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Abstract
As labor costs are still quite expensive in fruit picking,?robots?are being designed that can?replace humansfor this kind of work.?The research is still in full progress, especially as the fruit-picker need to be carefully designed so that they do not bruise the fruit while picking.?One solution is the use of suction grippers, used on automated fruit picking machines manufactured, for example, by ACRO.?Citrus fruit robot pickers have thus far been the focus of research and development, but cherry pickers are also being researched.?Vision Robotics, in particular, has made several fruit-pickers that are already capable of taking over the work.
Most of the fruit picking is done by?migrant workers.?Migrant workers are frequently used as they can be paid relatively?low wages.?In California, Mexican migrants are most frequently doing the work.?There has been much controversy about replacing workers with automation.?It puts many out of work.
In Australia and New Zealand a lot of fruit picking work is done by?backpackers?on a?Working Holiday Visa.?The Australian government encourages people on this visa to do this sort of work for a minimum of 3 months so they can add another year to their visa.?This benefit is not for all parts of Australia, you must undertake work in selected post codes to be eligible for the extra year.
Apple picking is an activity found at?apple?farms.?Apple orchards may be opened to the public, allowing consumers to pick their own apples or purchase pre-picked apples.
Thus, fruit picking?robots,?driverless tractor?/ sprayer, and?sheep shearing?robots are designed to replace human labor.?In most cases, a lot of factors have to be considered (e.g., the size and color of the fruit to be picked) before the commencement of a task.?Robots can be used for other?horticultural?tasks such as?pruning,?weeding,?spraying?and monitoring.?Robots can also be used in?livestock?applications (livestock robotics) such as?automatic milking, washing and castrating.?Robots like these have many benefits for the agricultural industry, including a higher quality of fresh produce, lower production costs, and a smaller need for manual labor.
The?mechanical design?consists of an end effector, manipulator, and gripper.?Several factors must be considered in the design of themanipulator, including the task,?economic efficiency, and required motions.?The?end effector?influences the market value of the fruit and thegripper's?design is based on the crop that is being harvested.
An?end effector?in an agricultural robot is the device found at the end of the robotic arm, used for various agricultural operations.?Several different kinds of end effectors have been developed.?In an agricultural operation involving?grapes?in?Japan, end effectors are used for harvesting, berry-thinning, spraying, and bagging.?Each was designed according to the nature of the task and the shape and size of the target fruit.?For instance, the end effectors used for harvesting were designed to grasp, cut, and push the bunches of grapes.
Berry thinning?is another operation performed on the grapes, and is used to enhance the?market value?of the grapes, increase the grapes' size, and facilitate the bunching process.?For berry thinning, an end effector consists of an upper, middle, and lower part.?The upper part has two plates and a rubber that can open and close.?The two plates compress the grapes to cut off the?rachis?branches and extract the bunch of grapes.?The middle part contains a plate of needles, a compression spring, and another plate which has holes spread across its surface.?When the two plates compress, the needles punch holes through the grapes.?Next, the lower part has a cutting device which can cut the bunch to standardize its length.
For spraying, the end effector consists of a spray nozzle that is attached to a manipulator.?In practice, producers want to ensure that the chemical liquid is evenly distributed across the bunch.?Thus, the design allows for an even distribution of the chemical by making the nozzle to move at a constant speed while keeping distance from the target.
The final step in grape production is the bagging process.?The bagging end effector is designed with a bag feeder and two mechanical fingers.?In the bagging process, the bag feeder is composed of slits which continuously supply bags to the fingers in an up and down motion.?While the bag is being fed to the fingers, two leaf springs that are located on the upper end of the bag hold the bag open.?The bags are produced to contain the grapes in bunches.?Once the bagging process is complete, the fingers open and release the bag.?This shuts the leaf springs, which seals the bag and prevents it from opening again.
Robots have many fields of application in agriculture.?Some examples and prototypes of robots include the?Merlin Robot Milker, Rosphere,?Harvest Automation, Orange Harvester, lettuce bot,??and weeder.?One case of a large scale use of robots in farming is the milk bot.?It is widespread among British dairy farms because of its efficiency and nonrequirement to move.?According to David Gardner (chief executive of the Royal Agricultural Society of England), a robot can complete a complicated task if its repetitive and the robot is allowed to sit in a single place.?Furthermore, robots that work on repetitive tasks (e.g. milking) fulfill their role to a consistent and particular standard.
Another field of application is?horticulture.?One horticultural application is the development of?RV 100?by?Harvest Automation Inc.?RV 100 is designed to transport potted plants in a?greenhouse?or outdoor setting.?The functions of?RV100?in handling and organizing potted plants include spacing capabilities, collection, and consolidation.?The benefits of using RV100 for this task include high placement accuracy,?autonomousoutdoor and indoor function, and reduced?production costs.
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Portable fruit-picker is solve agriculture problem that people pick fruit low efficiency by artificial, especially, to high fruit trees, picking fruit is a acid problems, such as fruit-picker of design.
This article mainly introduced the function and design of portable hand picking fruit, fruit picking industry prospects.The dissertation introduce a main conception design and function about portable hand picking fruit,and the future of fruit picking business. This design is use pedal to be a motivation component, solved the farmers when picking fruit, a series of action for a long time for physical tiredness and damage.
This paper introduces the design idea of portable hand picking fruit, using the method.In addition, introduces the function, structure and components of the system of detailed design.Through the design of debugging, lists many of the problems and solutions encountered in the experiment.Finally, the application of the design made a summary, and aims at the subject will be portable picking fruit hand made a prospect in the future.
Keywords: Pedal, riser, protecting the fruit picking tools
摘要
由于在摘水果中勞動(dòng)力成本仍相當(dāng)昂貴,所以水果采摘工具設(shè)計(jì)成為了當(dāng)今世界市場的主流,可以減少水果采摘的勞動(dòng)力，從而盡可能減少純手工采摘這種耗時(shí)耗力的工作量。當(dāng)然現(xiàn)如今如何代替果農(nóng)勞動(dòng)力這一課題的研究仍在繼續(xù),特別是工具需要精心設(shè)計(jì)且在摘水果時(shí)不傷害水果本身的品質(zhì)和外表。與此同時(shí)就此問題國內(nèi)外很多著名科學(xué)家也有研究出使用吸入裝置的觸手,用于自動(dòng)化摘水果的自動(dòng)化機(jī)器。例如,通過開關(guān)即可把采摘，包裝，存放一步到位。柑橘類水果機(jī)器人采摘工人迄今為止被科學(xué)家認(rèn)為是研究和開發(fā)的重點(diǎn),然而不盡如此櫻桃的采摘開發(fā)也被正在進(jìn)一步研究。
現(xiàn)階段大部分的水果都是由農(nóng)民工自己采摘的。農(nóng)民工不僅工作量大且工資相對(duì)其他行業(yè)而言較為低廉。持續(xù)的不間斷的采摘水果對(duì)果農(nóng)的生理和心理上都是相當(dāng)大的損傷，不僅僅在中國，在加州,墨西哥等國家，很多農(nóng)民每年到了水果成熟的季節(jié)，水果采摘?jiǎng)t成為他們的日常的工作。當(dāng)然有很多人爭論說如果利用自動(dòng)化機(jī)械取代工人。則有可能導(dǎo)致許多工人失去工作。
在調(diào)查中發(fā)現(xiàn)在蘋果農(nóng)場不僅僅雇用果農(nóng)來采摘蘋果，而更多的是對(duì)外界的開放，讓更多的人參與到采摘蘋果這項(xiàng)活動(dòng)中來，使消費(fèi)者更加立體的去感受水果給人帶來的好處，不僅僅是口感和外觀，更重要的是切身體驗(yàn)的一個(gè)活動(dòng)。由于蘋果園允許向公眾開放,讓更多的消費(fèi)者有更廣泛的權(quán)利選擇自己喜歡的蘋果或購買簡易的蘋果采摘工具。
因此能代替人類勞動(dòng)力的水果采摘、無人駕駛拖拉機(jī)/噴霧器,羊毛裁剪等機(jī)器人在現(xiàn)階段社會(huì)的發(fā)展中必不可少的。在大多數(shù)情況下, 功能性機(jī)器人在剛開始采摘水果時(shí)需要考慮的因素很多(例如,水果的大小和顏色選擇)以作為開始之前的一個(gè)任務(wù)。不僅如此很多機(jī)器人還可以用于其他農(nóng)業(yè)園藝任務(wù)如修剪、除草、噴涂和監(jiān)控。機(jī)器人也可以用于家畜應(yīng)用程序(牲畜機(jī)器人)如自動(dòng)擠奶,洗滌和閹割。像這樣的機(jī)器人對(duì)農(nóng)業(yè)產(chǎn)業(yè)相當(dāng)有幫助,有時(shí)還可以提高新鮮農(nóng)產(chǎn)品的質(zhì)量, 降低生產(chǎn)成本，對(duì)減少果農(nóng)的體力勞動(dòng)是至關(guān)重要的。
其中摘果機(jī)器人的執(zhí)行裝置的機(jī)械設(shè)計(jì)包括,操縱者,和鉗子。機(jī)器人設(shè)計(jì)中必須考慮幾個(gè)因素,包括任務(wù)設(shè)計(jì)、經(jīng)濟(jì)效率、機(jī)器運(yùn)動(dòng)方向選定。其最終摘果效果會(huì)影響水果的市場價(jià)值，執(zhí)行元件的設(shè)計(jì)是基于被收割的類型。
農(nóng)業(yè)機(jī)器人的終端執(zhí)行器設(shè)備的可拆卸機(jī)械手臂,用于各種農(nóng)業(yè)操作。與此同時(shí)社會(huì)上很多有關(guān)研究部門還開發(fā)了幾種不同的末端效應(yīng)器。日本在葡萄的農(nóng)業(yè)采摘中,極其喜愛把末端效應(yīng)器用于收割,果醬疏落,清水噴涂,果品分類和裝袋。根據(jù)水果的功能性質(zhì)，生長環(huán)境，形狀和大小，會(huì)制定不同的采摘方案。例如,在采摘葡萄時(shí)，使用的末端效應(yīng)器控制力度,削減沖擊,葡萄完整無殘缺的摘下并進(jìn)行一系列的后續(xù)工作。
果粒緊致是采摘經(jīng)過執(zhí)行元件采摘完成后的另一個(gè)在葡萄上的操作,其并用于提高葡萄的市場價(jià)值,提高葡萄的大小和促進(jìn)成團(tuán)的過程。果品緊致的終端執(zhí)行器是由一個(gè)上,中間,和較低的三部分組成。上部有兩個(gè)盤子和一個(gè)橡膠,可以將其打開和關(guān)閉。兩個(gè)板塊壓縮葡萄切斷脊柱的樹枝,用于更方便的采摘一串葡萄。裝置的中間部分包含一個(gè)盤子,一個(gè)壓縮彈簧,和另一個(gè)板孔分布在其表面。當(dāng)兩個(gè)板塊壓縮時(shí)，針洞通過葡萄。接下來,下部有一個(gè)切割設(shè)備,可以減少和規(guī)范針穿過葡萄的長度。
噴涂的終端執(zhí)行器由一個(gè)噴嘴,連著一個(gè)操縱者組成的。在實(shí)踐中,研究者希望確?；瘜W(xué)液體均勻分布在整串葡萄表面。因此,均勻分布的設(shè)計(jì)使得農(nóng)藥通過噴嘴以一個(gè)恒定的速度移動(dòng),同時(shí)與目標(biāo)物品保持著相對(duì)的距離。
裝袋是葡萄采摘生產(chǎn)中的最后一步過程。裝袋終端執(zhí)行器設(shè)計(jì)分別包括一個(gè)給料機(jī)和兩個(gè)機(jī)械手指。在裝袋過程中,不斷供應(yīng)的塑料包裝給料機(jī)同時(shí)由縫袋上下的手指運(yùn)動(dòng)。在生產(chǎn)包裝時(shí)的手指和兩個(gè)彈簧的上端位開關(guān)一直處于打開狀態(tài)。當(dāng)一串葡萄串裝入包裝袋中時(shí)。裝袋過程完成后,手指張開,釋放包。用葉片彈簧關(guān)閉密封袋并且防止包裝袋再次張開。
一般來說機(jī)器人有許多在農(nóng)業(yè)領(lǐng)域的應(yīng)用。比如原型機(jī)器人包括梅林機(jī)器人擠奶器,圓形機(jī)器人,收獲自動(dòng)化,橙色的收割機(jī),生菜機(jī)器人和除草機(jī)。一次大規(guī)模使用機(jī)器人在農(nóng)業(yè)機(jī)器人是牛奶領(lǐng)域。這是在英國極其普遍的一個(gè)現(xiàn)象，因?yàn)樗男矢吆头枪δ苊娴囊苿?dòng)快。大衛(wèi)·加德納(英國皇家農(nóng)業(yè)協(xié)會(huì)的首席執(zhí)行官)說,如果一個(gè)機(jī)器人可以重復(fù)完成一個(gè)復(fù)雜的任務(wù)，可以重復(fù)操作生產(chǎn)的機(jī)器人還可以完成且履行特定的標(biāo)準(zhǔn)，那么人類則希望這臺(tái)機(jī)器人一直固定在同一個(gè)地方。
農(nóng)業(yè)機(jī)器人的另一個(gè)應(yīng)用領(lǐng)域則是園藝。園藝應(yīng)用之一是房車的發(fā)展（100年收獲自動(dòng)化股份有限公司.)100年房車的設(shè)計(jì)可以運(yùn)輸在溫室或戶外環(huán)境的盆栽植物。用RV100機(jī)器人來處理和組織盆栽植物的間隔,收集和整合的功能。使用RV100機(jī)器人不僅可以提高位置精度，還可以自主移動(dòng)外出和室內(nèi)控溫等功能,降低了生產(chǎn)成本。
便攜式摘果手是一種解決農(nóng)業(yè)中人工摘果效率低，果樹高，摘果困難等問題的設(shè)計(jì)。
本文主要介紹了便攜式摘果手的功能及設(shè)計(jì)，水果采摘行業(yè)的前景。該設(shè)計(jì)利用踏板作為動(dòng)力元件，解決了農(nóng)民在摘果時(shí)，長期持續(xù)一個(gè)系列動(dòng)作造成對(duì)身體上的勞累和傷害。本文介紹了便攜式摘果手的設(shè)計(jì)思路，使用方法。另外，著重介紹該系統(tǒng)的功能、結(jié)構(gòu)和各部件的具體設(shè)計(jì)。通過對(duì)次設(shè)計(jì)的調(diào)試，羅列出許多在實(shí)驗(yàn)中遇到的問題以及解決方案。文章最后對(duì)該設(shè)計(jì)的應(yīng)用做了一個(gè)總結(jié)，并針對(duì)該課題將便攜式摘果手今后的前景做了一個(gè)展望。
關(guān)鍵詞：踏板式，自動(dòng)升降控制，保護(hù)果品，采摘工具