CN113261429A - Intelligent walnut picking vehicle - Google Patents
Intelligent walnut picking vehicle Download PDFInfo
- Publication number
- CN113261429A CN113261429A CN202110698389.1A CN202110698389A CN113261429A CN 113261429 A CN113261429 A CN 113261429A CN 202110698389 A CN202110698389 A CN 202110698389A CN 113261429 A CN113261429 A CN 113261429A
- Authority
- CN
- China
- Prior art keywords
- slide rail
- walnut
- vibration
- automatic positioning
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention relates to an intelligent frequency-adjustable walnut vibration picking device which can automatically pick walnuts in a vibration mode and reduce damage to walnut trees. The method is characterized in that: the automatic positioning device comprises a mechanical arm system, a vibration system, a slide rail system, a multifunctional camera and an automatic positioning trolley; the mechanical claw is connected with the telescopic rod through the vibration system, the mechanical arm system is connected with the slide rail system through the telescopic rod and the transverse slide rail, and the slide rail system is fixedly connected with the automatic positioning trolley through two longitudinal slide rails. Compared with the prior art, the intelligent walnut picking vehicle is developed by combining the mechanical arm system and the automatic positioning trolley, so that the problem of low walnut picking efficiency is solved, and the problem of damage to human bodies and walnut trees caused by long-time mechanical vibration with improper frequency of the handheld walnut vibration picking device is also solved.
Description
Technical Field
The invention relates to an intelligent frequency-adjustable walnut vibration picking device which can automatically pick walnuts in a vibration mode and reduce damage to walnut trees.
Background
In most areas of China, the ripening season of walnuts is 8 months and 9 months, the current walnut picking method comprises two methods of manual picking and mechanical picking, wherein the manual picking is that when fruits are ripe, branches where walnuts are located are knocked by bamboo poles or elastic long wood poles or the fruits are knocked down directly, the efficiency of the manual picking is low, and branches and buds of the walnuts can be damaged in the knocking process to influence the yield of the next year; mechanical picking is generally carried out for artifical hand-held type vibration picking, though has improved certain efficiency, the vibration that long-term machine produced has certain influence to the human body, and long-time unsuitable vibration frequency either can't shake ripe walnut whole fall, or will cause certain harm to the walnut tree.
Disclosure of Invention
The invention aims to develop a device capable of realizing intelligent frequency-adjustable walnut vibration picking, automatically positioning a trolley before walnut picking, and automatically adjusting vibration frequency according to the condition that walnuts fall off in the picking process, so that the problem of low walnut picking efficiency is solved, and the problem of damage to human bodies and walnut trees caused by long-time inappropriate frequency mechanical vibration is also solved.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a car is picked to intelligence walnut, its characterized in that: the automatic positioning device comprises a mechanical arm system, a vibration system, a slide rail system, a multifunctional camera and an automatic positioning trolley; the mechanical claw is connected with the telescopic rod through a vibration system, the mechanical arm system is connected with the slide rail system through the telescopic rod and the transverse slide rail, and the slide rail system is fixedly connected with the automatic positioning trolley through two longitudinal slide rails;
the mechanical arm system is connected with the sliding rail system and consists of a contact feedback switch, a mechanical claw, a vibration system and a telescopic rod, wherein the contact feedback switch is arranged on the mechanical claw and feeds back when contacting with the walnut tree mark; the vibration system is composed of a motor, a short rod and a long rod, the motor is arranged on a shell at the top end of the telescopic rod, one end of the short rod is hinged with the motor, the other end of the short rod is hinged with one end of the long rod, the other end of the long rod is hinged with the mechanical claw, and when the motor works with different powers, the short rod is driven to rotate, and then the long rod is driven to move, so that the mechanical claw is driven to reciprocate left and right at the front end of the telescopic rod; the telescopic rod is connected with the vibration system;
the sliding rail system is arranged on the automatic positioning trolley and consists of a transverse sliding rail, two vertical sliding rails and two longitudinal sliding rails, the sliding table of the transverse sliding rail is fixedly connected with the tail end of the telescopic rod to drive the mechanical arm system to move left and right, two ends of the transverse sliding rail are respectively fixed on the sliding tables of the two vertical sliding rails to drive the transverse sliding rail to move up and down, so that the mechanical arm system is driven to move up and down, the bottom ends of the two longitudinal sliding rails are fixedly connected with the automatic positioning trolley, the sliding tables of the two longitudinal sliding rails are respectively connected with one end of the two vertical sliding rails to drive the two vertical sliding rails to move back and forth, so that the mechanical arm;
the multifunctional camera is arranged on the automatic positioning trolley, when the trolley starts to work, the multifunctional camera starts to capture a walnut tree trunk mark, after the capture is finished, the trolley automatically positions and aligns, the mechanical arm system starts to work and initially vibrates at the optimal frequency, the multifunctional camera starts to capture the dropped walnuts in real time, the vibration frequency is increased when no walnut falls, until a walnut falls, the walnut tree is kept vibrating for a period of time at the frequency, when no walnut falls, the vibration frequency is continuously increased, the last step is repeated until the vibration frequency is increased to the limited maximum value, the vibration of the mechanical arm system is stopped, and the walnut picking of a walnut tree is finished.
Compared with the prior art, the invention has the following technical effects:
according to the intelligent walnut picking vehicle, the mechanical arm system and the automatic positioning trolley are combined, the intelligent walnut picking vehicle is developed, the problem of low walnut picking efficiency is solved, and the problem that a human body and a walnut tree are damaged by mechanical vibration of the handheld walnut vibration picking device with improper frequency for a long time is also solved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a robot system;
FIG. 3 is a schematic structural view of a vibration system;
FIG. 4 is a schematic structural diagram of a slide rail system;
in the figure, 1 is a contact feedback switch, 2 is a gripper, 3 is a vibration system, 4 is a telescopic rod, 5 is a slide rail system, 6 is a multifunctional camera, 7 is an automatic positioning trolley, 301 is a motor, 302 is a short rod, 303 is a long rod, 501 is a transverse slide rail, 502 is a vertical slide rail, 503 is a longitudinal slide rail, 504 is a longitudinal slide rail, and 505 is a vertical slide rail.
The specific implementation mode is as follows:
referring to the attached drawings 1-4, the embodiment is an intelligent walnut picking vehicle, which comprises a mechanical arm system, a vibration system 3, a slide rail system 5, a multifunctional camera 6 and an automatic positioning trolley 7; the mechanical claw 2 is connected with an expansion link 4 through a vibration system 3, the mechanical arm system is connected with a slide rail system 5 through the expansion link 4 and a transverse slide rail 501, and the slide rail system 5 is fixedly connected with an automatic positioning trolley 7 through a longitudinal slide rail 503 and a longitudinal slide rail 504.
The mechanical arm system is connected with the sliding rail system 5 and consists of a contact feedback switch 1, a mechanical claw 2, a vibration system 3 and a telescopic rod 4, wherein the contact feedback switch 1 is arranged on the mechanical claw 2, and when the contact feedback switch 2 is contacted with a walnut tree mark, feedback is carried out, so that the function that the mechanical claw 2 retreats by one centimeter and then clamps a trunk is realized; the vibration system 3 is composed of a motor 301, a short rod 302 and a long rod 303, the motor 301 is arranged on a shell at the top end of the telescopic rod 4, one end of the short rod 302 is hinged with the motor 301, the other end of the short rod 302 is hinged with one end of the long rod 303, the other end of the long rod 303 is hinged with the mechanical claw 2, when the motor 301 works with different powers, the short rod 302 is driven to rotate, the long rod 303 is driven to move, and then the mechanical claw 2 is driven to reciprocate left and right at the front end of the telescopic rod 4, so that the function of vibrating left and right at different frequencies by the mechanical claw 2 is realized; the telescopic rod 4 is connected with the vibration system 3, so that the front and back contraction function of the mechanical arm system is realized.
The slide rail system 5 is arranged on the automatic positioning trolley 7, the slide rail system 5 is composed of a transverse slide rail 501, a vertical slide rail 502, a longitudinal slide rail 503, a longitudinal slide rail 504 and a vertical slide rail 505, a sliding table of the transverse slide rail 501 is fixedly connected with the tail end of the telescopic rod 4 to drive the mechanical arm system to move left and right, two ends of the transverse slide rail 501 are respectively fixed on the sliding tables of the vertical slide rail 502 and the vertical slide rail 505 to drive the transverse slide rail 501 to move up and down, so as to drive the mechanical arm system to move up and down, the bottom ends of the longitudinal slide rail 503 and the longitudinal slide rail 504 are fixedly connected with the automatic positioning trolley 7, the sliding tables of the longitudinal slide rail 503 and the longitudinal slide rail 504 are respectively connected with one end of the vertical slide rail 502 and one end of the vertical slide rail 505 to drive the vertical slide rail 502 and the vertical slide rail 505 to move back and forth, meanwhile, the automatic positioning trolley has the function of collecting the mechanical arm system into the automatic positioning trolley 7.
The multifunctional camera 6 is arranged on the automatic positioning trolley 7, when the trolley starts to work, the multifunctional camera 6 starts to capture a walnut tree trunk mark, the trolley automatically positions and aligns after capture is completed, the mechanical arm system starts to work and vibrates at the optimal frequency initially, the multifunctional camera 6 starts to capture a dropped walnut in real time, the vibration frequency is increased when no walnut drops until a walnut falls, the walnut tree is kept vibrating for a period of time at the frequency, when no walnut falls, the vibration frequency is continuously increased, the previous step is repeated until the vibration frequency is increased to a limited maximum value, the mechanical arm system is stopped vibrating, and walnut picking of a walnut tree is finished.
Claims (4)
1. The utility model provides a car is picked to intelligence walnut, its characterized in that: the automatic positioning device comprises a mechanical arm system, a vibration system, a slide rail system, a multifunctional camera and an automatic positioning trolley; the mechanical claw is connected with the telescopic rod through the vibration system, the mechanical arm system is connected with the slide rail system through the telescopic rod and the transverse slide rail, and the slide rail system is fixedly connected with the automatic positioning trolley through two longitudinal slide rails.
2. The car is picked to intelligence walnut according to claim 1, characterized in that: the mechanical arm system is connected with the sliding rail system and consists of a contact feedback switch, a mechanical claw, a vibration system and a telescopic rod, and the contact feedback switch is arranged on the mechanical claw; the vibration system is composed of a motor, a short rod and a long rod, the motor is arranged on a shell at the top end of the telescopic rod, one end of the short rod is hinged with the motor, the other end of the short rod is hinged with one end of the long rod, and the other end of the long rod is hinged with the mechanical claw; the telescopic rod is connected with the vibration system.
3. The car is picked to intelligence walnut according to claim 1, characterized in that: the slide rail system set up on the automatic positioning dolly, the slide rail system constitute by horizontal slide rail, two vertical slide rails and two vertical slide rails, the tail end rigid coupling of slip table and the telescopic link of horizontal slide rail, the both ends of horizontal slide rail are fixed respectively on the slip table of two vertical slide rails, the bottom and the automatic positioning dolly rigid coupling of two vertical slide rails, the slip table of two vertical slide rails is connected with the one end of two vertical slide rails respectively.
4. The car is picked to intelligence walnut according to claim 1, characterized in that: the multifunctional camera is arranged on the automatic positioning trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110698389.1A CN113261429A (en) | 2021-06-23 | 2021-06-23 | Intelligent walnut picking vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110698389.1A CN113261429A (en) | 2021-06-23 | 2021-06-23 | Intelligent walnut picking vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113261429A true CN113261429A (en) | 2021-08-17 |
Family
ID=77235689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110698389.1A Pending CN113261429A (en) | 2021-06-23 | 2021-06-23 | Intelligent walnut picking vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113261429A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114698467A (en) * | 2022-05-18 | 2022-07-05 | 新疆理工学院 | Self-propelled wheeled walnut picking machine based on single chip microcomputer control |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008022737A (en) * | 2006-07-19 | 2008-02-07 | Kochi Univ Of Technology | Harvesting robot |
| CN102349395A (en) * | 2011-10-27 | 2012-02-15 | 马俊贵 | Oscillatory dry fruit and nut harvester |
| CN103529855A (en) * | 2013-10-11 | 2014-01-22 | 华南农业大学 | Rotary adjustable binocular vision target recognition and positioning device and application thereof in agricultural fruit harvesting machinery |
| CN105723942A (en) * | 2016-03-31 | 2016-07-06 | 西北农林科技大学 | Automatic tree trunk clamping mechanism and method for vibration harvesting |
| CN206333029U (en) * | 2016-12-29 | 2017-07-18 | 东北农业大学 | Vibrating adjustable walnut picker |
| CN108834576A (en) * | 2018-06-07 | 2018-11-20 | 华南农业大学 | A kind of citrus picking robot and its implementation based on binocular vision |
| CN110036765A (en) * | 2019-05-29 | 2019-07-23 | 北方民族大学 | A kind of oscillatory type fructus lycii picking method and picker system |
| CN210470336U (en) * | 2019-08-21 | 2020-05-08 | 南京林业大学 | Be applied to actuating mechanism that luffa was picked |
| CN211090717U (en) * | 2019-12-04 | 2020-07-28 | 冯晓佩 | Self-propelled tree shaking machine |
| CN111480457A (en) * | 2020-04-30 | 2020-08-04 | 西安工业大学 | Automatic visual identification picking device for Chinese prickly ash and control method thereof |
| CN112753376A (en) * | 2021-01-07 | 2021-05-07 | 塔里木大学 | Picking and collecting device for fresh orchard walnuts |
-
2021
- 2021-06-23 CN CN202110698389.1A patent/CN113261429A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008022737A (en) * | 2006-07-19 | 2008-02-07 | Kochi Univ Of Technology | Harvesting robot |
| CN102349395A (en) * | 2011-10-27 | 2012-02-15 | 马俊贵 | Oscillatory dry fruit and nut harvester |
| CN103529855A (en) * | 2013-10-11 | 2014-01-22 | 华南农业大学 | Rotary adjustable binocular vision target recognition and positioning device and application thereof in agricultural fruit harvesting machinery |
| CN105723942A (en) * | 2016-03-31 | 2016-07-06 | 西北农林科技大学 | Automatic tree trunk clamping mechanism and method for vibration harvesting |
| CN206333029U (en) * | 2016-12-29 | 2017-07-18 | 东北农业大学 | Vibrating adjustable walnut picker |
| CN108834576A (en) * | 2018-06-07 | 2018-11-20 | 华南农业大学 | A kind of citrus picking robot and its implementation based on binocular vision |
| CN110036765A (en) * | 2019-05-29 | 2019-07-23 | 北方民族大学 | A kind of oscillatory type fructus lycii picking method and picker system |
| CN210470336U (en) * | 2019-08-21 | 2020-05-08 | 南京林业大学 | Be applied to actuating mechanism that luffa was picked |
| CN211090717U (en) * | 2019-12-04 | 2020-07-28 | 冯晓佩 | Self-propelled tree shaking machine |
| CN111480457A (en) * | 2020-04-30 | 2020-08-04 | 西安工业大学 | Automatic visual identification picking device for Chinese prickly ash and control method thereof |
| CN112753376A (en) * | 2021-01-07 | 2021-05-07 | 塔里木大学 | Picking and collecting device for fresh orchard walnuts |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114698467A (en) * | 2022-05-18 | 2022-07-05 | 新疆理工学院 | Self-propelled wheeled walnut picking machine based on single chip microcomputer control |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102668815B (en) | Vibration picking manipulator for fruit trees | |
| CN107771527B (en) | Efficient nondestructive fruit picking device | |
| CN110036765B (en) | Vibrating type wolfberry picking method and picking system | |
| CN209930955U (en) | Umbrella-shaped fruit collecting device for vibratory picking of arbor fruits | |
| CN215188328U (en) | Intelligent frequency-adjustable walnut vibration picking trolley | |
| CN103039199A (en) | Portable walnut picker | |
| CN205142906U (en) | Invert umbrella -type formula woods fruit and vibrate mechanism that gathers | |
| CN113261429A (en) | Intelligent walnut picking vehicle | |
| CN110744570A (en) | Pineapple picking machine and picking method thereof | |
| CN111386855A (en) | Apple picking mechanism, handheld apple picker and apple picking device | |
| CN210537500U (en) | Fruit picking device | |
| CN205196355U (en) | Mechanical -vibration -type woods fruit harvester | |
| CN109845482B (en) | Garlic sprout harvesting intelligent robot and working method thereof | |
| CN204482370U (en) | A kind of oscillatory type collecting medlar device | |
| CN109845485A (en) | Mobile adjustable type umbrella jujube fruit collection device | |
| CN205305448U (en) | Novel sea -buckthorn fruit harvester vibrating head | |
| CN208242253U (en) | A kind of strawberry picking collection all-in-one machine | |
| CN106068919B (en) | Vibrating comb-brush type medlar picking machine | |
| CN213306608U (en) | Automatic edible mushroom harvester | |
| CN215421742U (en) | Apple picking manipulator | |
| CN209983117U (en) | Novel fruit tree fruit picking device for forestry | |
| CN210053902U (en) | Wolfberry picking device | |
| CN219844107U (en) | Vibration-based continuous haw picker | |
| CN107690965A (en) | A kind of orchard walnut mechanization recovering device | |
| CN205142901U (en) | Ware is picked to eminence fruit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |