Design of a Laser Stem-cutting Device for Harvesting Robot

摘要

Since traditional detaching methods have shortfalls in practice, a laser stem-cutting device for fruit harvesting robot was designed, which includes a laser generation and control unit and an actuating mechanism. A 30W high-power fiber-coupled laser diode is selected, and it is supplied with a lithium battery whose gradually-dropped voltage is turned to constant-current by a constant-current supply circuit. In the protection/control circuit, two-step slow start of the laser diode is achieved by a RC delay circuit and a delay relay circuit. To cut stems off, the focusing lens installed on the end-effector of harvesting robot and connected with the laser by a fiber is driven by a Maxon mini DC motor through a bearing structure. Experiments indicate that this device works well and effectively.