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A technology of roses and servo motors, which can be applied to picking machines, agricultural machinery and tools, and other applications. It can solve problems such as inability to pick roses, inability to pick roses efficiently, and scratches on workers' arms, achieving light weight and small size. , the effect of reducing labor intensity
Inactive Publication Date: 2018-11-02
KUNMING UNIV OF SCI & TECH
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[0002] As a flower with the same origin as medicine and food, roses are traditional Chinese medicines. They can also be used to process food and extract flavors and fragrances. However, the picking of roses is extremely difficult. It requires flower farmers to enter the rose field to pick them manually. Not only is the efficiency low and the labor intensity is high. Moreover, the working environment is poor, and the dense rose branches often scratch the workers' arms. Due to the dense growth of roses, the whole plant has more flowers, and many picking robots cannot efficiently pick roses.
For example, CN107756414A discloses "a strawberry picking robot". Although it is easy to operate, has good strawberry picking effect and flexible walking, it cannot efficiently pick roses with taller plants.
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Embodiment 1
[0033] Embodiment 1: as Figure 1~12 As shown, the rose picking device includes vehicle frame 1, 6 picking parts and walking parts;
[0034] The 6 picking parts are installed on both sides of the upper part of the vehicle frame 1 respectively, and each side is provided with 3 picking parts, and the walking parts are located under the vehicle frame 1 .
[0035] The picking components include picking hands, hinge shaft I5, servo motor I6, servo motor II7, rose storage box 8, connecting arm 9, servo motor III10, servo motor IV11, execution arm I12, execution arm II13, hinge shaft II14, Turntable 15, column 16, rose recognition probe 17, servo motor Ⅴ18, servo motor Ⅴ spindle 19, servo motor Ⅵ20, servo motor Ⅵ spindle 21, picking controller 22, axis Ⅰ29, axis Ⅱ30, axis Ⅲ31, axis Ⅳ32, turntable 33;
[0036]The top of the vehicle frame 1 is provided with a groove, and a rose storage box 8 is placed in the groove. The picking hand includes a picking palm 4 and three clamping finger...
Embodiment 2
[0042] Embodiment 2: The structure of this embodiment is the same as that of Embodiment 1. The difference is that there are 8 picking parts, which are respectively installed on both sides of the upper part of the vehicle frame 1, and each side is provided with 4 picking parts.
[0043] The working principle of the present embodiment device is as follows:
[0044] When the device works, the self-propelled identification probe 24 on the walking parts, that is, the binocular camera, collects road information and feeds it back to the walking controller 23, and the walking controller 23 controls the rotation of the driving motor 28 through a pulse signal, thereby controlling the progress of the whole machine. The rose recognition probe 17 collects image information of roses, and feeds back to the picking controller 22, and the picking controller 22 controls the servo motor of the picking hand to work according to the feedback information, thereby driving the picking hand to reach th...
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Abstract
The invention relates to a rose flower picking device, and belongs to the field of agricultural machines. The device comprises a frame, one or more picking component and a walking component; the picking components are installed at the two sides of the upper portion of the frame, the walking component is located below the frame, during working, a self-walking recognition probe on the walking component is used for collecting road information and feeding back the road information to a walking controller, the walking controller controls a driving motor to rotate through pulse signals, and therefore the whole device is controlled to move forwards, a rose recognition probe is used for collecting rose image information and feeding back the information to a picking controller, the picking controller controls a servo motor to work according to the feedback information, a picking hand is driven to reach the designated position, the picking hand is controlled to complete the picking motion, afterpicking, the picking hand is controlled to place rose flowers into a rose flower storage box in the center of the frame, resetting is performed, and therefore one picking action is completed, the device is flexible in walking, the rose petal recognition rate is high, the operation accomplishment effect is good, and the working efficiency is high.
Description
technical field [0001] The invention relates to a rose picking device, which belongs to the field of agricultural machinery. Background technique [0002] As a flower with the same origin as medicine and food, roses are traditional Chinese medicines. They can also be used to process food and extract flavors and fragrances. However, the picking of roses is extremely difficult. It requires flower farmers to enter the rose field to pick them manually. Not only is the efficiency low and the labor intensity is high. Moreover, the working environment is poor, and the dense rose branches often scratch the workers' arms. Due to the dense growth of roses, the whole rose has many flowers, and many picking robots cannot efficiently pick roses. For example, CN107756414A discloses "a strawberry picking robot". Although it is easy to operate, has good strawberry picking effect and flexible walking, it cannot efficiently pick roses with higher plants. Contents of the invention [0003] ...
Claims
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Application Information
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