CN108702930A - The application method of intelligent pineapple harvesting robotic - Google Patents
The application method of intelligent pineapple harvesting robotic Download PDFInfo
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- CN108702930A CN108702930A CN201810780975.9A CN201810780975A CN108702930A CN 108702930 A CN108702930 A CN 108702930A CN 201810780975 A CN201810780975 A CN 201810780975A CN 108702930 A CN108702930 A CN 108702930A
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- 235000007119 Ananas comosus Nutrition 0.000 title claims abstract description 179
- 238000003306 harvesting Methods 0.000 title claims abstract description 105
- 238000000034 method Methods 0.000 title claims abstract description 20
- 244000099147 Ananas comosus Species 0.000 title 1
- 241000234671 Ananas Species 0.000 claims abstract description 178
- 208000019300 CLIPPERS Diseases 0.000 claims abstract description 61
- 208000021930 chronic lymphocytic inflammation with pontine perivascular enhancement responsive to steroids Diseases 0.000 claims abstract description 61
- 230000006698 induction Effects 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 18
- 235000013399 edible fruits Nutrition 0.000 claims description 18
- 230000008054 signal transmission Effects 0.000 claims description 15
- 230000000630 rising effect Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 4
- 241000196324 Embryophyta Species 0.000 claims description 3
- 235000009337 Spinacia oleracea Nutrition 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 2
- 241000219315 Spinacia Species 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 3
- 239000007779 soft material Substances 0.000 description 3
- 239000013013 elastic material Substances 0.000 description 2
- 244000300264 Spinacia oleracea Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The application method of intelligent pineapple harvesting robotic, intelligent pineapple harvesting robotic includes harvesting machinery hand, mechanical arm, mechanical block and controller, harvesting machinery hand includes harvesting device, conveying device and connecting ball head, harvesting device is connect with conveying device, mechanical arm is connect with conveying device, and conveying device is connect with even spherojoint, and even spherojoint is connect with motor vehicle ball, harvesting device includes electric clippers and slewing apparatus, and conveying device includes conveyer belt and feeder motor；When use, harvesting machinery hand is moved using controller control machinery armband to move to pineapple, electric clippers is controlled to cut off the carpopodium of pineapple, then pineapple is sent to the conveyer belt of conveying device by control slewing apparatus, recycle conveyer belt that pineapple is sent on the compartment of motor vehicle, the intelligent machine harvesting for implementing pineapple, improves the efficiency of pineapple harvesting.
Description
Technical field
The present invention relates to a kind of application method of pineapple harvesting apparatus, more particularly to a kind of intelligent pineapple of harvesting pineapple is received
Cut the application method of robot.
Background technology
Currently, pineapple is gathered in, using artificial picking, the labor intensity manually picked is larger, less efficient；A kind of intelligence spinach
The application method of trailing plants harvesting robotic, it has also become enterprise reduces peasant's labor intensity, and improves the needs of harvesting efficiency.
Invention content
The purpose of the present invention is overcome the deficiencies of the prior art and provide a kind of user of intelligent pineapple harvesting robotic
Method picks the labor intensity of pineapple for reducing worker, and improves the efficiency of pineapple harvesting.
The present invention's is adopted the technical scheme that：Intelligent pineapple harvesting robotic include harvesting machinery hand, mechanical arm,
Mechanical block and controller, mechanical block and controller are installed on motor vehicle, and mechanical block is connect with mechanical arm, mechanical arm and receipts
Cut manipulator connection；Harvesting machinery hand includes harvesting device, conveying device and connecting ball head, harvesting device and conveying device
Connection, mechanical arm are connect with conveying device, and conveying device is connect with even spherojoint, and even spherojoint is connect with motor vehicle ball, is utilized
Mechanical arm drives conveying device and the movement of harvesting machinery hand；Harvesting device includes electric clippers and slewing apparatus, electric clippers
It is connect with slewing apparatus, slewing apparatus is connect with conveying device；Electric clippers includes preceding scissors, rear scissors, spring and electronic
Pull rod, slewing apparatus include rotation plate, rotation motor and connecting plate, and preceding scissors is hinged with rear scissors, spring and preceding scissors
And rear scissors connection, the engine base of electronic tie rod are fixedly connected with rotation plate, the engine base of preceding scissors and electronic tie rod connects, after cut
The drive rod of knife and electronic tie rod connects；Rotation plate is connect with the rotation driving head of rotation motor, the engine base of rotation plate and connection
Plate connects；Pineapple is cut using electric clippers, is sent to pineapple and conveying device using slewing apparatus；Conveying device includes defeated
Band, feeder motor, holder, driving wheel and follower, holder is sent to be connect with motor vehicle by connecting ball head, mechanical arm and holder
Hinged, driving wheel and follower are connect with holder, and the engine base of feeder motor is connect with holder, the motor shaft of feeder motor and master
Driving wheel connects, and conveyer belt is connect with driving wheel and follower, and connecting plate is connect with holder；It will using the rotation plate of slewing apparatus
Pineapple is sent to conveyer belt, and pineapple is sent to the compartment of motor vehicle using conveyer belt；Controller includes image sensor, laterally connects
Sensor, scissors induction pieces, upper pendulous sensor, the bottom after nearly sensor, longitudinal proximity sensor, scissors front sensor, scissors
Sensor, rotation induction pieces, starting switch, shutdown switch and intelligent touch screen displays；Image sensor is installed on holder,
Laterally accessible sensor and longitudinal proximity sensor are installed on rotation plate, the position for detecting pineapple；It is sensed before scissors
Sensor is installed on rotation plate after device and scissors, and scissors induction pieces are installed on the drive rod of electronic tie rod, for controlling
Electric clippers cuts the carpopodium of pineapple, and upper pendulous sensor and lower pendulous sensor are installed on connecting plate, and rotation induction pieces are installed on pendulum
On the rotation driving head of rotating motor, the angle for controlling rotation plate rotation；Controller, starting switch, shutdown switch and intelligence
Energy touch screen displays are installed in the driver's cabin of motor vehicle；Controller passes through control line and image sensor, laterally accessible sensing
Sensor after device, longitudinal proximity sensor, scissors front sensor, scissors, lower pendulous sensor, starting switch, stops at upper pendulous sensor
Only switch and intelligent touch screen displays connection；In order to which the carpopodium of pineapple to be inserted into the scissors mouth of electric clippers, electric clippers is initial
State is：The scissors mouth of electric clippers is in the open state；The scissors mouth of electric clippers in the open state, the driving of electronic tie rod
Bar is in stretching state, and the scissors induction pieces on drive rod are close to scissors front sensor；For being swinging into the pineapple of harvesting
The original state of conveyer belt, slewing apparatus is：Slewing apparatus is in non-rotation state, when slewing apparatus is in non-rotation state,
The rotation plate of slewing apparatus is in horizontality；Rotation induction pieces on the rotation driving head of rotation motor are close to upper swing sense
Device.
The application method of intelligent pineapple harvesting robotic is：In use, motor vehicle driving is entered pineapple field, control is utilized
Device control machinery armband moves the top that harvesting machinery hand is moved to pineapple, then controls harvesting machinery hand and is moved to pineapple, makes electricity
The scissors mouth of scissors is inserted into the position of pineapple carpopodium；Meanwhile the feeder motor driving conveying belt fortune of controller control conveying device
Row；When carpopodium of the laterally accessible sensor on harvesting machinery hand rotation plate close to pineapple, laterally accessible sensor is believed
It number is transferred to controller, controller control machinery armband is moved harvesting machinery and risen on hand；Longitudinal direction on harvesting machinery hand rotation plate
When proximity sensor is close to pineapple, the scissors mouth of electric clippers rises to the cutting position of carpopodium, and longitudinal proximity sensor is believed
It number is transferred to controller, controller, which controls harvesting machinery hand, to be stopped rising；Harvesting machinery hand stops after rising, controller electric clippers
The carpopodium of pineapple is cut, after the carpopodium of pineapple is cut, controller control slewing apparatus rotation motor drive rotation plate to
Upper swing, the conveyer belt of conveying device is flowed on electric clippers by the pineapple of cutting carpopodium along rotation plate, and conveyer belt send the pineapple
To the compartment of motor vehicle；After the pineapple flows to conveyer belt, controller control electric clippers resets to original state, the scissors of electric clippers
Mouth is opened；Meanwhile controller control slewing apparatus resets, rotation motor drives rotation plate to lower swing, and rotation sheet reset is made to arrive
Original state；So constantly cycle, the intelligence machineization for implementing pineapple are gathered in.
The beneficial effects of the invention are as follows：Intelligent pineapple harvesting robotic includes harvesting machinery hand, mechanical arm, mechanical block
And controller, harvesting machinery hand include harvesting device, conveying device and connecting ball head, harvesting device connects with conveying device
It connects, mechanical arm is connect with conveying device, and conveying device is connect with even spherojoint, and even spherojoint is connect with motor vehicle ball, harvesting dress
It includes electric clippers and slewing apparatus to set, and conveying device includes conveyer belt and feeder motor；In use, utilizing controller
Control machinery armband is moved harvesting machinery hand and is moved to pineapple, and control electric clippers cuts off the carpopodium of pineapple, then controls rotation dress
The conveyer belt that pineapple is sent to conveying device is set, recycles conveyer belt that pineapple is sent on the compartment of motor vehicle, implements pineapple
Intelligent machine harvesting, improve pineapple harvesting efficiency.
Description of the drawings
Fig. 1 is the structural schematic diagram of intelligent pineapple harvesting robotic；
Fig. 2 is the structural schematic diagram of harvesting device；
Fig. 3 is the structural schematic diagram of conveyer belt.
Specific implementation mode
The present invention is further detailed with specific embodiment below in conjunction with the accompanying drawings：
The structural schematic diagram of intelligent pineapple harvesting robotic as shown in Figure 1, harvesting device structural schematic diagram shown in Fig. 2 and
And conveyer belt structure schematic diagram shown in Fig. 3, intelligent pineapple harvesting robotic include harvesting machinery hand 1, mechanical arm 2, machine
Tool seat 3 and controller 4, mechanical block 3 and controller 4 are installed on motor vehicle 5, and mechanical block 3 is connect with mechanical arm 2, machinery
Arm 2 is connect with harvesting machinery hand 1；Harvesting machinery hand 1 includes harvesting device 6, conveying device 7 and connecting ball head 8, harvesting dress
It sets 6 to connect with conveying device 7, mechanical arm 2 is connect with conveying device 7, and conveying device 7 is connect with even spherojoint 8, even spherojoint 8
It is connect with 9 ball of motor vehicle, drives conveying device 7 and harvesting machinery hand 1 to move using mechanical arm 2；Harvesting device 6 includes electricity
Scissors 9 and slewing apparatus 10, electric clippers 9 are connect with slewing apparatus 10, and slewing apparatus 10 is connect with conveying device 7；Electric clippers 9
Include preceding scissors 12, rear scissors 13, spring 14 and electronic tie rod 15, slewing apparatus 10 includes rotation plate 16, rotation electricity
Machine 17 and connecting plate 18, preceding scissors 12 is hinged with rear scissors 13, and spring 14 is connect with preceding scissors 12 and rear scissors 13, electronic
The engine base of pull rod 15 is fixedly connected with rotation plate 16, and preceding scissors 12 is connect with the engine base of electronic tie rod 15, rear scissors 13 with it is electronic
The drive rod 19 of pull rod 15 connects；Rotation plate 16 is connect with the rotation driving head of rotation motor 17, the engine base of rotation plate 16 and company
Fishplate bar 18 connects；Pineapple 11 is cut using electric clippers 9, is sent to pineapple 11 and conveying device 7 using slewing apparatus 10；Conveying
Device 7 includes conveyer belt 20, feeder motor 21, holder 22, driving wheel 23 and follower 24, and holder 22 passes through connecting ball head
8 connect with motor vehicle 5, and mechanical arm 2 is hinged with holder 22, and driving wheel 23 and follower 24 are connect with holder 22, feeder motor
21 engine base is connect with holder 22, and the motor shaft of feeder motor 21 is connect with driving wheel 23, conveyer belt 20 and driving wheel 23 and
Follower 24 connects, and connecting plate 18 is connect with holder 22；Pineapple 11 is sent to conveyer belt using the rotation plate 16 of slewing apparatus 10
20, pineapple 11 is sent to the compartment 25 of motor vehicle 5 using conveyer belt 20；Controller 4 includes image sensor 26, laterally accessible
Sensor 30, scissors induction pieces 31, upper swing sense after sensor 27, longitudinal proximity sensor 28, scissors front sensor 29, scissors
Device 32, lower pendulous sensor 33, rotation induction pieces 34, starting switch 35, shutdown switch 36 and intelligent touch screen displays 37；Camera shooting
Sensor 26 is installed on holder 22, and laterally accessible sensor 27 and longitudinal proximity sensor 28 are installed on rotation plate 16,
Position for detecting pineapple 11；Sensor 30 is installed on rotation plate 16 after scissors front sensor 29 and scissors, scissors sense
It answers part 31 to be installed on the drive rod 19 of electronic tie rod 15, the carpopodium 38 of pineapple 11, upper swing sense is cut for controlling electric clippers 9
Device 32 and lower pendulous sensor 33 are installed on connecting plate 18, and rotation induction pieces 34 are installed on the rotation driving head of rotation motor 17
On, the angle for controlling 16 rotation of rotation plate；Controller 4, starting switch 35, shutdown switch 36 and intelligent touch screen displays
37 are installed in the driver's cabin 39 of motor vehicle 5；Controller 4 by control line and image sensor 26, laterally accessible sensor 27,
Sensor 30, upper pendulous sensor 32, lower pendulous sensor 33, startup after longitudinal proximity sensor 28, scissors front sensor 29, scissors
Switch 35, shutdown switch 36 and intelligent touch screen displays 37 connect.
In order to which the carpopodium 38 of pineapple 11 to be inserted into the scissors mouth 39 of electric clippers 9,9 original state of electric clippers is：Electric clippers 9
Scissors mouth 39 it is in the open state；The scissors mouth 39 of electric clippers 9 in the open state, at the drive rod 19 of electronic tie rod 15
In the state of stretching, scissors induction pieces 31 on drive rod 19 are close to scissors front sensor 29.
In order to which the pineapple 11 of harvesting is swinging into conveyer belt 20, the original state of slewing apparatus 10 is：Slewing apparatus 10
In non-rotation state, when slewing apparatus 10 is in non-rotation state, the rotation plate 16 of slewing apparatus 10 is in horizontality；Pendulum
Rotation induction pieces 34 on the rotation driving head of rotating motor 17 are close to upper pendulous sensor 32.
In order to facilitate the position of image sensor 26 is adjusted, implement the positioning and harvesting of pineapple 11, so that harvesting fills
6 harvesting pineapples 11 are set, the image sensor 26 of controller 4 is equipped with spring connecting tube 39, and image sensor 26 is connected by spring
Pipe 39 is connect with the holder 22 of conveying device 7；The camera of image sensor 26 is towards laterally accessible sensor 27 and longitudinally
Proximity sensor 28；In the horizontal direction, the detection of longitudinal proximity sensor 28 is head-up for the detector of laterally accessible sensor 27.
In order to which the pineapple 11 for gathering in electric clippers 9 is sent to conveyer belt 20,15 axis of electronic tie rod and the rotation of electric clippers 9 fill
The axis for setting the swing shaft of 10 rotation motor 17 is parallel；The axis of the feeder motor 21 of conveying device 7 and driving wheel 23 and
The axis of follower 24 is parallel, and follower 24 is in the lower section of driving wheel 23, the axis and follower of the swing shaft of rotation motor 17
24 axis is parallel, and when facilitating the rotation plate 16 of slewing apparatus 10 to put, pineapple 11 flows to conveying device 7 along rotation plate 16
On conveyer belt 20.
In order to which pineapple 11 to be transported on the compartment 25 of motor vehicle 5, the conveyer belt 20 of conveying device 7 includes transmission belt
40, supporting plate 41, left fence 42 and right fence 43；Supporting plate 41 is connect with transmission belt 40, alternatively, supporting plate 41 and 40 one of transmission belt
It constitutes；Left fence 42 and right fence 43 are respectively arranged on two edges of transmission belt 40, left fence 42 and right fence 43 and transmission
Band 40 connects, alternatively, left fence 42 and right fence 43 are integrally formed with transmission belt 40.
In order to avoid left fence 42 and right fence 43 hinder transmission belt 40 to rotate, left fence 42 is equipped with left opening 44, will
Left fence 42 is partitioned into multistage；Right fence 43 is equipped with right opening 45, and right fence 43 is partitioned into multistage；It is left opening 44 and
Zone face 46 of the right opening 45 through to conveyer belt 20.
In order to avoid conveyer belt 20 is damaged pineapple 11, the conveyer belt 20 of conveying device 7 is made of soft elastic material, soft
Elastic material includes rubber；The zone face 46 of conveyer belt 20 is equipped with anti-collision lattice 47, and anti-collision lattice 47 are mutual by a plurality of soft sharp item 55
It connects and composes, soft point item 55 is connect with the zone face 46 of conveyer belt 20, alternatively, the zone face 46 1 of soft point item 55 and conveyer belt 20
Body is constituted, the zone face 46 of the tip of soft point item 55 backwards to conveyer belt 20；Conveying device 7 includes pineapple input port 48, pineapple
Delivery outlet 49 rotates lower fruit valve 50 and draws fruit slot 51；The pineapple input port 48 of conveying device 7 is located at the side of follower 24,
The pineapple delivery outlet 49 of conveying device 7 is located at the side of driving wheel 23, and pineapple delivery outlet 49 is located at the upper of the compartment 25 of motor vehicle 5
Side；The lower fruit valve of rotation 50 is installed on compartment 25, rotate lower fruit valve 50 enter fruit mouthful 52 against conveying device 7 pineapple delivery outlet
49, it rotates lower fruit valve 50 and draws fruit slot 51 and connect, draw fruit slot 51 and connect with the compartment bottom in compartment 25.
When acquiring pineapple 11, in order to reduce damaging for pineapple 11, the rotating vane 53 of lower fruit valve 50 is rotated by soft
Material is constituted, and is drawn fruit slot 51 and is made of soft material, rotating vane 53 and the soft material for drawing fruit slot 51 include rubber；Pendulum
The upper surface of flap 16 is equipped with spongy layer 54, and the two sides of rotation plate 16 are equipped with barrier 61, are dropped out to avoid pineapple 11.
The application method of intelligent pineapple harvesting robotic is：In use, driving motor vehicle 5 into 21 field of pineapple, utilize
4 control machinery arm 2 of controller drives harvesting machinery hand 1 to be moved to the top of pineapple 11, then controls harvesting machinery hand 1 to pineapple
11 movements, make the scissors mouth 39 of electric clippers 9 be inserted into the position of 11 carpopodium 38 of pineapple；Meanwhile controller 4 controls conveying device 7
21 driving conveying belt 20 of feeder motor is run；When the laterally accessible sensor 27 on 1 rotation plate 16 of harvesting machinery hand is close to pineapple
When 11 carpopodium 38, for laterally accessible sensor 27 by its signal transmission to controller 4,4 control machinery arm 2 of controller drives harvesting
Manipulator 1 rises；When longitudinal proximity sensor 28 on 1 rotation plate 16 of harvesting machinery hand is close to pineapple 11, electric clippers 9 is cut
The edge of a knife 39 rises to the cutting position of carpopodium 38, and longitudinal proximity sensor 28 by its signal transmission to controller 4, control by controller 4
Harvesting machinery hand 1 processed stops rising；Harvesting machinery hand 1 stops after rising, and 4 electric clippers 9 of controller cuts the carpopodium 38 of pineapple 11
Disconnected, after the carpopodium 38 of pineapple is cut, the rotation motor 17 that controller 4 controls slewing apparatus 10 drives the pendulum upwards of rotation plate 16
It is dynamic, flowed to the conveyer belt 20 of conveying device 7 on electric clippers 9 along rotation plate 16 by the pineapple 11 of cutting carpopodium 38, conveyer belt 20 will
The pineapple 11 is sent to the compartment 25 of motor vehicle 5；After the pineapple 11 flows to conveyer belt 20, controller 4 controls electric clippers 9 and resets to just
The scissors mouth 39 of beginning state, electric clippers 9 is opened；Meanwhile controller 4 controls slewing apparatus 10 and resets, rotation motor 17 is with movable pendulum
Flap 16 makes rotation plate 16 reset to original state to lower swing；It so constantly recycles, implements the intelligence machine of pineapple 11
Harvesting.
In order to implement the position that the scissors mouth 39 by electric clippers 9 is inserted into 11 carpopodium 38 of pineapple, mechanical arm 2 drives harvesting machinery
When hand 1 is moved to pineapple 11, the position signal of pineapple 11 is transferred to the intelligence of controller 4 by the image sensor 26 on holder 22
The position signal of the pineapple 11 is shown in intelligent touch screen displays 37 by touch screen displays 37, intelligent touch screen displays 37；It drives
When the person's of sailing point touches the pineapple 11 on intelligent display touch screen 37, which is touched signal transmission to controller 4 by intelligent display touch screen 37,
4 harvesting machinery hand 1 of controller drives electric clippers 9 to be moved to the pineapple 11, and the scissors mouth 39 of electric clippers 9 is inserted into 11 fruit of pineapple
The position of handle 38, when the scissors mouth 39 of electric clippers 9 is inserted into the position of 11 carpopodium 38 of pineapple, on 1 rotation plate 16 of harvesting machinery hand
Laterally accessible sensor 27 close to the pineapple 11 carpopodium 38 when, laterally accessible sensor 27 is by its signal transmission to controller
4。
In order to be cut the carpopodium 38 of pineapple 11 using electric clippers 9, the scissors mouth 39 of electric clippers 9 is inserted into 11 carpopodium 38 of pineapple
Position, and when longitudinal proximity sensor 28 is close to pineapple 11, controller 4 control electronic tie rod 15 drive rod 19 drive after
Scissors 13 is swung, and is cut 11 carpopodium 38 of pineapple using the preceding scissors 12 and rear scissors 13 of electric clippers 9；Electronic tie rod 15 drives
When preceding scissors 12 cuts the carpopodium 38 of pineapple 11, the rear shear arm 56 of scissors 13 overcomes bullet after the drive of drive rod 19 of electronic tie rod 15
The elastic force of spring 14 is swung counterclockwise, and scissors 13 is swung counterclockwise after rear shear arm 56 drives, and preceding scissors 12 is solid
It is fixed motionless, the carpopodium 38 of pineapple 11 is cut using preceding scissors 12 and rear scissors 13；Scissors 13 is pressed after shear arm 56 drives afterwards
When counterclockwise swinging, the scissors induction pieces 31 on drive rod 19 follow drive rod 19 to move, and the carpopodium 38 of pineapple 11 is cut
When, scissors induction pieces 31 on drive rod 19 are close to sensor 30 after the scissors on rotation plate 16, and sensor 30 will be gone after scissors
To controller 4, controller 4 controls electronic tie rod 15 to be stopped signal transmission.
It is swung to implement scissors 13 after electronic tie rod 15 drives, rear shear arm 56, which is equipped with, swings hole 57, and drive rod 19 is set
There are preceding driving head 58 and rear driving head 59, drive rod 19 to pass through the swing hole 57 of rear shear arm 56, the swing of rear shear arm 56
Hole 57 is located between preceding driving head 58 and rear driving head 59, and drive rod 19 moves mating connection with hole 57 is swung；Electronic tie rod 15
When the rear shear arm 56 of scissors 13 is swung after drive, the linear motion of drive rod 19 of electronic tie rod 15 is retracted, after drive rod 19
Shear arm 56 is swung counterclockwise after driving head 59 is drawn, and the swing hole 57 of rear shear arm 56 is swung along drive rod 19；Before
The preceding shear arm 60 of scissors 12 is fixedly connected with rotation plate 16, and preceding scissors 12 is not swung.
In order to which the pineapple 11 for implementing harvesting is sent on the conveyer belt 20 of conveying device 7, electric clippers 9 is by the carpopodium of pineapple 11
After 38 cut, the rotation driving head that controller 4 controls the rotation motor 17 of slewing apparatus 10 drives rotation plate 16 by side counterclockwise
To swing, when rotation induction pieces 34 on the rotation driving head of rotation motor 17 are close to lower pendulous sensor 33 on connecting plate 18,
By its signal transmission to controller 4, controller 4 controls rotation motor 17 to be stopped lower pendulous sensor 33, makes rotation plate 16 and level
Face is at 35 ° of angles to 45° angle, and pineapple 11 flows to conveying device 7 along rotation plate 16 on rotation plate 16, and the pineapple through conveying device 7 is defeated
Entrance 48 flows on conveyer belt 20.
In order to which the pineapple 11 for implementing harvesting is sent on the compartment 25 of motor vehicle 5, controller 4 controls the defeated of conveying device 7
21 driving conveying belt 20 of power transmission machine is run, and feeder motor 21 drives driving wheel 23 to move in the direction of the clock, and driving wheel 23 passes through
The transmission belt 40 of conveyer belt 20 drives follower 24 to move in the direction of the clock；Pineapple 11 flows to the transmission belt 40 of conveyer belt 20
When, the supporting plate 41 that pineapple 11 is transmitted on band 40 is held, and makes pineapple 11 that transmission belt 40 be followed to move in the direction of the clock and rise,
Meanwhile the left fence 42 and right fence 43 of conveyer belt 20 surround pineapple 11, and pineapple 11 is avoided to drop out；Pineapple 11 follows transmission belt
40 when rising to the pineapple delivery outlet 49 of conveying device 7, and pineapple 11 flows to motor vehicle 5 by the pineapple delivery outlet 49 of conveying device 7
Compartment 25 on；When pineapple 11 follows transmission belt 40 to rise to the pineapple delivery outlet 49 of conveying device 7, pineapple 11 is exported by pineapple
It is fallen under mouth 49 under rotation on the rotating vane 53 of fruit valve 50, rotating vane 53 rotates under the action of 11 gravity of pineapple, pineapple
11 follow rotating vane 53 to rotate under fall on and draw fruit slot 51, then flowed on the compartment 25 of motor vehicle 5 by drawing fruit slot 51.
When intelligent pineapple harvesting robotic is stopped using, shutdown switch 36 is pressed, controller controls electric clippers 9 and resets, control
Device 4 processed controls shear arm 56 after electronic tie rod 15 drives and swings, and the scissors induction pieces 31 on drive rod 19 are close on rotation plate 16
When scissors front sensor 29, by its signal transmission to controller 4, controller 4 controls electronic tie rod 15 and stops scissors front sensor 29
Only, electric clippers 9 resets to original state.
When intelligent pineapple harvesting robotic is stopped using, shutdown switch 36 is pressed, controller controls slewing apparatus 10 and resets,
When rotation induction pieces 34 on the rotation driving head of rotation motor 17 are close to upper pendulous sensor 32 on connecting plate 18, upper swing sense
By its signal transmission to controller 4, controller 4 controls rotation motor 17 to be stopped device 32, and rotation plate 16 is made to reset to original state.
Claims (10)
1. the application method of intelligent pineapple harvesting robotic, the intelligent pineapple harvesting robotic includes harvesting machinery hand
（1）, mechanical arm（2）, mechanical block（3）And controller（4）, mechanical block（3）And controller（4）It is installed on motor vehicle（5）On,
Mechanical block（3）With mechanical arm（2）Connection, mechanical arm（2）With harvesting machinery hand（1）Connection；Harvesting machinery hand（1）It include harvesting
Device（6）, conveying device（7）And connecting ball head（8）, harvesting device（6）It include electric clippers（9）And slewing apparatus
（10）, electric clippers（9）It include preceding scissors（12）, rear scissors（13）, spring（14）And electronic tie rod（15）, slewing apparatus
（10）It include rotation plate（16）, rotation motor（17）And connecting plate（18）, conveying device（7）It include conveyer belt（20）,
Feeder motor（21）, holder（22）, driving wheel（23）And follower（24）；Controller（4）It include image sensor（26）,
Laterally accessible sensor（27）, longitudinal proximity sensor（28）, scissors front sensor（29）, sensor after scissors（30）, scissors
Induction pieces（31）, upper pendulous sensor（32）, lower pendulous sensor（33）, rotation induction pieces（34）, starting switch（35）, shutdown switch
（36）And intelligent touch screen displays（37）；Electric clippers（9）Original state is：Electric clippers（9）Scissors mouth（39）In opening
State, slewing apparatus（10）Original state be：Slewing apparatus（10）In non-rotation state；It is characterized in that：The intelligence
Can the application method of pineapple harvesting robotic be：In use, by motor vehicle（5）It drives into pineapple（21）Field utilizes controller
（4）Control machinery arm（2）Drive harvesting machinery hand（1）It is moved to pineapple（11）Top, then control harvesting machinery hand（1）To
Pineapple（11）It is mobile, make electric clippers（9）Scissors mouth（39）It is inserted into pineapple（11）Carpopodium（38）Position；Meanwhile controller（4）
Control conveying device（7）Feeder motor（21）Driving conveying belt（20）Operation；When harvesting machinery hand（1）Rotation plate（16）On
Laterally accessible sensor（27）Close to pineapple（11）Carpopodium（38）When, laterally accessible sensor（27）By its signal transmission to control
Device processed（4）, controller（4）Control machinery arm（2）Drive harvesting machinery hand（1）Rise；When harvesting machinery hand（1）Rotation plate（16）
On longitudinal proximity sensor（28）Close to pineapple（11）When, electric clippers（9）Scissors mouth（39）Rise to carpopodium（38）Cut
Cut position, longitudinal proximity sensor（28）By its signal transmission to controller（4）, controller（4）Control harvesting machinery hand（1）Stop
Only rise；Harvesting machinery hand（1）Stop after rising, controller（4）Electric clippers（9）By pineapple（11）Carpopodium（38）It cuts, spinach
The carpopodium of trailing plants（38）After cutting, controller（4）Control slewing apparatus（10）Rotation motor（17）Drive rotation plate（16）To
Upper swing, electric clippers（9）On by cutting carpopodium（38）Pineapple（11）Along rotation plate（16）Flow to conveying device（7）Conveyer belt
（20）, conveyer belt（20）By the pineapple（11）It is sent to motor vehicle（5）Compartment（25）；The pineapple（11）Flow to conveyer belt（20）
Afterwards, controller（4）Control electric clippers（9）Reset to original state, electric clippers（9）Scissors mouth（39）It opens；Meanwhile controller
（4）Control slewing apparatus（10）It resets, rotation motor（17）Drive rotation plate（16）To lower swing, make rotation plate（16）It resets to
Original state；It so constantly recycles, implements pineapple（11）Intelligence machineization harvesting.
2. the application method of intelligence pineapple harvesting robotic according to claim 1, it is characterised in that：The mechanical arm
（2）Drive harvesting machinery hand（1）To pineapple（11）When mobile, holder（22）On image sensor（26）By pineapple（11）Position
Confidence number is transferred to controller（4）Intelligent touch screen displays（37）, intelligent touch screen displays（37）By the pineapple（11）Position
Confidence number is shown in intelligent touch screen displays（37）On；Driver's point touches intelligent display touch screen（37）On the pineapple（11）When,
Intelligent display touch screen（37）The point is touched into signal transmission to controller（4）, controller（4）Harvesting machinery hand（1）Drive electric clippers
（9）To the pineapple（11）It is mobile, by electric clippers（9）Scissors mouth（39）It is inserted into the pineapple（11）Carpopodium（38）Position, electric scissors
Knife（9）Scissors mouth（39）It is inserted into the pineapple（11）Carpopodium（38）Position when, harvesting machinery hand（1）Rotation plate（16）On cross
To proximity sensor（27）Close to the pineapple（11）Carpopodium（38）When, laterally accessible sensor（27）By its signal transmission to control
Device processed（4）.
3. the application method of intelligence pineapple harvesting robotic according to claim 2, it is characterised in that：The electric clippers
（9）Scissors mouth（39）It is inserted into pineapple（11）Carpopodium（38）Position, and longitudinal proximity sensor（28）Close to pineapple（11）
When, controller（4）Control electronic tie rod（15）Drive rod（19）Scissors after drive（13）It swings, utilizes electric clippers（9）Before
Scissors（12）And rear scissors（13）By pineapple（11）Carpopodium（38）It cuts.
4. the application method of intelligence pineapple harvesting robotic according to claim 3, it is characterised in that：The electronic drawing
Bar（15）Scissors before driving（12）Cut pineapple（11）Carpopodium（38）When, electronic tie rod（15）Drive rod（19）Scissors after drive
（13）Rear shear arm（56）Overcome spring（14）Elastic force swing counterclockwise, rear shear arm（56）Scissors after drive
（13）It swings counterclockwise, preceding scissors（12）It is fixed, utilize preceding scissors（12）And rear scissors（13）By pineapple
（11）Carpopodium（38）It cuts；Shear arm afterwards（56）Scissors after drive（13）When swinging counterclockwise, drive rod（19）On
Scissors induction pieces（31）Follow drive rod（19）It is mobile, pineapple（11）Carpopodium（38）When cutting, drive rod（19）On cut
Knife induction pieces（31）Close to rotation plate（16）On scissors after sensor（30）, sensor after scissors（30）Signal will be gone to be transferred to
Controller（4）, controller（4）Control electronic tie rod（15）Stop.
5. the application method of intelligence pineapple harvesting robotic according to claim 6, it is characterised in that：The rear scissors
Arm（56）Equipped with swing hole（57）, drive rod（19）Equipped with preceding driving head（58）And rear driving head（59）, drive rod（19）It wears
Later shear arm（56）Swing hole（57）, rear shear arm（56）Swing hole（57）Positioned at preceding driving head（58）And rear driving
Head（59）Between, drive rod（19）With swing hole（57）It is dynamic to be connected；Electronic tie rod（15）Scissors after drive（13）After cut
Tool arm（56）When swing, electronic tie rod（15）Drive rod（19）Linear motion is retracted, drive rod（19）Rear driving head（59）
Shear arm after traction（56）It swings counterclockwise, rear shear arm（56）Swing hole（57）Along drive rod（19）It swings.
6. the application method of intelligence pineapple harvesting robotic according to claim 5, it is characterised in that：The electric clippers
（9）By pineapple（11）Carpopodium（38）After cutting, controller（4）Control slewing apparatus（10）Rotation motor（17）Rotation drive
Dynamic headband movable pendulum flap（16）It swings counterclockwise, rotation motor（17）Rotation driving head on rotation induction pieces（34）
Close to connecting plate（18）On lower pendulous sensor（33）When, lower pendulous sensor（33）By its signal transmission to controller（4）, control
Device（4）Control rotation motor（17）Stop, making rotation plate（16）With horizontal plane at 35 ° of angles to 45° angle, rotation plate（16）Upper pineapple
（11）Along rotation plate（16）Flow to conveying device（7）, through conveying device（7）Pineapple input port（48）Flow to conveyer belt（20）
On.
7. the application method of intelligence pineapple harvesting robotic according to claim 6, it is characterised in that：The controller
（4）Control conveying device（7）Feeder motor（21）Driving conveying belt（20）Operation, feeder motor（21）Drive driving wheel（23）
It moves in the direction of the clock, driving wheel（23）Pass through conveyer belt（20）Transmission belt（40）Drive follower（24）By side clockwise
To rotation；Pineapple（11）Flow to conveyer belt（20）Transmission belt（40）When, pineapple（11）It is transmitted band（40）On supporting plate（41）
It holds, makes pineapple（11）Follow transmission belt（40）It moves in the direction of the clock and rises, meanwhile, conveyer belt（20）Left fence
（42）And right fence（43）Surround pineapple（11）, avoid pineapple（11）It drops out；Pineapple（11）Follow transmission belt（40）It rises to
Conveying device（7）Pineapple delivery outlet（49）When, pineapple（11）By conveying device（7）Pineapple delivery outlet（49）Flow to motor vehicle
（5）Compartment（25）On.
8. the application method of intelligence pineapple harvesting robotic according to claim 7, it is characterised in that：The pineapple
（11）Follow transmission belt（40）Rise to conveying device（7）Pineapple delivery outlet（49）When, pineapple（11）By pineapple delivery outlet
（49）Under fall on the lower fruit valve of rotation（50）Rotating vane（53）On, rotating vane（53）In pineapple（11）Turn under the action of gravity
It is dynamic, pineapple（11）Follow rotating vane（53）It is fallen under rotation and draws fruit slot（51）, then by drawing fruit slot（51）Flow to motor vehicle（5）'s
Compartment（25）On.
9. the application method of intelligence pineapple harvesting robotic according to claim 8, it is characterised in that：The intelligent spinach
When trailing plants harvesting robotic is stopped using, shutdown switch is pressed（36）, controller control electric clippers（9）It resets, controller（4）Control
Electronic tie rod（15）Shear arm after drive（56）It swings, drive rod（19）On scissors induction pieces（31）Close to rotation plate（16）On
Scissors front sensor（29）When, scissors front sensor（29）By its signal transmission to controller（4）, controller（4）It controls electronic
Pull rod（15）Stop, electric clippers（9）Reset to original state.
10. the application method of intelligence pineapple harvesting robotic according to claim 9, it is characterised in that：The intelligence
When pineapple harvesting robotic is stopped using, shutdown switch is pressed（36）, controller control slewing apparatus（10）It resets, rotation motor
（17）Rotation driving head on rotation induction pieces（34）Close to connecting plate（18）On upper pendulous sensor（32）When, upper swing sense
Device（32）By its signal transmission to controller（4）, controller（4）Control rotation motor（17）Stop, making rotation plate（16）It resets
To original state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810780975.9A CN108702930B (en) | 2018-07-17 | 2018-07-17 | Application method of intelligent pineapple harvesting robot |
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| CN201810780975.9A CN108702930B (en) | 2018-07-17 | 2018-07-17 | Application method of intelligent pineapple harvesting robot |
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| CN108702930B CN108702930B (en) | 2020-04-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110089266A (en) * | 2019-05-14 | 2019-08-06 | 辽宁科技大学 | A kind of pineapple picking machine and pineapple pick method for sorting |
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| CN107182435A (en) * | 2017-05-27 | 2017-09-22 | 广西农业职业技术学院 | A kind of device for plucking pineapple |
| CN207460846U (en) * | 2017-10-17 | 2018-06-08 | 汕头大学 | A kind of pineapple harvests intelligent carriage |
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| CN201504423U (en) * | 2009-10-14 | 2010-06-16 | 中国农业大学 | Mechanical gripper for picking pineapples |
| CN106307561A (en) * | 2016-08-23 | 2017-01-11 | 东莞市皓奇企业管理服务有限公司 | Using method of intelligent claw for mandarin orange peeling robot |
| CN107182435A (en) * | 2017-05-27 | 2017-09-22 | 广西农业职业技术学院 | A kind of device for plucking pineapple |
| CN207460846U (en) * | 2017-10-17 | 2018-06-08 | 汕头大学 | A kind of pineapple harvests intelligent carriage |
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