CN109041775A - A kind of unilateral clamping pineapple picker and its application method - Google Patents
A kind of unilateral clamping pineapple picker and its application method Download PDFInfo
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- CN109041775A CN109041775A CN201810988375.1A CN201810988375A CN109041775A CN 109041775 A CN109041775 A CN 109041775A CN 201810988375 A CN201810988375 A CN 201810988375A CN 109041775 A CN109041775 A CN 109041775A
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- pineapple
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- load bearing
- fixed plate
- bearing arm
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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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- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
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Abstract
For the problem that pineapple picking mechanical is inflexible in the prior art, it is easy to damage pineapple plant, the present invention provides a kind of unilateral clamping pineapple picker and its application method, including load bearing arm, clamping cutting assembly and sensor module, control assembly；It is characterized by: clamping cutting assembly includes horizontally disposed framework, the intracorporal attachment base of frame, the fixed plate being arranged on attachment base, the movable plate mechanism that fixed plate opposite side is arranged in is arranged in；Wherein, fixed plate radially proximates pineapple sarcocarp body to be picked for artificially controlling；Movable plate mechanism is used for the radial clamping pineapple fruit in the case where fixed plate is motionless.The present invention treats picking pineapple using unilateral clamping mode and is clamped, and then cutting mechanism is recycled to cut off the stalk of pineapple sarcocarp body, completes the picking to pineapple sarcocarp body.
Description
Technical field
The invention belongs to agriculture project machinery fields, specifically, the present invention relates to a kind of unilateral clamping pineapple picking dresses
It sets and its application method.
Background technique
China is a large agricultural country, and fruit industry is one of main economic source of peasant.The picking of fruit it is not only time-consuming but also
It arduously, is always the great difficult problem for perplexing orchard worker.Although orchard workers take various methods in fruit-picking, but do not have
It can be well solved the problem of fruit picking difficulty, currently known fruit picking method is mainly that people stands on the ground and directly wins
Fruit；Therefore guarantee that fruit timely collecting, reduction harvest operation expense become the important channel for increasing agricultural incomes.
Pineapple fruit has very high nutritive value, and the fiber in pineapple leaf can be used as the weaving material of excellent natural disinfection performance
Material, pineapple leaves have extensive pharmacological activity, and medical value is high, since pineapple is perennial fruit, have special structure,
In picking process, it need to guarantee that fruit is injury-free, plant is not destroyed, the result situation of second year cannot be influenced, these
Part determines that pineapple picking can not achieve extensive mechanization.Currently, China's pineapple cultivation area mainly include Guangdong, Guangxi,
The provinces and regions such as Yunnan and Hainan, Softening mostly uses artificial picking form, due on sharp mouth and pericarp sharp in pineapple leaf
Prickle be easy to damage picking personnel, seriously affect picking efficiency.There is an urgent need to a kind of pickers by friend peasant
To replace artificial directly picking.Therefore, pineapple fruit how is efficiently picked, while reducing the mechanical destruction to plant, is spinach
The research emphasis of trailing plants picking fruit.
Existing, pineapple picking mechanical is usually using torsional mode Softening, as recorded in CN201210431101.5
Technical solution.In actual use, when picking using torsional mode, while twisting off pineapple, it be easy to cause pineapple plant
The damage of blade and root system.
Another kind is the automatic picking machine of pineapple, it is the place according to pineapple fruit growth all on the center of pineapple tree
Portion, neck is longer, will be under fruit using scissors.Picking machine is mounted on the front end of hand tractor carriage, and tractor is forward
When walking, the elliptic cutter of picking machine carries out pineapple picking under the driving of power, and picking machine fills four cropping knifes, primary to receive
Four row's fruits are cut, when tractor is walked forward, the disc type cutter of picking machine carries out pineapple picking under the driving of power, picking
Pineapple afterwards is fallen on the conveyor belt, is transported in the railway carriage of tractor by belt transmission.This machinery have mechanization degree it is high,
It is time saving and energy saving, picking efficiency is high, long service life, save a large amount of labours the advantages that.
Equally, although this device for mechanical degree is high, the picking of this single solution for diverse problems is easy to damage fruit, reduces pineapple
Economic value；Certain damage more likely is caused to descendants' bud on pineapple plant, influences the result situation of its next year；?
Pineapple leaf can be destroyed, influences vein fiber quality therein, but also the growth of plant can be seriously affected, or even cause plant
It is withered, and then influence the harvest yield of pinery next year.
Summary of the invention
For the problem that pineapple picking mechanical is inflexible in the prior art, it is easy to damage pineapple plant, the present invention provides
A kind of unilateral clamping pineapple picker and its application method, structure is simple, can be with rapid picking pineapple without injuring pineapple
Plant.
In order to achieve the above object, the technical scheme adopted by the invention is that: a kind of described unilateral clamping pineapple picking
Device for radial clamping pineapple sarcocarp body and cuts its stalk including load bearing arm, on load bearing arm through driving assembly driving
Disconnected clamping cutting assembly and load bearing arm is set and clamps sensor module on cutting assembly, for acquiring sensor group
Part information simultaneously controls the control assembly that clamping cutting assembly slides on load bearing arm；It is characterized by:
Clamping cutting assembly includes horizontally disposed framework, the intracorporal attachment base of frame, the fixation being arranged on attachment base is arranged in
Plate, the movable plate mechanism that fixed plate opposite side is set；Wherein, fixed plate radially proximates pineapple sarcocarp to be picked for artificially controlling
Body；Movable plate mechanism is used for the radial clamping pineapple fruit in the case where fixed plate is motionless.
The movable plate mechanism include the grip slide being arranged in framework, clamping lead screw corresponding with grip slide,
Crossbeam, fixing seat, movable plate and clamping motor；Wherein, sliding block is internally provided with screw hole corresponding with lead screw；Clamping motor
It is connected in framework by motor cabinet and the clamping motor is electrically connected to control assembly；Movable plate is arranged by fixing seat in crossbeam
On；
Wherein, one end of lead screw is connected to the end of framework by the shaft coupling connection clamping motor other end by bearing；
Wherein, movable plate is arc panel with fixed plate and open end is oppositely arranged.
The first groups of springs is provided between the movable plate and fixing seat；First spring is for clamping pineapple fruit
When, according to the angle of vertical direction between the Adjusting Shape movable plate and fixing seat of pineapple fruit；Between fixed plate and framework
It is provided with second spring；When the second spring is used to clamp pineapple fruit, according to the Adjusting Shape fixed plate of pineapple fruit and company
The angle of vertical direction between joint chair.
The driving assembly includes the close motor that is arranged in load bearing arm on mobile for Drive frame, close to motor
The close screw rod of output end connection, the close sliding block for being used cooperatively with close screw rod being arranged in framework, setting are being held
The guide rail for cooperating framework to slide on load bearing arm of load arm end；Wherein, control assembly is electrically connected to close to motor；Its
In, screw hole corresponding with close screw rod is internally provided with close to sliding block.
The load bearing arm is internally provided with rectangular framework for the opposite side of H-type and two vertical sections of the load bearing arm；It should
It is provided on the horizontal segment being connect simultaneously with two vertical sections in load bearing arm close to motor；The side of framework horizontal segment in load bearing arm
On be correspondingly arranged on close to sliding block；The end for two vertical sections that the load bearing arm is contacted with framework is provided with guide rail and the guide rail is to open
The opposite c-type guide rail of mouth.
The guidance set for guiding is additionally provided between the framework and load bearing arm；Wherein, which includes
The first protrusion, the second protrusion and guide rod in framework are set；Wherein, the first protrusion and the second protrusion divide column c-type guide rail
First protrusion, c-type guide rail and the second protrusion are simultaneously successively connected to together by guide rod by two sides；Wherein, it is set on the c-type guide rail
It is equipped with the hole by guide rod.
The sensor module includes pressure sensor, photoelectric sensor and Hall sensor that quantity is three；
Wherein, the center of fixed plate is arranged in pressure sensor；Quantity is that three photoelectric sensors are arranged in a triangle,
Wherein, the lower section of pressure sensor is arranged in the photoelectric sensor that quantity is one, for detecting whether pineapple fruit is placed
Between movable plate and fixed plate；Other quantity is that two photoelectric sensors are horizontally set on attachment base, for detecting spinach
In place whether the stalk of trailing plants fruit；Hall sensor is arranged on load bearing arm for detecting load bearing arm at a distance from framework.
The clamping cutting assembly further includes the cutting mechanism for cutting pineapple sarcocarp body stalk；
Wherein, which includes the cutting support of frame type, sliding equipment, driving mechanism and slides driving mechanism driving
The engaging mechanism of motivation structure；
The cutting tool sleeve that sliding equipment includes the slide bar being horizontally set on cutting support, is slidably disposed on the outside of slide bar；
Driving mechanism includes the transmission case being fixedly connected on cutting tool sleeve, the gear of transmission case output end connection and discoidal cuts
Cutter and the cutting motor of transmission case input terminal setting；
Engaging mechanism includes rack gear corresponding with gear and the mounting rod for rack gear to be arranged；
Wherein, mounting rod is horizontally set on cutting support；
Wherein, cutting support is arranged in below load bearing arm for cutting off the stalk with picking pineapple.
A kind of application method of unilateral clamping pineapple picker, it is characterised in that: the following steps are included:
S1. it holds or pineapple is placed between movable plate and fixed plate by airborne load bearing arm from the top down, driving will close to motor
Fixed plate and pineapple fruit to be harvested it is close and contact fixed plate contacted with pineapple sarcocarp body generation contact pressure value, the contact pressure
Force value is acquired by pressure sensor, and is acquired by control assembly, when the contact pressure value is more than first threshold, it is believed that fixed plate
It contacts and finishes with pineapple fruit to be harvested；
S2. at this point, being sent in place for detecting the photoelectric sensor whether pineapple fruit is placed between movable plate and fixed plate
Data are to control assembly；
S3. during load bearing arm is placed from the top down, for determining pineapple sarcocarp body whether in fixed plate described in S2 step
Photoelectric sensor between movable plate is persistently blocked；Control assembly is acquired for whether in place to detect the stalk of pineapple fruit
Quantity be two horizontally disposed photoelectric sensor signal；When the stalk for detecting pineapple fruit whether number in place
Amount is blocked for two photoelectric sensors, illustrate not in place at this time, needs to adjust load bearing arm downwards, is used in and detects pineapple
The stalk of fruit whether do not block for one in two photoelectric sensors by quantity in place, illustrates that load bearing arm arrives at this time
Position；
S4. load bearing arm in place in the case where, control assembly control clamping motor work, make movable plate to fixed plate direction move
It is dynamic, form clamp position；
S5. the data of the pressure sensor in control assembly acquisition fixed plate, when reaching preset second threshold, clamping motor stops
It only works, completes gripping step；
S6. control assembly sends a signal to cutting motor, and wheel and rack engages while rotating cutter, drives cutting
Knife cuts off the stalk of pineapple fruit along sliding rail；
S7. after cutter stalk cutting pineapple fruit, control assembly, which sends signal, resets clamping motor, removes pineapple；
S8. control assembly further increases the distance between movable plate and fixed plate close to motor reversal, until Hall passes
Sensor sends position limit signal to control assembly, stalls close to motor, waits for the picking of next pineapple fruit.
The beneficial effects of the present invention are: the present invention is using fixed plate close to pineapple sarcocarp body, movable plate gear grips pineapple sarcocarp
The unilateral clamping mode of body is treated picking pineapple and is clamped, and then cutting mechanism is recycled to cut off the stalk of pineapple sarcocarp body,
Complete the picking to pineapple sarcocarp body.During picking, unilateral side clamp mode make pineapple sarcocarp body during harvesting all
It is consistent with its growth conditions, avoid picking when occur fruit body and stalk portion torsion, thus because torsion and caused by plant damage
Evil.Meanwhile in cutting mechanism, be provided with detection pineapple fruit stalk whether sensor module in place, it is ensured that cut
What is cut is pineapple stalk rather than pineapple sarcocarp body, guarantees cutting yield rate.
Detailed description of the invention
Fig. 1 is stereoscopic schematic diagram of the present invention.
Fig. 2 is Fig. 1 main view.
Fig. 3 is the A-A direction view of Fig. 2.
Fig. 4 is cutting mechanism stereoscopic schematic diagram in Fig. 1.
Fig. 5 is control block diagram of the present invention.
Fig. 6 is that the present invention uses schematic diagram.
Fig. 7 is that the clamping of existing bilateral uses schematic diagram.
It should be clear that: Fig. 2 is because length issue is inverted, and Fig. 3 is not inverted.Cutting tool sleeve in Fig. 4
2043 major parts are blocked, but the more apparent embodiment in Fig. 2.
Specific embodiment
The present invention is further detailed with reference to the accompanying drawing.
Such as Fig. 1 ~ 5, a kind of unilateral clamping pineapple picker, including load bearing arm 1, pass through drive on load bearing arm 1
What dynamic component 3 drove clamps pineapple sarcocarp body and is carrying clamping cutting assembly 2 that its stalk is cut off and setting for radial
Arm 1 clamps cutting assembly 2 with the sensor module 4 clamped on cutting assembly 2, for acquiring 4 information of sensor module and controlling
The control assembly 5 slided on load bearing arm 1；It is characterized by:
Clamping cutting assembly 2 is being connected including horizontally disposed framework 201, the attachment base 205 being arranged in framework 201, setting
The movable plate mechanism 203 of 202 opposite side of fixed plate is arranged in fixed plate 202 on seat 205；Wherein, fixed plate 202 is used for people
Pineapple sarcocarp body to be picked is radially proximated for control；Movable plate mechanism 203 is used for the radial clamping in the case where fixed plate 202 is motionless
Pineapple fruit.
It should be clear that: the fixed plate 202 in clamping cutting assembly 2 radially proximates pineapple to be picked for artificially controlling
Fruit body, then clamped pineapple sarcocarp body by movable plate mechanism 203, it can prevent in picking process, cauline leaf is caused to damage.
The movable plate mechanism 203 includes the grip slide 2031, right with grip slide 2031 being arranged in framework 201
Clamping lead screw 2032, crossbeam 2033, fixing seat 2034, movable plate 2035 and the clamping motor 2036 answered；Wherein, sliding block 2031
Be internally provided with screw hole corresponding with lead screw 2032；Clamping motor 2036 is connected in framework 201 by motor cabinet and the folder
Tight motor 2036 is electrically connected to control assembly 5；Movable plate 2035 is arranged on crossbeam 2033 by fixing seat 2034；
Wherein, one end of lead screw 2032 connects 2036 other end of clamping motor by shaft coupling and is connected to framework 201 by bearing
End；
Wherein, movable plate 2035 is arc panel with fixed plate 202 and open end is oppositely arranged.
It should be clear that: in order to increase frictional force, the opposite side of the movable plate 2035 and fixed plate 202 is respectively provided with
There is pit.The motor cabinet of clamping motor 2036 can be welding or be connected by screw bolts.
Preferably, the material of movable plate 2035 and fixed plate 202 is hard PVC, is on the one hand prolonged the service life, another party
Face will not damage fruit.
The first groups of springs 203A is provided between the movable plate 2035 and fixing seat 2034；The first spring 203A is used
When clamping pineapple fruit, according to the folder of vertical direction between the Adjusting Shape movable plate 2035 and fixing seat 2034 of pineapple fruit
Angle；Second spring 203B is also equipped between fixed plate 202 and framework 201；Second spring 203B is for clamping pineapple fruit
When, according to the angle of vertical direction between the Adjusting Shape fixed plate 202 and attachment base 205 of pineapple fruit.
It should be clear that: the introducing of the first groups of springs 203A and second spring 203B can make movable plate 2035 and fix
Plate 202 forms the similar form held in both hands when clamping pineapple sarcocarp body, on the one hand fixed pineapple fruit, on the other hand can be as far as possible
Guarantee that pineapple sarcocarp body is consistent with its growth conditions in picking.
The driving assembly 3 include the close motor 301 that is arranged in load bearing arm 1 on mobile for Drive frame 201,
Close to the connection of 301 output end of motor close screw rod 302, be arranged in framework 201 for being used cooperatively with close screw rod 302
Close sliding block 303, the guide rail 304 for cooperating framework 201 to slide on load bearing arm 1 of 1 end of load bearing arm is set；Its
In, control assembly 5 is electrically connected to close to motor 301；Wherein, it is internally provided with close to sliding block 303 corresponding with close to screw rod 302
Screw hole.
The load bearing arm 1 is internally provided with rectangular framework for the opposite side of H-type and two vertical sections of the load bearing arm 1
201；It is provided on the horizontal segment being connect simultaneously with two vertical sections in the load bearing arm 1 close to motor 301；Framework 201 is close to carrying
It is correspondingly arranged on the side of horizontal segment in arm 1 close to sliding block 303；The end for two vertical sections that the load bearing arm 1 is contacted with framework 201
It is provided with guide rail 304 and the guide rail 304 is the opposite c-type guide rail of opening.
The guidance set 6 for guiding is additionally provided between the framework 201 and load bearing arm 1；Wherein, the guidance set
6 include first the 601, second protrusion 602 of protrusion being arranged in framework 201 and guide rod 603；Wherein, the first protrusion 601 and the
The two sides of two raised 602 points of column c-type guide rails are simultaneously successively raised by the first protrusion 601, c-type guide rail and second by guide rod 603
602 are connected to together；Wherein, the hole of guide rod 603 is provided on the c-type guide rail.
The sensor module 4 includes pressure sensor 401, photoelectric sensor 402 and Hall that quantity is three
Sensor 403；
Wherein, the center of fixed plate 202 is arranged in pressure sensor 401；402 finished product of photoelectric sensor that quantity is three
Font setting, wherein the lower section of pressure sensor 401 is arranged in the photoelectric sensor 402 that quantity is one, for detecting whether
Pineapple fruit is placed between movable plate 2035 and fixed plate 202；Other quantity is that two 402 levels of photoelectric sensor are set
It sets on attachment base 205, for whether in place to detect the stalk of pineapple fruit；The setting of Hall sensor 403 is used on load bearing arm 1
In detection load bearing arm 1 at a distance from framework 201.
In order to prevent clamping motor 2036, close to 301 excess of stroke of motor, respectively 1 side of load bearing arm, 201 front end of framework and
Three pairs of Hall sensors 403 are arranged in the positive opposite side of transmission case 2044, are selected from Mai get Hao Industrial Co., Ltd., model NJK-5002C.
Pressure sensor 401 is the RP-C resistance-type voltage sensitive sensor of Shenzhen power sense science and technology production, is arranged in fixed plate 202
Center, signal is passed into control assembly 5 using 8 analog-digital converter DIP-28 IC chips of ADC0808CCN.It adopts
Voltage and loading capacity are demarcated with static loading standardization.Clamping force, the control mode of contact force compare for threshold voltage
Method respectively corresponds second threshold and corresponding first threshold.According to calibration result and threshold value, second threshold voltage is set as 4.4V,
Corresponding clamping force is 30N.First threshold may be set according to actual conditions, preferably the pressure of the pressure sensor 401 detection
Minimum value.
Photoelectric sensor 402 is the E3F-20C/20L type opposite type sensor of the electric corporation Xin Yang production, response frequency 50
~60Hz.Testing principle are as follows: quantity is that one photoelectric sensor 402 detects signal, it is believed that actuator of the present invention enters fruit
Region, quantity are that two photoelectric sensors 402 can't detect signal, it is believed that reach carpopodium position.The photoelectricity that quantity is two
The distance of sensor 402 is to influence detection carpopodium key factor, and when spacing is more than carpopodium diameter, the bigger carpopodium position of distance is examined
Survey is more inaccurate, when spacing is less than carpopodium diameter, in fact it could happen that the case where can not find carpopodium.It is obtained according to test, spacing is
Carpopodium position can be effectively differentiated when 10 ~ 20mm.
The clamping cutting assembly 2 further includes the cutting mechanism 204 for cutting pineapple sarcocarp body stalk；
Wherein, the cutting support 2041 of the cutting mechanism 204 including frame type, sliding equipment, driving mechanism and make driving machine
The engaging mechanism of structure driving sliding equipment；
Sliding equipment includes the slide bar 2042 being horizontally set on cutting support 2041, is slidably disposed in 2042 outside of slide bar
Cutting tool sleeve 2043；
Driving mechanism includes the gear of the transmission case 2044 being fixedly connected on cutting tool sleeve 2043, the connection of 2044 output end of transmission case
2045 and discoidal cutter 2047 and 2044 input terminal of transmission case setting cutting motor 2048；
Engaging mechanism includes rack gear 2046 corresponding with gear 2045 and the mounting rod 2049 for rack gear 2046 to be arranged；
Wherein, mounting rod 2049 is horizontally set on cutting support 2041；
Wherein, cutting support 2041 is arranged in below load bearing arm 1 for cutting off the stalk with picking pineapple.
A kind of application method of unilateral clamping pineapple picker, it is characterised in that: the following steps are included:
S1. it holds or pineapple is placed between movable plate 2035 and fixed plate 202 by airborne load bearing arm 1 from the top down, driving is leaned on
Nearly motor 301 is close with pineapple fruit to be harvested by fixed plate 202 and contacts fixed plate 202 and contacts to generate with pineapple sarcocarp body and connects
Force value is pressed, which is acquired by pressure sensor 401, and is acquired by control assembly 5, when the contact pressure value is more than
When first threshold, it is believed that fixed plate 202 is contacted with pineapple fruit to be harvested and finished；
S2. at this point, for detecting the photoelectric sensor whether pineapple fruit is placed between movable plate 2035 and fixed plate 202
402 are sent to a data to control assembly 5；
S3. during load bearing arm 1 is placed from the top down, for determining pineapple sarcocarp body whether in fixed plate described in S2 step
Photoelectric sensor 402 between 202 and movable plate 2035 is persistently blocked；Control assembly 5 is acquired for detecting pineapple fruit
Stalk whether quantity in place be two horizontally disposed photoelectric sensor 402 signal；When for detecting pineapple fruit
Whether quantity in place is two photoelectric sensors 402 to stalk is blocked, and illustrate not in place at this time, and adjustment downwards is needed to hold
Load arm 1, being used in the stalk of detection pineapple fruit, whether quantity in place is one in two photoelectric sensors 402 does not send out
Life is blocked, and illustrates load bearing arm 1 at this time in place；
S4. load bearing arm 1 in place in the case where, control assembly 5 controls clamping motor 2036 and works, and makes movable plate 2035 to solid
202 direction of fixed board is mobile, forms clamp position；
S5. control assembly 5 acquires the data of the pressure sensor 401 in fixed plate 202, when reaching preset second threshold, folder
Tight motor 2036 stops working, and completes gripping step；
S6. control assembly 5 sends a signal to cutting motor 2048, gear 2045 and rack gear while rotating cutter 2047
2046 engagements drive cutter 2047 to cut off the stalk of pineapple fruit along sliding rail 2042；
S7. after 2047 stalk of cutter cutting pineapple fruit, control assembly 5, which sends signal, resets clamping motor 2036, removes
Pineapple；
S8. control assembly 5 is inverted close to motor 301, further increases the distance between movable plate 2035 and fixed plate 202,
Until Hall sensor 403 sends position limit signal to control assembly 5, is stalled close to motor 301, wait for next spinach
The picking of trailing plants fruit.
It should be clear that: cutter 2047 traveling citing can by control cutting motor 2048 conduction time or
Turnning circle is controlled, in general, setting gear 2045 marches to the other end in one end of rack gear 2046, cutter 2047 are cut
The movement for cutting pineapple stem is completed.
It should be clear that: it can use, vision monitoring is carried out by the process manually to picking pineapple, can also be led to
The center that NI Vision Builder for Automated Inspection finds pineapple sarcocarp body is crossed, then the position of load bearing arm 1 is adjusted, realizes automatic picking.Machine
Vision system is the system for carrying out data acquisition using imaging devices such as cameras and continuing analysis, is existed in the prior art
It records, repeats no more herein.
It is of the present invention compared with the Softening that existing torsional mode Softening and bilateral move simultaneously such as Fig. 6 ~ 7
The unilateral mode clamped can have good protection to plant with the cauline leaf of effective protection plant even root system.
The foregoing is merely the preferred embodiment of invention, oneself, is not intended to limit the invention, all in spirit of the invention
With any modifications, equivalent replacements, and improvements made within principle etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of unilateral clamping pineapple picker, including load bearing arm (1), driven by driving assembly (3) on load bearing arm (1)
For the radial clamping cutting assembly (2) for clamping pineapple sarcocarp body and cutting off its stalk and setting in load bearing arm (1) and folder
Hold the sensor module (4) on cutting assembly (2), for acquiring sensor module (4) information and controlling clamping cutting assembly (2)
The control assembly (5) slided on load bearing arm (1)；It is characterized by:
Clamping cutting assembly (2) includes horizontally disposed framework (201), the attachment base (205) being arranged in framework (201), sets
It sets the fixed plate (202) on attachment base (205), the movable plate mechanism (203) in fixed plate (202) opposite side is set；Wherein,
Fixed plate (202) radially proximates pineapple sarcocarp body to be picked for artificially controlling；Movable plate mechanism (203) is used in fixed plate
(202) radial clamping pineapple fruit in the case where motionless.
2. a kind of unilateral clamping pineapple picker according to claim 1, it is characterised in that: movable plate mechanism (203)
Including grip slide (2031), clamping lead screw (2032) corresponding with grip slide (2031), the cross being arranged on framework (201)
Beam (2033), fixing seat (2034), movable plate (2035) and clamping motor (2036)；Wherein, the inside of sliding block (2031) is set
It is equipped with screw hole corresponding with lead screw (2032)；Clamping motor (2036) is connected on framework (201) by motor cabinet and the clamping
Motor (2036) is electrically connected to control assembly (5)；Movable plate (2035) is arranged on crossbeam (2033) by fixing seat (2034)；
Wherein, one end of lead screw (2032) connects clamping motor (2036) other end by shaft coupling and is connected to framework by bearing
(201) end；
Wherein, movable plate (2035) is arc panel with fixed plate (202) and open end is oppositely arranged.
3. a kind of unilateral clamping pineapple picker according to claim 2, it is characterised in that: movable plate (2035) and solid
The first groups of springs (203A) is provided between reservation (2034)；When first spring (203A) is used to clamp pineapple fruit, according to
The angle of vertical direction between the Adjusting Shape movable plate (2035) and fixing seat (2034) of pineapple fruit；Fixed plate (202) with
Second spring (203B) is also equipped between framework (201)；When the second spring (203B) is used to clamp pineapple fruit, according to spinach
The angle of vertical direction between the Adjusting Shape fixed plate (202) and attachment base (205) of trailing plants fruit.
4. a kind of unilateral clamping pineapple picker according to claim 1, it is characterised in that: driving assembly (3) includes
Close motor (301), close motor (301) output end of the setting mobile for Drive frame (201) on load bearing arm (1) connect
The close screw rod (302) connect, the close sliding block for being used cooperatively with close screw rod (302) being arranged on framework (201)
(303), the guide rail (304) for cooperating framework (201) to slide on load bearing arm (1) in load bearing arm (1) end is set；Its
In, control assembly (5) are electrically connected to close to motor (301)；Wherein, it is internally provided with and close screw rod close to sliding block (303)
(302) corresponding screw hole.
5. a kind of unilateral clamping pineapple picker according to claim 4, it is characterised in that: load bearing arm (1) be H-type and
The opposite side of two vertical sections of the load bearing arm (1) is internally provided with rectangular framework (201)；Simultaneously with two in the load bearing arm (1)
It is provided on the horizontal segment of vertical section connection close to motor (301)；Framework (201) is on the side of horizontal segment in load bearing arm (1)
It is correspondingly arranged on close to sliding block (303)；The end for two vertical sections that the load bearing arm (1) is contacted with framework (201) is provided with guide rail
(304) and the guide rail (304) is the opposite c-type guide rail of opening.
6. a kind of unilateral clamping pineapple picker according to claim 5, it is characterised in that: framework (201) and carrying
The guidance set (6) for guiding is additionally provided between arm (1)；Wherein, which includes being arranged in framework (201)
On first raised (601), second raised (602) and guide rod (603)；Wherein, first raised (601) and the second protrusion
(602) divide the two sides of column c-type guide rail and by guide rod (603) successively by first raised (601), c-type guide rail and the second protrusion
(602) it is connected to together；Wherein, the hole of guide rod (603) is provided on the c-type guide rail.
7. a kind of unilateral clamping pineapple picker according to claim 2, it is characterised in that: sensor module (4) packet
Include pressure sensor (401), the photoelectric sensor (402) and Hall sensor (403) that quantity is three；
Wherein, center of pressure sensor (401) setting in fixed plate (202)；The photoelectric sensor that quantity is three
(402) it is arranged in a triangle, wherein the photoelectric sensor (402) that quantity is one is arranged under pressure sensor (401)
Side, for detecting whether pineapple fruit is placed between movable plate (2035) and fixed plate (202)；Other quantity is two
Photoelectric sensor (402) is horizontally set on attachment base (205), for whether in place to detect the stalk of pineapple fruit；Hall passes
Sensor (403) is arranged on load bearing arm (1) for detecting load bearing arm (1) at a distance from framework (201).
8. a kind of unilateral clamping pineapple picker according to claim 1, it is characterised in that: clamping cutting assembly (2)
It further include for cutting the cutting mechanism of pineapple sarcocarp body stalk (204)；
Wherein, which includes the cutting support (2041) of frame type, sliding equipment, driving mechanism and makes to drive
The engaging mechanism of motivation structure driving sliding equipment；
Sliding equipment includes the slide bar (2042) being horizontally set on cutting support (2041), is slidably disposed in slide bar
(2042) cutting tool sleeve (2043) on the outside of；
Driving mechanism includes the transmission case (2044) being fixedly connected on cutting tool sleeve (2043), the connection of transmission case (2044) output end
Gear (2045) and discoidal cutter (2047) and transmission case (2044) input terminal setting cutting motor (2048)；
Engaging mechanism includes rack gear (2046) corresponding with gear (2045) and the mounting rod for rack gear (2046) to be arranged
(2049)；
Wherein, mounting rod (2049) is horizontally set on cutting support (2041)；
Wherein, cutting support (2041) setting is below load bearing arm (1) for cutting off the stalk with picking pineapple.
9. a kind of application method of unilateral clamping pineapple picker, it is characterised in that: the following steps are included:
S1. it holds or pineapple is placed between movable plate (2035) and fixed plate (202) by airborne load bearing arm (1) from the top down,
It drives close to motor (301) that fixed plate (202) and pineapple fruit to be harvested are close and contacts fixed plate (202) and pineapple sarcocarp
Body contact generates contact pressure value, which is acquired by pressure sensor (401), and is acquired by control assembly (5), when
When the contact pressure value is more than first threshold, it is believed that fixed plate (202) is contacted with pineapple fruit to be harvested to be finished；
S2. at this point, for detecting the photoelectric sensing whether pineapple fruit is placed between movable plate (2035) and fixed plate (202)
Device (402) is sent to a data to control assembly (5)；
S3. during load bearing arm (1) is placed from the top down, for determining pineapple sarcocarp body whether in fixation described in S2 step
Photoelectric sensor (402) between plate (202) and movable plate (2035) is persistently blocked；Control assembly (5) is acquired for detecting
The stalk of pineapple fruit whether quantity in place be two horizontally disposed photoelectric sensor (402) signal；When for examining
Surveying the stalk of pineapple fruit, whether quantity in place is two photoelectric sensors (402) is blocked, illustrate it is not in place at this time,
It needs to adjust load bearing arm (1) downwards, being used in the stalk of detection pineapple fruit, whether quantity in place is two photoelectric sensings
One in device (402) does not block, and illustrates load bearing arm (1) at this time in place；
S4. load bearing arm (1) in place in the case where, control assembly (5) control clamping motor (2036) work, make movable plate
(2035) mobile to fixed plate (202) direction, form clamp position；
S5. the data of the pressure sensor (401) in control assembly (5) acquisition fixed plate (202), reach preset second threshold
When, clamping motor (2036) stops working, and completes gripping step；
S6. control assembly (5) sends a signal to cutting motor (2048), gear while rotating cutter (2047)
(2045) it is engaged with rack gear (2046), cutter (2047) is driven to cut off the stalk of pineapple fruit along sliding rail (2042)；
S7. after cutter (2047) stalk cutting pineapple fruit, control assembly (5), which sends signal, keeps clamping motor (2036) multiple
Position, removes pineapple；
S8. control assembly (5) close to motor (301) invert, make the distance between movable plate (2035) and fixed plate (202) into
One step increases, until Hall sensor (403) send position limit signal to control assembly (5), close motor (301) are stalled,
Wait for the picking of next pineapple fruit.
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| CN201810988375.1A CN109041775B (en) | 2018-08-28 | 2018-08-28 | Single-side clamped pineapple picking device and using method thereof |
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| CN201810988375.1A CN109041775B (en) | 2018-08-28 | 2018-08-28 | Single-side clamped pineapple picking device and using method thereof |
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