CN104686032B - Garlic garlic clove direction grip force sensing levelling manipulator - Google Patents
Garlic garlic clove direction grip force sensing levelling manipulator Download PDFInfo
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- CN104686032B CN104686032B CN201510152526.6A CN201510152526A CN104686032B CN 104686032 B CN104686032 B CN 104686032B CN 201510152526 A CN201510152526 A CN 201510152526A CN 104686032 B CN104686032 B CN 104686032B
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- garlic
- garlic clove
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- funnel
- grip force
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Abstract
The invention discloses garlic garlic clove direction grip force sensing levelling manipulator, including support, it is characterized in that: the middle and upper part of described support is provided with the make-up funnel-form garlic bucket to extension, and the pommel of make-up funnel-form garlic bucket is arranged in the groove of support by the first vertical pivot, and by cam folding；The bottom of described support is provided with under the garlic clove of extension leaks postive stop baffle, and realizes mobile by stirring cam；Leaking under garlic clove and be provided with garlic clove grip force inductor between the plate face of postive stop baffle and the base opening place plane of make-up funnel-form garlic bucket, the pommel of garlic clove grip force inductor is arranged in the respective slot of support by the second vertical pivot, and realizes folding by cam.This garlic garlic clove direction grip force sensing levelling manipulator, simple in construction, flexible movements, by grip force sensing levelling garlic clove direction, can not only automatically transfer garlic bud garlic clove down to garlic bud upward, and garlic clove will not be damaged.Garlic planter can be exclusively used in.
Description
Technical field
The present invention relates to the improvement of a kind of garlic implanted device, belong to agricultural mechanical field, specifically a kind of garlic garlic clove direction grip force sensing levelling manipulator, be mainly used on garlic planter.
Background technology
Garlic is a kind of Important Economic crop of northern China, there is sterilization, the medical treatment such as antibacterial, antitoxin and health care, the cancers such as high fat of blood, diabetes, heart disease and stomach and intestine are had mitigation symptoms and therapeutic action, and therefore many people have the custom of food garlic, also create the processing series of products of garlic.China is global topmost garlic producing country, country of consumption and exported country, and annual production constitutes about the 1/3 of Gross World Product, and cultivated area expands year by year.But, due to garlic sowing there is obvious directionality, in seeding process, typically require that the bulbil point of garlic clove is the most uprightly sowed, which results in the difficulty of mechanical planting.Current type of seeding, mostly uses intercutting of artificial lobe one lobe, though can guarantee that the sowing requirement upward of bulbil point, but also exist that labour intensity is big, waste time and energy, efficiency is low, production cost is high deficiency, be not suitable with the requirement of establishing in large scale.In order to overcome above deficiency, many scientific and technical personnel are made that unremitting effort, and its technological difficulties are all in terms of the direction discernment and automatic direction regulating of garlic clove.Such as a kind of " garlic program request technology ", the automatic direction regulating method of garlic clove is that garlic clove is sent into kind of a cave, and by the effect of garlic clove center of gravity, the most upward, but this method efficiency is low for garlic squama point, and accuracy rate is low, and vertical rate is low；Also have a kind of " garlic seeding technique ", garlic clove distributor gear used be with manually by the bulbil point of garlic clove towards sequencing, so, its efficiency is the most relatively low.
Manipulator technology is widely used in the technical fields such as industry manufacture, carrying, robot, and its technology is the most ripe, and this is to provide new research direction for garlic seeding technique field.
By retrieval, it is related to be used for manipulator the report of garlic sowing at present, as Chinese patent CN102696310A discloses one " upright garlic seeding apparatus ", manipulator therein stretches into gripping garlic clove in V-shaped groove, stretch in V-shaped groove according to manipulator, use spring pressure sensor to judge distance in the V-shaped groove stretched into, thus judge garlic clove direction.Manipulator in this " upright garlic seeding apparatus ", structure is complicated, and action is dumb, and easily damages garlic clove.
At present, there is not yet the report by grip force sensing levelling garlic clove direction manipulator.
Summary of the invention
It is an object of the invention to provide a kind of simple in construction, flexible movements, sensed the garlic garlic clove direction grip force sensing levelling manipulator aligning garlic clove direction by grip force.
In order to reach object above, the technical solution adopted in the present invention is: this garlic garlic clove direction grip force sensing levelling manipulator, including support, it is characterized in that: the middle and upper part of described support is provided with the make-up funnel-form garlic bucket to extension, the pommel of make-up funnel-form garlic bucket is arranged in the groove of support by the first vertical pivot, a diameter of 2cm during the base opening make-up of make-up funnel-form garlic bucket, less than the diameter expanding waist of garlic clove；The bottom of described support is provided with under the garlic clove of extension leaks postive stop baffle, the plate face leaking postive stop baffle under garlic clove is parallel with the base opening place plane of make-up funnel-form garlic bucket, and the distance leaked under garlic clove between the plate face of postive stop baffle and the base opening place plane of make-up funnel-form garlic bucket is 1cm；Leaking under garlic clove and be provided with garlic clove grip force inductor between the plate face of postive stop baffle and the base opening place plane of make-up funnel-form garlic bucket, the pommel of garlic clove grip force inductor is arranged in the respective slot of support by the second vertical pivot.
The present invention implements also by following measure: described make-up funnel-form garlic bucket, formed by left side half funnel and right side half funnel make-up, the first double cam it is provided with, the first two-jawed two convex top symmetry in the rear end make-up " u "-shaped frame of left side half funnel and the connection handle of right side half funnel；By half funnel and the folding distance of right side half funnel on the left of the protrusion height control on first two convex tops of two-jawed, its folding distance controlling is 1.5cm, adds a diameter of 2cm during base opening make-up, then the waist diameter that expands with garlic clove maximum in garlic kind is consistent.
Described garlic clove grip force inductor, is formed by left radian clamping plate and right radian clamping plate make-up, is provided with the second double cam in the rear portion make-up " u "-shaped frame of left radian clamping plate and the connection handle of right radian clamping plate, the second two-jawed two convex top symmetry；The radian wall inner adhesion pressure measurement piezoelectric patches of described left radian clamping plate and right radian clamping plate, pressure measurement piezoelectric patches connects pressure sensor by wire；Described pressure sensor connects controller by data line, and controller connects upset micro-step motor by wire, and the axle of upset micro-step motor is connected with the handle tail end of grip force inductor, and the step angle of upset micro-step motor is 180 degree.
The handle rear end leaking postive stop baffle under described garlic clove is arranged on the bottom of support by the 3rd vertical pivot, under garlic clove, leak the side, handle rear portion of postive stop baffle be provided with and stir cam, stir cam convex top protrusion height so that the base opening leaking postive stop baffle removal make-up funnel-form garlic bucket under garlic clove is advisable.
The rotary shaft of the first described two-jawed axle and the first micromachine connects, and the handle of the housing of the first micromachine and right side half funnel is fixed；The rotary shaft of the second described two-jawed axle and the second micromachine connects, and the connection handle of the housing of the second micromachine and right radian clamping plate is fixed.
The rotary shaft of the described axle stirring cam and the 3rd micromachine connects, and the fixed base plate of the 3rd micromachine is fixed with support.
Described the first micromachine, the second micromachine and the 3rd micromachine are all connected with controller.
The beneficial effects of the present invention is: this garlic garlic clove direction grip force sensing levelling manipulator, simple in construction, flexible movements, by grip force sensing levelling garlic clove direction, can not only automatically transfer garlic bud garlic clove down to garlic bud upward, and garlic clove will not be damaged.Garlic planter can be exclusively used in.
Accompanying drawing explanation
Fig. 1 is the structure schematic side view of the present invention.
Fig. 2 is the structure make-up funnel-form garlic bucket schematic top plan view of the present invention.
Fig. 3 is the structure garlic clove grip force inductor schematic top plan view of the present invention.
Fig. 4 is to leak postive stop baffle schematic top plan view under the structure garlic clove invented.
In figure: 1, support；2, make-up funnel-form garlic bucket；21, left side half funnel；22, right side half funnel；23, make-up " u "-shaped frame；24, the first double cam；3, postive stop baffle is leaked under garlic clove；4, garlic clove grip force inductor；41, left radian clamping plate；42, right radian clamping plate；43, the second double cam；44, pressure measurement piezoelectric patches；45, wire；5, the first vertical pivot；6, the second vertical pivot；7, the 3rd vertical pivot；8, pressure sensor；9, controller；10, upset micro-step motor；11, cam is stirred；12, the first micromachine；13, the second micromachine；14, the 3rd micromachine；15, fixed base plate.
Detailed description of the invention
Embodiment
Fig. 1, Fig. 2, Fig. 3, Fig. 4 give one embodiment of the present of invention.The present invention is made with reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4.This garlic garlic clove direction grip force sensing levelling manipulator, including support 1, it is characterized in that: the middle and upper part of described support 1 is provided with the make-up funnel-form garlic bucket 2 to extension, the pommel of make-up funnel-form garlic bucket 2 is arranged in the groove of support 1 by the first vertical pivot 5, a diameter of 2cm during the base opening make-up of make-up funnel-form garlic bucket 2, the diameter expanding waist less than garlic clove, make axially retaining of garlic clove vertical by the bellmouth of make-up funnel-form garlic bucket 2, garlic bud is upward, garlic bud is down, garlic clove must not be horizontal, garlic clove exposes downwards root or bud portion from the base opening of make-up funnel-form garlic bucket 2；The bottom of described support 1 is provided with under the garlic clove of extension leaks postive stop baffle 3, the plate face leaking postive stop baffle 3 under garlic clove is parallel with the base opening place plane of make-up funnel-form garlic bucket 2, and the distance leaked under garlic clove between plate face and the base opening place plane of make-up funnel-form garlic bucket 2 of postive stop baffle 3 is 1cm, by leaking postive stop baffle 3 under garlic clove and limit garlic clove root or the length of lower 1cm being revealed downwards in bud portion；Leak under garlic clove and be provided with garlic clove grip force inductor 4 between plate face and the base opening place plane of make-up funnel-form garlic bucket 2 of postive stop baffle 3, the pommel of garlic clove grip force inductor 4 is arranged in the respective slot of support 1 by the second vertical pivot 6, the waist that expands being clamped garlic clove by garlic clove grip force inductor 4 to the position of root or expands waist to the position of garlic bud, owing to the axial diameter along garlic clove is inconsistent, so garlic clove grip force inductor 4 to add holding force the most inconsistent, when garlic clove bud upward time, what garlic clove grip force inductor 4 clamped garlic clove expands waist to the position of root, add holding force maximum, indicate garlic bud upward, can directly proceed to sowing program；When garlic clove bud down time, garlic clove grip force inductor 4 clamps the connecting portion expanding waist of the garlic bud of garlic clove and garlic clove, adds holding force minimum, indicate garlic bud down, need to adjust 180 degree, make garlic bud transfer to upward, then proceed to sowing program.
Improvement as the present invention: described make-up funnel-form garlic bucket 2, formed by left side half funnel 21 and right side half funnel 22 make-up, the first double cam 24 it is provided with, two convex top symmetries of the first double cam 24 in the rear end make-up " u "-shaped frame 23 of left side half funnel 21 and the connection handle of right side half funnel 22；Rotation by the first double cam 24, half funnel 21 and the folding of right side half funnel 22 on the left of realization, when the line on two convex tops of the first double cam 24 is parallel with the connection handle of left side half funnel 21 and right side half funnel 22, left side half funnel 21 and right side half funnel 22 are in the state of conjunction, make garlic clove leak between postive stop baffle 3 to garlic clove in standing upright on the base opening of make-up funnel-form garlic bucket 2；When the line on two convex tops of the first double cam 24 is vertical with the connection handle of left side half funnel 21 and right side half funnel 22, the state that left side half funnel 21 and right side half funnel 22 are in out, garlic clove can leak down；By half funnel 21 and the folding distance of right side half funnel 22 on the left of the protrusion height control on two convex tops of the first double cam 24, its folding distance controlling is 1.5cm, adds a diameter of 2cm during base opening make-up, and the waist diameter that expands with garlic clove maximum in garlic kind is consistent.
Described garlic clove grip force inductor 4, is formed by left radian clamping plate 41 and right radian clamping plate 42 make-up, is provided with the second double cam 43 in the rear portion make-up " u "-shaped frame of left radian clamping plate 41 and the connection handle of right radian clamping plate 42, two convex top symmetries of the second double cam 43；Rotation by the second double cam 43, it is achieved left radian clamping plate 41 and the folding of right radian clamping plate 42；The radian wall inner adhesion pressure measurement piezoelectric patches 44 of described left radian clamping plate 41 and right radian clamping plate 42, pressure measurement piezoelectric patches 44 connects pressure sensor 8 by wire 45；Rotating when left radian clamping plate 41 and when opening of right radian clamping plate 42 by the second double cam 43, simultaneously described in the state also opened of make-up funnel-form garlic bucket 2 under, and leak postive stop baffle 3 under garlic clove and remove and do not stop, garlic clove just can leak down, and sows；When making left radian clamping plate 41 and right radian clamping plate 42 close by the rotation of the second double cam 43, now pressure measurement piezoelectric patches 44 clamps garlic clove, pressure measurement piezoelectric patches 44 is by wire 45 input pressure sensor 8, pressure sensor 8 reflects the size measuring chucking power, is judged the direction of garlic clove by the size adding holding force；Simultaneously as have employed pressure measurement piezoelectric patches 44, hinder garlic clove so will not squeeze；Described pressure sensor 8 connects controller 9 by data line, controller 9 connects upset micro-step motor 10 by wire, the axle of upset micro-step motor 10 is connected with the handle tail end of grip force inductor 4, and the step angle of upset micro-step motor 10 is 180 degree；When garlic clove grip force inductor 4 clamp garlic clove be determined as garlic bud down time, controller 9 start upset micro-step motor 10, open make-up funnel-form garlic bucket 2 simultaneously, garlic clove grip force inductor 4 is made to turn over turnback, garlic bud can be made upward, then open garlic clove grip force inductor 4, can sow；When garlic clove grip force inductor 4 clamp garlic clove be determined as garlic bud upward time, controller 9 do not start upset micro-step motor 10.
The handle rear end leaking postive stop baffle 3 under described garlic clove is arranged on the bottom of support 1 by the 3rd vertical pivot 7, the side, handle rear portion leaking postive stop baffle 3 under garlic clove is provided with and stirs cam 11, stirs cam 11 convex top protrusion height so that leaking postive stop baffle 3 under garlic clove and removing the base opening of make-up funnel-form garlic bucket 2 and be advisable；When by stir the rotation of cam 11 make to leak under garlic clove postive stop baffle 3 deviate the base opening of make-up funnel-form garlic bucket 2 time, make-up funnel-form garlic bucket 2 opens, and the garlic clove in make-up funnel-form garlic bucket 2 falls, and sows.
The rotary shaft of the axle of the first described double cam 24 and the first micromachine 12 connects, and the handle of the housing of the first micromachine 12 and right side half funnel 22 is fixed；The rotary shaft of the axle of the second described double cam 43 and the second micromachine 13 connects, and the connection handle of the housing of the second micromachine 13 and right radian clamping plate 42 is fixed.
The rotary shaft of the described axle stirring cam 11 and the 3rd micromachine 14 connects, and the fixed base plate 15 of the 3rd micromachine 14 is fixed with support 1.
First described micromachine the 12, second micromachine 13 and the 3rd micromachine 14 are all connected with controller 9, control the first micromachine the 12, second micromachine 13 and order of the 3rd micromachine 14 start and stop by controller 9.
Described controller 9, by controller 9 realize when garlic clove grip force inductor 4 clamp garlic clove be determined as garlic bud upward time, controller 9 does not start upset micro-step motor 10, start the 3rd micromachine the 14, first micromachine the 12, second micromachine 13 the most simultaneously, make under garlic clove, to leak postive stop baffle 3 to remove, making garlic clove grip force inductor 4 and make-up funnel-form garlic bucket 2 open, garlic clove falls, thus ensures that root is in lower sowing simultaneously；When garlic clove grip force inductor 4 clamp garlic clove be determined as garlic bud down time, first controller 9 starts the first micromachine 12, make-up funnel-form garlic bucket 2 is made to open, starting the 3rd micromachine 14 and upset micro-step motor 10 the most simultaneously, make to leak postive stop baffle 3 under garlic clove and remove, garlic clove grip force inductor 4 turns over turnback immediately, make garlic bud upward, restarting the second micromachine 13, make garlic clove grip force inductor 4 open, garlic clove falls；This program can be prior art, therefore seldom states.
When using the present invention, needing to support the use with garlic planter, make-up funnel-form garlic bucket 2 therein docks with garlic clove conveyer；The axis of garlic clove grip force inductor 4 and make-up funnel-form garlic bucket 2 docks with seeding pipe.
Claims (7)
1. garlic garlic clove direction grip force sensing levelling manipulator, including support (1), it is characterized in that: the middle and upper part of described support (1) is provided with make-up funnel-form garlic bucket (2) to extension, the pommel of make-up funnel-form garlic bucket (2) is arranged in the groove of support (1) by the first vertical pivot (5), a diameter of 2cm during base opening make-up of make-up funnel-form garlic bucket (2)；The bottom of described support (1) is provided with under the garlic clove of extension leaks postive stop baffle (3), the plate face leaking postive stop baffle (3) under garlic clove is parallel with the base opening place plane of make-up funnel-form garlic bucket (2), and the distance leaked under garlic clove between plate face and the base opening place plane of make-up funnel-form garlic bucket (2) of postive stop baffle (3) is 1cm；Leaking under garlic clove and be provided with garlic clove grip force inductor (4) between plate face and the base opening place plane of make-up funnel-form garlic bucket (2) of postive stop baffle (3), the pommel of garlic clove grip force inductor (4) is arranged in the respective slot of support (1) by the second vertical pivot (6).
Garlic garlic clove direction the most according to claim 1 grip force sensing levelling manipulator, it is characterized in that: described make-up funnel-form garlic bucket (2), formed by left side half funnel (21) and right side half funnel (22) make-up, the first double cam (24) it is provided with, two convex top symmetries of the first double cam (24) in rear end make-up " u "-shaped frame (23) of left side half funnel (21) and the connection handle on right side half funnel (22).
Garlic garlic clove direction the most according to claim 1 grip force sensing levelling manipulator, it is characterized in that: described garlic clove grip force inductor (4), formed by left radian clamping plate (41) and right radian clamping plate (42) make-up, the second double cam (43) it is provided with, two convex top symmetries of the second double cam (43) in the rear portion make-up " u "-shaped frame of left radian clamping plate (41) and the connection handle of right radian clamping plate (42)；Described left radian clamping plate (41) and radian wall inner adhesion pressure measurement piezoelectric patches (44) of right radian clamping plate (42), pressure measurement piezoelectric patches (44) connects pressure sensor (8) by wire (45)；Described pressure sensor (8) connects controller (9) by data line, controller (9) connects upset micro-step motor (10) by wire, the axle of upset micro-step motor (10) is connected with the handle tail end of grip force inductor (4), and the step angle of upset micro-step motor (10) is 180 degree.
Garlic garlic clove direction the most according to claim 1 grip force sensing levelling manipulator, it is characterized in that: the handle rear end leaking postive stop baffle (3) under described garlic clove is arranged on the bottom of support (1) by the 3rd vertical pivot (7), and under garlic clove, the side, handle rear portion of leakage postive stop baffle (3) is provided with and stirs cam (11).
Garlic garlic clove direction the most according to claim 2 grip force sensing levelling manipulator, it is characterized in that: the rotary shaft of the axle of described the first double cam (24) and the first micromachine (12) connects, the handle on the housing of the first micromachine (12) and right side half funnel (22) is fixed.
Garlic garlic clove direction the most according to claim 3 grip force sensing levelling manipulator, it is characterized in that: the rotary shaft of the axle of described the second double cam (43) and the second micromachine (13) connects, the connection handle of the housing of the second micromachine (13) and right radian clamping plate (42) is fixed.
Garlic garlic clove direction the most according to claim 4 grip force sensing levelling manipulator, it is characterized in that: the rotary shaft of the described axle stirring cam (11) and the 3rd micromachine (14) connects, the fixed base plate (15) of the 3rd micromachine (14) is fixed with support (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510152526.6A CN104686032B (en) | 2015-04-02 | 2015-04-02 | Garlic garlic clove direction grip force sensing levelling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510152526.6A CN104686032B (en) | 2015-04-02 | 2015-04-02 | Garlic garlic clove direction grip force sensing levelling manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104686032A CN104686032A (en) | 2015-06-10 |
| CN104686032B true CN104686032B (en) | 2016-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510152526.6A Expired - Fee Related CN104686032B (en) | 2015-04-02 | 2015-04-02 | Garlic garlic clove direction grip force sensing levelling manipulator |
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| CN (1) | CN104686032B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108260385B (en) * | 2018-04-11 | 2024-01-02 | 江苏恒达工程检测有限公司 | Automatic detect adjustable device of discernment bulbil orientation |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6588351B1 (en) * | 2001-12-18 | 2003-07-08 | Deere & Company | Planting unit lockup device for seeding machine |
| CN102349379B (en) * | 2011-08-25 | 2013-03-13 | 李士印 | Full-automatic electric-induction garlic cusp distinguishing seeder |
| CN102696310A (en) * | 2012-07-03 | 2012-10-03 | 河南省农业高新科技园有限公司 | Upright garlic seeding apparatus |
| CN204579095U (en) * | 2015-04-02 | 2015-08-26 | 高迟 | Garlic garlic clove direction grip force induction levelling manipulator |
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2015
- 2015-04-02 CN CN201510152526.6A patent/CN104686032B/en not_active Expired - Fee Related
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