CN105340474B - A kind of positioning of paddy reed and pulling attachment - Google Patents
A kind of positioning of paddy reed and pulling attachment Download PDFInfo
- Publication number
- CN105340474B CN105340474B CN201510642761.1A CN201510642761A CN105340474B CN 105340474 B CN105340474 B CN 105340474B CN 201510642761 A CN201510642761 A CN 201510642761A CN 105340474 B CN105340474 B CN 105340474B
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- paddy
- reed
- positioning
- fixed
- cavity
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
Abstract
The present invention relates to a kind of plant edible part collection machinery, specifically a kind of paddy reed positioning and pulling attachment include positioning device, restoring means, picker, transposer and bracket；Positioning device and picker are separately positioned on the upper and lower of transposer；Smooth plasticine is placed on paddy reed on the ground and then removed by positioning device, determines the position of paddy reed, by the position in hole on analysis plasticine so that picker is picked.The positioning of paddy reed and picking of automation may be implemented in the present invention, has significant progress compared to existing picked by hand mode.
Description
Technical field
The present invention relates to a kind of plant edible part collection machinery, specifically a kind of paddy reed positioning and pulling attachment.
Background technique
Gu Di is the flower spike that herbaceos perennial cogongrass is in petal period.The bud of cogongrass eruption, may paddy before this
Reed, it is also possible to Gu Di and enclose a piece of leaf of Gu Di while grow, or only leaf is without paddy reed.Since cogongrass is raw
Long environment is different, and soil is dry or wet, then the paddy reed grown have it is fat have thin, have with short, be perhaps that kind is different.Paddy reed one
As be thin cone, majority has 2/3rds to be exposed at outside ground, and in soil, some paddy reed especially difficulties mention another one third.
After paddy reed crust is peeled off, inside is soft petal in vain, and edible, taste is fresh and tender, clear with spring
Perfume (or spice), and with pico- sweet taste, is rare deliciousness, and many older generation's and rural area children tasted.With society
Development, the type of food is more and more, and eating environmentally protective food becomes the mainstream of society.Gu Di is as a kind of natural food
Object is pursued by many children, by modern processing and it is fresh-keeping after it is better tasting.But people pick the mode of paddy reed now
It is still the inefficiency in such a way that traditional-handwork is chosen, when paddy reed is more, the amount of labour is larger.
Summary of the invention
For the problems of the prior art, the present invention provides a kind of positioning of paddy reed and pulling attachments, may be implemented automatic
Paddy reed of change positions and picking, has significant progress compared to existing picked by hand mode.
The technical solution adopted by the present invention to solve the technical problems is: a kind of positioning of paddy reed and pulling attachment, including fixed
Position device, restoring means, picker, transposer and bracket；The frame bottom is provided with hydraulic lifting gear；It is described
Transposer include rotating frame, rotary shaft and the rotating electric machine for driving rotary shaft；The rotating frame is in cuboid frame
Frame shape；The described rotary shaft setting is connected in rotating frame center, the rotary shaft one end and bracket rotation, the other end of rotary shaft with
Rotating electric machine connection, rotary shaft rotation will drive rotating frame rotation；The rotating electric machine is fixed on bracket；The positioning dress
The top for being fixed on transposer is set, positioning device includes shaping box, light emitting device and sensor；Setting in the shaping box
There is cavity, plasticine is provided in the cavity, plasticine is uniformly distributed in cavity, below rotating frame turns to positioning device
When, the hydraulic lifting gear band dynamic positioning system of frame bottom moves down, the position Gu Di on the ground, in positioning device cavity
Plasticine pricked out duck eye, and other regions are intact；The light emitting device and sensor is separately positioned on shaping box two sides,
Light emitting device emits beam on the plasticine being irradiated in shaping box, and the duck eye brightness pricked out on plasticine by paddy reed is lower than its week
Brightness is enclosed, sensor determines the position of Gu Di by analyzing its brightness；The described restoring means setting positioning device just on
Side, restoring means include pressing plate, the driving device with the dynamic pressure plate telescoping mechanism to move up and down and driving telescoping mechanism operation, are stretched
When contracting mechanism band dynamic pressure plate moves downward, pressing plate, which is pressed on plasticine, keeps its surface recovery smooth；The picker is fixed
In transposer lower part, picker includes fixed disk, manipulator and mobile unit；It is provided with cavity in the fixed disk,
It is provided with inverse-T-shaped fixed cell in the cavity, is provided with gap between adjacent fixed cell；The mobile unit setting
In gap between adjacent fixed cell, mobile unit is in cube, and mobile unit top surface quadrangle is provided with lateral wheel four
With longitudinal four, wheel, the cooperation that mobile unit is taken turns by lateral wheel and longitudinally is rotated come between realizing between adjacent fixed cell
It is moved in gap；The manipulator is fixed on mobile unit bottom.
Preferably, the binding platform of reverse frustoconic is provided in the shaping box cavity floor, which can prevent from forming
Plasticine falls off in case.
Preferably, the light emitting device is in long stick, and light emitting device is parallel with shaping box upper surface, makes to be radiated at molding
Light on case is uniform.
The beneficial effects of the present invention are:
(1) a kind of paddy reed positioning of the invention and pulling attachment use smooth plasticine using the feature that paddy reed is sharp
Pressing is in Gu Dishang, and by positioning indirectly to paddy reed to the aperture positioning on plasticine, registration, this method has
Ground-breaking innovation；
(2) a kind of paddy reed of the invention, which positions, and pulling attachment is by the way that manipulator to be stuck in inverted gap makes machinery
Hand can move in inverted plane, reduce the length of mechanical arm, expand the effective range of manipulator picking, and mountable
Multiple manipulators improve picking efficiency.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is the bottom view of fixed disk；
Fig. 4 is the cross-section diagram in the face A-A in Fig. 3；
Fig. 5 is the cross-section diagram in the face B-B in Fig. 3；
Fig. 6 is the schematic perspective view of mobile unit；
Fig. 7 is the schematic perspective view of shaping box；
In figure: 1- positioning device, 2- restoring means, 3- picker, 4- transposer, 5- bracket, 11- shaping box, 12-
Light emitting device, 13- sensor, 21- pressing plate, 22- telescoping mechanism, 23- driving device, 31- fixed disk, 32- manipulator, 33- are moved
Moving cell, 41- rotating frame, 42- rotary shaft, 43- rotating electric machine, 111- binding platform, 311- fixed cell, 331- lateral wheel,
332- longitudinally takes turns.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figure 1, Figure 2, a kind of paddy reed positioning of the present embodiment and pulling attachment, including positioning device 1, restoring means 2, adopt
Device and picking 3, transposer 4 and bracket 5；5 bottom of bracket is provided with hydraulic lifting gear；The transposer 4 wraps
Include rotating frame 41, rotary shaft 42 and the rotating electric machine 43 for driving rotary shaft 42；The rotating frame 41 is in cuboid framework
Shape；The setting of rotary shaft 42 is connected in 41 center of rotating frame, 42 one end of rotary shaft and the rotation of bracket 5, rotary shaft 42
The other end is connect with rotating electric machine 43, and the rotation of rotary shaft 42 will drive the rotation of rotating frame 41；The rotating electric machine 42 is fixed on branch
On frame 5.
As shown in Figure 1, Figure 2, Fig. 7, the positioning device 1 are fixed on the top of transposer 4, and positioning device 1 includes molding
Case 11, light emitting device 12 and sensor 13；It is provided with cavity in the shaping box 11, plasticine, rubber are provided in the cavity
Skin mud is uniformly distributed in cavity, and the binding platform 111 of reverse frustoconic is provided in 11 cavity floor of shaping box, the binding platform 111
It can prevent plasticine in shaping box 11 from falling off, when below rotating frame 41 turning to positioning device 1, hydraulic of 5 bottom of bracket
Falling unit band dynamic positioning system 1 moves down, and has the position of Gu Di on the ground, the plasticine in 1 cavity of positioning device is pricked out
Duck eye, and other regions are intact；The light emitting device 12 and sensor 13 is separately positioned on 11 two sides of shaping box, light emitting device
12, which emit beam, is irradiated on the plasticine in shaping box 11, and the duck eye brightness pricked out on plasticine by paddy reed is bright lower than around it
Degree, sensor 13 determine the position of Gu Di by analyzing its brightness, and light emitting device 12 is in long stick, light emitting device 12 and molding
11 upper surface of case is parallel, keeps the light being radiated on shaping box 11 uniform；The described setting of restoring means 2 positioning device 1 just
Top, restoring means 2 include that pressing plate 21, the telescoping mechanism 22 with the up and down motion of dynamic pressure plate 21 and driving telescoping mechanism 22 are run
Driving device 23, when telescoping mechanism 22 is moved downward with dynamic pressure plate 21, pressing plate 21, which is pressed on plasticine, keeps its surface recovery smooth；
The picker 3 is fixed on 4 lower part of transposer, and picker 3 includes fixed disk 31, manipulator 32 and mobile unit
33。
Such as Fig. 3, Fig. 4, Fig. 5, it is provided with cavity in the fixed disk 31, inverse-T-shaped fixation is provided in the cavity
Unit 311 is provided with gap between adjacent fixed cell 311.
Such as Fig. 2, Fig. 6, the mobile unit 33 is arranged in the gap between adjacent fixed cell 311, mobile unit
33 be in cube, and 33 top surface quadrangle of mobile unit is provided with lateral wheel 331 4 and longitudinal 332 4, wheel, and mobile unit 33 is logical
The cooperation rotation for crossing lateral wheel 331 and longitudinal wheel 332 is moved to realize in the gap between adjacent fixed cell 311；It is described
Manipulator 32 be fixed on 33 bottom of mobile unit.
When in use, positioning device 1 is turned to lower section by rotating frame 41 for a kind of paddy reed positioning of the present embodiment and pulling attachment,
The hydraulic lifting gear band dynamic positioning system 1 of 5 bottom of bracket moves down, and has the position of Gu Di, 1 cavity of positioning device on the ground
Interior plasticine is pricked out duck eye, and other regions are still smooth；It rotates rotating frame 41 and positioning device 1 is turned into top, and adopt
Device and picking 3 is correspondingly transferred to lower section；Light emitting device 12 emits beam on the plasticine being irradiated in shaping box 11, on plasticine
The duck eye brightness pricked out by paddy reed is lower than flat portion brightness, and sensor 13 determines the position of ground upper valley reed by analyzing its brightness
It sets；When driving device 23 is by driving telescoping mechanism 22 to move downward with dynamic pressure plate 21, pressing plate 21, which is pressed on plasticine, makes its table
Restore smooth with to use next time, at the same time, mobile unit 33 passes through the cooperation rotation of lateral wheel 331 and longitudinal wheel 332 in face
It is moved in gap between adjacent fixed cell 311, is fixed on the manipulator 32 of 33 bottom of mobile unit in 13 institute of sensor
The determining position Gu Di is chosen by paddy reed.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiment and specification only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in the scope of protection of present invention.The claimed scope of the invention is by appended claims and its equivalent
Object defines.
Claims (3)
1. a kind of paddy reed positioning and pulling attachment, it is characterised in that: including positioning device (1), restoring means (2), picker
(3), transposer (4) and bracket (5)；The transposer (4) includes rotating frame (41), rotary shaft (42) and for driving
The rotating electric machine (43) of rotary shaft (42)；The rotating frame (41) is in cuboid framework shape；Rotary shaft (42) setting
At rotating frame (41) center, rotary shaft (42) one end and bracket (5) rotation are connected, the other end and electric rotating of rotary shaft (42)
Machine (43) connection；The rotating electric machine (43) is fixed on bracket (5)；
The positioning device (1) is fixed on the top of transposer (4), and positioning device (1) includes shaping box (11), shine dress
Set (12) and sensor (13)；It is provided with cavity in the shaping box (11), is provided with plasticine in the cavity；The hair
Electro-optical device (12) and sensor (13) are separately positioned on shaping box (11) two sides；
Right above positioning device (1), restoring means (2) includes pressing plate (21), band dynamic pressure plate for restoring means (2) setting
(21) driving device (23) of the telescoping mechanism (22) and driving telescoping mechanism (22) operation that move up and down；The picker
(3) it is fixed on transposer (4) lower part, picker (3) includes fixed disk (31), manipulator (32) and mobile unit (33)；
It is provided with cavity in the fixed disk (31), is provided in the cavity inverse-T-shaped fixed cell (311), it is adjacent fixed single
Gap is provided between first (311)；In the gap that the mobile unit (33) is arranged between adjacent fixed cell (311),
Mobile unit (33) is in cube, and mobile unit (33) top surface quadrangle is provided with lateral wheel (331) four and longitudinal wheel (332) four
It is a；The manipulator (32) is fixed on mobile unit (33) bottom；Described bracket (5) bottom is provided with hydraulic landing dress
It sets.
2. a kind of paddy reed positioning according to claim 1 and pulling attachment, it is characterised in that: shaping box (11) cavity
The binding platform (111) of reverse frustoconic is provided on bottom surface.
3. a kind of paddy reed positioning according to claim 1 and pulling attachment, it is characterised in that: the light emitting device (12)
In long stick, light emitting device (12) is parallel with shaping box (11) upper surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510642761.1A CN105340474B (en) | 2015-10-02 | 2015-10-02 | A kind of positioning of paddy reed and pulling attachment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510642761.1A CN105340474B (en) | 2015-10-02 | 2015-10-02 | A kind of positioning of paddy reed and pulling attachment |
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| Publication Number | Publication Date |
|---|---|
| CN105340474A CN105340474A (en) | 2016-02-24 |
| CN105340474B true CN105340474B (en) | 2018-12-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510642761.1A Active CN105340474B (en) | 2015-10-02 | 2015-10-02 | A kind of positioning of paddy reed and pulling attachment |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108702926B (en) * | 2018-07-17 | 2020-06-12 | 叶红月 | Use method of intelligent pineapple picking robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07312950A (en) * | 1994-05-23 | 1995-12-05 | Seirei Ind Co Ltd | Harvester for non-head-formation leaf vegetable |
| CN202095288U (en) * | 2011-03-28 | 2012-01-04 | 鹤岗市龙跃食品机械制造有限公司 | Positioning manipulator for an automatic fresh green corn peeling machine |
| CN104770137A (en) * | 2014-12-30 | 2015-07-15 | 柳州市汇邦农机科技有限公司 | Sugarcane leaf clearing and sugarcane transport machine |
| CN104919974A (en) * | 2015-06-04 | 2015-09-23 | 河南农业大学 | Young garlic shoot harvester |
-
2015
- 2015-10-02 CN CN201510642761.1A patent/CN105340474B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07312950A (en) * | 1994-05-23 | 1995-12-05 | Seirei Ind Co Ltd | Harvester for non-head-formation leaf vegetable |
| CN202095288U (en) * | 2011-03-28 | 2012-01-04 | 鹤岗市龙跃食品机械制造有限公司 | Positioning manipulator for an automatic fresh green corn peeling machine |
| CN104770137A (en) * | 2014-12-30 | 2015-07-15 | 柳州市汇邦农机科技有限公司 | Sugarcane leaf clearing and sugarcane transport machine |
| CN104919974A (en) * | 2015-06-04 | 2015-09-23 | 河南农业大学 | Young garlic shoot harvester |
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| CN105340474A (en) | 2016-02-24 |
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Effective date of registration: 20201221 Address after: 246000 the third floor west of Leichi market, Dongzhou Road, Huayang Town, Wangjiang County, Anqing City, Anhui Province Patentee after: Wangjiang Leichuang Technology Co., Ltd Address before: 362200 Room 502, main building, Yin Li building, Quanzhong Road, Qingyang, Jinjiang, Quanzhou, Fujian Patentee before: QUANZHOU YONGMAO ELECTRONIC TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20211018 Address after: 246000 Economic Development Zone, Wangjiang County, Anqing City, Anhui Province Patentee after: ANHUI LIANHE Co.,Ltd. Address before: 246000 the third floor west of Leichi market, Dongzhou Road, Huayang Town, Wangjiang County, Anqing City, Anhui Province Patentee before: Wangjiang Leichuang Technology Co., Ltd |
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