White asparagus selective harvesting robot end effector with consumable circulation function and harvesting method

Abstract

The invention relates to a white asparagus selective harvesting robot end effector with a consumable circulation function and a harvesting method. The white asparagus selective harvesting robot end effector comprises a fixing frame, an adjusting device, a harvesting device, a circulation device and a control system, wherein the fixing frame is used for fixing the adjusting device, the collecting device, the circulating device and the control system and driving the harvesting device to be inserted into and pulled out of soil; the adjusting device is used for holding and tightening the stem of white asparagus; the harvesting device is used for cutting and holding the root of the white asparagus; the circulation device is used for achieving the circulation of a cutting line and holding line in the harvesting device; the control system is used for controlling the entire end effector. The white asparagus selective harvesting robot end effector with the consumable circulation function and the harvesting method have the advantages that cutting and holding are performed separately, thereby achieving the step-by-step operation of cutting the root of the white asparagus and holding the stemof the white asparagus, and the circulation device effectively improves the service life and the wear resistance of the harvesting device.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and relates to an end effector and a harvesting method of a consumable cycle-type white asparagus selective harvesting robot, which realizes root cutting, rolling, pulling operations and cycle operations of the harvesting device without digging. Soil backfill. 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...

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

③Cannot improve the mechanical wear condition of the cutter

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