosi testing agency；2301st, the first optoelectronic distance sensor；2302nd, the second optoelectronic distance sensing
Device；3000th, system controller.
Specific embodiment
Below technical solution of the present invention is described in detail, but protection scope of the present invention is not limited to the enforcement
Example.
Understandable for becoming apparent from present disclosure, do further below in conjunction with accompanying drawing 1- Fig. 6 and specific embodiment
Description.
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, not
For limiting the present invention.
Embodiment：
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Mutually combine.Below with reference to the accompanying drawings and in conjunction with the embodiments describing the present invention in detail.
As shown in figure 1, the automatic collection vehicle that plucks for tropical Fructus Ananadis comosi green, including the automatic collection for collecting Fructus Ananadis comosi
Car 1000 and the Double-linkage picking mechanical arm 2000 for plucking Fructus Ananadis comosi being arranged on automatic collecting cart 1000.The present embodiment is certainly
Dynamic collecting vehicle using when also include with automatic collecting cart 1000 and Double-linkage picking mechanical arm 2000 using be electrically connected be
System controller 3000.System controller 3000 is routine techniquess product of the prior art, and the specific present invention does not make detailed
Explanation.
As shown in Fig. 2 collecting cart 1000 includes electric motor car 1100, Fructus Ananadis comosi pipeline 1300 and the spinach of Driven by Solar Energy automatically
Trailing plants aligning mechanism 1200.Fructus Ananadis comosi pipeline 1300 is connected for conveying Double-linkage with the electric motor car 1100 of Driven by Solar Energy
The Fructus Ananadis comosi that picking mechanical arm 2000 is plucked；Fructus Ananadis comosi of this Fructus Ananadis comosi pipeline 1300 installed in 1100 both sides of electric motor car is put further
Between platform 1111 and Fructus Ananadis comosi storage box 1103, using electric-type drive, drive mechanism can adopt V belt translation of the prior art or
Chain drive.Fructus Ananadis comosi aligning mechanism 1200 be arranged on 1300 front end of Fructus Ananadis comosi pipeline for adjusting before Fructus Ananadis comosi plucked
Position is easy to Double-linkage picking mechanical arm (2000) to be plucked.
As shown in figure 4, Double-linkage picking mechanical arm 2000 includes that the left side picking mechanical arm of parallel setting and right side are adopted
Pluck mechanical hand.Left side picking mechanical arm and right side picking mechanical arm all include position adjusting mechanism 2100, clamping cutting mechanism
2200 and Fructus Ananadis comosi testing agency 2300.Position adjusting mechanism 2100 is arranged in gripper shoe 1110, and clamping cutting mechanism 2200 is even
Position adjusting mechanism 2100 is connect, Fructus Ananadis comosi testing agency 2300 is arranged in gripper shoe 1110.
As shown in Figures 2 and 3, the electric motor car 1100 of the Driven by Solar Energy in automatic collecting cart 1000 includes drive-controlling room
1101st, vehicle body 1102, Fructus Ananadis comosi storage box 1103, the first solar energy collecting plate 1104, the second solar energy collecting plate 1105 and the sun
Can transducer 1106.Drive-controlling room 1101 is arranged on the head of vehicle body 1102, and Fructus Ananadis comosi storage box 1103 is arranged on vehicle body 1102
On, the first solar energy collecting plate 1104 is arranged on the top of Fructus Ananadis comosi storage box 1103 for gathering solar energy and turns through solar energy
Parallel operation 1106 is converted into the kinetic energy for being same as driving the work of electric motor car 1100.1102 bottom of vehicle body is provided with electric walking wheel 1107, car
1102 front end of body arranges the second solar energy collecting plate by the support 1108 that protracts, pillar 1109 and 1110 evagination of gripper shoe
1105.The both sides of extension support 1108 are respectively provided with Fructus Ananadis comosi display unit 1111；Solar converter 1106 is installed in extension support
Lower section on 1108 and positioned at the second solar energy collecting plate 1105.
The parallel left side picking mechanical being arranged on 1110 bottom surface of gripper shoe in Double-linkage picking mechanical arm 2000
Handss and right side picking mechanical arm all include position adjusting mechanism 2100, clamping cutting mechanism 2200 and Fructus Ananadis comosi testing agency 2300.
As shown in Figures 4 and 5, position adjusting mechanism 2100 includes fixed platform 2101, moving platform 2102, the first electric expansion bar
2103rd, the second electric expansion bar 2104 and the 3rd electric expansion bar 2105.2101 upper surface of fixed platform is fixedly mounted on support
On plate 1110；The bottom of the first electric expansion bar 2103, the second electric expansion bar 2104 and the 3rd electric expansion bar 2105 is equal
By radians such as spherical linkages on the circumferential edges of 2101 lower surface of fixed platform；First electric expansion bar 2103, second
Electric expansion bar 2104 and the 3rd electric expansion bar 2105 are uniformly arranged.Further, it is equipped with the first electric expansion bar 2103
Drive the first motor 2106 of its motion bar stretching motion；Equipped with its movable telescopic of driving in second electric expansion bar 2104
Second driving electronic 2107 of bar motion；Equipped with the 3rd drive for driving its movable telescopic bar motion in 3rd electric expansion bar 2105
Galvanic electricity machine 2108；First electric expansion bar 2103, three of the second electric expansion bar 2104 and the 3rd electric expansion bar 2105
Motion bar top is all connected to by spherical linkage on the circumferential edges of 2102 plane of moving platform.
As shown in figs. 4 and 6, clamping cutting mechanism 2200 includes the handss of holding finger 2202, two of clamping cylinder 2201, two
Refer to 2203, two cut-out cylinders 2204 of support and two amputation knife 2205.Clamping cylinder 2201 is fixed on moving platform 2102, folder
The piston rod of tight cylinder 2201 connects two holding fingers 2202 through 2102 centre bore of moving platform；Two finger brackets 2203
One end is separately fixed on moving platform 2101, the other end of two finger brackets 2203 is connected one to one respectively by hinge respectively
From holding finger 2202；Two cut-out cylinders 2204 are corresponded and are inclined on respective holding finger 2202, two
Connect respective amputation knife 2205 respectively on the piston rod of cut-out cylinder 2204.
As shown in figure 4, Fructus Ananadis comosi testing agency 2300 includes the first photoelectricity being vertically installed on 1110 bottom surface of gripper shoe
Range sensor 2301 and the second optoelectronic distance sensor 2302.First optoelectronic distance sensor 2301 and the second optoelectronic distance are passed
Sensor 2302 is linearly mounted to sustained height, between the first optoelectronic distance sensor 2301 and the second optoelectronic distance sensor 2302
Spacing be equal to pineapple cultivation line-spacing.This first optoelectronic distance sensor 2301 and the second optoelectronic distance sensor 2302 are
Routine techniquess product of the prior art.
As shown in Fig. 2 before Fructus Ananadis comosi aligning mechanism 1200 is arranged on the Fructus Ananadis comosi display unit 1111 of 1100 both sides of electric motor car
Side；Fructus Ananadis comosi aligning mechanism 1200 includes Fructus Ananadis comosi position adjustment plate 1201, and Fructus Ananadis comosi position adjustment plate 1201 is put installed in Fructus Ananadis comosi
Put the front of platform 1111, Fructus Ananadis comosi position adjustment plate 1201 be provided with corresponding to the first optoelectronic distance sensor 2301 and the second photoelectricity away from
Two rectangular channels 1202 from sensor 2302.Two rectangular channels 1202 are located at corresponding first optoelectronic distance sensor respectively
2301st, the lower section of the second optoelectronic distance sensor 2302；V-type opening is equipped with the front opening of two rectangular channels 1202.
The present embodiment is used for the automatic collection vehicle of tropical Fructus Ananadis comosi green harvesting operationally, adopts for a specific Fructus Ananadis comosi
Pluck step as follows：
Step 1：First automatic collecting cart 1000 is controlled by system controller 3000, drive duplex picking mechanical arm
2000, it is close to collected Fructus Ananadis comosi：
Solar energy is gathered using the first solar energy collecting plate 1104, the second solar energy collecting plate 1105, and pass through solar energy
Solar energy is changed into electric energy by transducer 1106；
System controller 3000 controls the automatic collection vehicle 1000 of Driven by Solar Energy, is close to collected Fructus Ananadis comosi.
Step 2：Then system controller 3000 controls duplex picking mechanical arm 2000, takes Fructus Ananadis comosi and delivers to Fructus Ananadis comosi conveying
Line 1300, delivers to Fructus Ananadis comosi storage box 1103 by Fructus Ananadis comosi pipeline 1300：
Obtained by the first optoelectronic distance sensor 2301 and the second optoelectronic distance sensor 2302 of Fructus Ananadis comosi testing agency 2300
The positional information of collected Fructus Ananadis comosi is taken, feeds back to system controller 3000.
System controller 3000 is detected according to the first optoelectronic distance sensor 2301, the second optoelectronic distance sensor 2302
The positional information of Fructus Ananadis comosi is plucked, is controlled the left side picking mechanical arm of duplex picking mechanical arm 2000 and right side picking mechanical arm
Position adjusting mechanism 2100, clamping cutting mechanism 2200 is delivered to the relevant position of the collected Fructus Ananadis comosi of cut-out, and Fructus Ananadis comosi obstructs for cut-out,
And deliver to Fructus Ananadis comosi display unit 1111；
Step 3：Through Fructus Ananadis comosi display unit 1111, Fructus Ananadis comosi storage box 1103 is delivered to by Fructus Ananadis comosi pipeline 1300.
Part that the present invention does not relate to is all same as the prior art or can be realized using prior art.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (5)
1. a kind of for the green automatic collection vehicle that plucks of tropical Fructus Ananadis comosi, it is characterised in that to include for collecting the automatic of Fructus Ananadis comosi
Collecting cart (1000) and the Double-linkage picking mechanical arm (2000) for plucking Fructus Ananadis comosi being arranged on automatic collecting cart (1000)；
Automatically collecting cart (1000) includes the electric motor car (1100) of Driven by Solar Energy and electric motor car (1100) phase of Driven by Solar Energy
Conveying for conveying Double-linkage picking mechanical arm (2000) and plucking the Fructus Ananadis comosi pipeline (1300) of Fructus Ananadis comosi and be arranged on Fructus Ananadis comosi even
Line (1300) front end be easy to Double-linkage picking mechanical arm (2000) to be plucked for adjusting the position before Fructus Ananadis comosi is plucked
Fructus Ananadis comosi aligning mechanism (1200)；
The electric motor car (1100) of Driven by Solar Energy include drive-controlling room (1101), vehicle body (1102), Fructus Ananadis comosi storage box (1103),
First solar energy collecting plate (1104), the second solar energy collecting plate (1105) and solar converter (1106)；Drive-controlling room
(1101) head of vehicle body is arranged on, and Fructus Ananadis comosi storage box (1103) is arranged on vehicle body (1102), the first solar energy collecting plate
(1104) top of Fructus Ananadis comosi storage box (1103) is arranged on；Vehicle body (1102) bottom is provided with electric walking wheel (1107), vehicle body
(1102) front end arranges the second solar energy acquisition by the support (1108) that protracts, pillar (1109) and gripper shoe (1110) evagination
Plate (1105)；The both sides of extension support (1108) are respectively provided with Fructus Ananadis comosi display unit (1111)；Solar converter (1106) is installed
In the lower section for protracting support (1108) above and positioned at the second solar energy collecting plate (1105).
2. as claimed in claim 1 for the green automatic collection vehicle that plucks of tropical Fructus Ananadis comosi, it is characterised in that Double-linkage is plucked
Mechanical hand (2000) includes the parallel left side picking mechanical arm being arranged on gripper shoe (1110) bottom surface and right side picking machine
Tool handss；Left side picking mechanical arm and right side picking mechanical arm all include position adjusting mechanism (2100), clamping cutting mechanism
And Fructus Ananadis comosi testing agency (2300) (2200)；Position adjusting mechanism (2100) is arranged in gripper shoe (1110), clamps cutter
Structure (2200) link position adjustment mechanism (2100), Fructus Ananadis comosi testing agency (2300) is arranged in gripper shoe (1110)；
Position adjusting mechanism (2100) include fixed platform (2101), moving platform (2102), the first electric expansion bar (2103), second
Electric expansion bar (2104) and the 3rd electric expansion bar (2105)；Fixed platform (2101) upper surface is fixedly mounted on gripper shoe
(1110) on；First electric expansion bar (2103), the second electric expansion bar (2104) and the 3rd electric expansion bar (2105)
Bottom is all by radians such as spherical linkages on the circumferential edges of fixed platform (2101) lower surface；First electric expansion bar
(2103) equipped with the first motor (2106) for driving its motion bar stretching motion on；Second electric expansion bar (2104) is upper to be filled
There is the second driving electronic (2107) for driving its movable telescopic bar motion；Equipped with its work of driving in 3rd electric expansion bar (2105)
3rd motor (2108) of dynamic expansion link motion；First electric expansion bar (2103), the second electric expansion bar (2104) with
And the 3rd three motion bar tops of electric expansion bar (2105) all moving platform (2102) plane is connected to by spherical linkage
On circumferential edges；
Clamping cutting mechanism (2200) includes clamping cylinder (2201), two holding fingers (2202), two finger brackets
(2203), two cut-outs cylinder (2204) and two amputation knife (2205)；Clamping cylinder (2201) is fixed on moving platform (2102)
On, the piston rod of clamping cylinder (2201) connects two holding fingers (2202) through moving platform (2102) centre bore；Two handss
One end of finger support (2203) is separately fixed on moving platform (2101), the other end of two finger brackets (2203) passes through respectively
Hinge connects one to one respective holding finger (2202)；Two cut-outs cylinder (2204) correspond and are inclined at each
Holding finger (2202) on, two cut-out cylinder (2204) piston rods on connect respective amputation knife (2205) respectively；
Fructus Ananadis comosi testing agency (2300) includes the first optoelectronic distance sensor being vertically installed on gripper shoe (1110) bottom surface
(2301) and the second optoelectronic distance sensor (2302)；First optoelectronic distance sensor (2301) and the second optoelectronic distance sensor
(2302) be linearly mounted to sustained height, the first optoelectronic distance sensor (2301) and the second optoelectronic distance sensor (2302) it
Between spacing be equal to pineapple cultivation line-spacing.
3. as claimed in claim 2 for the green automatic collection vehicle that plucks of tropical Fructus Ananadis comosi, it is characterised in that Fructus Ananadis comosi position is rectified
Positive mechanism (1200) is arranged in front of the Fructus Ananadis comosi display unit (1111) of electric motor car (1100) both sides；Fructus Ananadis comosi aligning mechanism
(1200) include Fructus Ananadis comosi position adjustment plate (1201), Fructus Ananadis comosi position adjustment plate (1201) is before Fructus Ananadis comosi display unit (1111)
Side, Fructus Ananadis comosi position adjustment plate (1201) is provided with and senses corresponding to the first optoelectronic distance sensor (2301) and the second optoelectronic distance
Two rectangular channels (1202) of device (2302).
4. as claimed in claim 3 for the green automatic collection vehicle that plucks of tropical Fructus Ananadis comosi, it is characterised in that two rectangular channels
(1202) corresponding first optoelectronic distance sensor (2301), the lower section of the second optoelectronic distance sensor (2302) are located at respectively；
V-type opening is equipped with the front opening of two rectangular channels (1202).
5. as claimed in claim 2 for the green automatic collection vehicle that plucks of tropical Fructus Ananadis comosi, it is characterised in that Fructus Ananadis comosi pipeline
(1300) between the Fructus Ananadis comosi display unit (1111) and Fructus Ananadis comosi storage box (1103) of electric motor car (1100) both sides, using electric-type
Drive, drive mechanism can adopt V belt translation or chain drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610866677.2A CN106416621B (en) | 2016-09-29 | 2016-09-29 | Automatic collection vehicle for green picking of tropical pineapples |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610866677.2A CN106416621B (en) | 2016-09-29 | 2016-09-29 | Automatic collection vehicle for green picking of tropical pineapples |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106416621A true CN106416621A (en) | 2017-02-22 |
| CN106416621B CN106416621B (en) | 2018-09-18 |
Family
ID=58171354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610866677.2A Active CN106416621B (en) | 2016-09-29 | 2016-09-29 | Automatic collection vehicle for green picking of tropical pineapples |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106416621B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107409625A (en) * | 2017-08-09 | 2017-12-01 | 华南理工大学 | A kind of controllable drop point collect to rotor wheel picker |
| CN107810717A (en) * | 2017-10-23 | 2018-03-20 | 广东工业大学 | One kind automates two-way pineapple picker |
| CN108076812A (en) * | 2018-02-12 | 2018-05-29 | 龙岩学院 | One kind is semi-automatic to pluck Machine for pineapple |
| CN108184413A (en) * | 2018-02-01 | 2018-06-22 | 北华大学 | A kind of pineapple picking mechanism |
| CN108307782A (en) * | 2018-03-26 | 2018-07-24 | 武汉理工大学 | Cart type semi-automation pineapple picking machine |
| CN108391509A (en) * | 2018-03-09 | 2018-08-14 | 三峡大学 | A kind of pineapple picking vehicle and application method |
| CN108432451A (en) * | 2018-05-02 | 2018-08-24 | 南昌大学 | A kind of hand-pushed drum type pineapple picking machine |
| CN108476719A (en) * | 2018-06-04 | 2018-09-04 | 贵州民族大学 | A kind of pineapple picking auxiliary device |
| CN108496539A (en) * | 2018-05-02 | 2018-09-07 | 南昌大学 | One kind is lockable to pack tightly pineapple manipulator |
| CN108513795A (en) * | 2018-03-14 | 2018-09-11 | 聊城大学 | A kind of pineapple picking machine and working method |
| CN108966817A (en) * | 2018-07-09 | 2018-12-11 | 沈阳工业大学 | Great-leap-forward pineapple picking vehicle |
| CN109041773A (en) * | 2018-07-23 | 2018-12-21 | 河海大学常州校区 | A kind of chain transmission type pineapple harvester |
| CN110800468A (en) * | 2019-10-23 | 2020-02-18 | 熊浩 | Parallel platform for fruit and vegetable picking manipulator |
| CN116210445A (en) * | 2023-04-23 | 2023-06-06 | 广东海洋大学 | Pineapple picking robot and picking method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0363511A1 (en) * | 1988-10-13 | 1990-04-18 | Winfried Huf | Vehicle with dual drive steering and special conveying units for the support series in modern fruit harvesting |
| CN102612926A (en) * | 2012-04-01 | 2012-08-01 | 华南农业大学 | Mechanized fruit picking, collecting and transporting system and method |
| CN102714978A (en) * | 2012-04-17 | 2012-10-10 | 华南农业大学 | Tree crown-vibrating type fruit picking machine |
| CN104584885A (en) * | 2014-11-27 | 2015-05-06 | 广西大学 | Intelligent vehicle for removing and recycling lawn trash |
| CN204811005U (en) * | 2015-07-25 | 2015-12-02 | 天津科迅通科技发展有限公司 | Solar and wind energy hybrid lawn mower with incomplete careless absorbing mechanism |
| CN205511059U (en) * | 2016-01-31 | 2016-08-31 | 杨松梅 | Afforestation trimming means |
| CN105918100A (en) * | 2016-05-24 | 2016-09-07 | 中山弗雷德机械有限公司 | Agricultural planting device for inner nutrition sources |
-
2016
- 2016-09-29 CN CN201610866677.2A patent/CN106416621B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0363511A1 (en) * | 1988-10-13 | 1990-04-18 | Winfried Huf | Vehicle with dual drive steering and special conveying units for the support series in modern fruit harvesting |
| CN102612926A (en) * | 2012-04-01 | 2012-08-01 | 华南农业大学 | Mechanized fruit picking, collecting and transporting system and method |
| CN102714978A (en) * | 2012-04-17 | 2012-10-10 | 华南农业大学 | Tree crown-vibrating type fruit picking machine |
| CN104584885A (en) * | 2014-11-27 | 2015-05-06 | 广西大学 | Intelligent vehicle for removing and recycling lawn trash |
| CN204811005U (en) * | 2015-07-25 | 2015-12-02 | 天津科迅通科技发展有限公司 | Solar and wind energy hybrid lawn mower with incomplete careless absorbing mechanism |
| CN205511059U (en) * | 2016-01-31 | 2016-08-31 | 杨松梅 | Afforestation trimming means |
| CN105918100A (en) * | 2016-05-24 | 2016-09-07 | 中山弗雷德机械有限公司 | Agricultural planting device for inner nutrition sources |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107409625A (en) * | 2017-08-09 | 2017-12-01 | 华南理工大学 | A kind of controllable drop point collect to rotor wheel picker |
| CN107810717A (en) * | 2017-10-23 | 2018-03-20 | 广东工业大学 | One kind automates two-way pineapple picker |
| CN108184413A (en) * | 2018-02-01 | 2018-06-22 | 北华大学 | A kind of pineapple picking mechanism |
| CN108076812A (en) * | 2018-02-12 | 2018-05-29 | 龙岩学院 | One kind is semi-automatic to pluck Machine for pineapple |
| CN108391509A (en) * | 2018-03-09 | 2018-08-14 | 三峡大学 | A kind of pineapple picking vehicle and application method |
| CN108513795B (en) * | 2018-03-14 | 2024-07-12 | 聊城大学 | Pineapple picking machine and working method |
| CN108513795A (en) * | 2018-03-14 | 2018-09-11 | 聊城大学 | A kind of pineapple picking machine and working method |
| CN108307782A (en) * | 2018-03-26 | 2018-07-24 | 武汉理工大学 | Cart type semi-automation pineapple picking machine |
| CN108496539A (en) * | 2018-05-02 | 2018-09-07 | 南昌大学 | One kind is lockable to pack tightly pineapple manipulator |
| CN108432451B (en) * | 2018-05-02 | 2023-11-28 | 南昌大学 | Hand-push roller type pineapple picking machine |
| CN108432451A (en) * | 2018-05-02 | 2018-08-24 | 南昌大学 | A kind of hand-pushed drum type pineapple picking machine |
| CN108476719A (en) * | 2018-06-04 | 2018-09-04 | 贵州民族大学 | A kind of pineapple picking auxiliary device |
| CN108966817A (en) * | 2018-07-09 | 2018-12-11 | 沈阳工业大学 | Great-leap-forward pineapple picking vehicle |
| CN108966817B (en) * | 2018-07-09 | 2021-05-14 | 沈阳工业大学 | Crossing type pineapple picking vehicle |
| CN109041773A (en) * | 2018-07-23 | 2018-12-21 | 河海大学常州校区 | A kind of chain transmission type pineapple harvester |
| CN110800468A (en) * | 2019-10-23 | 2020-02-18 | 熊浩 | Parallel platform for fruit and vegetable picking manipulator |
| CN116210445A (en) * | 2023-04-23 | 2023-06-06 | 广东海洋大学 | Pineapple picking robot and picking method thereof |
| CN116210445B (en) * | 2023-04-23 | 2024-04-12 | 广东海洋大学 | Pineapple picking robot and picking method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106416621B (en) | 2018-09-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106416621A (en) | Automatic collection vehicle for green picking of tropical pineapples | |
| CN106363618A (en) | Picking mechanical hand | |
| CN105580557A (en) | Banana picking mechanism | |
| CN201243498Y (en) | Vibration type machine for picking fruit tree | |
| CN201467711U (en) | Vibrating type fruit tree harvester | |
| CN109005918B (en) | Vibrating matrimony vine is adopted and is received car | |
| CN102612926A (en) | Mechanized fruit picking, collecting and transporting system and method | |
| CN105325122A (en) | Fruit vibrating harvesting and vanning vehicle | |
| CN102696411B (en) | Grape winter-pruning operation device based on machine vision | |
| CN102922261A (en) | Automatic diode assembling machine for junction box | |
| CN109937694B (en) | Fruit picking harvester | |
| CN105103795A (en) | Cherry picking robot end actuator | |
| CN102227972A (en) | Intelligent harvesting equipment and method for table top cultured fruits | |
| CN202624700U (en) | Full-automatic quantitative packaging machine equipment | |
| CN114303643A (en) | Automatic grabbing system based on machine vision recognition | |
| CN203968700U (en) | Fruit vibration results and vanning car | |
| CN216314075U (en) | Picking device | |
| CN205658029U (en) | Ware is picked to eggplant | |
| CN108522016A (en) | Pineapple assists picker | |
| CN208590270U (en) | A kind of multi-faceted fruit picking collection integrated apparatus | |
| CN110663357A (en) | Intelligent picking machine | |
| CN106233937A (en) | A kind of array extension type mechanical arm kiwifruit fruit picking robot | |
| CN203844652U (en) | Sugarcane-bundle clamping and collecting transporter | |
| CN210868817U (en) | Intelligent picking machine | |
| CN202819064U (en) | Grape winter pruning operation device based on machine vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 211302 39 Shuangpai stone street, Qiqiao Town, Gaochun District, Nanjing, Jiangsu. Applicant after: Nanjing Vocational College of Information Technology Address before: 210013 99 Wen Lan Road, Xianlin University Town, Nanjing, Jiangsu Applicant before: Nanjing Vocational College of Information Technology |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |