Control device and method for rosa roxburghii picking system
A control device and prickly pear technology, which is applied to harvesting machines, agricultural machinery and tools, agriculture, etc., can solve the problems of increasing processing procedures and costs, and achieve the effect of intelligent control
Active Publication Date: 2019-03-22
GUIZHOU UNIV
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Problems solved by technology
Prickly pears are also often picked by robots, but most of the existing methods are to pick prickly pears from the tree without rough treatment of prickly pears, such as processing the thorns on them, which increases the subsequent processing procedures and cost
Method used
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[0020] Below in conjunction with accompanying drawing and specific embodiment the invention is further introduced:
[0021] Please refer to figure 1 with figure 2 According to the present invention, a control device for a prickly pear picking system includes a housing with an execution opening 1, and a clamping and conveying mechanism is installed in the execution opening 1, and the clamping and conveying mechanism includes a Two belt conveyors 2 of different heights, the two belt conveyors 2 are connected with the driving mechanism, and the driving mechanism drives the two belt conveyors 2 to move closer or far away from each other. The preparation work for pear picking, and in the close state, the two belt conveyors 2 are suitable for clamping prickly pears and guiding them to the inner end of the implementation of the open cavity 1 through the rotation of the belt conveyors 2, and at the inner end of the implementation of the open cavity 1 A prickly pear drop opening 5 i...
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The invention discloses a control device for a rosa roxburghii picking system, wherein the control device includes an outer shell with an execution opening chamber; a clamping conveying mechanism arranged in the execution opening chamber comprises two belt conveyors which are connected with a driving mechanism; the driving mechanism drives the two belt conveyors to be close or stay away; the driving mechanism comprises a driving motor, and a motor torque sensor is arranged on the driving motor and is used for measuring an output torque of the driving motor; each belt conveyor includes a belt motor; a signal output end of the motor torque sensor is electrically connected with a signal input port of an industrial control computer, a signal output port of the industrial control computer is electrically connected with the control ends of the driving motor and the belt motor. The motor torque sensor transmits the torque value to the industrial control computer, the driving motor and the belt motor acts according to the command from the industrial control computer. The intelligent control of the rosa roxburghii picking system is achieved and the crushing damage of rosa roxburghii by thetwo belt conveyors is avoided.
Description
technical field [0001] The invention relates to a control device and method of a thorn pear picking system, belonging to the technical field of thorn pear picking. Background technique [0002] The end effector of the picking robot is a very important part of the picking robot. At present, there are many researches on the end effector of the picking robot. According to the cutting method, the end effector can be divided into two types: mechanical type and laser cutting. The mechanical type is currently the most widely used. However, due to its unique advantages, laser cutting is also more and more used in the end effector of picking robots. [0003] Prickly pear is the fruit of the perennial deciduous shrub silk reeling flower of Rosaceae. First fruit is a nutritious fruit for nourishing and fitness, and it is a rare fruit. Prickly pears are also often picked by robots, but most of the existing methods are to pick prickly pears from the tree without rough treatment of pric...
Claims
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IPC IPC(8): A01D46/24
CPCA01D46/24
Inventor 赵源闫建伟张乐伟刘红芸
Owner GUIZHOU UNIV