CN109168594A - Robot is used in a kind of picking of tomato - Google Patents
Robot is used in a kind of picking of tomato Download PDFInfo
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- CN109168594A CN109168594A CN201811055644.5A CN201811055644A CN109168594A CN 109168594 A CN109168594 A CN 109168594A CN 201811055644 A CN201811055644 A CN 201811055644A CN 109168594 A CN109168594 A CN 109168594A
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- tomato
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of tomato picking robots, including substrate, the substrate top is provided with the first cylinder, the piston rod end of first cylinder is fixedly connected with the second cylinder, the piston rod end of second cylinder is fixedly connected with shearing mechanism, the shearing mechanism includes annular bottom plate, spacing collar is vertically equipped at the top of the annular bottom plate, the spacing collar side is connected with fixed cutting tool, the spacing collar internal activity is arranged with bull stick, the bull stick side is provided with moving cutting tool, described moving cutting tool one end top and bottom is provided with connecting plate.The present invention is by measuring distance of the tomato apart from shearing mechanism using infrared range-measurement system, and the color on tomato surface is acquired by color sensor, to judge the maturity of tomato, once reaching ripeness standard, under then can be by subtracting tomato using shearing mechanism, and drop into it in Material collecting box for harvesting along the conveying string bag.
Description
Technical field
The present invention relates to robotic technology field, in particular to robot is used in a kind of tomato picking.
Background technique
Tomato (Tomato) also known as tomato, tomato, internal protein, vitamin and carrot rich in
The nutriments such as element.Currently, many orchard workers plant tomato by the way of large-scale planting, but current tomato picking is main
It is also to rely on manual work, is directly taken tomato from plant by orchard worker, however manually the tomato of picking large area needs
Spend a large amount of man power and material, at high cost, large labor intensity.
Therefore, invent a kind of tomato picking solved the above problems with robot it is necessary.
Summary of the invention
The purpose of the present invention is to provide a kind of tomato picking robots, by measuring tomato using infrared range-measurement system
Distance apart from shearing mechanism, and acquire by color sensor the color on tomato surface, to judge the maturity of tomato, one
Denier reaches ripeness standard, then can be by the way that tomato be subtracted using shearing mechanism under, and drop into it in Material collecting box for harvesting along the conveying string bag,
To solve the problems mentioned in the above background technology.
To achieve the above object, the invention provides the following technical scheme: a kind of tomato, which is picked, uses robot, including substrate,
The substrate top is provided with the first cylinder, and the piston rod end of first cylinder is fixedly connected with the second cylinder, and described
The piston rod end of two cylinders is fixedly connected with shearing mechanism, and the shearing mechanism includes annular bottom plate, the annular bottom plate top
Portion is vertically equipped with spacing collar, and the spacing collar side is connected with fixed cutting tool, and the spacing collar internal activity is arranged with
Bull stick, the bull stick side are provided with moving cutting tool, and described moving cutting tool one end top and bottom is provided with connecting plate, described
Moving cutting tool is fixedly connected by connecting plate with bull stick, and bracket, the pallet top setting are provided at the top of the annular bottom plate
There is first servo motor, the first servo motor output shaft end runs through bracket, and connect with link transmission, the bracket one
End top is vertically equipped with mounting plate, and the mounting plate side is provided with infrared range-measurement system and color sensor, the color sensing
Device is set to the bottom of infrared range-measurement system, and the annular bottom plate bottom cooperation is equipped with guidance cylinder, and the guidance cylinder bottom end is fixed to be connected
It is connected to the conveying string bag, conveying string bag one end is fixed with snap ring；
First cylinder side is provided with portal frame, is provided with Material collecting box for harvesting at the top of the portal frame and bottom is provided with
Control cabinet, Material collecting box for harvesting one end top are vertically equipped with riser, and the control cabinet side is provided with the second servo motor, the base
Plate bottom end is provided with fixes sleeve and the other end is provided with fixed plate, and the fixes sleeve internal sleeve is equipped with connecting rod, institute
The output shaft transmission connection that connecting rod one end is connected with front-wheel and the other end and the second servo motor is stated, is set on the inside of the fixed plate
It is equipped with annulus and outside is provided with rear-wheel, the annulus middle part surface fixing sleeve is equipped with pinion, the substrate
Bottom is provided with driving motor, and the driving motor output shaft end is connected with master gear, between the master gear and pinion
It is sequentially connected by driving chain.
Preferably, the fixed cutting tool and the shape of moving cutting tool vertical direction projection are semi-circular, and fixed cutting tool one
End is provided with V-arrangement protrusion and moving cutting tool one end corresponding matching is equipped with V-shaped groove.
Preferably, slot, the snap ring two sides are provided on the through slot inner sidewall through through slot is equipped on the riser
It is fixed with cutting, the cutting is matched with slot.
Preferably, there are two the fixed plate quantity is set, two fixed plates are in about the central axis of substrate vertical direction
Axial symmetry setting, the annulus is set between two fixed plates, and annulus both ends respectively with two fixed plates
Inner sidewall fits.
Preferably, dual-rod hydraulic cylinder, the piston rod at the dual-rod hydraulic cylinder both ends are fixed with inside the annulus
Run through the fixed plate of respective side, and is fixedly linked with rear-wheel.
Preferably, the front-wheel and two rear-wheels are arranged in isosceles triangle, are inclined outwardly between the front-wheel and rear-wheel
Equipped with universal wheel, the universal wheel quantity is equipped with two groups, and every group is equipped with multiple, and multiple universal wheels are collinearly arranged, described in two groups
Universal wheel is axisymmetricly arranged about the central axis of substrate vertical direction, the folder of vertical direction between the universal wheel and substrate
Angle is 15 °.
Preferably, the conveying string bag is woven using elastic woven material.
Preferably, the riser side is provided tiltedly with directing plate, and the directing plate bottom end is arranged inside Material collecting box for harvesting.
Preferably, the control cabinet is made of single-chip microcontroller, control panel and power supply, the single-chip microcontroller and infrared distance measurement
It is electrically connected between instrument and color sensor, the single-chip microcontroller is hydraulic by relay and cylinder, driving motor and double rod
Cylinder is connected, and the single-chip microcontroller is connected by servo controller with servo motor.
Technical effect and advantage of the invention:
1, the letter that the present invention is measured distance of the tomato apart from shearing mechanism using infrared range-measurement system, and will test in real time
Number it is transferred to single-chip microcontroller, after single-chip microcontroller receives signal, the first cylinder is controlled by relay and the second cylinder head portions are living
The relative telescopic amount of stopper rod, so that tomato is close to shearing mechanism, once the signal that infrared range-measurement system detects is on shearing mechanism
Annular bottom plate inner ring within the scope of when, single-chip microcontroller blocks the first cylinder and the second cylinder head portions piston rod by relay
Relative telescopic amount continues to adjust, and transmits a signal to color sensor, and the face on tomato surface is acquired by color sensor
Color, to judge the maturity of tomato, if signal within the scope of ripeness standard, can be fed back to single-chip microcontroller, by monolithic by maturity
Machine controls first servo motor by servo controller to drive moving cutting tool to cut tomato, and cuts the tomato fallen and then exist
It drops into the conveying string bag under the action of guidance cylinder, since the conveying string bag is worked out using elastic woven material, can effectively slow down
The falling speed of tomato when tomato being avoided to roll down in Material collecting box for harvesting with faster speed, forms strong touch between Material collecting box for harvesting
It hits and is damaged tomato；
2, the present invention inside annulus by being arranged dual-rod hydraulic cylinder, and the piston rod at dual-rod hydraulic cylinder both ends passes through
The fixed plate of respective side is worn, and is fixedly linked with rear-wheel, dual-rod hydraulic cylinder both ends can be controlled by relay using single-chip microcontroller
The relative telescopic amount of piston rod allows the robot to be moved in the groove of different in width, without the seedling to tomato
Strain damages, and improves the scope of application of robot；
3, the present invention, can be in robot by the universal wheel for being ° in base plate bottom setting and the angle of substrate vertical direction
When carrying out the switching between adjacent rows, the support force tilted upward is provided to turn the robot in direction, avoids robot
There is a situation where turning on one's side during turning direction, to greatly improve stability of robot during traveling.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is substrate bottom view of the invention；
Fig. 3 is shearing mechanism top view of the invention；
Fig. 4 is moving cutting tool partial structural diagram of the invention；
Fig. 5 is riser cross-sectional view of the invention；
Fig. 6 is snap ring side view of the invention；
Fig. 7 is control principle drawing of the invention；
In figure: 1 substrate, 2 first cylinders, 3 second cylinders, 4 shearing mechanisms, 41 annular bottom plates, 42 spacing collars, 43 are fixed
Cutter, 44 bull sticks, 45 moving cutting tools, 46 connecting plates, 5 brackets, 6 first servo motors, 7 mounting plates, 8 infrared range-measurement systems, 9 colors
Sensor, 10 guidance cylinders, the 11 conveying string bags, 12 snap rings, 13 portal frames, 14 second servo motors, 15 control cabinets, 16 Material collecting box for harvesting,
17 risers, 18 through slots, 19 slots, 20 cuttings, 21 fixes sleeves, 22 fixed plates, 23 connecting rods, 24 front-wheels, 25 annulus, 26 are driven
Dynamic motor, 27 master gears, 28 pinions, 29 dual-rod hydraulic cylinders, 30 rear-wheels, 31 universal wheels, 32 directing plates.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1:
The present invention provides a kind of tomato picking robot as shown in figures 1 to 6, including substrate 1,1 top of substrate
It is provided with the first cylinder 2, the piston rod end of first cylinder 2 is fixedly connected with the second cylinder 3, second cylinder 3
Piston rod end is fixedly connected with shearing mechanism 4, and the shearing mechanism 4 includes annular bottom plate 41,41 top of annular bottom plate
It is vertically equipped with spacing collar 42,42 side of spacing collar is connected with fixed cutting tool 43,42 internal activity of spacing collar
It is arranged with bull stick 44,44 side of bull stick is provided with moving cutting tool 45, and 45 one end top and bottom of moving cutting tool is all provided with
It is equipped with connecting plate 46, the moving cutting tool 45 is fixedly connected with bull stick 44 by connecting plate 46, is set at the top of the annular bottom plate 41
It is equipped with bracket 5, first servo motor 6 is provided at the top of the bracket 5,6 output shaft end of first servo motor is through support
Frame 5, and be sequentially connected with connecting rod 44, mounting plate 7 is vertically equipped at the top of described 5 one end of bracket, 7 side of mounting plate is provided with
Infrared range-measurement system 8 and color sensor 9, the color sensor 9 are set to the bottom of infrared range-measurement system 8, the annular bottom plate
The cooperation of 41 bottoms is equipped with guidance cylinder 10, and 10 bottom end of guidance cylinder is fixedly connected with the conveying string bag 11, the conveying string bag 11 1
End is fixed with snap ring 12；
First cylinder, 2 side is provided with portal frame 13, is provided with Material collecting box for harvesting 16 and bottom at the top of the portal frame 13
Portion is provided with control cabinet 15, is vertically equipped with riser 17 at the top of described 16 one end of Material collecting box for harvesting, and 15 side of control cabinet is provided with the
Two servo motors 14,1 bottom end of substrate is provided with fixes sleeve 21 and the other end is provided with fixed plate 22, described solid
21 internal sleeve of sleeve is determined equipped with connecting rod 23, and described 23 one end of connecting rod is connected with front-wheel 24 and the other end and the second servo motor 14
Output shaft transmission connection, be provided with annulus 25 on the inside of the fixed plate 22 and outside be provided with rear-wheel 30, the ring
25 middle part surface fixing sleeve of shape sleeve is equipped with pinion 28, and 1 bottom of substrate is provided with driving motor 26, the driving motor
26 output shaft ends are connected with master gear 27, are sequentially connected between the master gear 27 and pinion 28 by driving chain.
Further, in the above-mentioned technical solutions, the shape of the fixed cutting tool 43 and the projection of 45 vertical direction of moving cutting tool
Shape is semi-circular, and 43 one end of fixed cutting tool is provided with V-arrangement protrusion and 45 one end corresponding matching of moving cutting tool is equipped with V-shaped groove.
Further, in the above-mentioned technical solutions, through equipped with through slot 18,18 inner sidewall of through slot on the riser 17
On be provided with slot 19,12 two sides of snap ring are fixed with cutting 20, and the cutting 20 is matched with slot 19.
Further, in the above-mentioned technical solutions, the control cabinet 15 is by single-chip microcontroller, control panel and power supply group
At, be electrically connected between the single-chip microcontroller and infrared range-measurement system 8 and color sensor 9, the single-chip microcontroller by relay with
Cylinder, driving motor 26 and dual-rod hydraulic cylinder 29 are connected, and the single-chip microcontroller is connected by servo controller with servo motor
It connects.
Above-mentioned technical proposal has the beneficial effect that the present invention measures tomato using infrared range-measurement system 8 apart from shearing mechanism 4
Distance, and the signal that will test in real time is transferred to single-chip microcontroller, and after single-chip microcontroller receives signal, is controlled by relay
The relative telescopic amount of 3 end piston bar of one cylinder 2 and the second cylinder, so that tomato is close to shearing mechanism 4, once infrared distance measurement
When the signal that instrument 8 detects is within the scope of 41 inner ring of annular bottom plate on shearing mechanism 4, single-chip microcontroller blocks by relay
The relative telescopic amount of 3 end piston bar of one cylinder 2 and the second cylinder continues to adjust, and transmits a signal to color sensor 9,
The color on tomato surface is acquired by color sensor 9, to judge the maturity of tomato, if maturity is in ripeness standard model
In enclosing, signal can be fed back to single-chip microcontroller, first servo motor 6 is controlled to drive activity to cut by servo controller by single-chip microcontroller
Knife 45 cuts tomato, and cuts the tomato fallen and then drop into the conveying string bag 11 under the action of guiding cylinder 10, due to defeated
Expect that the string bag 11 is worked out using elastic woven material, can effectively slow down the falling speed of tomato, avoid tomato with faster speed
When rolling down in Material collecting box for harvesting 16, strong collision is formed between Material collecting box for harvesting 16 and is damaged tomato.
Embodiment 2:
Further, in the above-mentioned technical solutions, there are two 22 quantity of fixed plate is set, two fixed plates 22 are about base
The central axis of 1 vertical direction of plate is axisymmetricly arranged, and the annulus 25 is set between two fixed plates 22, and annular
Inner sidewall of 25 both ends of sleeve respectively with two fixed plates 22 fits, and it is hydraulic to be fixed with double rod inside the annulus 25
Cylinder 29, the piston rod at 29 both ends of dual-rod hydraulic cylinder runs through the fixed plate 22 of respective side, and is fixedly linked with rear-wheel 30, benefit
The relative telescopic amount for controlling 29 both ends piston rod of dual-rod hydraulic cylinder by relay with single-chip microcontroller, allows the robot to not
With being moved in the groove of width, is damaged without the seedling strain to tomato, improve the scope of application of robot.
Further, in the above-mentioned technical solutions, the front-wheel 24 and two rear-wheels 30 are arranged in isosceles triangle, described
Be inclined outwardly between front-wheel 24 and rear-wheel 30 equipped with universal wheel 31,31 quantity of universal wheel is equipped with two groups, every group be equipped with it is multiple,
And collinearly setting, universal wheel 31 described in two groups are axisymmetricly set multiple universal wheels 31 about the central axis of 1 vertical direction of substrate
It sets, the angle of vertical direction is 15 ° between the universal wheel 31 and substrate 1, when can carry out the switching between adjacent rows, to turn
The robot in direction provides a support force tilted upward, the feelings for avoiding robot from turning on one's side during turning direction
Condition, to greatly improve stability of robot during traveling.
Further, in the above-mentioned technical solutions, the conveying string bag 11 is woven using elastic woven material, the riser
17 sides are provided tiltedly with directing plate 32, and 32 bottom end of directing plate is arranged inside Material collecting box for harvesting 16, can effectively slow down under tomato
Terminal-velocity degree, when tomato being avoided to roll down in Material collecting box for harvesting 16 with faster speed, strong collision is formed between Material collecting box for harvesting 16 and
It is damaged tomato.
Working principle of the present invention:
Referring to Figure of description 1-2 and 7, in use, first being passed through according to the width of groove between adjacent rows using single-chip microcontroller
Relay controls the relative telescopic amount of 29 both ends piston rod of dual-rod hydraulic cylinder, allows the robot to the groove in different in width
It is inside moved, is damaged without the seedling strain to tomato, then measure tomato apart from cutting machine using infrared range-measurement system 8
The distance of structure 4, during measuring distance, the signal that infrared range-measurement system 8 will test in real time is transferred to single-chip microcontroller, single-chip microcontroller
After receiving signal, the relative telescopic amount of 3 end piston bar of the first cylinder 2 and the second cylinder is controlled by relay, together
When, single-chip microcontroller controls driving motor work by relay, to realize the movement of robot, once infrared range-measurement system 8 detects
To signal within the scope of 41 inner ring of annular bottom plate on shearing mechanism 4 when, single-chip microcontroller blocks the first cylinder 2 by relay
And the relative telescopic amount of 3 end piston bar of the second cylinder continues to adjust, and transmits a signal to color sensor 9, passes through face
Colour sensor 9 acquires the color on tomato surface, to judge the maturity of tomato, if maturity within the scope of ripeness standard,
Signal can be fed back to single-chip microcontroller, first servo motor 6 is controlled to drive moving cutting tool 45 by servo controller by single-chip microcontroller
Tomato is cut, and cuts the tomato fallen and is then dropped into the conveying string bag 11 under the action of guiding cylinder 10, due to conveying net
Pocket 11 is worked out using elastic woven material, can effectively slow down the falling speed of tomato, tomato is avoided to tumble with faster speed
When in Material collecting box for harvesting 16, form strong collision between Material collecting box for harvesting 16 and be damaged tomato, when robot need enter a new line after
When the continuous picking for carrying out tomato, the second servo motor 14 can be controlled by servo controller to drive 23 turns of connecting rod using single-chip microcontroller
Dynamic certain angle, to realize the switching between adjacent rows, and in carrying out the handoff procedure between adjacent rows, due to 1 bottom of substrate
Portion two sides are provided tiltedly with universal wheel 31, can provide a support force to turn the robot in direction, robot is avoided to adjust
Turn during direction that there is a situation where turn on one's side；
Referring to Figure of description 3-4, mature tomato is cut using shearing mechanism 4 fall during, since activity is cut
45 one end top and bottom of knife is provided with connecting plate 46, and moving cutting tool 45 is fixedly connected by connecting plate 46 with bull stick 44,
And bull stick 44 is to be sheathed on inside spacing collar 42, and bull stick 44 can be driven to be rotated by first servo motor 6, thus real
Now mature tomato is cut；
Referring to Figure of description 5-6, during guidance cuts and falls on Material collecting box for harvesting 16 under the tomato fallen, first by 12 liang of snap ring
It is fixed in the slot 19 that the cutting 20 of side is inserted on riser 17, so that being formed between shearing mechanism 4 and Material collecting box for harvesting 16 defeated
Expect access, the tomato fallen is cut with guidance and is accurately dropped into Material collecting box for harvesting 16.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (9)
1. a kind of tomato picking robot, including substrate (1), it is characterised in that: be provided with the first gas at the top of the substrate (1)
The piston rod end of cylinder (2), first cylinder (2) is fixedly connected with the second cylinder (3), the piston of second cylinder (3)
Boom end is fixedly connected with shearing mechanism (4), and the shearing mechanism (4) includes annular bottom plate (41), the annular bottom plate (41)
Top is vertically equipped with spacing collar (42), and spacing collar (42) side is connected with fixed cutting tool (43), the spacing collar
(42) internal activity is arranged with bull stick (44), and bull stick (44) side is provided with moving cutting tool (45), the moving cutting tool
(45) one end top and bottom is provided with connecting plate (46), and the moving cutting tool (45) passes through connecting plate (46) and bull stick (44)
It is fixedly connected, is provided with bracket (5) at the top of the annular bottom plate (41), be provided with first servo motor at the top of the bracket (5)
(6), first servo motor (6) output shaft end runs through bracket (5), and is sequentially connected with connecting rod (44), the bracket (5)
Mounting plate (7) vertically are equipped at the top of one end, mounting plate (7) side is provided with infrared range-measurement system (8) and color sensor
(9), the color sensor (9) is set to the bottom of infrared range-measurement system (8), and annular bottom plate (41) the bottom cooperation, which is equipped with, draws
Guide tube (10), guidance cylinder (10) bottom end are fixedly connected with the conveying string bag (11), and the conveying string bag (11) one end fixation is set
There are snap ring (12)；
First cylinder (2) side is provided with portal frame (13), be provided at the top of the portal frame (13) Material collecting box for harvesting (16) with
And bottom is provided with control cabinet (15), is vertically equipped with riser (17) at the top of described Material collecting box for harvesting (16) one end, the control cabinet (15)
Side is provided with the second servo motor (14), and substrate (1) bottom end is provided with fixes sleeve (21) and the other end is set
It is equipped with fixed plate (22), fixes sleeve (21) internal sleeve is equipped with connecting rod (23), and described connecting rod (23) one end is connected with front-wheel
(24) and the output shaft transmission connection of the other end and the second servo motor (14), fixed plate (22) inside are provided with annular
Sleeve (25) and outside are provided with rear-wheel (30), and annulus (25) the middle part surface fixing sleeve is equipped with pinion (28),
Substrate (1) bottom is provided with driving motor (26), and driving motor (26) output shaft end is connected with master gear (27),
It is sequentially connected between the master gear (27) and pinion (28) by driving chain.
2. a kind of tomato picking robot according to claim 1, it is characterised in that: the fixed cutting tool (43) and work
The shape of dynamic cutter (45) vertical direction projection is semi-circular, and fixed cutting tool (43) one end is provided with V-arrangement protrusion and activity
Cutter (45) one end corresponding matching is equipped with V-shaped groove.
3. a kind of tomato picking robot according to claim 1, it is characterised in that: run through on the riser (17) and set
Have through slot (18), be provided with slot (19) on through slot (18) inner sidewall, snap ring (12) two sides are fixed with cutting
(20), the cutting (20) matches with slot (19).
4. a kind of tomato picking robot according to claim 1, it is characterised in that: fixed plate (22) quantity is set
There are two, two fixed plates (22) are axisymmetricly arranged about the central axis of substrate (1) vertical direction, the annulus
(25) it is set between two fixed plates (22), and annulus (25) both ends inner sidewall phase with two fixed plates (22) respectively
Fitting.
5. a kind of tomato picking robot according to claim 1, it is characterised in that: the annulus (25) is internal
It is fixed with dual-rod hydraulic cylinder (29), the piston rod at dual-rod hydraulic cylinder (29) both ends runs through the fixed plate of respective side
(22), it and with rear-wheel (30) is fixedly linked.
6. a kind of tomato picking according to claim 1 robot, it is characterised in that: after the front-wheel (24) is with two
It takes turns (30) to arrange in isosceles triangle, be inclined outwardly between the front-wheel (24) and rear-wheel (30) equipped with universal wheel (31), it is described
Universal wheel (31) quantity be equipped with two groups, every group be equipped with it is multiple, and multiple universal wheels (31) collinearly be arranged, universal wheel described in two groups
(31) central axis about substrate (1) vertical direction is axisymmetricly arranged, vertical between the universal wheel (31) and substrate (1)
The angle in direction is 15 °.
7. a kind of tomato picking robot according to claim 1, it is characterised in that: the conveying string bag (11) uses
Elastic woven material weaves.
8. a kind of tomato picking robot according to claim 1, it is characterised in that: riser (17) the side inclination
Equipped with directing plate (32), directing plate (32) the bottom end setting is internal in Material collecting box for harvesting (16).
9. a kind of tomato picking robot according to claim 5, it is characterised in that: the control cabinet (15) is by monolithic
Machine, control panel and power supply composition, between the single-chip microcontroller and infrared range-measurement system (8) and color sensor (9) electrically
Connection, the single-chip microcontroller are connected by relay with cylinder, driving motor (26) and dual-rod hydraulic cylinder (29), the monolithic
Machine is connected by servo controller with servo motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811055644.5A CN109168594A (en) | 2018-09-11 | 2018-09-11 | Robot is used in a kind of picking of tomato |
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| CN201811055644.5A CN109168594A (en) | 2018-09-11 | 2018-09-11 | Robot is used in a kind of picking of tomato |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112162069A (en) * | 2020-10-14 | 2021-01-01 | 贵阳学院 | Method and device for detecting ripening degree of kiwi fruit |
| CN113273443A (en) * | 2020-10-17 | 2021-08-20 | 连云港如意情食用菌生物科技有限公司 | Automatic picking equipment for needle mushroom planting |
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| CN108377740A (en) * | 2018-04-16 | 2018-08-10 | 苏州大学 | A kind of automatic seed harvester of fruit |
| CN108406757A (en) * | 2018-05-18 | 2018-08-17 | 河南理工大学 | A kind of manipulator and robot movement method |
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| CN112162069B (en) * | 2020-10-14 | 2022-06-21 | 贵阳学院 | Method and device for detecting ripening degree of kiwi fruit |
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