CN106416607A - Full-automatic corn stigma picking machine - Google Patents
Full-automatic corn stigma picking machine Download PDFInfo
- Publication number
- CN106416607A CN106416607A CN201610893293.XA CN201610893293A CN106416607A CN 106416607 A CN106416607 A CN 106416607A CN 201610893293 A CN201610893293 A CN 201610893293A CN 106416607 A CN106416607 A CN 106416607A
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- Prior art keywords
- full
- base
- star
- base plate
- picking
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/02—Harvesting of standing crops of maize, i.e. kernel harvesting
- A01D45/021—Cornheaders
Abstract
The invention relates to the field of medicinal material picking and particularly relates to a full-automatic corn stigma picking machine. The full-automatic corn stigma picking machine comprises a main rod, base plates, moving plates, support devices, a picking device and a collecting device, wherein the base plates are fixed at the lower end of the main rod; the support devices are arranged on front and rear sides of the base plates; the moving plates are arranged at the two ends of the base plates; each of the moving plates comprises a fixing column, a hydraulic rod, a rocking rod, a rotating block, a base and an idler wheel; the base plates are of star shape and are fixed at the lower end of the fixing column; convex angles of the star-shaped base plates can be inserted into the gaps between the corn plants; the tail part of the hydraulic rod is connected with the fixing column and the rocking rod; the picking device comprises a support plate, a sensor and a grasping device; the sensor and the grasping device are both arranged on the support plate. The full-automatic corn stigma picking machine is moved by two intermittently rotating star-shaped base plates; the area of the support surface is increased by increasing the width of the support surface at the bottom of the machine, so that the machine stability is promoted; the full-automatic corn stigma picking machine is suitable for the terrain of ridged corn field and spaced plants in the ridge; the picking efficiency is greatly improved.
Description
Technical field
The present invention relates to field plucked by medical material, specifically a kind of full-automatic corn must picking machine.
Background technology
In Chinese medicine, Stigma Maydis are also known as " dragon ", mild-natured, have extensive prevention and health care purposes.The Semen Maydiss for keeping palpus are put
Enter in pot and boil, ripe after soup is poured out, be exactly " dragon beard tea "." dragon beard tea " mouthfeel is pretty good, drinks pleasantly sweet and economical real
Favour, can do the health tea of the whole family.Hyperlipidemia, hypertension, the patient of hyperglycemia drink, can be with blood fat reducing, blood pressure, blood glucose.Summer
Season summer heat weight, dragon beard tea has functions that removing heat from blood, purges heat, and can remove internal damp and hot gas.It can also diuretic, detumescence.In gynecological side
Face, it can be used to prevent the diseases such as habitual abortion, edema and distension during pregnancy, galactostasiss.The traditional Chinese medical science thinks Stigma Maydis, Gan Ping, can diuretic disappear
Swollen, expel the heat-evil, suppressing the hyperactive liver function of gallbladder promoting, moreover it is possible to antiallergic, treatment nephritis, edema, hepatitis, hypertension, cholecystitis, cholelithiasis, diabetes, nose
Sinusitis, mastitis etc..Stigma Maydis have diuresis to people, can increase chloride output, and its diuresis is the outer property of kidney,
So have certain curative effect to the edema that a variety of causes causes, although it can be used for treating chronic nephritiss or nephropathy synthesis
Levy, but effect is not too strong.Stigma Maydis have dilating effect to peripheral vessel, so there is weaker hypotensive effect.Stigma Maydis can promote
Enter bile excretion, so the cholangitis that the chronic cholecystitiss without complication or bile discharge obstacle can be used for as choleretic.
Coordinate with the Herba Artemisiae Scopariae of jaundice eliminating, the jaundice that hepatitis causes can also be treated.
Stigma Maydis either have great value as medical material or health product, and its common be easy to get, but at present
People pluck the mode of Stigma Maydis and are all picked by hand, and the mode of picked by hand is relatively suitable for when demand is few, but works as demand
When measuring larger, the efficiency of picked by hand is too low, it is impossible to adapts to the demand of large-scale pharmaceutical factory, and needs to spend substantial amounts of labour force,
The production efficiency of impact pharmaceutical factory, is therefore badly in need of the manual labour that a kind of intelligent machine of design replaces people.
Content of the invention
For the problems of the prior art, the invention provides a kind of full-automatic corn must picking machine, the picking machine passes through
The star chassis of two batch (-type)s rotation increases the face of supporting surface realizing movement by increasing the width of robot base supporting surface
Product, and then the stability of machine is increased, it is especially suitable for milpa and becomes the spaced landform of plant in ridge and ridge, and copies human eye to adopt
With two color sensors, same cluster Stigma Maydis are positioned, accurate positioning reliability, substantially increase picking efficiency and reduce
Manual labor.
The technical solution adopted for the present invention to solve the technical problems is：A kind of full-automatic corn palpus picking machine, including master
Bar, base plate, mobile dish, support meanss, stripper unit and collection device；Described mobile jib is in the circular bar shape that vertically places；Described
Base plate be rectangle, be fixed on mobile jib lower end in the middle part of base plate；Described support meanss quantity is two, and two support meanss are respectively
It is arranged on the both sides in front and back of base plate.
Described mobile dish quantity be two, two mobile dish are separately positioned on the two ends of base plate, mobile dish include fixed column,
Hydraulic stem, jack back, spill spin block, base and roller；Described fixed column is in cylinder, and fixed column upper end is welded under base plate
Side；Described base is in star, and the center of base is fixedly installed on the lower end of fixed column, and the salient angle of star base can insert Semen Maydiss
In gap between plant, stability is improved so as to improve the width of robot base supporting surface；Described hydraulic stem afterbody is hinged
In fixed column, the quantity of hydraulic stem is identical with the salient angle quantity of base star；Described jack back is " T " shape, under jack back
End is hinged at the salient angle of base star, and the right-hand member of jack back is hinged on the stem of hydraulic stem, and hydraulic stem telescopic band shakes dynamic
Bar right-hand member moves, and so that jack back left end is moved up and down；Described spill spin block is fixed on a left side for jack back in cone, spill spin block
End, jack back motion is rotated block up and down motion；Described roller is arranged under the salient angle of base star.
Described stripper unit includes gripper shoe, sensor and grabbing device；Mobile jib is fixed in the middle part of described gripper shoe
Upper end；Described sensor and grabbing device are respectively provided with the supporting plate.
Described collection device is cylindrical, and collection device 7 is fixed in the middle part of mobile jib.
Preferably, described support meanss include one-level bar, two grades of bars, spring and support wheel, and support meanss are used for preventing
Machine fore-and-aft direction incline and unstable；Described one-level bar one end is fixed in the middle part of base plate；Two grades of described bar one end and one-level
The other end of bar is hinged, and the other end of two grades of bars is connected with support wheel；Described spring one end is connected to the bottom of one-level bar, and
The other end of spring is connected to the bottom of two grades of bars.
Preferably, described grabbing device is open loop type sixdegree-of-freedom simulation.
Preferably, described sensor is color sensor, and sensor is arranged on the both sides of grabbing device.
The invention has the beneficial effects as follows：
（1）A kind of full-automatic corn of the present invention must picking machine, the star chassis that the picking machine is rotated by two batch (-type)s come
Movement is realized, the area of the width increase supporting surface by increasing robot base supporting surface, and then the stability of machine is increased, non-
Often it is suitable for milpa and becomes the spaced landform of plant in ridge and ridge；
（3）A kind of full-automatic corn palpus picking machine of the present invention, the picking machine is using Stigma Maydis color with milpa color not
Same feature, using color sensor come mapping maize palpus, positioning result reliability；
（4）A kind of full-automatic corn palpus picking machine of the present invention, the picking machine copies human eye using two color sensors to same
Cluster Stigma Maydis are positioned, accurate positioning, and are plucked using the sixdegree-of-freedom simulation of open loop, are not in pluck extremely
Angle；
（5）A kind of full-automatic corn palpus picking machine of the present invention, replaces traditional manpower harvesting side using full automatic machinery
Formula, substantially increases picking efficiency and reduces manual labor, with significantly progressive.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view of mobile dish；
Fig. 3 is the top view of mobile dish；
Fig. 4 is the perspective view of stripper unit；
In figure：1- mobile jib, 2- base plate, 3- mobile dish, 4- support meanss, 5- stripper unit, 6- collection device, 31- fixed column,
32- hydraulic stem, 33- jack back, 34- spill spin block, 35- base, 36- roller, 41- one-level bar, bis- grades of bars of 42-, 43- spring, 44-
Support wheel, 51- gripper shoe, 52- sensor, 53- grabbing device.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
As Fig. 1, a kind of full-automatic corn palpus picking machine of the present embodiment, including mobile jib 1, base plate 2, mobile dish 3, dress is supported
Put 4, stripper unit 5 and collection device 6；Described mobile jib 1 is in the circular bar shape that vertically places；Described base plate 2 is rectangle, bottom
2 middle part of plate is fixed on 1 lower end of mobile jib；Described 4 quantity of support meanss is two, and two support meanss 4 are separately positioned on base plate 2
Both sides in front and back.
As Fig. 2, Fig. 3, described 3 quantity of mobile dish is two, and two mobile dish 3 are separately positioned on the two ends of base plate 2, mobile
Disk 3 includes fixed column 31, hydraulic stem 32, jack back 33, spill spin block 34, base 35 and roller 36；Described fixed column 31 is in circle
Cylindricality, 31 upper end of fixed column is welded on 2 lower section of base plate；Described base 35 is in star, and the center of base 35 is fixedly installed on
The lower end of fixed column 31, the salient angle of star base 35 can be inserted in the gap between milpa, so as to improve robot base support
The width in face is improving stability；Described 32 afterbody of hydraulic stem is hinged in fixed column 31, the quantity of hydraulic stem 32 and base 35
The salient angle quantity of star is identical；Described jack back 33 is " T " shape, and 33 lower end of jack back is hinged on the salient angle of 35 star of base
Place, and the right-hand member of jack back 33 is hinged on the stem of hydraulic stem 32,33 telescopic band of hydraulic stem shakes the motion of 32 right-hand member of lever, makes to shake
32 left end of lever moves up and down；Described spill spin block 34 is fixed on the left end of jack back 33, jack back in cone, spill spin block 34
32 motions are rotated block 34 and move up and down；Described roller 36 is arranged under the salient angle of 35 star of base.
As Fig. 1, Fig. 4, described stripper unit 5 includes gripper shoe 51, sensor 52 and grabbing device 53；Described support
51 middle part of plate is fixed on the upper end of mobile jib 1；Described sensor 52 and grabbing device 53 are arranged in gripper shoe 51；Described
Grabbing device 53 is open loop type sixdegree-of-freedom simulation；Described sensor 52 is color sensor, and sensor 52 is arranged on
The both sides of grabbing device 53.
As Fig. 1, described collection device 6 is cylindrical, and collection device is fixed on 1 middle part of mobile jib.
Such as Fig. 1, described support meanss 4 include 41, two grades of bars 42 of one-level bar, spring 43 and support wheel 44, support meanss 4
Unstable for preventing machine fore-and-aft direction from inclining；Described 41 one end of one-level bar is fixed on 2 middle part of base plate；Two grades of described bars
42 one end are hinged with the other end of one-level bar 41, and the other end of two grades of bars 42 is connected with support wheel 44；Described 43 one end of spring
The bottom of one-level bar 41 is connected to, and the other end of spring 43 is connected to the bottom of two grades of bars 42.
A kind of full-automatic corn palpus picking machine of the present embodiment operationally, the machine is positioned over two adjacent ridge Semen Maydiss
Between, two mobile dish 3 rotate in a reverse direction, treat that the outermost star salient angle of both sides mobile dish 3 inserts the phase on same ridge
After between adjacent two Semen Maydiss, the sensor 52 in stripper unit 5 is different with the color of corn stalk according to Stigma Maydis, by adjacent both sides
Stigma Maydis positioning, and be put in collection device 6 after being plucked by grabbing device 53；Treat that the adjacent Stigma Maydis in both sides have been plucked
Finish, the hydraulic stem 32 in the star salient angle in outside extends, and moves down 33 front end of jack back, and then bores spill spin block 34
Enter underground, other hydraulic stems 32 remain retracted state, two mobile dish 3 are rotated further, make the next one in 3 outside of both sides mobile dish
Star salient angle is inserted between adjacent two Semen Maydiss on same ridge, and stripper unit 5 is started working, and is repeated in, until machine movement
To the field other end.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not restricted to the described embodiments, the simply explanation present invention of the description in above-mentioned embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these change and
Improvement is both fallen within the scope of protection of present invention.The claimed scope of the invention is by appending claims and its equivalent
Thing is defined.
Claims (4)
1. a kind of full-automatic corn must picking machine, it is characterised in that：Including mobile jib (1), base plate (2), mobile dish (3), support dress
Put (4), stripper unit (5) and collection device (6)；Described mobile jib (1) is in the circular bar shape that vertically places；Described base plate (2)
It is rectangle, in the middle part of base plate (2), is fixed on mobile jib (1) lower end；Described support meanss (4) quantity is two, two support meanss
(4) both sides in front and back of base plate (2) are separately positioned on；
Described mobile dish (3) quantity is two, and two mobile dish (3) are separately positioned on the two ends of base plate (2), and mobile dish (3) are wrapped
Include fixed column (31), hydraulic stem (32), jack back (33), spill spin block (34), base (35) and roller (36)；Described fixed column
(31) in cylinder, fixed column (31) upper end is welded on below base plate (2)；Described base (35) is in star, base (35)
Center is fixedly installed on the lower end of fixed column (31)；Described hydraulic stem (32) afterbody is hinged in fixed column (31), hydraulic stem
(32) quantity is identical with the salient angle quantity of base (35) star；Described jack back (33) is " T " shape, jack back (33) lower end
It is hinged at the salient angle of base (35) star, and the right-hand member of jack back (33) is hinged on the stem of hydraulic stem (32)；Described rotation
Switch block (34) is fixed on the left end of jack back (33) in cone, spill spin block (34)；Described roller (36) is arranged on base
(35) under the salient angle of star；
Described stripper unit (5) includes gripper shoe (51), sensor (52) and grabbing device (53)；Described gripper shoe (51)
Middle part is fixed on the upper end of mobile jib (1)；Described sensor (52) and grabbing device (53) are arranged in gripper shoe (51)；
Described collection device (6) is cylindrical, and collection device (6) is fixed in the middle part of mobile jib (1).
2. a kind of full-automatic corn according to claim 1 must picking machine, it is characterised in that：Described support meanss (4)
Including one-level bar (41), two grades of bars (42), spring (43) and support wheel (44)；Described one-level bar (41) one end is fixed on base plate
(2) in the middle part of；Two grades of described bar (42) one end are hinged with the other end of one-level bar (41), the other end of two grades of bars (42) and support
Wheel (44) connection；Described spring (43) one end is connected to the bottom of one-level bar (41), and the other end of spring (43) is connected to
The bottom of two grades of bars (42).
3. a kind of full-automatic corn according to claim 1 must picking machine, it is characterised in that：Described grabbing device (53)
For open loop type sixdegree-of-freedom simulation.
4. a kind of full-automatic corn according to claim 1 or 3 must picking machine, it is characterised in that：Described sensor
(52) it is color sensor, and sensor (52) is arranged on the both sides of grabbing device (53).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015108147668 | 2015-11-21 | ||
| CN201510814766 | 2015-11-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106416607A true CN106416607A (en) | 2017-02-22 |
| CN106416607B CN106416607B (en) | 2019-07-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610893293.XA Active CN106416607B (en) | 2015-11-21 | 2016-10-13 | A kind of full-automatic corn palpus picking machine |
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| CN (1) | CN106416607B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860677A (en) * | 2018-07-09 | 2018-11-23 | 芜湖康奇制药有限公司 | A kind of ampoule bottle sealing clamp system |
| CN109618654A (en) * | 2017-03-01 | 2019-04-16 | 青岛开疆拓土农业装备科技有限公司 | A kind of Intelligent agricultural machinery corn harvesting corn must separate cropper |
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| CN102363073A (en) * | 2011-11-17 | 2012-02-29 | 中国科学院深圳先进技术研究院 | Badminton partner training robot mechanism |
| CN103831833A (en) * | 2012-11-27 | 2014-06-04 | 重庆友武科技有限公司 | Picking robot visual processing system |
| CN203646084U (en) * | 2013-12-12 | 2014-06-18 | 刘静 | Intelligent and multifunctional operating vehicle |
| CN204654302U (en) * | 2015-05-19 | 2015-09-23 | 敖链 | A kind of office chair with synchronous reclining function |
| CN104956850A (en) * | 2015-08-05 | 2015-10-07 | 张永清 | Honeysuckle picking robot |
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2016
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| JPS61104039U (en) * | 1984-12-11 | 1986-07-02 | ||
| CN2489930Y (en) * | 2001-06-06 | 2002-05-08 | 自贡市挚友电器有限公司 | Robot able to picking fruit |
| CN102363073A (en) * | 2011-11-17 | 2012-02-29 | 中国科学院深圳先进技术研究院 | Badminton partner training robot mechanism |
| CN103831833A (en) * | 2012-11-27 | 2014-06-04 | 重庆友武科技有限公司 | Picking robot visual processing system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109618654A (en) * | 2017-03-01 | 2019-04-16 | 青岛开疆拓土农业装备科技有限公司 | A kind of Intelligent agricultural machinery corn harvesting corn must separate cropper |
| CN109618653A (en) * | 2017-03-01 | 2019-04-16 | 青岛开疆拓土农业装备科技有限公司 | A kind of Intelligent agricultural machinery corn picker |
| CN109618654B (en) * | 2017-03-01 | 2021-06-08 | 青岛开疆拓土农业装备科技有限公司 | Intelligent agricultural machine corn harvesting and corn stigma separating harvester |
| CN109618653B (en) * | 2017-03-01 | 2021-07-30 | 南京溧水高新产业股权投资有限公司 | Intelligent agricultural machine corn harvester |
| CN108860677A (en) * | 2018-07-09 | 2018-11-23 | 芜湖康奇制药有限公司 | A kind of ampoule bottle sealing clamp system |
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| CN106416607B (en) | 2019-07-02 |
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Effective date of registration: 20201222 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 202, building C, huayuanxincun business building, Meiling street, Jinjiang City, Quanzhou City, Fujian Province Patentee before: QUANZHOU ZHICHAN MAOYE INDUSTRIAL DESIGN Co.,Ltd. |
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Effective date of registration: 20211013 Address after: 246000 Wuchang Wei, Wuchang village, Gaoshi Town, Wangjiang County, Anqing City, Anhui Province Patentee after: Wangjiang NongWang Modern Agricultural Comprehensive Service 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 |