CN106233929A - A kind of multi-degree-of-freemechanical mechanical arm Folium Mori picker - Google Patents
A kind of multi-degree-of-freemechanical mechanical arm Folium Mori picker Download PDFInfo
- Publication number
- CN106233929A CN106233929A CN201610626836.1A CN201610626836A CN106233929A CN 106233929 A CN106233929 A CN 106233929A CN 201610626836 A CN201610626836 A CN 201610626836A CN 106233929 A CN106233929 A CN 106233929A
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- folium mori
- motor
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- screw
- bearing
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Guiding Agricultural Machines (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
A kind of multi-degree-of-freemechanical mechanical arm Folium Mori picker, including walking mechanism, lift locating device, direction regulation and longitudinal feed mechanism and holding mechanism.Holding mechanism is arranged on direction regulation and longitudinal feed mechanism, and scalable Folium Mori pluck the cutter motion at guide groove under the driving of motor, it is achieved regulation Folium Mori pluck left and right directions and the function of far and near distance of cutter.Lifting-positioning device can also realize regulating Folium Mori and pluck the function of cutter working depth, allow the device to meet the requirement of different working depths, Folium Mori can also be regulated by guide groove simultaneously and pluck left and right and the up and down motion of cutter, meet the harvesting requirement of different directions and angle, easy to operate, Labor-saving high-efficiency.
Description
Technical field
The present invention relates to the picking mechanical field of agricultural crops, specifically a kind of multi-degree-of-freemechanical mechanical arm Folium Mori pluck dress
Put.
Background technology
It is the most arduous link in Bombyxmori Linnaeus cultivating link that Folium Mori are plucked, and there is the long biography that Bombyxmori Linnaeus cultivates in China
System and the cultivation region of the length and breadth of land, but the most all follow the labor type of picked by hand Folium Mori, and not only efficiency is low, and
Opponent also has the biggest injury, long-term Folium Mori to pluck and make mulberry planter's fingers deformed, and joint is thick.Therefore, in order to solve raiser
In Folium Mori picking process, picked by hand speed is slow, it is impossible to satisfy social needs, and easily hinders the problems such as hands, it is desirable to have a kind of simple real
Machinery replace the harvesting of manpower, thus improve the picking efficiency of Folium Mori and reduce the injury to mulberry planter's hands and make
With.
Summary of the invention
It is an object of the invention to provide a kind of multi-degree-of-freemechanical mechanical arm Folium Mori picker, it is possible to replace manually realizing Folium Mori
The function plucked, improves the picking efficiency of Folium Mori and reduces the injury to mulberry planter's hands.
The technical scheme is that a kind of multi-degree-of-freemechanical mechanical arm Folium Mori picker, determine including walking mechanism, lifting
Position mechanism, direction regulation and longitudinal feed mechanism and holding mechanism, concrete structure and annexation be:
Described walking mechanism includes universal wheel, front-wheel, Folium Mori collecting box and the first baffle plate, and described universal wheel is arranged on
Below one baffle plate, front-wheel is arranged on the left and right sides of the first baffle plate, and Folium Mori collecting box is arranged on the front of the first baffle plate, is used for receiving
The Folium Mori that collection has been plucked.
Described lift locating device includes that the first motor, bevel gear, second baffle and screw rod, described first motor are fixed
On the first baffle plate, bevel gear is arranged in the rotary shaft of the first motor, and one end of screw rod is scheduled on bevel gear by keying, spiral shell
The other end of bar has external screw thread to match with the inner bolt hole on second baffle,
The regulation of described direction and longitudinal feed mechanism include the first guide rail, the second guide rail, guide groove, the first bearing, first join
The screw bolt and nut of set, the second supporting screw bolt and nut, on described first rail welding connecting rod in the horizontal direction, Vertical Square
To connecting rod on be welded an earhole, the bolt in the first supporting screw bolt and nut pass through earhole and one end of the second guide rail
Connecting, the other end of the second guide rail is arranged on the connecting rod of horizontal direction by bolt, and bolt and first is passed through in the front end of guide groove
The connecting rod of the horizontal direction of holder top connects, and a trundle in the welding of the position of end, trundle can be first
Horizontally slipping in guide rail, screw rod puts in the inside of the first bearing, and connecting rod is connected to first by the second supporting screw bolt and nut
The top of bearing,
Described holding mechanism includes holding rod, the second bearing, guide groove wheel, the second motor, the 3rd motor, plucks blade and machine
Mechanical arm, the lower section of described second bearing is connected to guide groove wheel, and the top of the second bearing is bolted the second motor, guide groove
Wheel can be made longitudinally to move forward and backward to move along guide groove under the driving of the second motor, and holding rod is welded on the second bearing rear, machine
Mechanical arm is welded on the second bearing front, and the end of mechanical arm is provided with the 3rd motor and plucks blade, and the 3rd motor drives to be plucked
Blade is operated.
Described lift locating device eustasy scope is 400mm～1100mm.
It is 800mm that described direction regulation and longitudinal feed mechanism feed greatest length, and the regulation angle of left and right is 80 degree,
The regulation angle of vertical direction is 120 degree.By direction regulation and the rotatable engagement of the both direction of longitudinal feed mechanism, thus
Realize Folium Mori harvesting work.
Being welded with four screw mandrels on described first baffle plate, four screw mandrels surround a rectangle, four screw mandrels are cased with spring,
And on second baffle, open four holes, corresponding with the position of four screw mandrels so that second baffle can be cased with spring at four
Screw mandrel on make elevating movement.
The present invention has the prominent advantages that:
Use half mechanical work to replace manual work, change traditional operating type, improve work efficiency, decrease
The working strength of workman and injury.
Lift locating device in device can realize lifting at vertical direction so that the Folium Mori on holding mechanism pluck cutter
The height change scope plucked is 400m～1100mm, meets height and uses the operator of 1500mm to 1850mm；
Longitudinal feed mechanism in device can pluck moving forward and backward of cutter, maximum forward travel distance longitudinally realizing Folium Mori
For 800mm, the regulation angle of left and right is 80 degree, and the regulation angle of vertical direction is 120 degree, meets Folium Mori and plucks cutter along level
Direction different angles and along the harvesting to Folium Mori of the axis different angles, easy to operate, it is greatly reduced the working strength of workman.
Accompanying drawing explanation
Fig. 1 is the structural representation of multi-degree-of-freemechanical mechanical arm Folium Mori picker of the present invention.
Fig. 2 is the walking mechanism and the of lift locating device of multi-degree-of-freemechanical mechanical arm Folium Mori picker of the present invention
One structural representation.
Fig. 3 is the walking mechanism and the of lift locating device of multi-degree-of-freemechanical mechanical arm Folium Mori picker of the present invention
Two structural representations.
Fig. 4 is direction regulation and the knot of longitudinal feed mechanism of multi-degree-of-freemechanical mechanical arm Folium Mori picker of the present invention
Structure schematic diagram.
Fig. 5 is the structural representation of the holding mechanism of multi-degree-of-freemechanical mechanical arm Folium Mori picker of the present invention
Figure is labeled as: 1-holding rod, 2-the second motor, 3-the 3rd motor, 4-pluck blade, 5-guide groove, 6-guide groove wheel, 7-
In second guide rail, 8-Folium Mori collecting box, 9-front-wheel, 10-universal wheel, 11-the first baffle plate, 12-second baffle, 13-spring, 14-
Screw, 15-the first motor, 16-bevel gear, 17-screw rod, 18-the first guide rail, screw bolt and nut supporting for 19-first, 20-
One bearing, screw bolt and nut supporting for 21-second, 22-mechanical arm, 23-the second bearing.
Detailed description of the invention
As shown in Figures 1 to 5, multi-degree-of-freemechanical mechanical arm Folium Mori picker of the present invention, including walking mechanism, lifting
Detent mechanism, direction regulate and longitudinal feed mechanism, holding mechanism, concrete structure and annexation are:
Described walking mechanism is made up of universal wheel 10, front-wheel 9, Folium Mori collecting box 8 and the first baffle plate 11, two universal wheels
10 by being threadably mounted at below the first baffle plate 11, and two front-wheels 9 are arranged on the first baffle plate 11 by bearing and connecting rod
The left and right sides, Folium Mori collecting box 8 is arranged on the front of the first baffle plate 11 by screw, for collecting the Folium Mori plucked.
Described lift locating device includes the first motor 15, spring 13, bevel gear 16, second baffle 12 and screw rod 17,
Described first motor 15 is fixed by screws on the first baffle plate 11, and the rotary shaft of the first motor 15 is provided with pair of meshing
Bevel gear 16, one end of screw rod 17 is scheduled on bevel gear 16 by keying, and screw rod 17 rotates, spiral shell along with the rotation of bevel gear 16
The other end of bar 17 has external screw thread to match with the inner bolt hole on second baffle 12, it is possible to realize the function of lifting.First baffle plate
Being welded with four screw mandrels on 11, four screw mandrels surround a rectangle, and the central shaft of screw rod 17 is as the center of rectangle, four screw mandrels
On be cased with spring 13, second baffle 12 is opened four holes, corresponding with the position of four screw mandrels, second baffle can be at four sets
Have on four screw mandrels of spring 13 and make elevating movement.
Described direction regulation and longitudinal feed mechanism include first guide rail the 18, second guide rail 7, guide groove the 5, first bearing 20,
First supporting screw bolt and nut 19 and the second supporting screw bolt and nut 21, the bottom of described first bearing 20 is ghost,
Make screw rod 17 can put in the inside of the first bearing 20, on the top of the first bearing 20 by the second supporting screw bolt and nut
21 connect two connecting rods, wherein, the connecting rod of vertical direction are welded an earhole so that the first supporting screw bolt and nut 19
In bolt can be connected by one end of this earhole and the second guide rail 7, the other end of the second guide rail 7 is arranged on water by bolt
Square to connecting rod on, the first guide rail 18 is welded on the connecting rod of horizontal direction, the front end of guide groove 5 pass through bolt and the first bearing
The connecting rod of the horizontal direction on 20 tops connects, and is welded with a trundle in the position of end, and trundle can be led first
Rail 18 horizontally slips.
Described holding mechanism includes holding rod the 1, second bearing 23, guide groove wheel the 6, second motor the 2, the 3rd motor 3, plucks blade
4 and mechanical arm 22, the lower section of the second bearing 23 connects guide groove wheel 6, and the top of the second bearing 23 is bolted second
Motor 2, guide groove wheel 6 makees longitudinal advance or setback, the second bearing 23 rear along guide groove 5 under the driving of the second motor 2
Welding together with holding rod 1, the second bearing 23 front welds together with mechanical arm 22, and the end at mechanical arm 22 is provided with the 3rd
Motor 3 and harvesting blade 4, the 3rd motor 3 drives harvesting blade 4 to make it be operated.
Described lift locating device eustasy scope is 400mm～1100mm.
It is 800mm that described direction regulation and longitudinal feed mechanism feed greatest length, and the regulation angle of left and right is 80 degree,
The regulation angle of vertical direction is 120 degree.By the rotatable engagement of both direction, thus realize Folium Mori harvesting work.
Operation principle and process
By the universal wheel 10 of walking mechanism, front-wheel 9, the cooperation of universal wheel 10 and front-wheel 9 can control integrated model
Turn, be capable of walking and the turning motion of device by the promotion of holding mechanism.
The rotation of the rotational band dynamic bevel gear 16 of the first motor 15, so drive screw rod 17 rotation, on screw rod 17 outside
Screw thread cooperates with the inner bolt hole 14 on second baffle 12, makes second baffle 12 move when screw rod 17 rotates, meanwhile, the
One motor 15 has rotating function, it is possible to realize the up and down motion of second baffle 12, because screw thread has auto-lock function, when
Enable to second baffle 12 during one motor 15 stop motion fix in some position, thus carry out plucking operation, spring 13
It is enclosed within four pillars, it is possible to make the stress balance of second baffle 12, it is to avoid the over-tilting of second baffle 12 so that device
High-efficiency operation；People is held by holding rod 1 can promote the motion of whole device, can be regulated by direction and longitudinal feed mechanism again
Realize the swinging of mechanical arm 22, the swing of vertical direction, the motion of length feed motion these three.By the second motor 2 energy
Enough drive guide groove wheel, it is achieved lengthwise movement；Can be swung on the first guide rail 18 holding rod 1, it is achieved the left and right of mechanical arm 22
Oscillating motion；The connection of second guide rail 7, the first supporting screw bolt and nut 19 by being fixed on the first bearing 20 makes Mulberry
Leaf pluck cutter in the center of the screw bolt and nut 21 supporting with second as fulcrum, it is achieved vertical direction swing up and down fortune
Dynamic.Pluck blade 4 to be driven by the 3rd motor 3, carry out the harvesting work of Folium Mori
Using method:
First drive the 3rd motor 3, make harvesting blade 4 move, then drive the first motor 15, by the scene of plucking
Observation and by elevating mechanism is regulated Folium Mori pluck cutter working depth, people is held by holding rod 1, promotes whole machine
Structure moves, thus carries out plucking operation.Meanwhile, it is capable to by the first guide rail 18 and effect of the second guide rail 7, realize respectively
The oscillating motion of the left and right of mechanical arm 22 and upper and lower oscillating motion；Second motor 2 can drive guide groove wheel 6 to carry out longitudinal fortune
Move thus regulate Folium Mori and pluck advancing and the motion retreated of cutter, by the cooperation of mechanism, thus realize the complete of Folium Mori
The harvesting work in orientation.
Claims (4)
1. a multi-degree-of-freemechanical mechanical arm Folium Mori picker, regulates and longitudinal including walking mechanism, lift locating device, direction
Feed mechanism and holding mechanism, it is characterised in that concrete structure and annexation be:
Described walking mechanism includes universal wheel, front-wheel, Folium Mori collecting box and the first baffle plate, and described universal wheel is arranged on first gear
Below plate, front-wheel is arranged on the left and right sides of the first baffle plate, and Folium Mori collecting box is arranged on the front of the first baffle plate,
Described lift locating device includes that the first motor, bevel gear, second baffle and screw rod, described first motor are fixed on
On one baffle plate, bevel gear is arranged in the rotary shaft of the first motor, and one end of screw rod is scheduled on bevel gear by keying, screw rod
The other end has external screw thread to match with the inner bolt hole on second baffle,
The regulation of described direction and longitudinal feed mechanism include the first guide rail, the second guide rail, guide groove, the first bearing, first supporting
Screw bolt and nut, the second supporting screw bolt and nut, on described first rail welding connecting rod in the horizontal direction, vertical direction
Being welded an earhole on connecting rod, the bolt in the first supporting screw bolt and nut is by one end of earhole and the second guide rail even
Connecing, the other end of the second guide rail is arranged on the connecting rod of horizontal direction by bolt, and the front end of guide groove is by bolt and first
The connecting rod of the horizontal direction on seat top connects, and a trundle in the welding of the position of end, trundle can be led first
Horizontally slipping in rail, screw rod puts in the inside of the first bearing, and connecting rod is connected to first by the second supporting screw bolt and nut
The top of seat,
Described holding mechanism includes holding rod, the second bearing, guide groove wheel, the second motor, the 3rd motor, plucks blade and machinery
Arm, the lower section of described second bearing is connected to guide groove wheel, and the top of the second bearing is bolted the second motor, and guide groove is taken turns
Can make longitudinally to move forward and backward to move along guide groove under the driving of the second motor, holding rod be welded on the second bearing rear, machinery
Arm is welded on the second bearing front, and the end of mechanical arm is provided with the 3rd motor and plucks blade, and the 3rd motor drives picking knife
Sheet is operated.
Multi-degree-of-freemechanical mechanical arm Folium Mori picker the most according to claim 1, it is characterised in that: described lifting localization machine
Structure eustasy scope is 400mm～1100mm.
Multi-degree-of-freemechanical mechanical arm Folium Mori picker the most according to claim 1, it is characterised in that: described direction regulation
Feeding greatest length with longitudinal feed mechanism is 800mm, and the regulation angle of left and right is 80 degree, and the regulation angle of vertical direction is
120 degree.
Multi-degree-of-freemechanical mechanical arm Folium Mori picker the most according to claim 1, it is characterised in that: on described first baffle plate
Being welded with four screw mandrels, four screw mandrels surround a rectangle, four screw mandrels are cased with spring, and open four on second baffle
Hole, corresponding with the position of four screw mandrels so that second baffle can make elevating movement on four screw mandrels being cased with spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610626836.1A CN106233929B (en) | 2016-08-02 | 2016-08-02 | A kind of multi-degree-of-freemechanical mechanical arm mulberry leaf picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610626836.1A CN106233929B (en) | 2016-08-02 | 2016-08-02 | A kind of multi-degree-of-freemechanical mechanical arm mulberry leaf picker |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106233929A true CN106233929A (en) | 2016-12-21 |
| CN106233929B CN106233929B (en) | 2018-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610626836.1A Active CN106233929B (en) | 2016-08-02 | 2016-08-02 | A kind of multi-degree-of-freemechanical mechanical arm mulberry leaf picker |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106818057A (en) * | 2017-02-18 | 2017-06-13 | 许建芹 | A kind of intelligent vegetables picking robot |
| CN108077196A (en) * | 2018-02-01 | 2018-05-29 | 重庆京渝瑞基测控仪器仪表制造有限公司 | Intelligent sericulture Life cycle adds mulberry leaf machine automatically |
| CN108811758A (en) * | 2018-05-11 | 2018-11-16 | 哈尔滨理工大学 | A kind of novel more mechanical arm fruit collecting carts |
| CN108990536A (en) * | 2018-08-08 | 2018-12-14 | 安徽联丰制丝有限公司 | Mulberry leaf harvester |
| CN110089270A (en) * | 2019-06-19 | 2019-08-06 | 杨凌泓泰农业机械有限公司 | A kind of same rail vehicle and picking method for picking flatbed |
| CN110352703A (en) * | 2019-08-15 | 2019-10-22 | 成秀东 | A kind of Intelligentized mechanical harvesting apparatus |
| CN115530131A (en) * | 2022-07-26 | 2022-12-30 | 三峡大学 | Three-dimensional silkworm breeding and silkworm excrement separating device and method |
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| CN105340481A (en) * | 2015-11-10 | 2016-02-24 | 广西大学 | Multi-degree-of-freedom cutting machine |
| CN105432339A (en) * | 2015-12-24 | 2016-03-30 | 重庆市恒河农业科技有限公司 | Automatic pruning device for farm fruit trees |
| CN105580557A (en) * | 2016-03-09 | 2016-05-18 | 广西大学 | Banana picking mechanism |
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| AU2005201804A1 (en) * | 2004-04-29 | 2005-11-17 | Australian Banana Harvesting Company Pty Ltd | Method and Apparatus for Harvesting Bananas |
| CN204888026U (en) * | 2015-07-30 | 2015-12-23 | 李贺 | Vibrating matrimony vine collection system |
| CN105340481A (en) * | 2015-11-10 | 2016-02-24 | 广西大学 | Multi-degree-of-freedom cutting machine |
| CN105432339A (en) * | 2015-12-24 | 2016-03-30 | 重庆市恒河农业科技有限公司 | Automatic pruning device for farm fruit trees |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106818057A (en) * | 2017-02-18 | 2017-06-13 | 许建芹 | A kind of intelligent vegetables picking robot |
| CN106818057B (en) * | 2017-02-18 | 2019-01-11 | 南京香宁国际人工智能和智能制造研究院有限公司 | A kind of intelligence vegetables picking robot |
| CN108077196A (en) * | 2018-02-01 | 2018-05-29 | 重庆京渝瑞基测控仪器仪表制造有限公司 | Intelligent sericulture Life cycle adds mulberry leaf machine automatically |
| CN108077196B (en) * | 2018-02-01 | 2023-11-28 | 重庆京渝瑞基测控仪器仪表制造有限公司 | Intelligent automatic silkworm raising full life cycle adding Sang Sheji |
| CN108811758A (en) * | 2018-05-11 | 2018-11-16 | 哈尔滨理工大学 | A kind of novel more mechanical arm fruit collecting carts |
| CN108990536A (en) * | 2018-08-08 | 2018-12-14 | 安徽联丰制丝有限公司 | Mulberry leaf harvester |
| CN110089270A (en) * | 2019-06-19 | 2019-08-06 | 杨凌泓泰农业机械有限公司 | A kind of same rail vehicle and picking method for picking flatbed |
| CN110352703A (en) * | 2019-08-15 | 2019-10-22 | 成秀东 | A kind of Intelligentized mechanical harvesting apparatus |
| CN115530131A (en) * | 2022-07-26 | 2022-12-30 | 三峡大学 | Three-dimensional silkworm breeding and silkworm excrement separating device and method |
| CN115530131B (en) * | 2022-07-26 | 2023-10-27 | 三峡大学 | Three-dimensional silkworm rearing and silkworm excrement separating device and method |
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| Publication number | Publication date |
|---|---|
| CN106233929B (en) | 2018-04-10 |
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