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Remote multi-functional fruit-picking machine

A multi-functional, picking machine technology, applied in the direction of picking machines, harvesters, agricultural machinery and tools, etc., can solve the problems of limited picking range, high application cost, complex technology and structure, and achieve low labor intensity and Labor cost, easy real-time control, and wide operating range

Pending Publication Date: 2018-12-11
XIAN UNVERSITY OF ARTS & SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] 1. The technology and structure are complicated, and the application cost is high;
[0007] 2. The scope of picking operations is limited, and the efficiency of picking fruits from high places is limited;
[0008] 3. It is difficult to solve the problem of using different fruit fields;
[0009] 4. The contact force to the fruit is relatively strong, which is easy to cause damage to the fruit;
[0010] 5. Poor selection of fruits, easy to pick immature fruits

Method used

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  • Remote multi-functional fruit-picking machine

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Such as figure 1 As shown, the actuator includes a chassis 1, a base 2, a large arm 3, a small arm 4, a wrist 5, and a manipulator 6. The base is connected to the chassis 1 by screws, and the base 2, the large arm 3, the small arm 4, and the wrist 5 1. The manipulator 6 is sequentially connected through a U-shaped bracket; the base 2 is provided with a 270-degree high-precision digital steering gear, the upper arm 3 is provided with a 180-degree high-precision digital steering gear, and the small arm 4 is provided with a 180-degree high-precision digital steering gear. Digital steering gear, the wrist 5 is divided into a horizontal axis and a vertical axis, a 270-degree controllable analog steering gear is set on the horizontal axis, a 180-degree high-precision digital steering gear is set on the vertical axis, and a 90-degree high-precision steering gear is set on the manipulator 6. Digital steering gear and high-definition camera.

[0034] The chassis is a crawler ve...

Embodiment 2

[0042] The actuator includes a chassis 1, a base 2, a big arm 3, a small arm 4, a wrist 5, and a manipulator 6. The claws 6 are sequentially connected by U-shaped brackets;

[0043] Due to the random distribution of apple growth positions, it is required that the end effector of the manipulator arm can move to the designated point with accurate position and attitude, and the picking robot should have a certain number of degrees of freedom. The degree of freedom of the manipulator is the key parameter of the design, and its number should match the task to be completed. Generally speaking, the more degrees of freedom, the better the flexibility and obstacle avoidance ability of the manipulator, but adding one degree of freedom will It is equivalent to adding a first-level drive, which will increase the cost of the robot. For agricultural robots, the high cost will greatly slow down the commercialization and practicalization of their machinery. At the same time, increasing the d...

Embodiment 3

[0051] Based on the statement of Example 1,

[0052] Further, the camera set on the manipulator is a 720P high-definition camera with infrared night vision function, the high-definition camera is provided with a transmitting module, the transmitting module includes a transmitting device and an encoding chip, and the transmitting device includes a wifi transmitter and 5.8ghz wireless transmitter and encoder, used for real-time monitoring of the location of the picker and sending back the location picture information;

[0053] Further, the main control device is one of the receiving device, the controller or a combination of both;

[0054] The receiving device is a wifi receiver and a 5.8ghz wireless receiver, the wifi receiver is a terminal mobile phone, and a client APP is installed on the terminal mobile phone; the 5.8ghz wireless receiver is composed of a receiver and an encoder, and the Insert the above 5.8ghz wireless receiver into the terminal mobile phone;

[0055] The...

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PUM

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Abstract

The invention discloses a remote multi-functional fruit-picking machine. The machine comprises an actuator, a driving-transmission mechanism, a control mechanism and a power supply. The power supply is electrically linked with the actuator, the driving-transmission mechanism and a controlled device of the control mechanism. The controlled device of the control mechanism, the driving-transmission mechanism and the power supply are arranged on the actuator. A control device of the control mechanism is in wireless connection with the controlled device. A base of the actuator is connected to a bottom disc through screws. The base, a large arm, a small arm, a wrist and a manipulator are orderly connected through a U-shaped support. The picking machine has six degrees of freedom. The manipulatoris made of thick and flexible glue material. The machine is simple in structure, high in degree of freedom and flexibility, broad in working scope and is not likely to damage fruit. Real-time controlis convenient. Immature fruit is prevented from being picked.

Description

technical field [0001] The invention relates to the field of fruit picking machines, in particular to a remote multifunctional fruit picking machine. Background technique [0002] Agricultural intelligent machinery is an indispensable modern tool in the process of agricultural production. It directly affects the quantity, quality, production efficiency and economic benefits of agricultural production. From the perspective of the current agricultural new technology revolution that is booming, no agricultural machinery A new technological revolution is an incomplete new technological revolution. At present, fruit and vegetable picking robots, transplanting robots and grafting robots developed by developed countries have begun to enter the application stage, while my country's agricultural intelligent robots are still in their infancy, lagging behind developed countries in terms of accuracy, work efficiency and intelligence. [0003] At present, my country's fruit planting are...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30
CPCA01D46/30
Inventor 潘浩浩张伟王园春李向前王新锋
Owner XIAN UNVERSITY OF ARTS & SCI
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