106results about How to "Improve picking effect" patented technology

The invention discloses a wolfberry picking robot. A wolfberry picking robot system adopts a pinhole imaging technology and mainly comprises a data acquisition card and an analog-digital conversion module. A control method mainly adopts a fuzzy PID self-adaptive control way and is mainly used for controlling the vision. Hardware of the wolfberry picking robot mainly consists of a mechanical arm, a rotor structure, a picking head and various motors. By adopting the wolfberry picking robot, the automatic picking of wolfberry can be implemented, the manpower can be completely substituted, and the problem that the manual picking is subjected to the influence of the environment can be solved. The wolfberry picking robot is high in automation degree and high in picking efficiency.

The invention discloses a multifunctional soft mechanical arm for detecting the ripeness of fruits. The soft mechanical arm comprises a gripper assembly, a plurality of connectors, soft body single fingers, a soft body strain sensor and a soft body pressure sensor, wherein the plurality of connectors fixedly arranged below the gripper assembly, the soft body single finger is fixedly arranged belowthe connectors, the soft body strain sensor and the soft body pressure sensor are fixed on the inner side of the soft body single fingers, the soft body single fingers are bent and deformed under thedriving of air pressure, the soft body strain sensor is used for measuring the bending deformation of the soft body single fingers when grabbing fruits with different sizes, the soft body pressure sensor is used for measuring the change of the contact surface capacitance so as to identify the hardness of the fruits. According to the multifunctional soft mechanical arm, the size and the hardness of different fruits can be recognized through the soft body strain sensor and the soft body pressure sensor, so that the ripeness of the fruits can be well detected, and the sorting or picking tasks ofthe ripe fruits can be completed.

The invention discloses a device and method for picking ridge planting strawberries in a greenhouse. The back side wall of a box body is fixedly connected with the lower part of a vertical carrying rod; the central part of the carrying rod is rotatably connected with a rocker; the lower end of the rocker extends into the box body to be fixedly connected to the rear end of a push rod positioned in the box body; the front end of the push rod is fixedly connected with one side surface of a disc positioned at the front part of the push rod; a shaft is parallel to the bottom wall of the box body and penetrates through the center of the disc; both ends of the shaft are rotatably connected with the left and the right inner side walls respectively through a stepped shaft; the middle section of the stepped shaft is a square shaft; the lower part of a first rocker arm is sheathed on the square shaft in a matching mode; the upper end of the first rocker arm is fixedly connected with one end of a second rocker arm, the other end of the second rocker arm is rotatably connected with a fence; left and right horizontal guide rails are arranged at the upper position of the fence; a slider blade moves left and right in the guide rails and is connected to the surface of the rotary disc through a linking rod; the center of the rotary disc is connected with the output shaft of a micro motor. The picking is convenient, and saves time and labor; therefore, a plurality of strawberries can be picked through one action.

The invention provides a method for building and managing a famous tea mechanical plucking tea garden, and belongs to the technical field of plant cultivation. The method is characterized by mainly comprising the steps of tea garden selecting, tea plant variety selecting, planting, tree crown cultivating and pruning, mechanical plucking period and remaining, maintaining of plucked tea tree crowns and the like, wherein frames of tea trees of the built tea garden are clear in layer, ventilative and transparent, growing branches are thick and uniform in distribution, the tree crowns are small in surface, stumps are uniform in thickness, and the density reaches about 1000/m<2>; young sprouts of each tea tree grow on a regular and smooth tree crown surface, bud leaves are distributed uniformly, the density is proper and can reach about 2000/m<2>, timely plucking is conducted, the raw material yield of famous tea can reach 70%-75%, and the plucking effect is good.

The invention discloses a green soy bean picking machine which comprises a machine body. Two brush rollers are arranged at the front end of the machine body horizontally, a picking roller structure is arranged on the machine frame at the rear sides of the brush rollers, a locating roller is arranged at the bottom of the machine body and used for locating, a collecting packing auger is arranged on the machine body at the rear side of the picking roller structure, a conveyor belt is arranged at the bottom of the collecting packing auger in corresponding mode, and a flow guiding plate is arranged above the picking roller structure and the collecting packing auger. The picking roller structure comprises a mounted bearing, a roller drum support, material blocking plates, a roller drum and a plurality of long and thin steel wires. Two ends of the roller drum are arranged in the mounted bearing, the mounted bearing is fixed on the roller drum support, the material blocking plates are arranged at two ends of the roller drum, the plurality of long and thin steel wires are arranged on the roller drum surface evenly in surrounding mode, and the brush rollers and the roller drum are all driven by a hydraulic motor. The green soy bean picking machine is compact in structure, small in size and flexible to operate, improves a picking effect by knocking through the long and thin steel wires compared with manual picking and picking through needle rollers, increases picking speed, improves production efficiency, and reduces picking cost and device cost.

The invention discloses an auricularia auricula picking machine and belongs to the technical field of production equipment of edible fungi. The auricularia auricula picking machine comprises a machineframe and an auricularia auricula picking device mounted on the machine frame, wherein the auricularia auricula picking device comprises an auricularia auricula picking tube and a driving mechanism for driving the auricularia auricula picking tube to rotate, the auricularia auricula picking tube comprises a charging opening and a discharging opening, an adjusting groove is formed in a tube wall of the auricularia auricula picking tube and is formed along an axial direction of the auricularia auricula picking tube, two sides of an opening of the adjusting groove are fixedly connected with fixed plates, strip-shaped holes are formed in the fixed plates, reinforcing plates are arranged at joints between the fixed plates and the auricularia auricula picking tube, an adjusting plate is arranged in the adjusting groove, one end of the adjusting plate is bolted with the strip-shaped holes of the fixed plates, the other end of the adjusting plate extends into the auricularia auricula pickingtube and is connected with scrapers, and the scrapers are equidistantly arrayed circumferentially along a center of the auricularia auricula picking tube. The auricularia auricula picking machine disclosed by the invention is simple and reasonable in global structure and high in degree of automation, a large volume of labor is saved, the auricularia auricula picking effect is good, and the use requirements on large-batch auricularia auricula picking are excellently met.

The invention discloses a suspension type residual film recovering and bundling combined operation machine. The suspension type residual film recovering and bundling combined operation machine comprises a suspension type machine frame with a supporting wheel; a soil loosening device, a pickup device, a bundling device and a driving device are arranged on the machine frame; the soil loosening device is arranged at the front end of the machine frame; the soil loosening device is a row of soil loosening shovels for loosening soil; the pickup device is arranged close to the back end of the soil loosening device; the pickup device comprises a film taking comb and a rotary pickup device; the bundling device is arranged close to the back end of the pickup device. The suspension type residual film recovering and bundling combined operation machine has the characteristic of high residual film recovery efficiency, and can automatically bundle the recovered residual films to compress the volume of the recovered residual films and reduce the residual film clearing times, so that the residual films are compressed into a whole body, the recovered residual films are taken out conveniently, the operation time is prolonged and the work efficiency is improved.

The invention discloses powder separation equipment for sorting traditional Chinese medicinal materials. The powder separation equipment comprises a bottom frame, a support block, a damping spring, abracket, a frame seat, a screen, an intermittent shaking mechanism, a top plate, a discharging hopper, a material guide plate, a cover plate, a control switch and a power line. According to the powderseparation equipment, the intermittent shaking mechanism is arranged in an optimized manner, a rotary disc enables a push column to push the screen to slightly shake in a sliding groove in a reciprocating manner up and down through a groove frame, meanwhile, a transmission belt drives fan blades to rotate, generated airflow is blown out through an air outlet cover, powder is blown away from tablets, and the sorting effect is further enhanced; and the discharging hopper is optimally arranged, the upper side and the lower side of the rotary disc are intermittently matched with an upper rack anda lower rack respectively under the action of a motor, a sliding frame drives a material blocking plate to reciprocate on a supporting plate frame, and therefore the material blocking plate intermittently reciprocates at the bottom of the hopper frame, materials are intermittently and quantitatively discharged, material accumulation is avoided, and the sorting efficiency of the traditional Chinese medicinal materials is improved.

The invention relates to an efficient tea bud picking machine based on the mechanical characteristics of tea leaves, which acts above a tea ridge and comprises a walking device, a picking device, a depth measuring device, a collecting device and a control system which are arranged on the walking device, wherein the walking device across a tea ridge and moves along the length direction of the tea ridge, the picking device comprises a picking mechanism, the picking mechanism comprises a first roller and a second roller which are rotatably arranged; the first roller and the second roller rotate relatively to clamp the tea bud together and enroll the tea bud between the two rollers; the depth measuring device is used for controlling the picking mechanism to reach the surface of the tea ridge for picking the tea tender bud; the collecting device comprises a collecting box and a tea suction pipe, wherein the tea suction pipe sucks tea tender buds wound between the two rollers into the collecting box; and the control system controls the walking device, the picking device, the depth measuring device and the collecting device to work. The picking machine is high in picking efficiency and accuracy, and can effectively reduce the damage rate to tea trees.

The invention relates to the technical field of fruit picking, in particular to an internal comb type posture-changing vibratory wolfberry picking device. The picking device comprises a supporting mechanism, a picking mechanism and a collecting mechanism; the picking mechanism comprises a door-shaped transverse moving support frame, vertical guide rods, a comb tooth shaft and a crank connecting rod structure; two ends of each vertical guide rod are fixedly connected with the door-shaped transverse moving support frame, one end of the crank connecting rod mechanism is fixed to the supporting mechanism through a chain wheel shaft, and the other end of the crank connecting rod mechanism is slidingly connected with the supporting mechanism after being fixed with the door-shaped transverse moving support frame; two ends of the comb tooth shaft are in sliding connection with the two parallelly arranged vertical guide rods, a plurality of comb teeth are uniformly distributed on the comb toothshaft, and a swinging cylinder and a telescopic cylinder are respectively fixed to the two ends of the comb tooth shaft. The internal comb type posture-changing vibratory wolfberry picking device canadapt to different wolfberry trees, adjust a picking force and the vibration amplitude and frequency of the comb teeth, and adopt to different parameter values aiming at different wolfberry trees soas to achieve the best picking effect.

The invention discloses an eccentric rolling vibration mechanism for wolfberry picking, which comprises a main shaft motor, a clutch, a main shaft, several vibrating rings, a swing arm, a weight motor and two eccentric weights; the main shaft motor is connected to the main shaft through a clutch, and the main shaft The vibrating ring is fixed on the top, and the main shaft is fixedly connected with the swing arm; the two eccentric weights are symmetrically installed on the swing arm, and are driven by the weight motor; the vibrating ring is composed of a vibrating ring base and a vibrating bar. The invention uses an eccentric weight to realize the rolling action. Compared with the existing picking structure with vertically or horizontally inserted vibrating rods, the invention can continuously draw in and retreat wolfberry branches without any pause, thereby improving picking efficiency. In addition, the ring structure of the vibrating bar circle is more adaptable than the existing linear vibrating bar matrix arrangement, and it still has a good picking effect on branches with many branches and many windings.

The invention discloses a loquat picking device. The loquat picking device comprises a machine seat, a hydraulic adjusting rod, a buffer collecting device and a branch-hanging traveling mechanism, wherein the hydraulic adjusting rod is arranged on the machine seat and comprises a hydraulic lifting rod and an N-section arm beam; the buffer collecting device comprises a collecting guide tube, a buffer collecting box and a fruit collecting box; an air inlet is formed in the lower part of the buffer collecting box; a fruit discharging opening is formed in a side wall of the buffer collecting box;and a chute is formed obliquely and is connected to the lowest point of an air cushion net and the upper part of the fruit collecting box. The branch-hanging traveling mechanism comprises a vertical beam, a traveling beam, a cutter beam and a connecting ring; the lower beam surface of the traveling beam is in the shape of an arc with a downward opening; at least one pair of traveling wheels is symmetrically arranged on the lower beam surface; a rotating motor is mounted on the upper end surface of the cutter beam; a driving shaft of the rotating motor is fixedly connected with the center of adisc-shaped cutter; and the upper end of the collecting guide tube is fixed on the connecting ring. The loquat picking device has the advantages of safety, reliability, high working efficiency, good picking effect and the like.

The invention discloses a rotary-picking rechargeable high-altitude fruit picker. The fruit picker comprises a support rod, a grasping device which is arranged on the support rod and is used for grasping fruits, and a control device for controlling the grasping device to switch between a clamping state and a release state; the control device comprises a push-pull rod connected with the grasping device, a driving motor used for controlling the push-pull rod to rotate relative to the support rod and move along the shaft direction, and a storage battery for providing electric energy for the driving motor; and the support rod sleeves the push-pull rod. According to the rotary-picking rechargeable high-altitude fruit picker provided by the invention, an inner rod is driven to move linearly androtationally by the motor, and the grasping and rotary picking of fruits are realized. The structure is simple, the whole use process is simple in operation, and the fruit picker has the advantages ofefficient work, wide application range and good picking ability, can effectively reduce the labor intensity of workers, can improve the fruit picking efficiency, and can be widely applied to the agricultural production field.

The invention belongs to the technical field of automation, and relates to a falling forest fruit pickup robot. The robot comprises a combined power supply device, a self-propelled moving chassis anda manipulation control device, and is characterized by further comprising pickup units, a fruit collector, a conveying mechanism and horizontal swinging mechanisms; the fruit collector is arranged onthe self-propelled moving chassis in a rolling manner; the conveying mechanism is arranged on the fruit collector; the combined power supply device and the pickup units are all arranged on the conveying mechanism; ends of the horizontal swinging mechanism are symmetrically arranged on the self-propelled moving chassis, and the other ends of the horizontal swinging mechanisms are hinged with the conveying mechanism; and the manipulation control device is in a control connection with the self-propelled moving chassis, the conveying mechanism and the horizontal swinging mechanisms. The robot hasthe advantages of being scientific and reasonable in structural design, automatically moving and avoiding obstacles, performing picking and impurity removal synchronously, adapting to complex and diverse topographic conditions of orchards, being high in picking efficiency and less in damage, having a good effect and a wide application range, and the like, and is a falling forest fruit pickup robotwith a relatively high innovation.

The invention discloses a picking robot. The robot comprises a chassis, a walking mechanism, a rotation mechanism and a picking mechanical arm, and the walking mechanism is installed below the chassis; the rotation mechanism is mounted above the chassis; the picking mechanical arm is connected with the rotation mechanism; the picking robot further comprises a fruit containing barrel, a pressing mechanism and a limiting mechanism; the limiting mechanism comprises a first linear movement driving piece and a limiting plate, a containing hole and a containing groove are formed in the limiting plate, the first linear movement driving piece is installed on the chassis, and the first linear movement driving piece is connected with the limiting plate; the fruit containing barrel is placed in the containing hole; and the pressing mechanism comprises a motor, a gear, an arc-shaped gear ring, a supporting rod, a driving motor, a pressing rod, a second linear movement driving piece and a movable sliding block. Automatic picking of fruits is achieved, the picking effect of the fruits is greatly improved, manpower is saved, and the labor intensity of workers is reduced.

The invention discloses a flexible medlar-picking device with a bionic-type structure. The device comprises a gull-wing door support and vibration picking units. Each vibration picking unit comprisesa gull-wing door framework, a vibration rack, a vibration rod group, a driving motor and a cam mechanism. Each vibration rod group is fixedly arranged on each vibration rack and vertical to the vibration rack. Each driving motor is fixed on each gull-wing door framework. Each cam mechanism is connected with each driving motor. One vibration generation device is composed of each driving motor and each cam mechanism. According to the growth structure model of medlar plants, a fruit distribution model and other features, a multi-surface multi-area picking structure is designed. Additionally, flexible combing rods, which are capable of extending and contracting and made of a flexible material, are arranged on vibration rod groups. Operation is performed by adopting a combing-vibration mode offlexible contact brushes. The combing-vibration mode replaces a conventional rigid contact working mode of branches. Therefore, low-loss highly-efficient medlar-harvesting operation is finished. The harm to branches, leaves, flowers, and ripe fruits of medlar plants is reduced. The fruit quality is increased. Meanwhile, the flexible medlar-picking device with the bionic-type structure is adapted to harvesting of other bush fruit.