CN107241969A - One kind automation wild rice stem picking method - Google Patents
One kind automation wild rice stem picking method Download PDFInfo
- Publication number
- CN107241969A CN107241969A CN201710521332.8A CN201710521332A CN107241969A CN 107241969 A CN107241969 A CN 107241969A CN 201710521332 A CN201710521332 A CN 201710521332A CN 107241969 A CN107241969 A CN 107241969A
- Authority
- CN
- China
- Prior art keywords
- wild rice
- rice stem
- harvesting
- grab bucket
- picking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 241000746966 Zizania Species 0.000 title claims abstract description 164
- 235000002636 Zizania aquatica Nutrition 0.000 title claims abstract description 163
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000003306 harvesting Methods 0.000 claims abstract description 68
- 238000012545 processing Methods 0.000 claims abstract description 23
- 210000000078 claw Anatomy 0.000 claims description 52
- 230000007246 mechanism Effects 0.000 claims description 37
- 239000000872 buffer Substances 0.000 claims description 12
- 238000007599 discharging Methods 0.000 claims description 6
- 230000003139 buffering effect Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000007790 scraping Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 239000002699 waste material Substances 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 15
- 238000004140 cleaning Methods 0.000 description 6
- 241000196324 Embryophyta Species 0.000 description 4
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 244000082204 Phyllostachys viridis Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 244000062793 Sorghum vulgare Species 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 235000019713 millet Nutrition 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 235000013311 vegetables Nutrition 0.000 description 2
- 241000272525 Anas platyrhynchos Species 0.000 description 1
- 244000241257 Cucumis melo Species 0.000 description 1
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 1
- 235000007199 Panicum miliaceum Nutrition 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 244000022185 broomcorn panic Species 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 125000001189 phytyl group Chemical group [H]C([*])([H])/C([H])=C(C([H])([H])[H])/C([H])([H])C([H])([H])C([H])([H])[C@@](C([H])([H])[H])([H])C([H])([H])C([H])([H])C([H])([H])[C@@](C([H])([H])[H])([H])C([H])([H])C([H])([H])C([H])([H])C(C([H])([H])[H])([H])C([H])([H])[H] 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
- A01D90/02—Loading means
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
Wild rice stem picking method is automated the invention discloses one kind, is comprised the following steps：(1) wild rice stem planting base is divided into multiple 1m*1m grid, the harvesting of wild rice stem in grid is carried out according still further to principle from outside to inside；(2) harvesting personnel manipulation picking vehicle carries out harvesting processing to wild rice stem；(3) wild rice stem is collected in collecting box after plucking, then is released by material-pulling device；(4) while plucking wild rice stem, carrying personnel manipulates carrier and carries out grasp handling to the wild rice stem on ground, wild rice stem is transported on truck, consequently facilitating the subsequent treatment of wild rice stem.Simple in construction, practical, operation automation of the invention, the automation for realizing wild rice stem by picking vehicle is plucked, then is combined with carrier and is realized the automated handling of wild rice stem, is accelerated the harvesting collection rate of wild rice stem, is used enhanced convenience.
Description
Technical field
Wild rice stem picking method is automated the present invention relates to one kind.
Background technology
Wild rice stem, also known as high melon, wild rice bamboo shoot, wild rice hand, hay bamboo shoot, Gao Sun.It is that grass family wild rice belongs to perennial herb plant.It is divided into
Double-season early rice and single cropping wild rice stem (or being divided into a ripe hay and two ripe hays), double-season early rice (two ripe hays) yield are higher, and quality might as well.It is ancient
People's wild rice stem is called " wild rice ".Before the Tang Dynasty, wild rice stem is taken as plant cultivation grain, and its seed, wild rice rice or carving Hu, is " six
One of paddy " (Glutinous-rice, broomcorn millet, millet, fine strain of millet, wheat, wild rice).Later it has been found that some wild rices are because infecing smut without heading, and plant is in the least
Without symptom, stem constantly expands, and gradually forms fusiform fleshy stem, here it is edible wild rice stem now.So, people are just sharp
Prevent wild rice stem from yielding positive results with smut, breed this ill deformity plant in body and be used as vegetables.It can be used as medicine.In the world hay
It is white to be used as vegetable growing, only China and Vietnam.Wild rice stem is described as three one of good (three well i.e. hays in the white village in Shandong Xintai City
In vain, spring bud, wild duck egg), spread from ancient times so far.A band, is adapted to fresh water in grow with being grown on long rivers and lakes more.Current wild rice stem is adopted
Pluck general using manually plucking, not only harvesting speed is low, and hand labor is strong, bothersome and laborious.
The content of the invention
Present invention aims at a kind of automation wild rice stem picking method is provided for the deficiency present in prior art
Technical scheme, simple in construction, operation automation, the automation for realizing wild rice stem by picking vehicle is plucked, then is combined with carrier
The automated handling of wild rice stem is realized, accelerates the harvesting collection rate of wild rice stem, uses enhanced convenience.
One kind automation wild rice stem picking method, it is characterised in that comprise the following steps：
(1) manual control picking vehicle first, picking vehicle is moved to the wild rice stem planting base specified, restarts visual identity
System, control computer is delivered to by the landform and actual size of wild rice stem planting base, and harvesting personnel pass through display in operating room
Screen reads information, determines that wild rice stem plucks scheme further according to actual information, wild rice stem planting base is divided into multiple 1m*1m side
Lattice, then harvesting processing is carried out to single grid one by one, according to principle from outside to inside, it will be close to the hay of wild rice stem planting base side
Pluck in vain, then the wild rice stem of wild rice stem planting base center is plucked, not only cause the harvesting more science of wild rice stem to close
Reason, it is to avoid when first being plucked to the wild rice stem of wild rice stem planting base center, picking vehicle is in moving process to wild rice stem planting matrix
The wild rice stem of ground side is rolled, and causes the waste of resource, and effectively controls the harvesting speed and harvesting amount of wild rice stem, more just
In actual operation；
(2) harvesting personnel start harvesting cylinder in OPS by manipulating the work of button control picking claw, first, lead to
The movement that harvesting cylinder drives harvesting frame is crossed, after the first picking claw and the second picking claw are moved to above wild rice stem planting base,
Pluck cylinder and stop movement, then the first rotary cylinder and the second rotary cylinder start simultaneously, pass through the first rotary cylinder and the
Two rotary cylinders drive the rotation of the first picking claw and the second picking claw respectively, so as to the first picking claw and the second picking claw
Position is adjusted so that the first picking claw is located at the top of one piece of harvesting grid, and the second picking claw is located at another piece of harvesting side
The top of lattice, the first driver and the second driver start simultaneously, the first picking claw and the work of the second picking claw are driven, while right
Wild rice stem in two pieces of harvesting grids carries out harvesting processing, and the first picking claw and the second picking claw are won after wild rice stem, are started simultaneously
First rotary cylinder and the second rotary cylinder, the first picking claw and the second picking claw are rotated to the top of collecting box, then by
One picking claw and the second picking claw are unclamped so that wild rice stem is dropped in collecting box, is easy to follow-up processing, effectively accelerate wild rice stem
Pluck speed；
(3) after the wild rice stem in step (2) is entered in collecting box, when the gravity sensor of collecting box bottom senses collection
Wild rice stem is reached after certain weight in case, the gate opening on collecting box discharging opening, while material-pulling device is opened, pusher cylinder band
The movement of dynamic arc scraping wings, the wild rice stem in collecting box is released from discharging opening, then under the guiding function of oriented plate, soon
Speed discharge collecting box is accumulated on ground, consequently facilitating the harvesting collection processing of follow-up wild rice stem；
(4) while harvesting personnel driving picking vehicle carries out harvesting processing to wild rice stem, carrying personnel's manipulation carrier is over the ground
Wild rice stem on face carries out transportation processing, and wild rice stem is transported on truck, and carrying personnel's manipulation carrier is moved into hay first
By white heap, while hydraulic cylinder, which is opened, drives machine frame movement, the position of grab mechanisms is adjusted so that grab mechanisms are located at hay
The top of white heap, then adjusting means unlatching, regulation cylinder is rotated by the elongation and retraction of adjusting rod to grab mechanisms
Operation, so as to adjust the angle of grab mechanisms so that grab bucket component is right against above wild rice stem heap, improves the crawl speed of grab bucket component
Rate, simultaneous retractable cylinder is opened, and by the elongation and the adjustment for progress grab mechanisms upper-lower position of retracting of expansion link, expansion link is stretched
Long so that grab bucket component is moved to the position of wild rice stem to be captured, the 3rd driver is opened, by left grab bucket and right grab bucket to wild rice stem
Crawl operation is carried out, after grab mechanisms have captured wild rice stem, expansion link is retracted, and operating personnel move to carrier again, will
Wild rice stem is transported on truck, integrated operation automation, using enhanced convenience, realizes the integration harvesting transport processing of wild rice stem,
Effectively accelerate the harvesting speed of wild rice stem.
Further, in step (4), while grab mechanisms carry out crawl operation to wild rice stem, camera assembly passes through shooting
Head carries out moment monitoring to the working condition of grab mechanisms, and monitored picture is sent in OPS, so as to operating personnel
Pinpoint the problems in time, improve safe operation performance, reduce the generation rate of accident.
Further, step 4) in carrier include movement forklift, frame and handling device, frame pass through hydraulic cylinder with move
Electrical forklift is connected, and handling device includes adjusting means and grab mechanisms, and adjusting means includes telescopic cylinder, regulation cylinder, branch
Support and connecting plate, telescopic cylinder are fixedly connected with frame, and telescopic cylinder is connected by expansion link with support frame, adjust cylinder
It is fixedly connected with support frame, regulation cylinder is connected by adjusting rod with connecting plate, and one end of support frame is fixedly connected with frame,
Grab mechanisms include the 3rd driver and grab bucket component, and grab bucket component includes left grab bucket and right grab bucket, left grab bucket and right grab bucket pair
Claim the left and right sides for being arranged on the 3rd driver.
Further, elastic buffer frame is provided between frame and movement forklift, elastic buffer frame includes left fixed plate, buffering
Main body and right fixed plate, buffering main body are located between left fixed plate and right fixed plate, and left fixed plate is fixedly connected with movement forklift,
Right fixed plate is fixedly connected with frame, and elastic buffer frame can not only improve the bonding strength between frame and movement forklift,
The movement that can cause frame again of elastic buffer frame is more steady reliable simultaneously.
Further, the surface of left grab bucket and right grab bucket is evenly arranged with leaking hole, and the design of leaking hole can be in order to rear
Phase cleaning device is to left grab bucket and the cleaning of right grab bucket, it is to avoid sewage is remained in left grab bucket and right grab bucket after cleaning, and design is more
Rationally.
Further, connecting rod is provided with left grab bucket and right grab bucket, left grab bucket passes through connecting rod with right grab bucket
It is connected with the 3rd Drive Activity, the design of connecting rod can be in order to the company between left grab bucket, right grab bucket and the 3rd driver
Connect fixation.
Further, it is hinged between left grab bucket and right grab bucket, the design being hinged meets design requirement.
Further, connecting pole is provided with above the 3rd driver, the 3rd driver is connected by connecting pole with connecting plate
Connect, the design of connecting pole can be fixed in order to the installation of the 3rd driver and connecting plate, and installing/dismounting is convenient.
Further, camera assembly is provided with above left grab bucket and right grab bucket, camera assembly includes camera and connection
Frame, link includes the first fix bar and the second fix bar, and one end of the first fix bar is connected with the 3rd driver, and first consolidates
The other end of fixed pole is flexibly connected with the second fix bar, and camera is connected with the second fix bar, and the design of camera assembly can be with
Working condition to grab mechanisms carries out the monitoring at moment, to pinpoint the problems and solve the problems, such as in time, effectively improves operation peace
Full performance, structure design is more reasonable.
The present invention is by adopting the above-described technical solution, have the advantages that：
1st, the present invention carries out automation harvesting by picking vehicle to wild rice stem, by the first picking claw and the second picking claw simultaneously
Harvesting processing is carried out to stirring, accelerates the harvesting speed of wild rice stem, and by the harvesting scheme for wild rice stem of making rational planning for, by wild rice stem kind
It is divided into multiple 1m*1m grids to be plucked phytyl, can not only controls the harvesting speed and harvesting amount of stirring so that wild rice stem
Harvesting more science；
2nd, the present invention carries out carrying movement by carrier to the wild rice stem after harvesting, and wild rice stem is transported on truck, so that
It is easy to the follow-up of wild rice stem to focus on, telescopic cylinder carries out grab mechanisms upper-lower position by the elongation of expansion link with retracting
Adjustment, when grab mechanisms are clamped to wild rice stem, expansion link elongation so that grab mechanisms are moved at wild rice stem heap to be removed, when
When left grab bucket and right grab bucket crawl wild rice stem, expansion link is retracted, then movement forklift is moved, and wild rice stem is transported on truck,
Regulation cylinder can be rotated by the elongation and retraction of adjusting rod to grab mechanisms, so as to the position of left grab bucket and right grab bucket
Put and be finely adjusted so that top of the grab mechanisms just to wild rice stem to be handled, the operation for being more convenient for actual and use.
Simple in construction, practical, operation automation of the invention, the automation for realizing wild rice stem by picking vehicle is plucked, then
It is combined with carrier and realizes the automated handling of wild rice stem, is accelerated the harvesting collection rate of wild rice stem, use enhanced convenience.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation for automating sludge dewatering system in wild rice stem picking method of the present invention；
Fig. 2 is the structural representation of adjusting means in the present invention；
Fig. 3 is the partial enlarged drawing at I in Fig. 1.
In figure：1- carriers；2- movement forklifts；3- frames；4- hydraulic cylinders；5- adjusting meanss；6- grab mechanisms；7- stretches
Cylinder；8- adjusts cylinder；9- support frames；10- connecting plates；11- expansion links；12- adjusting rods；The drivers of 13- the 3rd；14- is grabbed on a left side
Bucket；The right grab buckets of 15-；16- elastic buffer framves；The left fixed plates of 17-；18- buffers main body；The right fixed plates of 19-；20- leaking holes；21-
Connecting rod；22- connecting poles；23- camera assemblies；The fix bars of 24- first；The fix bars of 25- second；26- cameras.
Embodiment
As shown in Figure 1 to Figure 3, it is a kind of automation wild rice stem picking method of the invention, comprises the following steps：
(1) manual control picking vehicle first, picking vehicle is moved to the wild rice stem planting base specified, restarts visual identity
System, control computer is delivered to by the landform and actual size of wild rice stem planting base, and harvesting personnel pass through display in operating room
Screen reads information, determines that wild rice stem plucks scheme further according to actual information, wild rice stem planting base is divided into multiple 1m*1m side
Lattice, then harvesting processing is carried out to single grid one by one, according to principle from outside to inside, it will be close to the hay of wild rice stem planting base side
Pluck in vain, then the wild rice stem of wild rice stem planting base center is plucked, not only cause the harvesting more science of wild rice stem to close
Reason, it is to avoid when first being plucked to the wild rice stem of wild rice stem planting base center, picking vehicle is in moving process to wild rice stem planting matrix
The wild rice stem of ground side is rolled, and causes the waste of resource, and effectively controls the harvesting speed and harvesting amount of wild rice stem, more just
In actual operation；
(2) harvesting personnel start harvesting cylinder in OPS by manipulating the work of button control picking claw, first, lead to
The movement that harvesting cylinder drives harvesting frame is crossed, after the first picking claw and the second picking claw are moved to above wild rice stem planting base,
Pluck cylinder and stop movement, then the first rotary cylinder and the second rotary cylinder start simultaneously, pass through the first rotary cylinder and the
Two rotary cylinders drive the rotation of the first picking claw and the second picking claw respectively, so as to the first picking claw and the second picking claw
Position is adjusted so that the first picking claw is located at the top of one piece of harvesting grid, and the second picking claw is located at another piece of harvesting side
The top of lattice, the first driver and the second driver start simultaneously, the first picking claw and the work of the second picking claw are driven, while right
Wild rice stem in two pieces of harvesting grids carries out harvesting processing, and the first picking claw and the second picking claw are won after wild rice stem, are started simultaneously
First rotary cylinder and the second rotary cylinder, the first picking claw and the second picking claw are rotated to the top of collecting box, then by
One picking claw and the second picking claw are unclamped so that wild rice stem is dropped in collecting box, is easy to follow-up processing, effectively accelerate wild rice stem
Pluck speed；
(3) after the wild rice stem in step (2) is entered in collecting box, when the gravity sensor of collecting box bottom senses collection
Wild rice stem is reached after certain weight in case, the gate opening on collecting box discharging opening, while material-pulling device is opened, pusher cylinder band
The movement of dynamic arc scraping wings, the wild rice stem in collecting box is released from discharging opening, then under the guiding function of oriented plate, soon
Speed discharge collecting box is accumulated on ground, consequently facilitating the harvesting collection processing of follow-up wild rice stem；
(4) while harvesting personnel driving picking vehicle carries out harvesting processing to wild rice stem, carrying personnel's manipulation carrier 1 is over the ground
Wild rice stem on face carries out transportation processing, and wild rice stem is transported on truck, and carrying personnel's manipulation carrier 1 is moved into hay first
By white heap, drive frame 3 to move while hydraulic cylinder 4 is opened, the position of grab mechanisms 6 is adjusted so that grab mechanisms 6
In the top of wild rice stem heap, then adjusting means 5 is opened, and regulation cylinder 8 is by the elongation of adjusting rod 12 and retracts to grab mechanisms 6
Rotation process is carried out, so as to adjust the angle of grab mechanisms 6 so that grab bucket component is right against above wild rice stem heap, improves grab bucket group
The crawl speed of part, simultaneous retractable cylinder 7 is opened, elongation and the progress upper-lower position of grab mechanisms 6 of retracting by expansion link 11
Adjustment, expansion link 11 extended so that grab bucket component is moved to the position of wild rice stem to be captured, and the 3rd driver 13 is opened, passed through
Left grab bucket 14 and right 15 pairs of wild rice stems of grab bucket carry out crawl operation, and after grab mechanisms 6 have captured wild rice stem, expansion link 11 is retracted, behaviour
Make personnel again to move carrier 1, wild rice stem is transported on truck, integrated operation automation is real using enhanced convenience
The integration harvesting transport processing of existing wild rice stem, effectively accelerates the harvesting speed of wild rice stem, grab mechanisms 6 carry out crawl operation to wild rice stem
While, camera assembly 23 carries out moment monitoring to the working conditions of grab mechanisms 6 by camera 26, and by monitored picture
It is sent in OPS, so that operating personnel pinpoint the problems in time, improves safe operation performance, reduce the generation rate of accident.
Carrier 1 includes movement forklift 2, frame 3 and handling device, and frame 3 is connected by hydraulic cylinder 4 with movement forklift 2
Connect, elastic buffer frame 16 is provided between frame 3 and movement forklift 2, elastic buffer frame 16 includes left fixed plate 17, buffering main body
18 and right fixed plate 19, buffering main body 18 is located between left fixed plate 17 and right fixed plate 19, left fixed plate 17 and movement forklift 2
It is fixedly connected, right fixed plate 19 is fixedly connected with frame 3, elastic buffer frame 16 can not only improve frame 3 and movement forklift 2
Between bonding strength, while elastic buffer frame 16 can cause the movement of frame 3 more steady reliable again, handling device
Including adjusting means 5 and grab mechanisms 6, adjusting means 5 includes telescopic cylinder 7, regulation cylinder 8, support frame 9 and connecting plate 10,
Telescopic cylinder 7 is fixedly connected with frame 3, and telescopic cylinder 7 is connected by expansion link 11 with support frame 9, regulation cylinder 8 and support
Frame 9 is fixedly connected, and regulation cylinder 8 is connected by adjusting rod 12 with connecting plate 10, and one end of support frame 9 is fixed with frame 3 to be connected
Connect, grab mechanisms 6 include the 3rd driver 13 and grab bucket component, and the top of the 3rd driver 13 is provided with connecting pole 22, the 3rd
Driver 13 is connected by connecting pole 22 with connecting plate 10, and the design of connecting pole 22 can be in order to which the 3rd driver 13 be with being connected
The installation of plate 10 is fixed, and installing/dismounting is convenient, and grab bucket component includes left grab bucket 14 and right grab bucket 15, left grab bucket 14 and right grab bucket 15
Between be hinged, the design being hinged meets design requirement, and left grab bucket 14 and right grab bucket 15 are symmetricly set on the 3rd driver 13
The left and right sides, the surface of left grab bucket 14 and right grab bucket 15 is evenly arranged with leaking hole 20, and the design of leaking hole 20 can be so as to
In later stage cleaning device to left grab bucket 14 and the cleaning of right grab bucket 15, it is to avoid sewage remains in left grab bucket 14 and right grab bucket after cleaning
In 15, it is more reasonable to design, and the top of left grab bucket 14 and right grab bucket 15 is provided with camera assembly 23, and camera assembly 23 includes shooting
First 26 and link, link includes the first fix bar 24 and the second fix bar 25, and one end of the first fix bar 24 is driven with the 3rd
Dynamic device 13 is connected, and the other end of the first fix bar 24 is flexibly connected with the second fix bar 25, the fix bar of camera 26 and second
25 are connected, and the design of camera assembly 23 can carry out the monitoring at moment to the working condition of grab mechanisms 6, so as to discovery in time
Problem and solution problem, effectively improve safe operation performance, structure design is more reasonable.
The specific embodiment of the present invention is these are only, but the technical characteristic of the present invention is not limited thereto.It is any with this hair
Based on bright, to realize essentially identical technique effect, made ground simple change, equivalent substitution or modification etc., all cover
Among protection scope of the present invention.
Claims (9)
1. one kind automation wild rice stem picking method, it is characterised in that comprise the following steps：
(1) manual control picking vehicle first, picking vehicle is moved to the wild rice stem planting base specified, restarts visual recognition line
System, control computer is delivered to by the landform and actual size of wild rice stem planting base, and harvesting personnel pass through display screen in operating room
Information is read, determines that wild rice stem plucks scheme further according to actual information, wild rice stem planting base is divided into multiple 1m*1m side
Lattice, then harvesting processing is carried out to single grid one by one, according to principle from outside to inside, it will be close to the hay of wild rice stem planting base side
Pluck in vain, then the wild rice stem of wild rice stem planting base center is plucked, not only cause the harvesting more science of wild rice stem to close
Reason, it is to avoid when first being plucked to the wild rice stem of wild rice stem planting base center, picking vehicle is in moving process to wild rice stem planting matrix
The wild rice stem of ground side is rolled, and causes the waste of resource, and effectively controls the harvesting speed and harvesting amount of wild rice stem, more just
In actual operation；
(2) harvesting personnel start harvesting cylinder in OPS by manipulating the work of button control picking claw, first, by adopting
The movement that cylinder drives harvesting frame is plucked, after the first picking claw and the second picking claw are moved to above wild rice stem planting base, harvesting
Cylinder stops movement, and then the first rotary cylinder and the second rotary cylinder start simultaneously, is revolved by the first rotary cylinder and second
Rotaring cylinder drives the rotation of the first picking claw and the second picking claw respectively, so as to the position of the first picking claw and the second picking claw
It is adjusted so that the first picking claw is located at the top of one piece of harvesting grid, the second picking claw is located at another piece and plucks grid
Top, the first driver and the second driver start simultaneously, the first picking claw and the work of the second picking claw are driven, while to two pieces
The wild rice stem plucked in grid carries out harvesting processing, and the first picking claw and the second picking claw are won after wild rice stem, while starting first
Rotary cylinder and the second rotary cylinder, the first picking claw and the second picking claw are rotated to the top of collecting box, then first is adopted
Pluck pawl and the second picking claw unclamps so that wild rice stem is dropped in collecting box, is easy to follow-up processing, effectively accelerates the harvesting of wild rice stem
Speed；
(3) after the wild rice stem in step (2) is entered in collecting box, when the gravity sensor of collecting box bottom is sensed in collecting box
Wild rice stem reached after certain weight, the gate opening on collecting box discharging opening, while material-pulling device is opened, pusher cylinder drives arc
The movement of shape scraping wings, the wild rice stem in collecting box is released from discharging opening, then under the guiding function of oriented plate, quick row
Go out collecting box to accumulate on ground, consequently facilitating the harvesting collection processing of follow-up wild rice stem；
(4) while harvesting personnel driving picking vehicle carries out harvesting processing to wild rice stem, carrying personnel manipulates carrier on ground
Wild rice stem carry out transportation processing, wild rice stem is transported on truck, first carrying personnel manipulation carrier be moved into wild rice stem heap
Side, while hydraulic cylinder, which is opened, drives machine frame movement, is adjusted to the position of grab mechanisms so that grab mechanisms are located at wild rice stem heap
Top, then adjusting means open, regulation cylinder is by the elongation of adjusting rod and retracts and carries out rotation process to grab mechanisms,
So as to adjust the angle of grab mechanisms so that grab bucket component is right against above wild rice stem heap, improves the crawl speed of grab bucket component, together
When telescopic cylinder open, by the elongation of expansion link and retract and carry out the adjustment of grab mechanisms upper-lower position, expansion link elongation makes
The component that must grab bucket is moved to the position of wild rice stem to be captured, and the 3rd driver is opened, and wild rice stem is carried out by left grab bucket and right grab bucket
Operation is captured, after grab mechanisms have captured wild rice stem, expansion link is retracted, and operating personnel move to carrier again, by wild rice stem
It is transported on truck, integrated operation automation, using enhanced convenience, realizes the integration harvesting transport processing of wild rice stem, effectively
Accelerate the harvesting speed of wild rice stem.
2. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that：In the step (4), grab
While bucket device carries out crawl operation to wild rice stem, camera assembly carries out the moment by camera to the working condition of grab mechanisms
Monitoring, and monitored picture is sent in OPS, so that operating personnel pinpoint the problems in time, safe operation performance is improved,
The generation rate of reduction accident.
3. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that：The step 4) in it is described
Carrier includes movement forklift, frame and handling device, and the frame is connected by hydraulic cylinder with the movement forklift, described
Handling device includes adjusting means and grab mechanisms, and the adjusting means includes telescopic cylinder, regulation cylinder, support frame and connection
Plate, the telescopic cylinder is fixedly connected with the frame, and the telescopic cylinder is connected by expansion link with support frame as described above, institute
State regulation cylinder to be fixedly connected with support frame as described above, the regulation cylinder is connected by adjusting rod with the connecting plate, described
One end of support frame is fixedly connected with the frame, and the grab mechanisms include the 3rd driver and grab bucket component, the grab bucket
Component includes left grab bucket and right grab bucket, and the left grab bucket and right grab bucket are symmetricly set on the left and right two of the 3rd driver
Side.
4. a kind of automation wild rice stem picking method according to claim 3, it is characterised in that：The frame and the movement
Elastic buffer frame is provided between fork truck, the elastic buffer frame includes left fixed plate, buffering main body and right fixed plate, described slow
Rush main body to be located between the left fixed plate and the right fixed plate, the left fixed plate is fixedly connected with the movement forklift,
The right fixed plate is fixedly connected with the frame.
5. a kind of automation wild rice stem picking method according to claim 3, it is characterised in that：The left grab bucket and the right side
The surface of grab bucket is evenly arranged with leaking hole.
6. a kind of automation wild rice stem picking method according to claim 3, it is characterised in that：The left grab bucket and the right side
Connecting rod is provided with grab bucket, the left grab bucket passes through the connecting rod and the described 3rd driving with the right grab bucket
Device is flexibly connected.
7. a kind of automation wild rice stem picking method according to claim 3, it is characterised in that：The left grab bucket and the right side
It is hinged between grab bucket.
8. a kind of automation wild rice stem picking method according to claim 3, it is characterised in that：3rd driver it is upper
Side is provided with connecting pole, and the 3rd driver is connected by the connecting pole with the connecting plate.
9. a kind of automation wild rice stem picking method according to claim 3, it is characterised in that：The left grab bucket and the right side
Camera assembly is provided with above grab bucket, the camera assembly includes camera and link, and the link includes first
Fix bar and the second fix bar, one end of first fix bar are connected with the 3rd driver, first fix bar
The other end be flexibly connected with second fix bar, the camera is connected with second fix bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710521332.8A CN107241969B (en) | 2017-06-30 | 2017-06-30 | A kind of automation wild rice stem picking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710521332.8A CN107241969B (en) | 2017-06-30 | 2017-06-30 | A kind of automation wild rice stem picking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107241969A true CN107241969A (en) | 2017-10-13 |
| CN107241969B CN107241969B (en) | 2019-11-26 |
Family
ID=60014181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710521332.8A Active CN107241969B (en) | 2017-06-30 | 2017-06-30 | A kind of automation wild rice stem picking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107241969B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108575299A (en) * | 2018-06-22 | 2018-09-28 | 长沙桑铼特农业机械设备有限公司 | A kind of collection transfer car(buggy) |
| AU2019240618B2 (en) * | 2019-03-15 | 2020-11-26 | Bunnie Sun Heng LIM | Vehicle for Collecting and Transporting Agricultural Articles Therefor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2453102C1 (en) * | 2010-12-20 | 2012-06-20 | Государственное образовательное учреждение высшего профессионального образования "Астраханский государственный университет" (АГУ) | Cane harvester for mainly level areas |
| KR101249355B1 (en) * | 2013-01-24 | 2013-04-03 | 경북대학교 산학협력단 | Hander for oriental melon harvesting robot |
| CN103503639A (en) * | 2013-09-30 | 2014-01-15 | 常州大学 | Double-manipulator fruit and vegetable harvesting robot system and fruit and vegetable harvesting method thereof |
| CN105340471A (en) * | 2015-11-12 | 2016-02-24 | 北京师范大学 | Waterweed collection device and waterweed collection method used for shallow water |
| CN205755585U (en) * | 2016-05-24 | 2016-12-07 | 王艳新 | A kind of automatic picking machine of Citrullus vulgaris |
-
2017
- 2017-06-30 CN CN201710521332.8A patent/CN107241969B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2453102C1 (en) * | 2010-12-20 | 2012-06-20 | Государственное образовательное учреждение высшего профессионального образования "Астраханский государственный университет" (АГУ) | Cane harvester for mainly level areas |
| KR101249355B1 (en) * | 2013-01-24 | 2013-04-03 | 경북대학교 산학협력단 | Hander for oriental melon harvesting robot |
| CN103503639A (en) * | 2013-09-30 | 2014-01-15 | 常州大学 | Double-manipulator fruit and vegetable harvesting robot system and fruit and vegetable harvesting method thereof |
| CN105340471A (en) * | 2015-11-12 | 2016-02-24 | 北京师范大学 | Waterweed collection device and waterweed collection method used for shallow water |
| CN205755585U (en) * | 2016-05-24 | 2016-12-07 | 王艳新 | A kind of automatic picking machine of Citrullus vulgaris |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108575299A (en) * | 2018-06-22 | 2018-09-28 | 长沙桑铼特农业机械设备有限公司 | A kind of collection transfer car(buggy) |
| CN108575299B (en) * | 2018-06-22 | 2024-04-26 | 长沙桑铼特农业机械设备有限公司 | Collecting transfer trolley |
| AU2019240618B2 (en) * | 2019-03-15 | 2020-11-26 | Bunnie Sun Heng LIM | Vehicle for Collecting and Transporting Agricultural Articles Therefor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107241969B (en) | 2019-11-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203167576U (en) | Backpack-type peanut-picking-up and fruit-picking combined harvester | |
| CN103039179B (en) | Backsack peanut picking combine | |
| CN107771527A (en) | A kind of efficient lossless formula fruit picking apparatus | |
| CN103597954B (en) | A kind of material-gathering device of sugarcane combine | |
| CN107241969A (en) | One kind automation wild rice stem picking method | |
| CN106034571B (en) | A kind of detraction harvesting method after sesame is mature | |
| CN106063410B (en) | A kind of agricultural oils vegetable seed release unit | |
| CN107567832A (en) | One cultivates peanut picker | |
| CN204539928U (en) | Novel full feeding peanut combine | |
| CN207075253U (en) | A kind of combined type automatic grading of fruits picking mechanical arm | |
| CN108207363A (en) | A kind of agricultural machinery herbage pulverizer | |
| CN113330905B (en) | Soybean picking system and method | |
| CN107182844A (en) | A kind of swarmming group negative pressure catching equipment | |
| CN212184239U (en) | Peanut picker | |
| CN204408966U (en) | A kind of acquisition component of medlar-picking machine | |
| CN207802776U (en) | Fruit combined harvester is plucked in one pickup of cultivating peanut | |
| CN110637585A (en) | Ear root folding harvesting device | |
| CN108541448A (en) | A kind of picking machine | |
| CN109092682A (en) | A kind of knockdown soybean removal of impurities air-drying device | |
| CN108203685A (en) | A kind of methane-generating pit cleaning robot for preparing biomass new energy fuel gas | |
| CN208597331U (en) | A kind of picking machine | |
| CN209201557U (en) | A kind of electronic woods fruit collection device | |
| CN103039193A (en) | Sugarcane collecting device installed on whole rod type sugarcane harvester to collect sugarcane | |
| CN108307798B (en) | Cherry picking tool | |
| CN221063412U (en) | Intelligent agricultural picking and screening device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191104 Address after: 314299 Room 406, 2 Building, Century Commercial Center, Danghu Street, Pinghu City, Jiaxing City, Zhejiang Province Applicant after: Wang Lingyan Address before: 313000 Zhejiang City, Wuxing Miao Miao Miao Town West Village Bridge Applicant before: Huzhou mulberry planter's ecological agriculture company limited |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |