CN106688434A - Automatic picking machine for green vegetables - Google Patents
Automatic picking machine for green vegetables Download PDFInfo
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- CN106688434A CN106688434A CN201611136344.0A CN201611136344A CN106688434A CN 106688434 A CN106688434 A CN 106688434A CN 201611136344 A CN201611136344 A CN 201611136344A CN 106688434 A CN106688434 A CN 106688434A
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- Prior art keywords
- dish
- green vegetables
- mechanical arm
- shovel
- soil
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
Abstract
The invention discloses an automatic picking machine for green vegetables. The machine comprises a moving guide rail mechanism for a vegetable shovel head, a vegetable shovel head mechanism, a vibration conveyor belt, a frame, a mobile system, a surveillance camera, a mechanical arm for catching vegetables, a brush head, a slow sorting conveyer belt, a lateral movement mechanism for the mechanical arm and the like. The automatic picking machine for the green vegetables has the advantages of being reasonable in structural design, perfect in function mechanism and capable of finishing picking vegetables by mechanical means, thereby reducing labor cost and being very convenient to use. Simultaneously, the automatic picking machine for the green vegetables improves the green vegetable picking and production efficiency, and avoids the technical defects of traditional manual picking.
Description
Technical field
The present invention relates to talents for agri-mechanization technical field, more particularly to a kind of automatic picking machine of green vegetables.
Background technology
In daily agricultural production, vegetables with green leaves (vegetables with green leaves, i.e. typically green vegetables, Chinese little greens, three-coloured amaranth and crowndaisy chrysanthemum, market
It is required that fresh and tender, plucked with root) production and harvesting be a kind of labor-intensive heavy physical labour, in particular with vinyl house
Large-scale application in vegetables with green leaves production, it is hot and humid in vinyl house, even more it is degrading working condition.
With the forfeiture and the growth of labor cost of labour's bonus, vegetables with green leaves pluck cost more and more higher, or even look for
This work is done less than people.
It will be apparent that prior art is still present some objective technological deficiencies：Existing agricultural harvesting mechanical, uses mostly
Harvesting (such as wheat paddy rice), the method such as drying and then sorting (such as cabbage, radish, Ipomoea batatas etc.) of ploughing, cannot be applied to green grass or young crops at all
The harvesting of dish.There are an other receipts dish machine in foreign countries, but are used for sandy soil.Be not suitable for the viscous wet soil ground of China, and root is stayed in requirement,
The tender national conditions of dish.
To sum up, still without the machine for for green vegetables pluck production accordingly in the prior art and in existing market
Tool product.
The content of the invention
It is an object of the invention to provide a kind of automatic picking machine of green vegetables, to solve the above problems.
In order to achieve the above object, the technical proposal of the invention is realized in this way：
The invention provides a kind of automatic picking machine of green vegetables, including shovel kitchen knife head moving guide rail mechanism 1, shovel dish bit mechanism
2nd, shaker belting 3, vehicle frame and behavioral system 4, monitoring camera 5, grab dish mechanical arm 6, at a slow speed hairbrush brush 7, sorting conveying
Band 8 and mechanical arm transverse moving mechanism 9, wherein：
Construction, position relationship, connected mode and layout between above-mentioned each functional entity and part is as follows：
The vehicle frame and behavioral system 4 specifically include vehicle frame and drive system；The front outsides of the vehicle frame are provided projectingly
There are the shovel kitchen knife head moving guide rail mechanism 1 and the shovel dish bit mechanism 2；The shovel kitchen knife head moving guide rail mechanism 1 is used for
The shovel dish bit mechanism 2 is driven to be moved back and forth from one end to the other end；
The shovel dish bit mechanism 2 specifically includes fork and the perching knife positioned at the fork bottom；The shovel kitchen knife head machine
Structure 2 is used to shovel dish since one end is as other end horizontal direction；The shovel dish bit mechanism 2 is used to drive fork and perching knife to exist
Together, and at a certain angle in injecting soil, in sliding trackle soil in involved scope green vegetables root system, and by posterior rotation axial direction
Slowly dig, quick upset, by the related soil feeding shaker belting 3 of green vegetables；
The shaker belting 3 is horizontally installed on the front inner of the vehicle frame, and the conveyer belt 8 of sorting at a slow speed vertically sets
Put in the inner side of the vehicle frame, and the end of the shaker belting 3 is connected with the head end of the conveyer belt 8 of sorting at a slow speed；Institute
Multiple spaces are additionally provided with the surface for stating shaker belting 3；The shaker belting 3 is used to carry out vibration shake to green vegetables,
The part soil that shakes is fallen from the space, and green vegetables are transported on the conveyer belt 8 of sorting at a slow speed；
Top in the transmission direction of the conveyer belt 8 of sorting at a slow speed is provided with multigroup mechanical arm transverse shifting machine
Structure 9；And be correspondingly arranged on mechanical arm transverse moving mechanism 9 described in every group one monitoring camera 5 and one grab dish machinery
Arm 6；And the lower section of mechanical arm transverse moving mechanism 9 described in every group also corresponds to positioned at the side edge of sorting conveyer belt 8 at a slow speed and sets
It is equipped with a hairbrush brush 7；The mechanical arm transverse moving mechanism 9 is used to obtain current green vegetables by monitoring camera 5
Position on the conveyer belt 8 of sorting at a slow speed, and coordinate to drive the corresponding green vegetables grabbed on 6 pairs of positions of dish mechanical arm carry out
Grasping manipulation；
The dish mechanical arm 6 of grabbing is for directly carrying out grasping manipulation to green vegetables, and in transverse shifting, pass through the root of dish
Hairbrush brush 7 removes remaining soil, to after dish basket top, performs and unclamps the operation that gripper puts into the green vegetables in dish basket.
Preferably, can embodiment as one kind；In the concrete structure of shovel dish bit mechanism 2：The perching knife is specific
For the root system of green vegetables in involved scope in perching knife sliding trackle soil；The fork is specifically for the clear soil of vibration and passes through posterior rotation
Slowly dug on axial direction, shake off part soil, and green vegetables are provoked into quick upset, the related soil feeding shaker belting of green vegetables
On 3；
Preferably, can embodiment as one kind；In the concrete structure of shovel dish bit mechanism 2：The fork and institute
State between perching knife to be detachably connected；And the shape of different types of fork is different with spacing, it is used to fit without the fork of type
Answer different types of green vegetables.
Preferably, can embodiment as one kind；In the concrete structure of shovel dish bit mechanism 2：The fork and institute
State the tilt adjustable section of the shovel dish bit mechanism 2 of perching knife composition.
It should be noted that；By fork, (up, the shape and spacing of fork are set shovel dish bit mechanism 2 by different colzas
It is fixed) and perching knife composition；Fork together with perching knife and to subscribe angle, subscribe depth ejection inject soil in (angle depth according to
Dish difference and set)；
Preferably, can embodiment as one kind；The camera lens of the monitoring camera 5 is directed at the sorting conveying at a slow speed
On band 8.
Preferably, can embodiment as one kind；The dish mechanical arm 6 of grabbing specifically includes multiple grippers；It is described to grab dish
Mechanical arm 6 be used for horizontal direction, vertical direction move, and it is described grab dish mechanical arm 6 be additionally operable to end rotation and pass through folding it is many
Individual gripper is captured to green vegetables.
Preferably, can embodiment as one kind；The dish mechanical arm 6 of grabbing is additionally operable to head rotation, while transverse shifting,
Dish root is passed through the hairbrush brush 7 on right side, and the soil on the dish root of clear green vegetables is brushed by the hairbrush brush 7.
Preferably, can embodiment as one kind；The hairbrush brush 7 grabs dish mechanical arm 6 laterally described in being correspondingly arranged at
Along the underface of the movement locus of mechanical arm transverse moving mechanism 9.
Preferably, can embodiment as one kind；The bottom of mechanical arm transverse moving mechanism 9 is also correspondingly arranged described in every group
There is spraying-cleaning device (not shown)；The spraying-cleaning device is used to perform spray operation to green vegetables surface.
Preferably, can embodiment as one kind；Multigroup mechanical arm transverse moving mechanism 9 is evenly spaced apart to be distributed in
The top for sorting conveyer belt 8 at a slow speed.
Compared with prior art, this have the advantage that：
The automatic picking machine of a kind of green vegetables that the present invention is provided, it is mainly by shovel kitchen knife head moving guide rail mechanism 1, shovel kitchen knife head
Mechanism 2, shaker belting 3, vehicle frame and behavioral system 4, monitoring camera 5, grab dish mechanical arm 6, hairbrush brush 7, sort at a slow speed
Several part compositions such as conveyer belt 8 and mechanical arm transverse moving mechanism 9；
Wherein, each functional entity performs respective mechanical action and realizes a series of machine by each functional entity
Tool links, and completes the picking process of automatic green vegetables；
The shovel kitchen knife head moving guide rail mechanism 1 mainly drives the shovel dish bit mechanism 2 reciprocal to the other end from one end
It is mobile；
The shovel dish bit mechanism 2 specifically includes fork and the perching knife positioned at the fork bottom；The shovel kitchen knife head machine
Structure 2 is main to shovel dish since one end is as other end horizontal direction, and on the related soil feeding shaker belting 3 of green vegetables；
The shaker belting 3 is horizontally installed on the front inner of the vehicle frame, and the conveyer belt 8 of sorting at a slow speed vertically sets
Put in the inner side of the vehicle frame, and the end of the shaker belting 3 is connected with the head end of the conveyer belt 8 of sorting at a slow speed；Institute
Multiple spaces are additionally provided with the surface for stating shaker belting 3；The shaker belting 3 is used to carry out vibration shake to green vegetables,
The part soil that shakes is fallen from the space, and green vegetables are transported on the conveyer belt 8 of sorting at a slow speed；
Top in the transmission direction of the conveyer belt 8 of sorting at a slow speed is provided with multigroup mechanical arm transverse shifting machine
Structure 9；And be correspondingly arranged on mechanical arm transverse moving mechanism 9 described in every group one monitoring camera 5 and one grab dish machinery
Arm 6；And the lower section of mechanical arm transverse moving mechanism 9 described in every group also corresponds to positioned at the side edge of sorting conveyer belt 8 at a slow speed and sets
It is equipped with a hairbrush brush 7；The mechanical arm transverse moving mechanism 9 is used to obtain current green vegetables by monitoring camera 5
Position on the conveyer belt 8 of sorting at a slow speed, and coordinate to drive the corresponding green vegetables grabbed on 6 pairs of positions of dish mechanical arm carry out
Grasping manipulation；The dish mechanical arm 6 of grabbing is for directly carrying out grasping manipulation to green vegetables, and in transverse shifting, lead to the root of dish
Cross hairbrush brush 7 and remove remaining soil, to after dish basket top, perform and unclamp the behaviour that gripper puts into the green vegetables in dish basket
Make.
It will be apparent that the automatic picking machine of green vegetables provided in an embodiment of the present invention, reasonable in design, functional entity is perfect, can
The harvesting of green vegetables is mechanically completed, labour cost is reduced, it is very easy to use；Meanwhile, the embodiment of the present invention
The automatic picking machine of green vegetables of offer, improves green vegetables and plucks and production efficiency, it is to avoid the technological deficiency that Traditional Man is plucked.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation under the automatic visual angle of picking machine one of green vegetables provided in an embodiment of the present invention；
Fig. 2 is the structural representation under another visual angle of the automatic picking machine of green vegetables provided in an embodiment of the present invention；
Description of reference numerals：
Shovel kitchen knife head moving guide rail mechanism 1；
Shovel dish bit mechanism 2；
Shaker belting 3；
Vehicle frame and behavioral system 4；
Monitoring camera 5；
Grab dish mechanical arm 6；
Hairbrush brush 7；
Conveyer belt 8 is sorted at a slow speed；
Mechanical arm transverse moving mechanism 9.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify describe, rather than indicate imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
The present invention is described in further detail below by specific embodiment and with reference to accompanying drawing.
Referring to Fig. 1 and Fig. 2, a kind of automatic picking machine of green vegetables provided in an embodiment of the present invention, including shovel kitchen knife head movement is led
Rail mechanism 1, shovel dish bit mechanism 2, shaker belting 3, vehicle frame and behavioral system 4, monitoring camera 5, grab dish mechanical arm 6, hair
Brush brush 7, at a slow speed sorting conveyer belt 8 and mechanical arm transverse moving mechanism 9, wherein：
Construction, position relationship, connected mode and layout between above-mentioned each functional entity and part is as follows：
The vehicle frame and behavioral system 4 specifically include vehicle frame and drive system；The front outsides of the vehicle frame are provided projectingly
There are the shovel kitchen knife head moving guide rail mechanism 1 and the shovel dish bit mechanism 2；The shovel kitchen knife head moving guide rail mechanism 1 is used for
The shovel dish bit mechanism 2 is driven to be moved back and forth from one end to the other end；
The shovel dish bit mechanism 2 specifically includes fork and the perching knife positioned at the fork bottom；The shovel kitchen knife head machine
Structure 2 is used to shovel dish since one end is as other end horizontal direction；The shovel dish bit mechanism 2 is used to drive fork and perching knife to exist
Together, and at a certain angle in injecting soil, in sliding trackle soil in involved scope green vegetables root system, and by posterior rotation axial direction
Slowly dig, quick upset, by the related soil feeding shaker belting 3 of green vegetables；
The shaker belting 3 is horizontally installed on the front inner of the vehicle frame, and the conveyer belt 8 of sorting at a slow speed vertically sets
Put in the inner side of the vehicle frame, and the end of the shaker belting 3 is connected with the head end of the conveyer belt 8 of sorting at a slow speed；Institute
Multiple spaces are additionally provided with the surface for stating shaker belting 3；The shaker belting 3 is used to carry out vibration shake to green vegetables,
The part soil that shakes is fallen from the space, and green vegetables are transported on the conveyer belt 8 of sorting at a slow speed；
Top in the transmission direction of the conveyer belt 8 of sorting at a slow speed is provided with multigroup mechanical arm transverse shifting machine
Structure 9；And be correspondingly arranged on mechanical arm transverse moving mechanism 9 described in every group one monitoring camera 5 and one grab dish machinery
Arm 6；And the lower section of mechanical arm transverse moving mechanism 9 described in every group also corresponds to positioned at the side edge of sorting conveyer belt 8 at a slow speed and sets
It is equipped with the hairbrush brush 7 and (mechanical arm transverse moving mechanism 9, monitoring camera 5 and grabs dish mechanical arm 6, hairbrush brush
7 is to correspond to set)；The mechanical arm transverse moving mechanism 9 is used to obtain current green vegetables in institute by monitoring camera 5
The position on sorting conveyer belt 8 at a slow speed is stated, and coordinates to drive the corresponding green vegetables grabbed on 6 pairs of positions of dish mechanical arm to capture
Operation；
The dish mechanical arm 6 of grabbing is for directly carrying out grasping manipulation to green vegetables, and in transverse shifting, pass through the root of dish
Hairbrush brush 7 removes remaining soil, to after dish basket top, performs and unclamps the operation that gripper puts into the green vegetables in dish basket.
The automatic picking machine specific configuration of green vegetables provided in an embodiment of the present invention and particular technique effect are done below
Describe in detail：
In the concrete structure of shovel dish bit mechanism 2：The perching knife is specifically for involved scope in perching knife sliding trackle soil
The root system of interior green vegetables；The fork shakes off part mud specifically for the clear soil of vibration and by slowly being dug on posterior rotation axial direction
Soil, and green vegetables are provoked into quick upset, on the related soil feeding shaker belting 3 of green vegetables；
In the concrete structure of shovel dish bit mechanism 2：It is to be detachably connected between the fork and the perching knife；And not
The shape of the fork of same type is different with spacing, is used to adapt to different types of green vegetables without the fork of type.
In the concrete structure of shovel dish bit mechanism 2：The shovel kitchen knife head machine that the fork is constituted with the perching knife
The tilt adjustable section of structure 2.
It should be noted that；By fork, (up, the shape and spacing of fork are set shovel dish bit mechanism 2 by different colzas
It is fixed) and perching knife composition；Fork together with perching knife and to subscribe angle, subscribe depth ejection inject soil in (angle depth according to
Dish difference and set)；
Preferably, can embodiment as one kind；The camera lens of the monitoring camera 5 is directed at the sorting conveying at a slow speed
On band 8.
Preferably, can embodiment as one kind；The dish mechanical arm 6 of grabbing specifically includes multiple grippers；It is described to grab dish
Mechanical arm 6 be used for horizontal direction, vertical direction move, and it is described grab dish mechanical arm 6 be additionally operable to end rotation and pass through folding it is many
Individual gripper is captured to green vegetables.
Preferably, can embodiment as one kind；The dish mechanical arm 6 of grabbing is additionally operable to head rotation, while transverse shifting,
Dish root is passed through the hairbrush brush 7 on right side, and the soil on the dish root of clear green vegetables is brushed by the hairbrush brush 7.
The hairbrush brush 7 is correspondingly arranged at described grab dish mechanical arm 6 and is moved laterally along mechanical arm transverse moving mechanism 9
The underface of track.
It should be noted that the dish mechanical arm 6 of grabbing is in crawl green vegetables to the right moving process, it will pass through dish root
The hairbrush brush 7 on right side, just can now brush the soil on the dish root of clear green vegetables by the hairbrush brush 7；It is same with this
When, said brush brush 7 needs and grabs dish mechanical arm 6, mechanical arm transverse moving mechanism 9 and form cleverly position relationship；That is hair
Brush brush 7 is grabbing the underface of the transverse shifting track of dish mechanical arm 6, so just can guarantee that hairbrush brush is carried out to green vegetables effectively clear
It is clean.
Preferably, can embodiment as one kind；The bottom of mechanical arm transverse moving mechanism 9 is also correspondingly arranged described in every group
There is spraying-cleaning device (not shown)；The spraying-cleaning device is used to perform spray operation to green vegetables surface.
It should be noted that in order to further lifted pluck after green vegetables clean level, can be in the embodiment of the present invention
The automatic picking machine of green vegetables on install other functions mechanism, such as spraying-cleaning device additional, spraying-rinsing is carried out to surface by it,
So as to realize more functions, the cleaning effect for settling at one go is reached.
Preferably, can embodiment as one kind；Multigroup mechanical arm transverse moving mechanism 9 is evenly spaced apart to be distributed in
The top for sorting conveyer belt 8 at a slow speed.
It should be noted that picking efficiency and more functional realieys in order to realize the automatic picking machine of green vegetables；Its machine
Tool arm transverse moving mechanism 9 and its corresponding monitoring camera 5 and to grab dish mechanical arm 6, hairbrush brush 7 be a group by a group
Arrangement, and uniform intervals distribution；Monitoring camera below and grab the crawl of dish mechanical arm and do not grabbed dish mechanical arm above
And the green vegetables grabbed, it is ensured that without omission.
Operating process principle：
Step 1：Pluck one end that dish machine is parked in vegetable plot；
Step 2：Shovel dish bit mechanism 2 shovels dish since one end (such as right-hand member)；
Step 3：Shovel dish bit mechanism 2 is by fork (up, the shape and spacing of fork are set by different colzas) and shovel
Knife is constituted；
Step 4：Fork together with perching knife and to subscribe angle, subscribe depth ejection inject soil in (angle depth according to
Dish difference and set)；
Step 5：In perching knife sliding trackle soil in involved scope green vegetables root system；
Step 6：Fork starts to vibrate and slowly dug upwards with rear portion rotary shaft, shakes off a part of soil, and will be shoveled
Green vegetables in the range of soil are provoked；
Step 7：Fork quickly overturns, the related soil feeding shaker belting of green vegetables；
Step 8：The return of shovel dish bit mechanism 2, the lattice of transverse shifting one (such as to the left) is shoveled to the green vegetables of the next position
Dish, repeat step 2-8；
Step 9：Shovel dish bit mechanism 2 is run to behind termination (such as left end), is plucked dish machine and is travelled forward a step, from left to right
Start next round shovel dish；
Step 10：Shaker belting 3 can shake part soil, and soil falls in the space of shaker belting 3；
Step 11：Green vegetables fall into sorting conveyer belt 8 at a slow speed with the operation of shaker belting 3；
Step 12：Several monitoring cameras 5 are directed at sorting conveyer belt 8 at a slow speed；
Step 13：Each monitoring camera 5 it is supporting there is one to grab dish mechanical arm 6；
Step 14：Grabbing dish mechanical arm 6 can be horizontal, moves up and down, end rotation simultaneously folding；
Step 15：After a green vegetables are told, grab dish of the crawl green vegetables of dish mechanical arm 6 near root and obstruct；
Step 16：The head rotation of dish mechanical arm 6 is grabbed, mechanical arm transverse shifting makes dish root pass through hairbrush brush 7, finally
Remove soil, necessity can spraying-rinsing green vegetables；
Step 17：Grab dish mechanical arm 6 and continue transverse shifting, to dish basket top, unclamp gripper, dish is put into dish basket；
Step 18：Grab the return of dish mechanical arm 6；
Step 19：Monitoring camera below and grab dish mechanical arm 6 and capture and do not grabbed above dish mechanical arm 6 and have enough time to grab
Green vegetables, it is ensured that without omit.
For the countermeasure of different green vegetables, (the automatic picking machine of green vegetables provided in an embodiment of the present invention is for different types of green vegetables
Plucking has very strong structure adaptability).
It should be noted that green vegetables and Chinese little greens form are more close, to pluck green vegetables as prototype, by changing shovel dish
Jaw is spaced and shape, and shovel kitchen knife head inserts the angle and depth of soil, can pluck Chinese little greens.The characteristics of three-coloured amaranth is that have
Dish bar, and it is long, and dish is also higher.Corresponding design is to cancel jaw, is changed to Liang Zhi mechanisms.This Liang Zhi mechanism is not inserted into
In soil, above soil, perching knife is related to the three-coloured amaranth dish bar on area grab into one, Ling You mechanisms bundling, then perching knife ejection,
Root system in sliding trackle soil.Dish bundle is sent into shaker belting by Liang Zhi mechanisms.Monitoring camera differentiates every three-coloured amaranth, and mechanical arm is also
Capture at every bundling three-coloured amaranth.For the automatic picking machine of green vegetables provided in an embodiment of the present invention, other local deformations construction is right
This present invention is no longer repeated one by one.
In sum, the automatic picking machine of green vegetables provided in an embodiment of the present invention, it is mainly by shovel kitchen knife head moving guide rail machine
Structure 1, shovel dish bit mechanism 2, shaker belting 3, vehicle frame and behavioral system 4, monitoring camera 5, grab dish mechanical arm 6, hairbrush brush
First 7, the several parts of sorting conveyer belt 8 and mechanical arm transverse moving mechanism 9 etc. constitute at a slow speed；Its each functional entity performs respective
Mechanical action, and a series of mechanical linkage is realized by each functional entity, and complete the picking process of automatic green vegetables；This
The automatic picking machine of green vegetables that inventive embodiments are provided, reasonable in design, functional entity is perfect, can mechanically complete green grass or young crops
The harvesting of dish, reduces labour cost, very easy to use；Meanwhile, green vegetables provided in an embodiment of the present invention are plucked automatically
Machine, improves green vegetables and plucks and production efficiency, with all many technical advantages, therefore before it will bring good market
Scape and economic benefit.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. the automatic picking machine of a kind of green vegetables, it is characterised in that including shovel kitchen knife head moving guide rail mechanism (1), shovel dish bit mechanism
(2), shaker belting (3), vehicle frame and behavioral system (4), monitoring camera (5), grab dish mechanical arm (6), hairbrush brush (7),
Conveyer belt (8) and mechanical arm transverse moving mechanism (9) are sorted at a slow speed, wherein：
The vehicle frame and behavioral system (4) specifically include vehicle frame and drive system；The front outsides of the vehicle frame have been provided projectingly
Shovel kitchen knife head moving guide rail mechanism (1) and shovel dish bit mechanism (2)；Shovel kitchen knife head moving guide rail mechanism (1)
For driving shovel dish bit mechanism (2) to be moved back and forth from one end to the other end；
Shovel dish bit mechanism (2) specifically includes fork and the perching knife positioned at the fork bottom；The shovel dish bit mechanism
(2) for since one end as other end horizontal direction shovel dish；Shovel dish bit mechanism (2) is for driving fork and perching knife
Together, and at a certain angle in injecting soil, in sliding trackle soil in involved scope green vegetables root system, and by posterior rotation axial direction
On slowly dig, the related soil of green vegetables is sent on shaker belting (3) in quick upset；
The shaker belting (3) is horizontally installed on the front inner of the vehicle frame, and sorting conveyer belt (8) at a slow speed vertically sets
Put in the inner side of the vehicle frame, and the end of the shaker belting (3) connects with the head end of sorting conveyer belt (8) at a slow speed
Connect；Multiple spaces are additionally provided with the surface of the shaker belting (3)；The shaker belting (3) to green vegetables for carrying out
Vibration shake, the part soil that shakes is fallen from the space, and green vegetables are transported in sorting conveyer belt (8) at a slow speed；
Top in the transmission direction of sorting conveyer belt (8) at a slow speed is provided with multigroup mechanical arm transverse moving mechanism
(9)；And be correspondingly arranged on mechanical arm transverse moving mechanism (9) described in every group one monitoring camera (5) and one grab dish
Mechanical arm (6)；And the lower section of mechanical arm transverse moving mechanism (9) described in every group is located at described sorting conveyer belt (8) side at a slow speed
Place is also correspondingly arranged on a hairbrush brush (7)；The mechanical arm transverse moving mechanism (9) is for by monitoring camera
(5) position of current green vegetables in sorting conveyer belt (8) at a slow speed is obtained, and is coordinated to drive and corresponding is grabbed dish mechanical arm (6)
Grasping manipulation is carried out to the green vegetables on the position；
The dish mechanical arm (6) of grabbing makes the root of dish pass through hair for directly green vegetables to be carried out with grasping manipulation, and in transverse shifting
Brush brush (7) removes remaining soil, to after dish basket top, performs and unclamps the operation that gripper puts into the green vegetables in dish basket.
2. the automatic picking machine of green vegetables as claimed in claim 1, it is characterised in that
In described shovel dish bit mechanism (2) concrete structure：The perching knife is specifically in involved scope in perching knife sliding trackle soil
The root system of green vegetables；The fork shakes off part soil specifically for the clear soil of vibration and by slowly being dug on posterior rotation axial direction,
And green vegetables are provoked into quick upset, the related soil of green vegetables is sent on shaker belting (3).
3. the automatic picking machine of green vegetables as claimed in claim 2, it is characterised in that
In described shovel dish bit mechanism (2) concrete structure：It is to be detachably connected between the fork and the perching knife；And it is different
The shape of the fork of type is different with spacing, is used to adapt to different types of green vegetables without the fork of type.
4. the automatic picking machine of green vegetables as claimed in claim 3, it is characterised in that
In described shovel dish bit mechanism (2) concrete structure：The shovel dish bit mechanism that the fork is constituted with the perching knife
(2) tilt adjustable section.
5. the automatic picking machine of green vegetables as claimed in claim 4, it is characterised in that
The camera lens of monitoring camera (5) is aligned in sorting conveyer belt (8) at a slow speed.
6. the automatic picking machine of green vegetables as claimed in claim 5, it is characterised in that
The dish mechanical arm (6) of grabbing specifically includes multiple grippers；The dish mechanical arm (6) of grabbing is for horizontal direction, vertically side
It is additionally operable to end rotation and green vegetables are captured by folding multiple gripper to movement, and the dish mechanical arm (6) of grabbing.
7. the automatic picking machine of green vegetables as claimed in claim 6, it is characterised in that
The dish mechanical arm (6) of grabbing is additionally operable to head rotation, while transverse shifting, makes dish root pass through the hairbrush brush on right side
(7), and by the hairbrush brush (7) soil on the dish root of clear green vegetables is brushed.
8. the automatic picking machine of green vegetables as claimed in claim 7, it is characterised in that
The hairbrush brush (7) is correspondingly arranged at the dish mechanical arm (6) of grabbing and is transported laterally along mechanical arm transverse moving mechanism (9)
The underface of dynamic rail mark.
9. the automatic picking machine of green vegetables as claimed in claim 8, it is characterised in that
The bottom of mechanical arm transverse moving mechanism (9) is also correspondingly arranged on spraying-cleaning device described in every group；The spraying-rinsing
Device is used to perform spray operation to green vegetables surface.
10. the automatic picking machine of green vegetables as claimed in claim 1, it is characterised in that
Multigroup mechanical arm transverse moving mechanism (9) is evenly spaced apart to be distributed in the top of sorting conveyer belt (8) at a slow speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611136344.0A CN106688434A (en) | 2016-12-08 | 2016-12-08 | Automatic picking machine for green vegetables |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107980354A (en) * | 2017-12-11 | 2018-05-04 | 佛山市田森温室科技有限公司 | A kind of automatic vegetables picker |
| CN108432455A (en) * | 2018-05-31 | 2018-08-24 | 重庆市飞龙种业有限责任公司 | Chinese cabbage harvesting apparatus |
| CN109121684A (en) * | 2018-07-27 | 2019-01-04 | 盐城工学院 | A kind of universal driven harvester of leaf vegetables |
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| CN107980354A (en) * | 2017-12-11 | 2018-05-04 | 佛山市田森温室科技有限公司 | A kind of automatic vegetables picker |
| CN108432455A (en) * | 2018-05-31 | 2018-08-24 | 重庆市飞龙种业有限责任公司 | Chinese cabbage harvesting apparatus |
| CN109121684A (en) * | 2018-07-27 | 2019-01-04 | 盐城工学院 | A kind of universal driven harvester of leaf vegetables |
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