CN106717447B - A kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot - Google Patents
A kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot Download PDFInfo
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- CN106717447B CN106717447B CN201610893354.2A CN201610893354A CN106717447B CN 106717447 B CN106717447 B CN 106717447B CN 201610893354 A CN201610893354 A CN 201610893354A CN 106717447 B CN106717447 B CN 106717447B
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- Prior art keywords
- body frame
- native
- cylinder
- rhizoma schizocapsae
- schizocapsae plantagineae
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D13/00—Diggers, e.g. potato ploughs
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D33/00—Accessories for digging harvesters
- A01D33/08—Special sorting and cleaning mechanisms
Abstract
The present invention relates to Rhizoma Schizocapsae Plantagineaes to pick field, specifically a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot, including body frame, running gear, support device, controller, removes native device, cleaning device, balance sensor and pressure sensor；The running gear is located at body frame lower part, the support device is mounted on body frame periphery, the controller is located at body frame top, described goes native device to be located at body frame lower part, the cleaning device runs through body frame, the balance sensor is located at cleaning device top, and the pressure sensor, which is located at, goes to native device lower part.The present invention can be achieved Rhizoma Schizocapsae Plantagineae and take automatically, sieves and clean, and high degree of automation avoids manpower and takes the time-consuming and laborious defect of Rhizoma Schizocapsae Plantagineae, greatly improves working efficiency.
Description
Technical field
The present invention relates to Rhizoma Schizocapsae Plantagineaes to pick field, specifically a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot.
Background technique
Rhizoma Schizocapsae Plantagineae: alias water Radix Notoginseng, Sedum uizoon etc., Rhizoma Schizocapsae Plantagineae is perennial herb, about 25 centimetres high.There is loose block in underground
Stem, oblong is 2-4 centimetres long, and about 1.5 centimetres of diameter, white, often bending is grown wild in soil, has most fibrous roots.Phyllopodium is raw, blade
Ellipticity lanceolar, 10-20 centimetres long, 3-5 centimetres wide, apex is tapering, and base portion is downward slightly to embrace stem, full edge, above under vein
Recessed, in back side protrusion, two sides is hairless.Extract scape in late summer Qiu Chucong leafage out, top is raw to spend more than 10, umbel is formed,
4 pieces of phyllary, 2 pieces of outside is larger, and flower both sexes, neatly, bennet is 1-1.5 centimetres long, and bract is linear, perianth mitriform, outside pale green
Color, inner face lavender, sliver 6, two wheels, foreign steamer 3 more long narrow, 3 shorter width of lubrication groove, stamen 6, with sliver to life, on filigree
Portion is bag-shaped in life, and anther lavender is born in bag, and ovary is the next, Room 1, and ovule is most, and style is short, and 3 pieces of column cap.Capsule
Nearly obovate, 6-8 millimeters of diameter, no persitent perianth piece, seed majority.
Rhizoma Schizocapsae Plantagineae is the major functions: clearing heat and detoxicating；Cough-relieving apophlegmatic；Qi-regulating stops production capacity；Dissipating stasis and stanching bleeding.Main cold, fever；Phlegm-heat cough；
Pertussis；Abdominal distention；Diarrhea dysentery abdominal pain；Indigestion；Infantile malnutrition；Hepatitis；Abscess of throat；Toothache；Mumps；Scrofula；Sore swells；
It scalds, burn；Shingles zoster；Traumatic injury；Traumatic hemorrhage.
Source: Wei Amorphophalus rivieri potato section (spider's thread grass section, Tacca chantrieri section) dehiscent fruit potato platymiscium dehiscent fruit potato, Rhizoma Schizocapsae Plantagineae is all to use at present
The loose stem tuber of its root lower end is used as medicine.
And in the prior art, it there has been no dedicated for taking the equipment of Rhizoma Schizocapsae Plantagineae, take Rhizoma Schizocapsae Plantagineae at present and mainly use
Manual operation, then dry it is spare, it is time-consuming and laborious in this way, greatly reduce working efficiency, and Rhizoma Schizocapsae Plantagineae itself has toxicity, take
There is poisoning symptom within 30-60 minutes after 15-30 grams, shows as nausea, vomit, abdominal pain, diarrhea etc., after groups of people take 3 days
Glutamic-pyruvic transaminase is significantly raised；Thus work as people and usually take Rhizoma Schizocapsae Plantagineae by hand, then may also can generate bad shadow to the body of people
It rings.
Summary of the invention
It in order to make up for the deficiencies of the prior art, can be more the present invention provides a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot
Mend the blank that the prior art takes aspect in Rhizoma Schizocapsae Plantagineae automation.
The technical solution adopted by the present invention to solve the technical problems is: a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot, including
Body frame, support device, controller, removes native device, cleaning device, balance sensor and pressure sensor at running gear；Described
Running gear is located at body frame lower part, and the support device is mounted on body frame periphery, and the controller is located at body frame top, institute
That states goes native device to be located at body frame lower part, and the cleaning device runs through body frame, and the balance sensor is located at cleaning device
Top, the pressure sensor, which is located at, goes to native device lower part.
The body frame generally octagon structure, the running gear include eight uniform along body frame central axis
The walking unit of arrangement, the walking unit includes the native plate of arc-shaped shovel, rotating bar, No.1 shovels rustic cylinder and No. two shovels are rustic
Cylinder；The native board group of the arc-shaped shovel of described eight is at a complete hemisphere；Eight sides of described rotating bar one end and body frame
It is hinged, the rotating bar other end is hinged with native plate middle inside is shoveled, and shoveling native plate can rotate around rotating bar, and rotating bar can be around
The rotation of body frame side；The No.1 is shoveled in the middle part of rustic cylinder one end and rotating bar and is hinged, and No.1 shovels the rustic cylinder other end and shovel
Native plate inside upper part is hinged, and No.1 is shoveled the flexible native plate of drive shovel of rustic cylinder and rotated around rotating bar；No. two rustic cylinders of shovel
One end is hinged with the body frame lower end surface, and No. two rustic cylinder other ends of shovel are hinged with rotating bar lower part, and No. two shovels are rustic
Cylinder telescopic band turn lever is rotated around body frame, and the shovel soil plate is alloy steel, and the effect for shoveling native plate is that walking and shovel are native,
To push Rhizoma Schizocapsae Plantagineae picking robot walking and take Rhizoma Schizocapsae Plantagineae, simultaneously as shoveling the material of native plate steel alloy, native plate is shoveled
Shovel soil function and effect it is obvious；When work, No. two rustic cylinders of shovel stretch out so that rotating bar rotates, so that the native plates of eight shovels are unlimited,
And No.1 shovels native Telescopic-cylinder and to shovel native plate and ground near normal, then, shovels rustic cylinder by No.1 and No. two shovels are rustic
The telescopic action of cylinder drives each pair walking unit movement for being located in front of the Rhizoma Schizocapsae Plantagineae picking robot and rear, at this time should
On the left of Rhizoma Schizocapsae Plantagineae picking robot and each pair walking unit on right side is motionless, in front of the Rhizoma Schizocapsae Plantagineae picking robot and rear
Each pair walking unit the coordinated movement of various economic factors under, which moves forward and backward；When the Rhizoma Schizocapsae Plantagineae picking robot
The movement of each pair of front and rear walking unit is motionless, and each pair walking on the left of the Rhizoma Schizocapsae Plantagineae picking robot and right side
When the unit coordinated movement of various economic factors, the Rhizoma Schizocapsae Plantagineae picking robot side-to-side movement；When four pairs of walking units of the Rhizoma Schizocapsae Plantagineae picking robot
When the equal coordinated movement of various economic factors, that is, realize the straight trip and turning of the Rhizoma Schizocapsae Plantagineae picking robot.After finding Rhizoma Schizocapsae Plantagineae, support device
The Rhizoma Schizocapsae Plantagineae picking robot is fixed on above Rhizoma Schizocapsae Plantagineae, then, shovels rustic cylinder by No.1 and No. two are shoveled the flexible of rustic cylinder
Effect drives the native plate of shovel mutually to draw close so that rotating bar rotates, and shovels native plate during mutually drawing close, and each native plate of shovel is inserted
Enter and take Rhizoma Schizocapsae Plantagineae in soil, when the native plate of eight shovels closes up into a hemispherical, the Rhizoma Schizocapsae Plantagineae for carrying soil is taken and position
In eight shovel native board groups at hemisphere in.
The support device is uniformly installed along body frame central axis there are three support unit, and the support unit includes
No.1 supports cylinder and No. two support cylinders, and the No.1 support cylinder head is hinged with body frame side, No.1 support
Cylinder can be rotated around body frame side, and the No.1 support cylinder bottom is fixed with spherical support foot, and spherical support foot is contiguously
To support the Rhizoma Schizocapsae Plantagineae picking robot, No. two described support cylinder one end are hinged with body frame lower end surface in face, No. two supports
The cylinder other end is hinged with No.1 support cylinder head；Under original state, No.1 support cylinder is in contraction state, works as preparation
When cutting out Rhizoma Schizocapsae Plantagineae, No. two support cylinders, which stretch out, drives No.1 support cylinder to rotate around body frame side, and three No.1s support cylinder
It turns on the outside of running gear, and three No.1 support cylinders are stretched out to support the Rhizoma Schizocapsae Plantagineae picking robot.
The controller is fixed in the middle part of body frame upper surface, and controller is for controlling the entire Rhizoma Schizocapsae Plantagineae picking robot
Movement.
Described to remove native device include bracket, removes native motor, removes rustic cylinder and removes native plate；The bracket is fixed on body frame
In the middle part of lower end surface, described goes native motor to be fixed on the pedestal upper end face, and described goes rustic cylinder to be located at below bracket, and goes
Native motor is connected with rustic cylinder is removed；Described goes native plate generally eighth ball shape, removes the sphere diameter of native plate and shovels native cricket
Diameter is equal, goes in the middle part of native plate to go native cylinder bottom to be fixedly connected with described, goes to native plate lower end to be evenly arranged with hairbrush, and remove Tu Banshang
It is evenly arranged with leakage hole, the effect of leakage hole is so that the water in cleaning device penetrates into the water of native plate lower end from leakage hole
On pseudo-ginseng, under original state, rustic cylinder is gone to be in contraction state, when work, when the shovel soil plate of running gear takes Rhizoma Schizocapsae Plantagineae out
And Rhizoma Schizocapsae Plantagineae be located at eight shovel native board groups at hemisphere in when, go rustic cylinder to stretch out, so that going native plate decline and to contact shovel native
Rhizoma Schizocapsae Plantagineae on plate then goes the rotation of native motor to drive and rustic cylinder is gone to rotate, and then drives and go what rustic cylinder was connected to remove native plate
It is rotated in Rhizoma Schizocapsae Plantagineae upper end, and hairbrush, with going native plate to rotate, under the action of hairbrush rotation, the soil on Rhizoma Schizocapsae Plantagineae is cleaned
Fall.
The cleaning device includes water storage tank, outlet pipe and solenoid valve, and the water storage tank is fixed on body frame upper surface,
And water storage tank coats controller, is provided in the middle part of water storage tank upper surface and adds water hole, there are two the outlet pipes, at the top of outlet pipe
It is connected with water storage tank lower end, water outlet bottom of the tube is through body frame and is located at body frame lower part, and the outlet pipe lower part is equipped with electricity
Magnet valve, when work, when going native device work to carry out soil processing to Rhizoma Schizocapsae Plantagineae, cleaning device is worked at the same time, and battery valve is opened,
Water in water storage tank is flowed out of the water outlet pipe to removing Tu Banshang, then from going the leakage hole of native plate to flow out, Rhizoma Schizocapsae Plantagineae hair on removing native plate
Under the action of the rotation of brush and water, Rhizoma Schizocapsae Plantagineae is cleaned with water completely.
The water storage tank upper surface is equipped with balance sensor, is in level for controlling the Rhizoma Schizocapsae Plantagineae picking robot
State.
Described goes to native plate lower end surface middle part to be equipped with pressure sensor, for controlling the pressure for going native plate to apply Rhizoma Schizocapsae Plantagineae
Power prevents native plate from causing the damage of Rhizoma Schizocapsae Plantagineae stem tuber because the pressure being applied on Rhizoma Schizocapsae Plantagineae is excessive in rotary course.
The present invention provides a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robots, shovel the rotation between native plate using eight to realize
It opens and closes up, the walking, it can be achieved that the Rhizoma Schizocapsae Plantagineae picking robot is shoveled after native plate is opened at eight, when the native plate of eight shovels closes up
During, it can be achieved that the Rhizoma Schizocapsae Plantagineae picking robot takes Rhizoma Schizocapsae Plantagineae, and the present invention can be realized to the water taken out
Pseudo-ginseng carries out soil removal and rinses with clear water, and then realizes that Rhizoma Schizocapsae Plantagineae takes, sieves and clean integration, high degree of automation,
It avoids manpower and takes the time-consuming and laborious defect of Rhizoma Schizocapsae Plantagineae, greatly improve working efficiency, with certain novelty and in fact
The property used.
Detailed description of the invention
The present invention is further described with embodiment with reference to the accompanying drawing.
Fig. 1 is the structural schematic diagram in walking process of the present invention；
Fig. 2 is the structural schematic diagram during present invention shovel soil；
Fig. 3 is the structural schematic diagram of running gear of the present invention；
Fig. 4 is the structural schematic diagram of walking unit of the present invention；
Fig. 5 is the structural schematic diagram after present invention removal running gear；
Fig. 6 is the schematic diagram of support device of the present invention；
Fig. 7 is partial schematic diagram of the invention；
Fig. 8 is another visual angle schematic diagram of Fig. 7.
In figure: body frame 1, support device 3, controller 4, removes native device 5, cleaning device 6, balance sensor at running gear 2
7, pressure sensor 8, walking unit 21, shovel the rustic cylinder 214 of rustic cylinder 213, two shovels of native plate 211, rotating bar 212, No.1 shovel,
Support unit 31, spherical support foot 313, bracket 51, removes native motor 52, goes No.1 support 311, No. two support cylinders 312 of cylinder
Rustic cylinder 53 removes native plate 54, hairbrush 541, leakage hole 542, water storage tank 61, outlet pipe 62, solenoid valve 63, adds water hole 611.
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 7, a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot of the present invention, including body frame 1, row
Walking apparatus 2, controller 4, removes native device 5, cleaning device 6, balance sensor 7 and pressure sensor 8 at support device 3；Described
Running gear 2 is located at 1 lower part of body frame, and the support device 3 is mounted on 1 periphery of body frame, and the controller 4 is located at body frame 1
Top, described goes native device 5 to be located at 1 lower part of body frame, and the cleaning device 6 runs through body frame 1, the balance sensor 7
Positioned at 6 top of cleaning device, the pressure sensor 8, which is located at, goes to native 5 lower part of device.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the body frame 1 generally octagon structure, the running gear 2
The walking unit 21 being evenly arranged including eight along 1 central axis of body frame, the walking unit 21 include the native plate of arc-shaped shovel
211, rotating bar 212, No.1 shovel rustic cylinder 213 and No. two rustic cylinders 214 of shovel；The native plate 211 of the arc-shaped shovel of described eight forms
One complete hemisphere；Described 212 one end of rotating bar and eight sides of body frame 1 are hinged, 212 other end of rotating bar and shovel
Native 211 middle inside of plate is hinged, and shoveling native plate 211 can rotate around rotating bar 212, and rotating bar 212 can turn around 1 side of body frame
It is dynamic；The No.1 is shoveled in the middle part of rustic 213 one end of cylinder and rotating bar 212 and is hinged, and No.1 shovels rustic 213 other end of cylinder and shovel soil
211 inside upper part of plate is hinged, and No.1 is shoveled the flexible native plate 211 of drive shovel of rustic cylinder 213 and rotated around rotating bar 212；Described two
Number rustic 214 one end of cylinder of shovel is hinged with 1 lower end surface of body frame, No. two rustic 214 other ends of cylinder of shovel under rotating bar 212
Portion is hinged, and No. two rustic 214 telescopic band turn levers 212 of cylinder of shovel are rotated around body frame 1, and the shovel soil plate 211 is steel alloy
Material, the effect of the native plate 211 of shovel is walking and shovel soil, to push Rhizoma Schizocapsae Plantagineae picking robot walking and take Rhizoma Schizocapsae Plantagineae,
Simultaneously as shoveling the material of 211 steel alloy of native plate, the shovel soil function and effect for shoveling native plate 211 are obvious；When work, No. two shovels are rustic
Cylinder 214 stretches out so that rotating bar 212 rotates, so that the native plate 211 of eight shovels opens wide, and the rustic cylinder 213 of No.1 shovel is flexible so that shovel
Native plate 211 and ground near normal (such as Fig. 1) then shovel rustic cylinder 213 by No.1 and No. two are shoveled the flexible of rustic cylinder 214
Effect drives each pair walking unit 21 movement for being located in front of the Rhizoma Schizocapsae Plantagineae picking robot and rear, at this time the Rhizoma Schizocapsae Plantagineae
Each pair walking unit 21 on the left of picking robot and right side is motionless, in front of the Rhizoma Schizocapsae Plantagineae picking robot and rear it is each
Under the coordinated movement of various economic factors of a pair of of walking unit 21, which is moved forward and backward；Before the Rhizoma Schizocapsae Plantagineae picking robot
Each pair of side and rear walking unit 21 moves motionless, and each pair walking on the left of Rhizoma Schizocapsae Plantagineae picking robot and right side
When 21 coordinated movement of various economic factors of unit, the Rhizoma Schizocapsae Plantagineae picking robot side-to-side movement；When four pairs of walkings of the Rhizoma Schizocapsae Plantagineae picking robot are single
When first 21 equal coordinated movement of various economic factors, that is, realize the straight trip and turning of the Rhizoma Schizocapsae Plantagineae picking robot.After finding Rhizoma Schizocapsae Plantagineae, support device
3 support the Rhizoma Schizocapsae Plantagineae picking robot to be fixed on above Rhizoma Schizocapsae Plantagineae, then, shovel rustic cylinder 213 by No.1 and No. two shovels are rustic
The telescopic action of cylinder 214 drives the native plate 211 of shovel mutually to draw close so that rotating bar 212 rotates, and shovels native plate 211 and mutually drawing close
During, each shovel in the native insertion of plate 211 soil takes Rhizoma Schizocapsae Plantagineae, when the native plates 211 of eight shovels close up into a hemispherical, takes
Rhizoma Schizocapsae Plantagineae with soil, which is taken and is located at eight, to be shoveled in the hemisphere that native plate 211 forms.
As shown in Figure 1, Figure 2, shown in Fig. 5 and Fig. 6, the support device 3 along 1 central axis of body frame uniformly install there are three branch
Unit 31 is supportted, the support unit 31 includes No.1 support cylinder 311 and No. two support cylinders 312, the No.1 support
311 top of cylinder is hinged with 1 side of body frame, and No.1 support cylinder 311 can be rotated around 1 side of body frame, the No.1 branch
Support 311 bottom of cylinder is fixed with spherical support foot 313, and spherical support foot 313 contacts ground to support the Rhizoma Schizocapsae Plantagineae to pick machine
People, No. two described 312 one end of support cylinder are hinged with 1 lower end surface of body frame, No. two 312 other ends of support cylinder and No.1 branch
It is hinged at the top of support cylinder 311；Under original state, No.1 support cylinder 311 is in contraction state, when preparation cuts out Rhizoma Schizocapsae Plantagineae
When, No. two support cylinders 312, which stretch out, drives No.1 support cylinder 311 to rotate around 1 side of body frame, and three No.1s support cylinder 311
2 outside of running gear is turned to, and three No.1 support cylinders 311 are stretched out to support the Rhizoma Schizocapsae Plantagineae picking robot.
As shown in fig. 1, fig. 2 and fig. 8, the controller 4 is fixed in the middle part of 1 upper surface of body frame, and controller 4 is for controlling
The movement of the entire Rhizoma Schizocapsae Plantagineae picking robot.
As shown in Figure 1, Figure 2, Figure 7 and Figure 8, described that native device 5 is gone to include bracket 51, remove native motor 52, remove rustic cylinder
53 and remove native plate 54；The bracket 51 is fixed in the middle part of 1 lower end surface of body frame, and described goes native motor 52 to be fixed on the bracket
51 upper surfaces, described goes rustic cylinder 53 to be located at 51 lower section of bracket, and native motor 52 is gone to be connected with rustic cylinder 53 is removed；Described
Native plate 54 generally eighth ball shape is gone, goes the sphere diameter of native plate 54 equal with native 211 sphere diameter of plate is shoveled, goes to native 54 middle part of plate and institute
It states rustic 53 bottom of cylinder to be fixedly connected with, native 54 lower end of plate is gone to be evenly arranged with hairbrush 541, and go on native plate 54 to be evenly arranged with leakage
The effect in water hole 542, leakage hole 542 is so that the water in cleaning device 6 penetrates into the water of native 54 lower end of plate from leakage hole 542
On pseudo-ginseng, under original state, rustic cylinder 53 is gone to be in contraction state, when work, when the shovel soil plate 211 of running gear 2 takes out
When Rhizoma Schizocapsae Plantagineae and Rhizoma Schizocapsae Plantagineae are located in the hemisphere that eight are shoveled the native composition of plate 211, rustic cylinder 53 is gone to stretch out, so that going under native plate 54
Drop and contact the Rhizoma Schizocapsae Plantagineae shoveled on native plate 211, then, go the native rotation of motor 52 to drive and rustic cylinder 53 is gone to rotate, so drive with
Go what rustic cylinder 53 was connected native plate 54 is gone to rotate in Rhizoma Schizocapsae Plantagineae upper end, and hairbrush 541 is with going native plate 54 to rotate, at 541 turns of hairbrush
Under the action of dynamic, the soil on Rhizoma Schizocapsae Plantagineae is cleaned out.
As shown in Figure 1, Figure 2, Figure 7 and Figure 8, the cleaning device 6 includes water storage tank 61, outlet pipe 62 and solenoid valve
63, the water storage tank 61 is fixed on 1 upper surface of body frame, and water storage tank 61 coats controller 4, sets in the middle part of 61 upper surface of water storage tank
It is equipped with and adds water hole 611, there are two the outlet pipes 62, and 62 top of outlet pipe is connected with 61 lower end of water storage tank, outlet pipe 62
Bottom is through body frame 1 and is located at 1 lower part of body frame, and 62 lower part of outlet pipe is equipped with solenoid valve 63, when work, when removing native dress
Set 5 work to Rhizoma Schizocapsae Plantagineae carry out soil processing when, cleaning device 6 works at the same time, and battery valve is made a call to 63 and opened, the water in water storage tank 61 from
Outlet pipe 62 flows out on native plate 54, then from going the leakage hole 542 of native plate 54 to flow out, Rhizoma Schizocapsae Plantagineae hairbrush on removing native plate 54
Under the action of 541 rotation and water, Rhizoma Schizocapsae Plantagineae is cleaned with water completely.
As shown in fig. 1, fig. 2 and fig. 8,61 upper surface of water storage tank is equipped with balance sensor 7, for controlling the water
Pseudo-ginseng picking robot is in horizontality.
As shown in fig. 7, described goes to native 54 lower end surface of plate middle part to be equipped with pressure sensor 8, native plate 54 is removed for controlling
To the pressure that Rhizoma Schizocapsae Plantagineae applies, prevent native plate 54 from causing water because the pressure being applied on Rhizoma Schizocapsae Plantagineae is excessive in rotary course
The damage of pseudo-ginseng stem tuber.
When work, No. two rustic cylinders 214 of shovel stretch out so that rotating bar 212 rotates, so that the native plates 211 of eight shovels are unlimited, and
No.1 shovels rustic cylinder 213 and stretches so that shoveling soil plate 211 then shovels rustic cylinder by No.1 with ground near normal (such as Fig. 1)
213 and No. two rustic cylinders 214 of shovel telescopic actions, drive and be located in front of the Rhizoma Schizocapsae Plantagineae picking robot and each pair row at rear
The movement of unit 21 is walked, each pair walking unit 21 on the left of the Rhizoma Schizocapsae Plantagineae picking robot and right side is motionless at this time, in the paddy field
In front of seven picking robots and under the coordinated movement of various economic factors of each pair walking unit 21 at rear, fortune before and after the Rhizoma Schizocapsae Plantagineae picking robot
It is dynamic；In front of Rhizoma Schizocapsae Plantagineae picking robot and each pair walking unit 21 at rear moves motionless, and the Rhizoma Schizocapsae Plantagineae picking machine
On the left of device people and when each pair 21 coordinated movement of various economic factors of walking unit on right side, the Rhizoma Schizocapsae Plantagineae picking robot side-to-side movement；When the water
When four pairs of 21 equal coordinated movements of various economic factors of walking unit of pseudo-ginseng picking robot, that is, realizes the straight trip of the Rhizoma Schizocapsae Plantagineae picking robot and turn
It is curved, wherein balance sensor 7 is in horizontality for controlling the Rhizoma Schizocapsae Plantagineae picking robot；
After finding Rhizoma Schizocapsae Plantagineae, support device 3 works, and under original state, No.1 support cylinder 311 is in contraction state,
When finding and preparing to cut out Rhizoma Schizocapsae Plantagineae, No. two support cylinders 312, which stretch out, drives No.1 support cylinder 311 to turn around 1 side of body frame
Dynamic, three No.1 support cylinders 311 turn to 2 outside of running gear, and three No.1 support cylinders 311 are stretched out to support this
Rhizoma Schizocapsae Plantagineae picking robot is fixed on Rhizoma Schizocapsae Plantagineae.
Then, the telescopic action that rustic cylinder 213 and No. two rustic cylinders 214 of shovel are shoveled by No.1, so that 212 turns of rotating bar
It is dynamic, drive the native plate 211 of shovel mutually to draw close, and shovel native plate 211 during mutually drawing close, each native plate 211 of shovel is inserted into soil
Take Rhizoma Schizocapsae Plantagineae, when the native plate 211 of eight shovels closes up into a hemispherical, the Rhizoma Schizocapsae Plantagineae for carrying soil is taken and is located at eight
It shovels in the hemisphere that native plate 211 forms.
Then, it goes native device 5 to work, under original state, rustic cylinder 53 is gone be in contraction state, when work, when walking dress
2 when shoveling in the hemisphere that native plate 211 takes Rhizoma Schizocapsae Plantagineae out and Rhizoma Schizocapsae Plantagineae shovels the native composition of plates 211 positioned at eight is set, rustic cylinder is removed
53 stretch out, so that going native plate 54 to decline and contacting the Rhizoma Schizocapsae Plantagineae shoveled on native plate 211, then, go the native rotation of motor 52 to drive and remove soil
Cylinder 53 rotates, and then drives and go native plate 54 in the rotation of Rhizoma Schizocapsae Plantagineae upper end with go that rustic cylinder 53 is connected, and hairbrush 541 is with removing soil
Plate 54 rotates, and under the action of hairbrush 541 rotates, the soil on Rhizoma Schizocapsae Plantagineae is cleaned out, and the pressure of native 54 lower end surface of plate is gone to pass
Sensor 8 prevents native plate 54 in rotary course because being applied to paddy field for controlling the pressure for going native plate 54 to apply Rhizoma Schizocapsae Plantagineae
Pressure on seven is excessive and causes the damage of Rhizoma Schizocapsae Plantagineae stem tuber.
When going the native work of device 5 to carry out soil processing to Rhizoma Schizocapsae Plantagineae, cleaning device 6 is worked at the same time, and battery valve is made a call to 63 and opened,
Water in water storage tank 61 flows out on native plate 54 from outlet pipe 62, then from going the leakage hole 542 of native plate 54 to flow out, Rhizoma Schizocapsae Plantagineae exists
It goes on native plate 54 under the action of the rotation of hairbrush 541 and water, Rhizoma Schizocapsae Plantagineae is cleaned with water completely.
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 (7)
1. a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot, it is characterised in that: including body frame (1), running gear (2), support device
(3), controller (4), remove native device (5), cleaning device (6), balance sensor (7) and pressure sensor (8)；The walking
Device (2) is located at body frame (1) lower part, and the support device (3) is mounted on body frame (1) periphery, and the controller (4) is located at
Body frame (1) top, described goes native device (5) to be located at body frame (1) lower part, and the cleaning device (6) runs through body frame (1), institute
The balance sensor (7) stated is located at cleaning device (6) top, and the pressure sensor (8), which is located at, goes to native device (5) lower part,
Wherein:
Body frame (1) the generally octagon structure, the running gear (2) include eight along body frame (1) central axis
The walking unit (21) that line is evenly arranged, the walking unit (21) include the native plate (211) of arc-shaped shovel, rotating bar (212),
No.1 shovels rustic cylinder (213) and No. two rustic cylinders (214) of shovel；The native plate (211) of the arc-shaped shovel of described eight forms one completely
Hemisphere；Described rotating bar (212) one end and eight sides of body frame (1) are hinged, rotating bar (212) other end and shovel soil
Plate (211) middle inside is hinged；The No.1 is shoveled in the middle part of rustic cylinder (213) one end and rotating bar (212) and is hinged, No.1
It shovels rustic cylinder (213) other end and is hinged with native plate (211) inside upper part is shoveled；Rustic cylinder (214) one end of described No. two shovels with
Described body frame (1) lower end surface is hinged, and No. two rustic cylinder (214) other ends of shovel are hinged with rotating bar (212) lower part；
The support device (3) is uniformly installed along body frame (1) central axis there are three support unit (31), the support list
First (31) include No.1 support cylinder (311) and No. two support cylinders (312), and No.1 support cylinder (311) top is
It being hinged with body frame (1) side, described No.1 support cylinder (311) bottom is fixed with spherical support foot (313), and described two
Number support cylinder (312) one end is hinged with body frame (1) lower end surface, No. two support cylinder (312) other ends and No.1 support gas
It is hinged at the top of cylinder (311).
2. a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot according to claim 1, it is characterised in that: the controller (4)
It is fixed in the middle part of body frame (1) upper surface.
3. a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot according to claim 1, it is characterised in that: described removes native device
(5) include bracket (51), remove native motor (52), remove rustic cylinder (53) and go native plate (54)；The bracket (51) is fixed on master
In the middle part of frame (1) lower end surface, described goes native motor (52) to be fixed on the bracket (51) upper surface, and described goes to rustic cylinder (53)
Below bracket (51), and native motor (52) is gone to be connected with rustic cylinder (53) is removed；Described removes native plate (54) generally eight
/ mono- is spherical, goes the sphere diameter of native plate (54) equal with native plate (211) sphere diameter is shoveled, goes to remove rustic cylinder with described in the middle part of native plate (54)
(53) bottom is fixedly connected with, and native plate (54) lower end is gone to be evenly arranged with hairbrush (541), and goes on native plate (54) to be evenly arranged with leak
Hole (542).
4. a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot according to claim 1, it is characterised in that: the cleaning device
It (6) include water storage tank (61), outlet pipe (62) and solenoid valve (63), the water storage tank (61) is fixed on body frame (1) upper surface,
And water storage tank (61) cladding controller (4), water storage tank (61) upper surface middle part, which is provided with, adds water hole (611), the outlet pipe
(62) there are two, it is connected at the top of outlet pipe (62) with water storage tank (61) lower end, body frame (1) and position are run through in outlet pipe (62) bottom
In body frame (1) lower part, the outlet pipe (62) lower part is equipped with solenoid valve (63).
5. a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot according to claim 4, it is characterised in that: the water storage tank (61)
Upper surface is equipped with balance sensor (7).
6. a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot according to claim 3, it is characterised in that: described goes to native plate (54)
Pressure sensor (8) are installed in the middle part of lower end surface.
7. a kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot according to claim 1, it is characterised in that: the shovel soil plate
It (211) is alloy steel.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510821774 | 2015-11-24 | ||
| CN2015108217745 | 2015-11-24 |
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| CN106717447B true CN106717447B (en) | 2019-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610893354.2A Active CN106717447B (en) | 2015-11-24 | 2016-10-13 | A kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108901302B (en) * | 2018-09-03 | 2021-04-23 | 青岛益居锋农业机械制造有限公司 | Vegetable harvester |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100605494B1 (en) * | 2004-10-19 | 2006-07-28 | (주)지앤지컨설턴트에프디아이 | Apparatus for excavating the plant |
| CN202773586U (en) * | 2012-04-24 | 2013-03-13 | 丑纪行 | Arc-shaped shovel hydraulic tree excavating device |
| CN103693124B (en) * | 2013-05-24 | 2016-01-20 | 北京航空航天大学 | A kind of Transformable spherical robot |
| CN203566719U (en) * | 2013-10-31 | 2014-04-30 | 山东航远工业装备股份有限公司 | Clamping jaw mechanism of seabed mechanical hand |
| CN203832605U (en) * | 2014-04-10 | 2014-09-17 | 西北工业大学 | Telescopic spherical robot |
| CN104044154B (en) * | 2014-06-26 | 2016-06-08 | 陈明奕 | One is breakage-proof picks up egg handgrip device |
| CN204560455U (en) * | 2015-01-22 | 2015-08-19 | 蔡树刚 | Flowers and trees tree dish fetches earth pincers |
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