CN106489418B - A kind of arrowhead automatic harvester device people and its electrical control system - Google Patents
A kind of arrowhead automatic harvester device people and its electrical control system Download PDFInfo
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- CN106489418B CN106489418B CN201610917168.8A CN201610917168A CN106489418B CN 106489418 B CN106489418 B CN 106489418B CN 201610917168 A CN201610917168 A CN 201610917168A CN 106489418 B CN106489418 B CN 106489418B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/70—Harvesting
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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Abstract
The present invention relates to agricultural mechanical field, specifically a kind of arrowhead automatic harvester device people and its electrical control system, automatic harvester main body include pulling attachment, cleaning device, cut device, support device, walking mechanism, propeller and PLC controller；The cleaning device includes belt conveyor, defeated mud plate, stay tube frame, nozzle, water pump, No.1 water pipe, No. two water pipes, sieve and solenoid valve；The cut device includes fixed frame, No.1 demarcation plate, camera, cut cylinder, blade, collection flitch and No. two demarcation plates；The support device includes top plate and bottom plate and air bag；The electrical control system includes programmable controller, air pressure unit, hydraulic pressure unit, servo motor unit and servo controller；The present invention can be realized amphibious movement；And the present invention can be realized to arrowhead automatically choose, automatically cleaning, the separation to arrowhead bulb and arrowhead main body, high degree of automation improve work efficiency automatically.
Description
Technical field
The present invention relates to agricultural mechanical field, specifically a kind of arrowhead automatic harvester device people and its electricity control system
System.
Background technique
Arrowhead, alias: arrowhead, Herba Passiflorae Cupiformis, Bai Dili, Herba Passiflorae Cupiformis, Ya Gudeng section belong to: Alismataceae, arrowhead category, Araeceae
Herbal plant classification: perennial emergent aquactic plant is the first-class treasure in nuisanceless green health food.Chinese medicine thinks arrowhead nature and flavor
Gan Ping, promoting production of body fluid and nourishing the lung, tonifying middle-Jiao and Qi have unique curative effect to diseases such as internal lesion caused by overexertion, cough and asthmas.The arrowhead annual Limit of Heat starts to plant, the spring on New Year's Day
Harvest listing during section, fill a vacancy one of vegetable species for Winter-Spring, nutritive value is higher, main ingredient be starch, protein and
Multivitamin has adjusting to promote human muscle energy rich in micro no element needed for the various actives object such as iron, calcium, zinc, phosphorus, boron
Effect has preferable medical value.
Arrowhead is originating in China.Plant is about 1 meter high.Leaf halberd shape, it is 25~40 centimetres long, it is 10~20 centimetres wide, it is root leaf, tool
Long handle.Shortening stem, autumn between each axil to underground four sides obliquely downward pumping stolon, it is 40~60 centimetres long, thick 1 centimetre, often
10 racemosus of strain.Top the raw bulb expanded, it is 3~5 centimetres high, it is 3~4 centimetres of transverse diameter, spherical in shape or oval, have 2~3 links.
Terminal bud point mouth shape.Plant grow up from 1~2, axil pumping bennet.Raceme, diclinism.Each 3 pieces of calyx, petal, stamen
Majority, female flower carpel is most, integrates spherical shape.Achene.Chromosome number 2n=22.Erect plants, high 50-100cm.Stolon, it is long
40-60cm, every plant has more than 10 stolons.Stolon buries about 25cm, the depth of burying, and climate influences.Temperature is higher, crawls
Stem top is scurried out mud face, and foliation is taken root as plant division；Mercury dropped, stolon are grown to depths, and end accumulates nutrient and forms ball
Stem.
Arrowhead is mainly grown on the shallow water Tanaka of the various waters surface in land, and property happiness is warm, is bred with terminal bud.15 DEG C of temperature
Shi Mengya is taken root；Planting phase and cauline leaf growth period thermophilic is 25 DEG C of daytime, 15 DEG C of night；Formation of corm phase thermophilic is 10~20
℃.Day and night temperature is big, and sunshine is good, advantageous bulb development.Bulb, which is expanded certainly to maturation, about to be needed 25~40 days.Ball is cut when cultivation
Stem maturation, stout and strong terminal bud, carry out cuttage and seedling culture.Crop field is colonized when 3~4 leaves of seedling.40 × 40 centimetres of seeding row spacing, mu is planted about
4000 plants.Breeding time leaf-area coefficient controls between 1~1.5.Nitrogen Top Dressing when young leaves, stolon pumping；Before expansion of corms
Increase phosphorus, potash fertilizer.It extracts strong yellow leaf and maintains the corresponding advantageous nutrient accumulation of water layer.
In the prior art, it there has been no and a kind of chosen, cleaned and the amphibious receipts of integration of cut specifically for arrowhead
Machine is obtained, above-mentioned steps often use manual operation, time-consuming and laborious.
Summary of the invention
In order to make up for the deficiencies of the prior art, it the present invention provides a kind of arrowhead automatic harvester device people, can be realized
The amphibious movement in water route, and can be chosen automatically in shallow water field or Vlei to arrowhead, clean automatically, make arrowhead bulb automatically
It is separated with arrowhead main body, high degree of automation, compensates for and caused by worker operation above-mentioned steps time-consuming and laborious, production efficiency is low
Defect.
The technical solution adopted by the present invention to solve the technical problems is: a kind of arrowhead automatic harvester device people, including pulls out
Take device, cleaning device, cut device, support device, walking mechanism, propeller and PLC controller；The pulling attachment position
In support device left end, the cleaning device is located in the middle part of support device, and the cut device is located at support device right end,
The walking mechanism is located at support device surrounding, and the propeller is located at support device right end, and PLC controller is mounted on branch
On support arrangement, PLC controller is electronic in pulling attachment, cleaning device, cut device, support device and walking mechanism for controlling
The automatic job of equipment, pneumatic equipment and sensor etc., in which:
The pulling attachment generally transmits chain structure, and the conveyer chain is made of each strip carrier bar, described
Conveyer chain gradually tilts upward arrangement along support device left and right directions from left to right, and the conveyer chain left end is located at support dress
The left end front lower place set, the conveyer chain right end are located above the left part of support device；
It is all evenly arranged with cylinder on each carrier bar of the conveyer chain to choose bar, bar main shaft and the corresponding carrier bar of choosing
End face is vertical, and distance is 2cm between two neighboring bar of choosing；
Every row on each carrier bar of conveyer chain bar of choosing includes No.1 dead man and No. two dead mans, No.1 dead man and No. two dead mans
Interlaced arrangement is disposed with a No.1 dead man between No. two dead mans of every two side by side, and the height of No. two dead mans is one
Three times of number dead man；
The conveyer chain right end is disposed with one piece of flat baffle along support device front-rear direction vertically from back to front, and described
Baffle upper end be provided with strip barrier item, each barrier item is located across on the carrier bar of conveyer chain right end bar of respectively choosing
Between；
The conveyer chain right end connects external motive device；
The cleaning device includes belt conveyor, and defeated mud plate below belt conveyor is located at Belt Conveying
Stay tube frame, nozzle, water pump, No.1 water pipe, No. two water pipes, sieve and the solenoid valve of machine left part；The belt conveyor is horizontal
It is mounted on above support device, and belt conveyor left end is located at below the conveyer chain right end of pulling attachment, belt conveyor is right
Cut device is run through at end；And mud leakage hole is evenly arranged on the belt conveyor；
The defeated mud plate section is " people " font, and defeated mud plate two sides are fixed on support device upper surface；
The stay tube frame generally " Π " shape, the stay tube top of the trellis are located above belt conveyor left end, and support
Pipe support lower end is connected in support device upper surface；
The nozzle is uniformly mounted on stay tube frame, and nozzle is uniformly equipped with no less than ten along stay tube frame front-rear direction
A, the water pump is fixed on support device right end, it is described it is horizontal be connected between each nozzle by No.1 water pipe, it is described
No. two water pipe one end be connected with water pump, No. two water pipe other ends are fixed below support device, and are installed on No. two water pipes
There is sieve, solenoid valve is installed on No.1 water pipe；
The cut device includes fixed frame, No.1 demarcation plate, camera, cut cylinder, blade, collects flitch and No. two
Demarcation plate；The fixed frame is located at cut device left part, the fixed frame generally " Π " shape, the No.1 demarcation plate
Be arranged in fixed frame top admittedly vertically from left to right along support device left and right directions, the No.1 demarcation plate along fixed frame at least
50 are disposed with, forms transfer passage between each No.1 demarcation plate, distance is 4- between each connected No.1 demarcation plate
6cm；The belt conveyor right end of the cleaning device is located at below No.1 demarcation plate right end；From left past in each transfer passage
Successively according to having camera and cut cylinder, each cut cylinder lower end is respectively and fixedly provided with blade on the right side；The Ji Liaobanshui
Prosposition collects the contour and described collection flitch left end in flitch upper surface and belt conveyor upper surface and consolidates on the right side of fixed frame
Determine frame right end to be connected, the collection flitch left end upper surface be disposed with admittedly vertically from left to right along support device left and right directions to
Few 50 No. two demarcation plates, and No. two demarcation plates and the No.1 demarcation plate correspond；Each No. two demarcation plates
Between form split channel, the material-dropping hole that diameter is 4-6cm is provided in each split channel.
The support device includes top plate and bottom plate and air bag, the top plate and the uniform flattened rectangular plate of bottom plate, described
Top plate be fixedly connected with bottom plate, and leakage hole is evenly arranged on the top plate, and the pulling attachment, cleaning device,
Cut device and support device are installed on top plate, and the arrangement mode on the bottom plate with 7 × 5 is fixed with 35 hollow gas
Capsule, the air bag are " capsule " shape；Described four corners of bottom plate are provided with the No.1 limiting slot of " returning " shape.
For the walking mechanism by four, four walking mechanisms are separately mounted to four turnings of support device
Place, each walking mechanism includes rotating turret, movable motor, runner, tumble cylinder, fixes cylinder and insert plate, described
Rotating turret generally L shape, the horizontal ends of the rotating turret and support device be rotatablely connected, and the movable motor is mounted on
On rotating turret, the runner is connected with movable motor, and the top panel turns of described tumble cylinder one end and support device connect
It connects, the vertical end rotation connection of the tumble cylinder other end and rotating turret, the rotating turret lower end is provided with No. two of " returning " shape
Limiting slot；The fixation cylinder is horizontally arranged at the bottom plate lower end surface of support device, and when fixed cylinder reaches longest,
Insert plate is located at simultaneously in No.1 limiting slot and No. two limiting slots.The support device upper end is also equipped with PLC controller,
The electrical component that PLC controller can be used for controlling in pulling attachment of the invention, cleaning device, cut device and propeller is gentle
The automatic job of dynamic equipment, and electrical component and pneumatic equipment of the invention has water-proof function or is equipped with waterproof cover, the design
For the prior art, elaboration is no longer made in the present invention.
The propeller is at least a pair of, each propeller by power device be symmetrically mounted on the top plate of support device with
Bottom plate rear.
Under original state, the present invention is in land, and when fixed cylinder reaches longest, insert plate is located at No.1 limit simultaneously
In slot and No. two limiting slots, while tumble cylinder is stretched out so that runner main shaft is parallel to the horizontal plane, when needing to shallow water field or
Arrowhead in Vlei is harvested, then movable motor work so that the present invention in land toward shallow water field or Vlei direction row
It walks；
When shallow water field or Vlei are arrived in walking, support device contacts the water surface, and numerous air bags in support device make this hair
It is bright to float, if the depth of water is shallower, fix cylinder shrink, insert plate be detached from No. two limiting slots, then tumble cylinder shrink so that
Runner is rotated up, to avoid end in contact underwater sludge under runner and influence movement of the present invention；
When the present invention completely in water after, propeller motion can be made to drive the present invention in surface motions, when the present invention moves
When to arrowhead growing area, then pulling attachment works, conveyer chain rotation, and the bar of respectively choosing on conveyer chain is moved synchronously with transmission wheel,
And since distance is 2cm, described during bar of choosing is synchronized with the present invention and travelled forward, position between two neighboring bar of choosing
Each arrowhead stem in bar front end of choosing can be embedded in well it is not easily to fall off in the gap between bar of choosing, also, adjacent two
Gap between a No. two dead mans is 2 times, as 4cm of distance between two bars of choosing, thus when arrowhead stem is thicker, and nothing
Method be caught in two it is adjacent choose bar when, coarse arrowhead stem can be extracted by two adjacent No. two dead mans, thus should
Design can be caught in bar of choosing and be pulled up, so that thatch of the invention so that no matter coarse each arrowhead is or tiny
Wild rice can be harvested sufficiently, then, continue to move with conveyer chain, and bar of choosing pulls arrowhead and arrowhead is pulled up, and with
Conveyer chain is transported to conveyer chain right end together；
When the arrowhead chosen is transported to conveyer chain right end, when arrowhead continues to move with bar of choosing, the length of baffle upper end
Bar shaped obstructs item and obstructs arrowhead, chooses bar so that arrowhead is detached from and then pushes to cleaning device by conveyer chain；
Arrowhead moves from the belt conveyor that pulling attachment enters cleaning device, with belt conveyor to cut device,
At this point, pump working is drawn the water in shallow water field or Vlei from No. two water pipes, sieve is used for impurity screening, and water is drawn
It is transported at nozzle by No.1 water pipe, then is ejected on belt conveyor through nozzle, the water that arrowhead is sprayed by nozzle is tentatively clear
Wash clean, be rinsed whereabouts mud and dirty water from the mud leakage hole of belt conveyor leak out, by defeated mud plate be discharged to shallow water field or
In Vlei；
Arrowhead after being washed continues to be transported to belt conveyor in the transfer passage of cut device, at this time camera
The athletic venue of work real time monitoring arrowhead bulb, when tracing into arrowhead bulb and being located at cut cylinder, PLC controller is controlled
Cut cylinder stretches out, so that blade cuts arrowhead, so that arrowhead bulb is separated with arrowhead main body；Then arrowhead bulb with
Arrowhead main body all moves to split channel with belt conveyor, and wherein arrowhead bulb is leaked out from the material-dropping hole of split channel, thus
So that arrowhead bulb is separated and collected；Realize being automatically separated for arrowhead bulb and arrowhead main body；Wherein, each connected No.1
Distance is 4-6cm between demarcation plate and adjacent No. two demarcation plates so that every time transfer passage and split channel do not allow it is more
A arrowhead passes through side by side, consequently facilitating blade handles the cut of arrowhead.
To pass through above-mentioned steps, the present invention be can be realized to automatic harvest, cleaning and the arrowhead bulb of arrowhead and thatch
The separation of wild rice main body.
A kind of electrical control system of arrowhead automatic harvester device people, the electrical control system includes PLC technology
Device, air pressure unit, hydraulic pressure unit, servo motor unit and servo controller；
Output port connection air pressure unit, hydraulic pressure unit, servo motor unit and the servo control of the programmable controller
Device processed, the work for control pressure unit, hydraulic pressure unit, servo motor unit and servo controller；
The air pressure unit is used to control the work of cut cylinder, tumble cylinder and fixed cylinder；
The hydraulic pressure unit is used to control the work of hydraulic pump；
The servo motor unit is used to control the work of movable motor and each external motive device；
The servo controller is used to control the work of pulling attachment, cleaning device, cut device and walking mechanism；Institute
Pulling attachment, cleaning device, cut device and the walking mechanism stated include enabling signal, stop signal, automatic signal, origin
Signal, endpoint signal, operating point signal and origin reset signal in place.
The utility model has the advantages that
1, the present invention can be realized amphibious movement, and movement is convenient.
2, at the shallower waters of the depth of waters such as shallow water field or Vlei, runner can be rotated up walking mechanism of the present invention,
So that runner bottom will not be in contact with underwater mud, convenient for movement of the invention.
3, the present invention can be realized to the choosing automatically of arrowhead, automatically cleaning, automatically to arrowhead bulb and arrowhead main body
Separation, high degree of automation effectively alleviate the labor intensity of worker, improve work efficiency.
Detailed description of the invention
The present invention is further described with embodiment with reference to the accompanying drawing.
Fig. 1 is overall schematic of the invention；
Fig. 2 is the partial schematic diagram of top view of the present invention；
Fig. 3 is the direction the A-A cutaway drawing of Fig. 2；
Fig. 4 is the partial schematic diagram of pulling attachment of the present invention；
Fig. 5 is the partial schematic diagram of pulling attachment front end of the present invention；
Fig. 6 is the enlarged diagram in Fig. 4 at E；
Fig. 7 is the direction B-B cut-away diagram in Fig. 2；
Fig. 8 is the direction D-D cut-away diagram in Fig. 2；
Fig. 9 is the direction C-C cut-away diagram in Fig. 2；
Figure 10 is the partial top view at cut device of the present invention；
Figure 11 is the schematic diagram of support device of the present invention, running gear and propeller；
Figure 12 is another visual angle schematic diagram of Figure 11；
Figure 13 is the schematic diagram at walking mechanism of the present invention；
The a figure of Figure 14 is schematic diagram of the walking mechanism of the present invention in land walking；
The b figure of Figure 14 is schematic diagram of the walking mechanism of the present invention when shallow water field or Vlei move；
Figure 15 is electrical control system schematic diagram of the invention；
In figure: pulling attachment 1, cleaning device 2, cut device 3, support device 4, walking mechanism 5, propeller 6, conveyer chain
11, carrier bar 12, bar 13 of choosing, baffle 14, barrier item 141, belt conveyor 21, defeated mud plate 22, stay tube frame 23, nozzle 24, water
Pump 25, sieve 28, solenoid valve 29, mud leakage hole 211, fixed frame 31, No.1 demarcation plate 32, is taken the photograph 26, No. two water pipes 27 of No.1 water pipe
As head 33, cut cylinder 34, blade 35, collection flitch 36, No. two demarcation plates 37, transfer passage 321, split channels 371, material-dropping hole
372, top plate 41, leakage hole 411, bottom plate 42, No.1 limiting slot 421, air bag 43,51, No. two limiting slots 511 of rotating turret, walking
Motor 52, runner 53, tumble cylinder 54, fixed cylinder 55, insert plate 56.
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 and Figure 3, a kind of arrowhead automatic harvester device people of the present invention, it is characterised in that: including
Pulling attachment 1, cleaning device 2, cut device 3, support device 4, walking mechanism 5, propeller 6 and PLC controller；Described pulls out
Device 1 is taken to be located at 4 left end of support device, the cleaning device 2 is located at 4 middle part of support device, and the cut device 3 is located at
4 right end of support device, the walking mechanism 5 are located at 4 surrounding of support device, and it is right that the propeller 6 is located at support device 4
End, PLC controller is mounted in support device 4, PLC controller for control pulling attachment 1, cleaning device 2, cut device 3,
The automatic job of electrical equipment, pneumatic equipment and sensor etc. in support device 4 and walking mechanism 5, in which:
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, the pulling attachment 1 generally 11 structure of conveyer chain, the biography
Chain 11 is sent to be made of each strip carrier bar 12, the conveyer chain 11 gradually tilts from left to right along 4 left and right directions of support device
Arrangement upwards, and 11 left end of conveyer chain is located at the left end front lower place of support device 4,11 right end of conveyer chain is located at
Above the left part of support device 4；
Cylinder is all evenly arranged on each carrier bar 12 of the conveyer chain 11 to choose bar 13, it is described choose 13 main shaft of bar with
Corresponding 12 end face of carrier bar is vertical, and distance is 2cm between two neighboring bar 13 of choosing；
Every row on each carrier bar 11 of conveyer chain bar 13 of choosing includes No.1 dead man and No. two dead mans, No.1 dead man and No. two
The interlaced arrangement of dead man is disposed with a No.1 dead man, and the height of No. two dead mans between No. two dead mans of every two side by side
It is three times of No.1 dead man；
11 right end of conveyer chain is disposed with one piece of flat baffle 14 along 4 front-rear direction of support device vertically from back to front,
And 14 upper end of baffle is provided with strip barrier item 141, each barrier item 141 is located across 11 right end of conveyer chain
Carrier bar 12 on respectively choose between bar 13；
11 right end of conveyer chain connects external motive device；
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 6 and Fig. 7, the cleaning device 2 includes belt conveyor 21, and it is defeated to be located at belt
Send the defeated mud plate 22 of the lower section of machine 21, the stay tube frame 23 positioned at 21 left part of belt conveyor, nozzle 24, water pump 25, No.1 water pipe 26,
No. two water pipes 27, sieve 28 and solenoid valve 29；The belt conveyor 21 is horizontally arranged at 4 top of support device, and belt
21 left end of conveyer is located at below 11 right end of conveyer chain of pulling attachment 1, and 21 right end of belt conveyor runs through cut device 3；And
Mud leakage hole 211 is evenly arranged on the belt conveyor 21；
22 section of defeated mud plate is " people " font, and 22 two sides of defeated mud plate are fixed on 4 upper surface of support device；
The stay tube frame 23 generally " Π " shape is located on 21 left end of belt conveyor at the top of the stay tube frame 23
Side, and 23 lower end of stay tube frame is connected in 4 upper surface of support device；
The nozzle 24 is uniformly mounted on stay tube frame 23, and nozzle 24 is uniformly equipped with along 23 front-rear direction of stay tube frame
No less than ten, the water pump 25 is fixed on 4 right end of support device, described horizontal to pass through No.1 water between each nozzle 24
Pipe 26 is connected, and No. two described 27 one end of water pipe are connected with water pump 25, and No. two 27 other ends of water pipe are fixed on support device 4
Lower section, and sieve 28 is installed on No. two water pipes 27, solenoid valve 29 is installed on No.1 water pipe 26；
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 9 and Figure 10, the cut device 3 include fixed frame 31, No.1 demarcation plate 32,
Camera 33, cut cylinder 34, blade 35, collection flitch 36 and No. two demarcation plates 37；The fixed frame 31 is located at cut device 3
Left part, the fixed frame 31 generally " Π " shape, the No.1 demarcation plate 32 along 4 left and right directions of support device from left to right
It is arranged in 31 top of fixed frame admittedly vertically, the No.1 demarcation plate 32 is at least disposed with 50 along fixed frame 31, each No.1
Transfer passage 321 is formed between demarcation plate 32, distance is 4-6cm between each connected No.1 demarcation plate 32；The cleaning dress
21 right end of belt conveyor for setting 2 is located at 32 right end of No.1 demarcation plate lower section；In each transfer passage 321 from left to right successively
According to having camera 33 and cut cylinder 34, each 34 lower end of cut cylinder is respectively and fixedly provided with blade 35；The collection flitch
36 are positioned horizontally in the right side of fixed frame 31, and collect 36 upper surface of flitch and 21 upper surface of belt conveyor is contour and described gathers materials
36 left end of plate is connected with 31 right end of fixed frame, and the 36 left end upper surface of collection flitch is along 4 left and right directions of support device from a left side
It turns right and is disposed at least 50 No. two demarcation plates 37 admittedly vertically, and No. two demarcation plates 37 and the No.1 demarcation plate 32 1
One is corresponding；Split channel 371 is formed between each No. two demarcation plates 37, is provided in each split channel 371 straight
Diameter is the material-dropping hole 372 of 4-6cm.
As shown in Figure 1, Figure 11 and Figure 12, the support device 4 includes top plate 41, bottom plate 42 and air bag 43, described
Top plate 41 and the uniform flattened rectangular plate of bottom plate 42, the top plate 41 are fixedly connected with bottom plate 42, and on the top plate 41 uniformly
It is provided with leakage hole 411, and pulling attachment 1, cleaning device 2, cut device 3 and the support device 4 is installed in top plate
On 41,35 hollow balloons 43 are fixed with 7 × 5 arrangement mode on the bottom plate 42, the air bag 43 is " capsule "
Shape；Described 42 4 corners of bottom plate are provided with the No.1 limiting slot 421 of " returning " shape.
As shown in Fig. 1, Figure 11, Figure 12, Figure 13 and Figure 14, the walking mechanism 5 is by four, four vehicle with walking machine
Structure 5 is separately mounted to four corners of support device 4, and each walking mechanism 5 includes rotating turret 51, movable motor
52, runner 53, tumble cylinder 54, fixed cylinder 55 and insert plate 56, the generally L shape of rotating turret 51, the rotation
The horizontal ends and support device 4 of frame 51 are rotatablely connected, and the movable motor 52 is mounted on rotating turret 51, the runner 53
It is connected with movable motor 52, the top plate 41 of described 54 one end of tumble cylinder and support device 4 is rotatablely connected, tumble cylinder 54
The vertical end of the other end and rotating turret 51 is rotatablely connected, and 51 lower end of rotating turret is provided with No. two limiting slots of " returning " shape
511；The fixation cylinder 55 is horizontally arranged at 42 lower end surface of bottom plate of support device 4, and when fixed cylinder 55 reaches most
When long, insert plate 56 is located in No.1 limiting slot 421 and No. two limiting slots 511 simultaneously.
The propeller 6 is at least a pair of, and each propeller 6 is symmetrically mounted on the top of support device 4 by power device
Plate 41 and 42 rear of bottom plate.
As shown in figure 15, the electrical control system of a kind of arrowhead automatic harvester device people of the present invention, the electricity
Learning control system includes programmable controller, air pressure unit, hydraulic pressure unit, servo motor unit and servo controller；
Output port connection air pressure unit, hydraulic pressure unit, servo motor unit and the servo control of the programmable controller
Device processed, the work for control pressure unit, hydraulic pressure unit, servo motor unit and servo controller；
The air pressure unit is used to control the work of cut cylinder, tumble cylinder and fixed cylinder；
The hydraulic pressure unit is used to control the work of hydraulic pump；
The servo motor unit is used to control the work of movable motor and each external motive device；
The servo controller is used to control the work of pulling attachment, cleaning device, cut device and walking mechanism；Institute
Pulling attachment, cleaning device, cut device and the walking mechanism stated include enabling signal, stop signal, automatic signal, origin
Signal, endpoint signal, operating point signal and origin reset signal in place.
Under original state, the present invention is in land, and when fixed cylinder 55 reaches longest, insert plate 56 is located at No.1 simultaneously
In limiting slot 421 and No. two limiting slots 511, while tumble cylinder 54 is stretched out so that 53 main shaft of runner is parallel to the horizontal plane, when need
Arrowhead in shallow water field or Vlei is harvested, then movable motor 52 work so that the present invention in land toward shallow water field
Or Vlei direction walking；
When shallow water field or Vlei are arrived in walking, support device 4 contacts the water surface, and numerous air bags 43 in support device 4 make
The present invention floats, if the depth of water is shallower, fixes cylinder 55 and shrinks, insert plate 56 is detached from No. two limiting slots 511, then overturns gas
Cylinder 54 is shunk so that runner 53 is rotated up, to avoid end in contact underwater sludge under runner 53 and influence movement of the present invention；
When the present invention completely in water after, the movement of propeller 6 can be made to drive the present invention in surface motions, when the present invention moves
When to arrowhead growing area, then pulling attachment 1 works, and conveyer chain 11 rotates, and the bar 13 of respectively choosing on conveyer chain 11 is same with transmission wheel
Step movement, but due between two neighboring bar 13 of choosing distance be 2cm, described synchronize in bar 13 of choosing with the present invention travel forward
During, each arrowhead stem positioned at 13 front end of bar of choosing can be embedded in the gap between bar 13 of choosing well and be not easy to take off
It falls, also, the gap between two neighboring No. two dead mans is 2 times, as 4cm of distance between two bars of choosing, to work as thatch
Wild rice stem is thicker, and can not be caught in two it is adjacent choose bar when, coarse arrowhead stem can be by two adjacent No. two dead mans
It extracts, so that the design so that no matter coarse each arrowhead is or tiny, can be caught in bar of choosing and be pulled up, thus
Arrowhead of the invention is sufficiently harvested, then, continues to move with conveyer chain 11, bar 13 of choosing, which pulls arrowhead, to be made
It obtains arrowhead to be pulled up, and is transported to conveyer chain right end together with conveyer chain 11；
When the arrowhead chosen is transported to 11 right end of conveyer chain, when arrowhead continues to move with bar 13 of choosing, on baffle 14
The strip barrier item 141 at end obstructs arrowhead, chooses bar 13 so that arrowhead is detached from and then pushes to cleaning device by conveyer chain 11
2；
Arrowhead is from the belt conveyor 21 that pulling attachment 1 enters cleaning device 2, with belt conveyor 21 to cut device
3 movements, at this point, the work of water pump 25 is so that the water in shallow water field or Vlei is drawn from No. two water pipes 27, sieve 28 is for filtering
Impurity, water is transported at nozzle 24 after being drawn through No.1 water pipe 26, then is ejected on belt conveyor 21 through nozzle 24, arrowhead
It is tentatively cleaned up by the water that nozzle 24 sprays, the mud and dirty water for being rinsed whereabouts are from the mud leakage hole 211 of belt conveyor 21
It leaks out, is discharged in shallow water field or Vlei by defeated mud plate 22；
Arrowhead after being washed continues to be transported in the transfer passage 321 of cut device 3 with belt conveyor 21, at this time
The athletic venue of the work real time monitoring arrowhead bulb of camera 33, when tracing into arrowhead bulb and being located at cut cylinder 34, PLC
Controller controls cut cylinder 34 and stretches out, so that blade 35 cuts arrowhead, so that arrowhead bulb is separated with arrowhead main body；
Then arrowhead bulb and arrowhead main body all move to split channel 371 with belt conveyor 21, and wherein arrowhead bulb is logical from shunting
The material-dropping hole 372 in road 371 leaks out, so that arrowhead bulb is separated and collected；Realize arrowhead bulb and arrowhead main body
Be automatically separated；Wherein, distance is 4-6cm between each connected No.1 demarcation plate 32 and adjacent No. two demarcation plates, so that every time
Transfer passage 321 does not allow multiple arrowheads to pass through side by side with split channel 371, consequently facilitating blade 35 to the cut of arrowhead at
Reason.
To pass through above-mentioned steps, the present invention be can be realized to automatic harvest, cleaning and the arrowhead bulb of arrowhead and thatch
The separation of wild rice main body.
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 only illustrating for the description in above embodiments and description is of the invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (5)
1. a kind of arrowhead automatic harvester device people, it is characterised in that: including pulling attachment (1), cleaning device (2), cut device
(3), support device (4), walking mechanism (5), propeller (6) and PLC controller；The pulling attachment (1) is located at support dress
(4) left end is set, the cleaning device (2) is located in the middle part of support device (4), and the cut device (3) is located at support device
(4) right end, the walking mechanism (5) are located at support device (4) surrounding, and the propeller (6) is located at support device (4) right side
End, the PLC controller are mounted on support device (4), in which: pulling attachment (1) the generally chain drive structure,
The pulling attachment (1) includes conveyer chain (11) and baffle (14), and the conveyer chain (11) is by strip carrier bar (12) group
At the conveyer chain (11) tilts upward arrangement, and conveyer chain (11) left end position along support device (4) from left to right
In the left end front lower place of support device (4), the conveyer chain (11) right end is located above the left part of support device (4)；It is described
It is evenly arranged with cylinder on the carrier bar (12) of conveyer chain (11) to choose bar (13), the bar of choosing (13) and corresponding carrier bar (12)
End face is vertical, and distance is 2cm between two neighboring bar of choosing (13)；Every row on each carrier bar of conveyer chain (12) chooses bar (13)
It include No.1 dead man and No. two dead mans, No.1 dead man and No. two interlaced arrangements of dead man, No. two dead mans of every two side by side
Between be disposed with a No.1 dead man, and the height of No. two dead mans is three times of No.1 dead man；Conveyer chain (11) the right end edge
Support device (4) is disposed with one piece of flat baffle (14) vertically from back to front, and described baffle (14) upper end is provided with barrier
Item (141), each barrier item (141) are located between the bar of respectively choosing (13) of conveyer chain (11) right end；The cleaning dress
Setting (2) includes belt conveyor (21), is located at the defeated mud plate (22) below belt conveyor (21), is located at belt conveyor (21)
Stay tube frame (23), nozzle (24), water pump (25), No.1 water pipe (26), No. two water pipes (27), sieve (28) and the solenoid valve of left part
(29)；The belt conveyor (21) is horizontally arranged above support device (4), and belt conveyor (21) left end is located at and pulls out
Below conveyer chain (11) right end for taking device (1), belt conveyor (21) right end runs through cut device (3)；And the belt
Mud leakage hole (211) are evenly arranged on conveyer (21)；Defeated mud plate (22) section is " people " font, and defeated mud plate (22)
Two sides are fixed on support device (4) upper surface；It is located above belt conveyor (21) left end at the top of the stay tube frame (23), and
Stay tube frame (23) lower end is connected in support device (4) upper surface；The nozzle (24) is uniformly mounted on stay tube frame (23), and
Nozzle (24) is equipped with no less than ten along stay tube frame (23) front-rear direction, and the water pump (25) is fixed on support device (4)
Right end is connected between the water pump (25) and each nozzle (24) by No.1 water pipe (26), No. two water pipes (27)
One end is connected with water pump (25), and No. two water pipe (27) other ends are fixed below support device (4), and on No. two water pipes (27)
It is equipped with sieve (28), solenoid valve (29) is installed on No.1 water pipe (26)；The cut device (3) includes fixed frame
(31), No.1 demarcation plate (32), camera (33), cut cylinder (34), blade (35), collection flitch (36) and No. two demarcation plates
(37)；The fixed frame (31) is located at cut device (3) left part, the No.1 demarcation plate (32) along support device (4) from
It is arranged vertically at fixed frame (31) lower part from left to right, the No.1 demarcation plate (32) is at least disposed with 50 along fixed frame (31)
It is a, transfer passage (321) are formed between each No.1 demarcation plate (32), distance is 4- between each connected No.1 demarcation plate (32)
6cm；Belt conveyor (21) right end of the cleaning device (2) is located at below No.1 demarcation plate (32) right end；Each conveying
From left to right successively according to having a camera (33) and cut cylinder (34) in channel (321), it is each described in cut cylinder (34) under
End is respectively and fixedly provided with blade (35)；The collection flitch (36) is positioned horizontally on the right side of fixed frame (31), and collects flitch (36) upper surface
Contour and described collection flitch (36) left end is connected with fixed frame (31) right end with belt conveyor (21) upper surface, described
Collection flitch (36) left end upper surface be disposed at least 50 No. two points vertically from left to right along support device (4) left and right directions
Partition (37), and No. two demarcation plates (37) and the No.1 demarcation plate (32) correspond；Each No. two demarcation plates
(37) split channel (371) are formed between, the material-dropping hole that diameter is 4-6cm is provided in each split channel (371)
(372)。
2. a kind of arrowhead automatic harvester device people according to claim 1, it is characterised in that: the support device (4)
Including top plate (41), bottom plate (42) and air bag (43), the top plate (41) and bottom plate (42) are flattened rectangular plate, described
Top plate (41) is fixedly connected with bottom plate (42), and is evenly arranged with leakage hole (411) on the top plate (41), and described is chosen
Device (1), cleaning device (2), cut device (3) and support device (4) are installed on top plate (41), the bottom plate (42)
On 35 hollow balloons (43) are fixed with 7 × 5 arrangement mode, the air bag (43) is " capsule " shape；The bottom plate
(42) four corners are provided with the No.1 limiting slot (421) of " returning " shape.
3. a kind of arrowhead automatic harvester device people described in claim 1, it is characterised in that: the walking mechanism (5) is by four
A, four walking mechanisms (5) are separately mounted to four corners of support device (4), each walking mechanism (5)
Include rotating turret (51), movable motor (52), runner (53), tumble cylinder (54), fix cylinder (55) and insert plate (56),
Rotating turret (51) the generally L shape, the horizontal ends of the rotating turret (51) and support device (4) are rotatablely connected, described
Movable motor (52) be mounted on rotating turret (51), the runner (53) is connected with movable motor (52), and described turns over
The top plate (41) of rotaring cylinder (54) one end and support device (4) is rotatablely connected, tumble cylinder (54) other end and rotating turret (51)
Vertical end rotation connection, the rotating turret (51) lower end is provided with No. two limiting slots (511) of " returning " shape；The fixation
Cylinder (55) is horizontally arranged at bottom plate (42) lower end surface of support device (4), and when fixed cylinder (55) reach longest, embedding
Enter plate (56) while being located in No.1 limiting slot (421) and No. two limiting slots (511).
4. a kind of arrowhead automatic harvester device people according to claim 1, it is characterised in that: the propeller (6) is extremely
Rare a pair, after each propeller (6) is symmetrically mounted on top plate (41) and bottom plate (42) of support device (4) by power device
Side.
5. a kind of for a kind of electrical control system of arrowhead automatic harvester device people described in claim 1, it is characterised in that:
The electrical control system includes programmable controller, air pressure unit, hydraulic pressure unit, servo motor unit and SERVO CONTROL
Device；Output port connection air pressure unit, hydraulic pressure unit, servo motor unit and the servo controller of the programmable controller,
Work for control pressure unit, hydraulic pressure unit, servo motor unit and servo controller；The air pressure unit is for controlling
The work of cut cylinder, tumble cylinder and fixed cylinder processed；The hydraulic pressure unit is used to control the work of hydraulic pump；Described
Servo motor unit is used to control the work of movable motor and each external motive device；The servo controller is pulled out for controlling
Take the work of device, cleaning device, cut device and walking mechanism；Pulling attachment, cleaning device, cut device and the row
Walking mechanism includes enabling signal, stop signal, automatic signal, origin signal, endpoint signal, operating point signal and origin in place
Reset signal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610917168.8A CN106489418B (en) | 2016-10-20 | 2016-10-20 | A kind of arrowhead automatic harvester device people and its electrical control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610917168.8A CN106489418B (en) | 2016-10-20 | 2016-10-20 | A kind of arrowhead automatic harvester device people and its electrical control system |
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| CN106489418B true CN106489418B (en) | 2019-01-15 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109362336B (en) * | 2018-10-31 | 2020-07-03 | 诸暨市尚诺五金经营部 | Water bamboo harvester |
| CN114766189B (en) * | 2022-05-13 | 2023-08-29 | 舒城县农业科学研究所 | Aquatic vegetable acquisition assembly with water removal function |
| CN115517136B (en) * | 2022-09-30 | 2023-07-21 | 湖南金芙农业科技有限公司 | Quick harvesting equipment for cordyceps militaris planting |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1817987A1 (en) * | 1990-08-14 | 1993-05-30 | Vladimir E Shperling | Root vegetable harvester |
| CN102475011A (en) * | 2010-11-24 | 2012-05-30 | 夏铁庚 | Mud land-grown blocky object harvester |
| CN103749069B (en) * | 2014-02-27 | 2015-09-16 | 东北大学秦皇岛分校 | Associative form water chestnut harvester |
| CN104521413B (en) * | 2014-12-20 | 2017-04-05 | 陈桂粦 | Sagittaria sagittifolia harvester |
| CN105917992B (en) * | 2016-04-20 | 2019-03-08 | 淮南师范学院 | A kind of automatic buster of the stolon of arrowhead and its electrical control system |
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