CN106416607B - A kind of full-automatic corn palpus picking machine - Google Patents
A kind of full-automatic corn palpus picking machine Download PDFInfo
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- CN106416607B CN106416607B CN201610893293.XA CN201610893293A CN106416607B CN 106416607 B CN106416607 B CN 106416607B CN 201610893293 A CN201610893293 A CN 201610893293A CN 106416607 B CN106416607 B CN 106416607B
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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
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Breeding Of Plants And Reproduction By Means Of Culturing (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The present invention relates to medicinal materials to pick field, specifically a kind of full-automatic corn palpus picking machine, including mobile jib, bottom plate, mobile disk, support device, stripper unit and collection device；Bottom plate is fixed on mobile jib lower end；The front and rear sides of bottom plate are arranged in support device；The both ends of bottom plate are arranged in mobile disk, and mobile disk includes fixed column, hydraulic stem, jack back, spill spin block, pedestal and idler wheel；Pedestal is in star, is fixed on the lower end of fixed column, the salient angle of star pedestal can be inserted into the gap between plant；Hydraulic stem tail portion is connect with fixed column and jack back；Stripper unit includes support plate, sensor and grabbing device；Sensor and grabbing device are respectively provided on the supporting plate.The present invention realizes movement by the star chassis of two intermittent rotations, width by increasing robot base supporting surface increases the area of supporting surface, and then the stability of machine is increased, it is suitble to milpa at the spaced landform of plant in ridge and ridge, substantially increases picking efficiency.
Description
Technical field
The present invention relates to medicinal materials to pick field, and specifically a kind of full-automatic corn must picking machine.
Background technique
In Chinese medicine, corn stigma is also known as " Dracaena ", mild-natured, there is extensive prevention and health care purposes.The corn for keeping palpus is put
It boils in into pot, soup is poured out after ripe, be exactly " low grown oolong tea "." low grown oolong tea " mouthfeel is pretty good, drinks pleasantly sweet and economical real
Favour can do the health protection tea of the whole family.Hyperlipidemia, hypertension, hyperglycemia patient drink, can be with reducing blood lipid, blood pressure, blood glucose.Summer
Season summer heat weight, low grown oolong tea can cool the blood and purge heat, and can go intracorporal dampness and heat.It can also Li Shui, detumescence.In gynaecology side
Face, it can be used for preventing the diseases such as habitual abortion, the edema of pregnancy, alactation.Chinese medicine thinks that corn stigma, Gan Ping, energy Li Shui disappear
It is swollen, it expels the heat-evil, calming the liver and benefiting the lungs, moreover it is possible to which antiallergy treats ephritis, oedema, hepatitis, hypertension, cholecystitis, gall stone, diabetes, nose
Sinusitis, mazoitis etc..Corn stigma has diuresis to people, can increase chloride discharge rate, and diuresis is the outer property of kidney,
So having certain curative effect to oedema caused by a variety of causes, although it can be used for treating chronic nephritis or nephrosis is comprehensive
Sign, but effect is not too strong.Corn stigma has dilating effect to peripheral vessel, so there is weaker antihypertensive effect.Corn stigma can promote
It is drained into bile, so can be used as cholagogic for the not chronic cholecystitis of complication or the cholangitis of bile discharge obstacle.
Cooperate with the oriental wormwood of removing jaundice, jaundice caused by hepatitis can also be treated.
Corn stigma is either used as medicinal material or health care product to have a great value, and its it is common be easy to get, but at present
The mode that people pick corn stigma is all picked by hand, and the mode of picked by hand is relatively suitble to when demand is few, but works as demand
When measuring larger, the efficiency of picked by hand is too low, can not adapt to the demand of large-scale pharmaceutical factory, and needs to spend a large amount of labour,
The production efficiency of pharmaceutical factory is influenced, therefore is badly in need of designing the hand labour that a kind of intelligence machine replaces people.
Summary of the invention
For the problems of the prior art, the present invention provides a kind of full-automatic corn palpus picking machine, which passes through
Movement is realized on the star chassis of two intermittent rotations, is passed through and is increased the width of robot base supporting surface and increase the face of supporting surface
Product, and then the stability of machine is increased, milpa is very suitable into the spaced landform of plant in ridge and ridge, and human eye is copied to adopt
Same cluster corn stigma is positioned with two color sensors, accurate positioning is reliable, substantially increases picking efficiency and reduces
Manual labor.
The technical solution adopted by the present invention to solve the technical problems is: a kind of full-automatic corn palpus picking machine, including master
Bar, bottom plate, mobile disk, support device, stripper unit and collection device；The mobile jib is in the circular bar shape placed vertically；It is described
Bottom plate be rectangle, be fixed on mobile jib lower end in the middle part of bottom plate；The support device quantity is two, two support device difference
The front and rear sides of bottom plate are set.
The mobile disk quantity is two, and two mobile disks are separately positioned on the both ends of bottom plate, mobile disk include fixed column,
Hydraulic stem, jack back, spill spin block, pedestal and idler wheel；The fixed column is cylindrical, and fixed column upper end is welded under bottom plate
Side；The pedestal is in star, and the center of pedestal is fixed at the lower end of fixed column, and the salient angle of star pedestal can be inserted into corn
In gap between plant, to improve the width of robot base supporting surface to improve stability；The hydraulic stem tail portion is hinged
In fixed column, the quantity of hydraulic stem is identical as the star-shaped salient angle quantity of pedestal；The jack back is " T " shape, under jack back
End is hinged at the star-shaped salient angle of pedestal, and the right end of jack back is hinged on the stem of hydraulic stem, and hydraulic stem telescopic band shakes dynamic
The movement of bar right end, makes jack back left end move up and down；The spill spin block is fixed on a left side for jack back in cone, spill spin block
End, jack back movement drive spill spin block to move up and down；The idler wheel is arranged under the star-shaped salient angle of pedestal.
The stripper unit includes support plate, sensor and grabbing device；Mobile jib is fixed in the middle part of the support plate
Upper end；The sensor and grabbing device is respectively provided on the supporting plate.
The collection device is cylindrical, and collection device 7 is fixed in the middle part of mobile jib.
Preferably, the support device includes level-one bar, second level bar, spring and support wheel, and support device is for preventing
Machine front-rear direction inclination and it is unstable；Described level-one bar one end is fixed in the middle part of bottom plate；Described second level bar one end and level-one
The other end of bar is hinged, and the other end of second level bar is connect with support wheel；The spring one end is connected to the lower part of level-one bar, and
The other end of spring is connected to the lower part of second level bar.
Preferably, the grabbing device is open loop type sixdegree-of-freedom simulation.
Preferably, the sensor is color sensor, and the two sides of grabbing device are arranged in sensor.
The beneficial effects of the present invention are:
(1) a kind of full-automatic corn of the invention palpus picking machine, the picking machine pass through the star bottom of two intermittent rotations
Disk realizes movement, and the width by increasing robot base supporting surface increases the area of supporting surface, and then increases the steady of machine
Degree, is very suitable to milpa into the spaced landform of plant in ridge and ridge；
(3) a kind of full-automatic corn of the invention palpus picking machine, the picking machine utilize corn stigma color and plant face
The different feature of color, using color sensor come mapping maize palpus, positioning result is reliable；
(4) a kind of full-automatic corn of the invention palpus picking machine, the picking machine copy human eye using two color sensors
Same cluster corn stigma is positioned, accurate positioning, and picked using the sixdegree-of-freedom simulation of open loop, is not in adopt
Pluck dead angle；
(5) a kind of full-automatic corn of the invention palpus picking machine, replaces traditional manpower to adopt using full automatic machinery
Mode is plucked, picking efficiency is substantially increased and reduces manual labor, there is apparent progress.
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 the schematic perspective view of mobile disk；
Fig. 3 is the top view of mobile disk；
Fig. 4 is the schematic perspective view of stripper unit；
In figure: 1- mobile jib, 2- bottom plate, 3- mobile disk, 4- support device, 5- stripper unit, 6- collection device, 31- are fixed
Column, 32- hydraulic stem, 33- jack back, 34- spill spin block, 35- pedestal, 36- idler wheel, 41- level-one bar, 42- second level bar, 43- spring,
44- support wheel, 51- support plate, 52- sensor, 53- grabbing device.
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.
Such as Fig. 1, a kind of full-automatic corn palpus picking machine of the present embodiment, including mobile jib 1, bottom plate 2, mobile disk 3, support dress
Set 4, stripper unit 5 and collection device 6；The mobile jib 1 is in the circular bar shape placed vertically；The bottom plate 2 is rectangle, bottom
1 lower end of mobile jib is fixed in the middle part of plate 2；4 quantity of support device is two, and two support devices 4 are separately positioned on bottom plate 2
Front and rear sides.
Such as Fig. 2, Fig. 3,3 quantity of mobile disk is two, and two mobile disks 3 are separately positioned on the both ends of bottom plate 2, mobile
Disk 3 includes fixed column 31, hydraulic stem 32, jack back 33, spill spin block 34, pedestal 35 and idler wheel 36；The fixed column 31 is in circle
Cylindricality, 31 upper end of fixed column are welded on 2 lower section of bottom plate；The pedestal 35 is in star, and the center of pedestal 35 is fixed at
The salient angle of the lower end of fixed column 31, star pedestal 35 can be inserted into the gap between plant, to improve robot base support
The width in face improves stability；32 tail portion of hydraulic stem is hinged in fixed column 31, the quantity and pedestal 35 of hydraulic stem 32
Star-shaped salient angle quantity is identical；The jack back 33 is " T " shape, and 33 lower end of jack back is hinged on the star-shaped salient angle of pedestal 35
Place, and the right end of jack back 33 is hinged on the stem of hydraulic stem 32,32 telescopic band of hydraulic stem shakes the movement of 33 right end of lever, makes to shake
33 left end of lever moves up and down；The spill spin block 34 is fixed on the left end of jack back 33, jack back in cone, spill spin block 34
33 movements drive spill spin block 34 to move up and down；The idler wheel 36 is arranged under the star-shaped salient angle of pedestal 35.
Such as Fig. 1, Fig. 4, the stripper unit 5 includes support plate 51, sensor 52 and grabbing device 53；The support
The upper end of mobile jib 1 is fixed in the middle part of plate 51；The sensor 52 and grabbing device 53 is arranged in support plate 51；Described
Grabbing device 53 is open loop type sixdegree-of-freedom simulation；The sensor 52 is color sensor, and the setting of sensor 52 exists
The two sides of grabbing device 53.
Such as Fig. 1, the collection device 6 is cylindrical, and collection device is fixed on 1 middle part of mobile jib.
Such as Fig. 1, the support device 4 includes level-one bar 41, second level bar 42, spring 43 and support wheel 44, support device 4
It is unstable for preventing machine front-rear direction from tilting；Described 41 one end of level-one bar is fixed on 2 middle part of bottom plate；The second level bar
42 one end and the other end of level-one bar 41 are hinged, and the other end of second level bar 42 is connect with support wheel 44；Described 43 one end of spring
It is connected to the lower part of level-one bar 41, and the other end of spring 43 is connected to the lower part of second level bar 42.
The machine at work, is placed in two adjacent ridge corns by a kind of full-automatic corn palpus picking machine of the present embodiment
Between, two mobile disks 3 rotate in a reverse direction, and the phase on same ridge is inserted into the outermost star salient angle of both sides mobile disk 3
After between adjacent two corns, the sensor 52 in stripper unit 5 is different with the color of cornstalk according to corn stigma, by adjacent both sides
Corn stigma positioning, and be put into collection device 6 after being picked by grabbing device 53；The corn stigma adjacent to two sides has been picked
Finish, the hydraulic stem 32 in the star salient angle in outside extends, and moves down 33 front end of jack back, and then bore spill spin block 34
Enter underground, other hydraulic stems 32 remain retracted state, and two mobile disks 3 continue to rotate, and make the next of 3 outside of both sides mobile disk
Star salient angle is inserted between adjacent two corns on same ridge, and stripper unit 5 is started to work, and is repeated in, until machine is mobile
To the field other end.
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 (1)
1. a kind of full-automatic corn palpus picking machine, it is characterised in that: including mobile jib (1), bottom plate (2), mobile disk (3), support dress
Set (4), stripper unit (5) and collection device (6)；The mobile jib (1) is in the circular bar shape placed vertically；The bottom plate (2)
It is rectangle, is fixed on mobile jib (1) lower end in the middle part of bottom plate (2)；Support device (4) quantity is two, two support devices
(4) front and rear sides of bottom plate (2) are separately positioned on；
Mobile disk (3) quantity is two, and two mobile disks (3) are separately positioned on the both ends of bottom plate (2), mobile disk (3) packet
Include fixed column (31), hydraulic stem (32), jack back (33), spill spin block (34), pedestal (35) and idler wheel (36)；The fixed column
(31) cylindrical, fixed column (31) upper end is welded below bottom plate (2)；The pedestal (35) is in star, pedestal (35)
Center is fixed at the lower end of fixed column (31)；Described hydraulic stem (32) tail portion is hinged on fixed column (31), hydraulic stem
(32) quantity is identical as the star-shaped salient angle quantity of pedestal (35)；The jack back (33) is " T " shape, jack back (33) lower end
It is hinged at pedestal (35) star-shaped salient angle, and the right end of jack back (33) is hinged on the stem of hydraulic stem (32)；The rotation
Switch block (34) is fixed on the left end of jack back (33) in cone, spill spin block (34)；The idler wheel (36) is arranged in pedestal
(35) under star-shaped salient angle；
The stripper unit (5) includes support plate (51), sensor (52) and grabbing device (53)；The support plate (51)
Middle part is fixed on the upper end of mobile jib (1)；The sensor (52) and grabbing device (53) is arranged on support plate (51)；
The collection device (6) is cylindrical, and collection device (6) is fixed in the middle part of mobile jib (1)；
The support device (4) includes level-one bar (41), second level bar (42), spring (43) and support wheel (44)；Described one
Grade bar (41) one end is fixed in the middle part of bottom plate (2)；Described second level bar (42) one end and the other end of level-one bar (41) are hinged, and two
The other end of grade bar (42) is connect with support wheel (44)；Described spring (43) one end is connected to the lower part of level-one bar (41), and
The other end of spring (43) is connected to the lower part of second level bar (42)；
The grabbing device (53) is open loop type sixdegree-of-freedom simulation；
The sensor (52) is color sensor, and sensor (52) setting is in the two sides of grabbing device (53)；
When work, which being placed between two adjacent ridge corns, two mobile disks (3) rotate in a reverse direction, to
Biography after the outermost star salient angle of both sides mobile disk (3) is inserted between adjacent two corns on same ridge, in stripper unit (5)
Sensor (52) is different with the color of cornstalk according to corn stigma, the corn stigma on adjacent both sides is positioned, and by grabbing device (53)
It is put into after being picked in collection device (6)；The corn stigma picking adjacent to two sides finishes, in the star salient angle in outside
Hydraulic stem (32) elongation, moves down jack back (33) front end, and then spill spin block (34) is made to pierce underground, other hydraulic stems
(32) state is remained retracted, two mobile disks (3) continue to rotate, and insert next star salient angle on the outside of both sides mobile disk (3)
Enter between adjacent two corns on same ridge, stripper unit (5) is started to work, and is repeated in, until to be moved to field another for machine
One end.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015108147668 | 2015-11-21 | ||
| CN201510814766 | 2015-11-21 |
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| Publication Number | Publication Date |
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| CN106416607A CN106416607A (en) | 2017-02-22 |
| CN106416607B true CN106416607B (en) | 2019-07-02 |
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| CN201610893293.XA Active CN106416607B (en) | 2015-11-21 | 2016-10-13 | A kind of full-automatic corn palpus picking machine |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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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| 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
- 2016-10-13 CN CN201610893293.XA patent/CN106416607B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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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| CN106416607A (en) | 2017-02-22 |
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