Cutting end effector and harvesting method suitable for white asparagus selective harvesting robot

Abstract

The invention relates to a cutting end effector and a harvesting method suitable for a white asparagus selective harvesting robot. The effector comprises a fixing frame, an adjusting device, a harvesting device and a control system. The fixing frame is used for fixing the adjusting device, the harvesting device and the control system, and driving the harvesting device to be inserted and pulled outthe soil; the adjusting device is used for achieving the tightening of a stem of the white asparagus; the harvesting device is used for shearing winding of the root of the white asparagus; the control system is used for controlling the entire end effector. The effector adopts a stepping action of a blade and the winding to achieve the stepping of cutting of the root of the white asparagus and thewinding of the stem.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and relates to a roll-cutting type end effector suitable for a white asparagus selective harvesting robot and a harvesting method, which realize root cutting, roll-holding, and extraction operations of white asparagus without digging and backfilling. Background technique [0002] Asparagus is a nutritious and healthy high-grade vegetable loved by consumers. Asparagus, also known as Shi Diaobo, is divided into white asparagus and green asparagus, and white asparagus contains more trace elements. It is tender and delicious, rich in nutrition and unique in flavor. One of the "reputation. [0003] In recent years, my country's asparagus industry has developed rapidly and has become the world's largest asparagus producer and exporter. In 2011, the harvested area of ​​asparagus in the world reached 1.46 million hectares, and the harvested area of ​​asparagus in my country reached 1.32 million he...

AI Technical Summary

Problems solved by technology

Most of the white asparagus harvesting tools are slender asparagus knives. In addition, the harvesting time of white asparagus is mostly before the sun comes out in the morning or after the sun goes down in the evening. The harvesting time is concentrated, and the harvesting process is labor-intensive and heavy. Harvesting efficiency of white asparagus is very low

[0004] After searching the literature of the prior art, it was found that the Chinese invention patent "A Device and Method for Harvesting White Asparagus with Clip-cutting" Patent Application No. 201610887545.8 adopts the clamping and cutting method to harvest white asparagus. This harvesting method exists The following aspects need to be improved: ①There are many steps in the clamping and cutting action, and the design of the mechanical structure is complicated

②The cutting blade needs additional blade protection

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