Clamping and cutting integrated pineapple picker, picking method and picking robot

A picker and pineapple technology, applied in the field of pineapple picking robots, can solve the problems of high labor intensity, labor shortage, labor shortage, etc., and achieve the effects of high clamping accuracy, simple motor structure, and guaranteed success rate.

Active Publication Date: 2021-12-14
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Pineapple is an important economic crop in my country. In recent years, the pineapple planting model has transformed into an industrial cluster integrating planting, production, storage and transportation, and product processing. Faced with a sudden increase in the workload of picking pineapple products in the mature stage, labor shortages often occur during the picking season. , The heavy picking equipment brings inconvenience and other problems, so there is an urgent need for automated and intelligent picking equipment to solve the problems of high labor intensity and labor shortage
[0003] At present, the existing pineapple picking equipment does not have a clamping device. At the same time, the existing equipment has the problems of low pineapple picking operation rate, low pineapple picking success rate, and high pineapple picking fruit damage rate.

Method used

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  • Clamping and cutting integrated pineapple picker, picking method and picking robot
  • Clamping and cutting integrated pineapple picker, picking method and picking robot
  • Clamping and cutting integrated pineapple picker, picking method and picking robot

Examples

Experimental program
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Effect test

Embodiment 1

[0035] This embodiment relates to a clip-cut integrated pineapple picker, which specifically includes a three-dimensional frame, a clamping device for fixing pineapples, a cutting device for cutting fruit stems, and a control system.

[0036] The three-dimensional frame comprises an upper annular support plate, a middle annular support plate, a lower annular support plate, and four support plate connecting rods. The upper annular support plate includes a horizontally arranged annular plate, the circular through hole of the upper annular support plate is formed inside the annular plate, and a vertical connecting bracket is fixedly arranged above the upper annular support plate, connecting Four connection holes for fixed connection with an external mobile mechanical arm or movable equipment are uniformly arranged on the bracket. The middle annular support plate includes a horizontally arranged annular plate, a clamping drive connection plate for installing the clamping drive mec...

Embodiment 2

[0047] This embodiment relates to a pineapple picking vehicle-mounted robot. The end effector of the pineapple picking robot is an integrated pineapple picker in the first embodiment. The connecting bracket is fixedly connected with its mechanical driving arm, and at the same time, the controller of the pineapple picking robot is electrically connected with the control circuit of the clipping and cutting integrated pineapple picker, and the software program performs the software fusion connection. The usage method of this embodiment is: the pineapple picking robot drives the mechanical arm to adjust the position of the picker through the pineapple visual recognition and positioning system, and moves the picker to reach the top of the crown leaf of the pineapple; drives the picker to move downward from the top of the pineapple crown leaf to make it The lower annular support plate reaches the pineapple stalk (the pineapple stalk is determined by the photoelectric sensor), and the...

Embodiment 3

[0050] This embodiment relates to a pineapple picking flying robot, which is to replace the carrier in the second embodiment with a pineapple picking flying robot (i.e. an unmanned aerial vehicle). The pineapple picking flying robot includes an upper flying assembly, a lower landing gear, and an integrated The pineapple picker is arranged at the bottom of the flight assembly, between the left and right landing gears.

[0051] The parts not mentioned in this embodiment are the same as those in Embodiment 2.

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Abstract

The invention relates to a clamping and cutting integrated pineapple picker which comprises a three-dimensional frame, a clamping device and a cutting device; the clamping device is installed on the three-dimensional frame, the clamping device comprises clamping pieces arranged in a surrounding mode and a clamping driving mechanism for driving the clamping pieces in the three-dimensional frame to move between a clamping position on the inner side and an initial position on the outer side, and when the clamping pieces are located at the initial position, the clamping pieces and an annular opening of the three-dimensional frame form a channel for pineapple fruits to penetrate through; the cutting device is installed on the three-dimensional frame and comprises a cutting tool located below the clamping pieces and a cutting driving mechanism. The invention further relates to a pineapple picking robot. The pineapple picking robot comprises a pineapple picking vehicle-mounted robot or a pineapple picking flying robot which can be used as a carrier of an end effector. The invention further relates to a clamping and cutting integrated pineapple picking method. According to the invention, the pineapple fruits are rapidly clamped, pineapple stems are rapidly cut to ensure that the fruits are complete and not damaged, and meanwhile, the pineapple cutting success rate is ensured. The invention belongs to the field of pineapple harvesting machinery.

Description

technical field [0001] The invention relates to a pineapple harvesting machine, in particular to a pineapple picker integrated with clipping and cutting, a picking method, and a pineapple picking robot. Background technique [0002] Pineapple is an important economic crop in my country. In recent years, the pineapple planting model has transformed into an industrial cluster integrating planting, production, storage and transportation, and product processing. Faced with a sudden increase in the workload of picking pineapple products in the mature stage, labor shortages often occur during the picking season. , The heavy picking equipment brings inconvenience and other problems, so there is an urgent need for automated and intelligent picking equipment to solve the problems of high labor intensity and labor shortage. [0003] At present, the existing pineapple picking equipment does not have a clamping device. At the same time, the existing equipment has the problems of low pine...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D45/00A01D46/30
CPCA01D45/002A01D46/30
Inventor 马瑞峻马创立詹佳豪何浣冬陈瑜赖宇豪唐昊
Owner SOUTH CHINA AGRI UNIV
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