CN107241969B - A kind of automation wild rice stem picking method - Google Patents
A kind of automation wild rice stem picking method Download PDFInfo
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- CN107241969B CN107241969B CN201710521332.8A CN201710521332A CN107241969B CN 107241969 B CN107241969 B CN 107241969B CN 201710521332 A CN201710521332 A CN 201710521332A CN 107241969 B CN107241969 B CN 107241969B
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- 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
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- 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
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- Life Sciences & Earth Sciences (AREA)
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of automation wild rice stem picking methods, include the following steps: that wild rice stem planting base is divided into the grid of multiple 1m*1m by (1), and the picking of wild rice stem in grid is carried out according still further to principle from outside to inside；(2) picking personnel manipulate picking vehicle and carry out picking processing to wild rice stem；(3) wild rice stem is collected in collecting box after picking, then is released by material-pulling device；(4) while picking 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 processing of wild rice stem.The configuration of the present invention is simple, practical, operation automation realizes that the automation of wild rice stem is picked by picking vehicle, then combines the automated handling for realizing wild rice stem with carrier, accelerates the picking collection rate of wild rice stem, it is more convenient to use.
Description
Technical field
The present invention relates to a kind of automation wild rice stem picking methods.
Background technique
Wild rice stem also known as high melon, wild rice bamboo shoot, wild rice hand, hay bamboo shoot, Gao Sun.It is grass family wild rice category 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 is higher, and quality might as well.It is ancient
People's wild rice stem is referred to as " wild rice ".Before the Tang Dynasty, wild rice stem is taken as plant cultivation grain, its seed is " six wild rice rice or carving Hu
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 earing, and plant milli
Without symptom, stem constantly expands, and gradually forms fusiform fleshy stem, and here it is now edible wild rice stems.In this way, people are just sharp
It prevents wild rice stem from yielding positive results with smut, breeds this ill deformity plant in body as vegetables.It can be used as medicine.In the world hay
It is white as vegetable growing, only Chinese and Vietnam.Wild rice stem is known as three one of good (three well i.e. hays in the white village in Shandong Xintai City
White, spring bud, wild duck egg), it spreads from ancient times so far.With more being grown on a long rivers and lakes band is suitble to grow in fresh water.Current wild rice stem is adopted
It plucks general use manually to pick, it is low not only to pick rate, but also hand labor is strong, it is bothersome and laborious.
Summary of the invention
Present invention aims at a kind of automation wild rice stem picking method is provided for deficiency of the prior art
Technical solution, structure is simple, operation automation, realizes that the automation of wild rice stem is picked by picking vehicle, then combine with carrier
The automated handling for realizing wild rice stem, accelerates the picking collection rate of wild rice stem, it is more convenient to use.
A kind of automation wild rice stem picking method, which comprises the following steps:
(1) picking vehicle, is moved to specified wild rice stem planting base, restarts visual identity by manual control picking vehicle first
The landform of wild rice stem planting base and actual size are transmitted to control computer by system, and picking personnel pass through display in operating room
Screen reads information, determines that wild rice stem picks scheme further according to actual information, wild rice stem planting base is divided into the side of multiple 1m*1m
Lattice, then picking 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
It is white to pick, then the wild rice stem at the center of wild rice stem planting base is picked, close the picking more science of wild rice stem
Reason, when avoiding first picking the wild rice stem at the center of wild rice stem planting base, picking vehicle is in moving process to wild rice stem planting matrix
The wild rice stem of ground side is rolled, and the waste of resource is caused, and effectively controls the picking rate and picking amount of wild rice stem, more just
In actual operation；
(2) picking personnel control the work of picking claw, first starting picking cylinder in control room by manipulation button, lead to
The movement that picking cylinder drives picking frame is crossed, after the first picking claw and the second picking claw are moved to above wild rice stem planting base,
It picks cylinder and stops 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, thus 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 picking grid, the second picking claw is located at another piece of picking side
The top of lattice, the first driver and the second driver start simultaneously, drive the first picking claw and the work of the second picking claw, while right
Wild rice stem in two pieces of picking grids carries out picking processing and starts simultaneously after the first picking claw and the second picking claw win wild rice stem
First picking claw and the second picking claw, are rotated to the top of collecting box by the first rotary cylinder and the second rotary cylinder, then by
One picking claw and the second picking claw unclamp, so that wild rice stem is fallen in collecting box, are convenient for subsequent processing, effectively accelerate wild rice stem
Pick rate；
(3) after the wild rice stem in step (2) enters in collecting box, when the gravity sensor of collecting box bottom senses collection
After wild rice stem reaches certain weight in case, the gate opening on collecting box discharge port, while material-pulling device is opened, pusher cylinder band
The movement of dynamic arc scraping wings releases the wild rice stem in collecting box from discharge port, then under the guiding function of oriented plate, fastly
Speed discharge collecting box is accumulated on ground, consequently facilitating the picking collection of subsequent wild rice stem is handled；
(4) while picking personnel drive picking vehicle to carry out picking processing to wild rice stem, carrying personnel manipulates carrier over the ground
Wild rice stem on face carries out transportation processing, and wild rice stem is transported on truck, and carrying personnel manipulates carrier and is moved into hay first
By white heap, while hydraulic cylinder is opened and drives machine frame movement, is adjusted to the position of grab mechanisms, so that grab mechanisms are located at hay
The top of white heap, then regulating device is opened, and is adjusted cylinder and is rotated by the elongation of adjusting rod and retraction to grab mechanisms
Operation, so that grab bucket component is right against above wild rice stem heap, improves the crawl speed of grab bucket component to adjust the angle of grab mechanisms
Rate, simultaneous retractable cylinder are opened, and the adjustment of grab mechanisms upper and lower position is carried out by the elongation and retraction of telescopic rod, and telescopic rod is stretched
Long, so that grab bucket component is moved to the position of wild rice stem to be grabbed, third driver is opened, by left grab bucket and right grab bucket to wild rice stem
Crawl operation is carried out, after grab mechanisms have grabbed wild rice stem, telescopic rod is retracted, and operator again moves carrier, will
Wild rice stem is transported on truck, and integrated operation automation, it is more convenient to use, realizes the integration picking transport processing of wild rice stem,
Effectively accelerate the picking rate of wild rice stem.
Further, in step (4), while grab mechanisms carry out crawl operation to wild rice stem, camera assembly passes through camera shooting
Head carries out moment monitoring to the working condition of grab mechanisms, and monitored picture is transmitted in control room, so as to operator
It finds the problem in time, improves safe operation performance, reduce the generation rate of accident.
Further, the carrier in step 4) includes movement forklift, rack and handling device, and rack is by hydraulic cylinder and moves
Electrical forklift is connected, and handling device includes regulating device and grab mechanisms, and regulating device includes telescopic cylinder, adjusts cylinder, branch
Support and connecting plate, telescopic cylinder are fixedly connected with rack, and telescopic cylinder is connected by telescopic rod with support frame, adjust cylinder
It being fixedly connected with support frame, adjusts cylinder and be connected by adjusting rod with connecting plate, one end of support frame is fixedly connected with rack,
Grab mechanisms include third driver and grab bucket component, grab bucket component include it is left grab bucket and right grab bucket, it is left grab bucket and it is right grab bucket pair
Claim the left and right sides that third driver is set.
Further, elastic buffer frame is provided between rack and movement forklift, elastic buffer frame includes left fixed plate, buffering
Main body and right fixed plate buffer main body 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 rack, the bonding strength that not only can be improved between rack and movement forklift of elastic buffer frame,
The movement that can make rack 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 leakage hole, and the design of leakage hole can be in order to rear
Cleaning of the phase cleaning device to left grab bucket and right grab bucket avoids sewage after cleaning from remaining in left grab bucket and right grab bucket, and design is more
Rationally.
Further, it is provided with connecting rod in left grab bucket and right grab bucket, left grab bucket passes through connecting rod with right grab bucket
It is connect with third Drive Activity, the design of connecting rod can be in order to the company between left grab bucket, right grab bucket and third driver
Connect fixation.
Further, it is hinged between left grab bucket and right grab bucket, hinged design meets design requirement.
Further, connecting column is provided with above third driver, third driver is connected by connecting column with connecting plate
It connects, the design of connecting column can be fixed in order to the installation of third driver and connecting plate, easy to install and disassemble.
Further, it is provided with camera assembly above left grab bucket and right grab bucket, camera assembly includes camera and connection
Frame, connection frame include the first fixed link and the second fixed link, and one end of the first fixed link is connected with third driver, and first is solid
The other end of fixed pole is flexibly connected with the second fixed link, and camera is connected with the second fixed link, and the design of camera assembly can be with
The monitoring at moment is carried out to the working condition of grab mechanisms, to find the problem and to solve the problems, such as in time, effectively improves operation peace
Full performance, structure design are more reasonable.
The present invention is by adopting the above-described technical solution, have the advantages that
1, the present invention by picking vehicle carries out automation picking to wild rice stem, simultaneously by the first picking claw and the second picking claw
Picking processing is carried out to stirring, accelerates the picking rate of wild rice stem, and by the picking scheme for wild rice stem of making rational planning for, by wild rice stem kind
It is divided into phytyl multiple 1m*1m grids to be picked, not only can control the picking rate and picking amount of stirring, so that wild rice stem
Picking it is more scientific；
2, the present invention carries out carrying movement to the wild rice stem after picking by carrier, and wild rice stem is transported on truck, thus
Convenient for the subsequent centralized processing of wild rice stem, telescopic cylinder carries out grab mechanisms upper and lower position by extending and retracting for telescopic rod
Adjustment, when grab mechanisms are clamped wild rice stem, telescopic rod 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, telescopic rod is retracted, then moves to movement forklift, and wild rice stem is transported on truck,
Grab mechanisms can be rotated by the elongation and retraction of adjusting rod by adjusting cylinder, thus to the position of left grab bucket and right grab bucket
It sets and is finely adjusted, so that the top of grab mechanisms face wild rice stem to be handled, be more convenient for actual operation and use.
The configuration of the present invention is simple, practical, operation automation realize that the automation of wild rice stem is picked by picking vehicle, then
The automated handling for realizing wild rice stem is combined with carrier, accelerates the picking collection rate of wild rice stem, it is more convenient to use.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is the structural schematic diagram of sludge dewatering system in a kind of automation wild rice stem picking method of the present invention；
Fig. 2 is the structural schematic diagram of regulating device in the present invention；
Fig. 3 is the partial enlarged view in Fig. 1 at I.
In figure: 1- carrier；2- movement forklift；3- rack；4- hydraulic cylinder；5- regulating device；6- grab mechanisms；7- is flexible
Cylinder；8- adjusts cylinder；9- support frame；10- connecting plate；11- telescopic rod；12- adjusting rod；13- third driver；14- is grabbed on a left side
Bucket；The right grab bucket of 15-；16- elastic buffer frame；The left fixed plate of 17-；18- buffers main body；The right fixed plate of 19-；20- leakage hole；21-
Connecting rod；22- connecting column；23- camera assembly；The first fixed link of 24-；The second fixed link of 25-；26- camera.
Specific embodiment
It as shown in Figure 1 to Figure 3, is a kind of automation wild rice stem picking method of the present invention, comprising the following steps:
(1) picking vehicle, is moved to specified wild rice stem planting base, restarts visual identity by manual control picking vehicle first
The landform of wild rice stem planting base and actual size are transmitted to control computer by system, and picking personnel pass through display in operating room
Screen reads information, determines that wild rice stem picks scheme further according to actual information, wild rice stem planting base is divided into the side of multiple 1m*1m
Lattice, then picking 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
It is white to pick, then the wild rice stem at the center of wild rice stem planting base is picked, close the picking more science of wild rice stem
Reason, when avoiding first picking the wild rice stem at the center of wild rice stem planting base, picking vehicle is in moving process to wild rice stem planting matrix
The wild rice stem of ground side is rolled, and the waste of resource is caused, and effectively controls the picking rate and picking amount of wild rice stem, more just
In actual operation；
(2) picking personnel control the work of picking claw, first starting picking cylinder in control room by manipulation button, lead to
The movement that picking cylinder drives picking frame is crossed, after the first picking claw and the second picking claw are moved to above wild rice stem planting base,
It picks cylinder and stops 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, thus 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 picking grid, the second picking claw is located at another piece of picking side
The top of lattice, the first driver and the second driver start simultaneously, drive the first picking claw and the work of the second picking claw, while right
Wild rice stem in two pieces of picking grids carries out picking processing and starts simultaneously after the first picking claw and the second picking claw win wild rice stem
First picking claw and the second picking claw, are rotated to the top of collecting box by the first rotary cylinder and the second rotary cylinder, then by
One picking claw and the second picking claw unclamp, so that wild rice stem is fallen in collecting box, are convenient for subsequent processing, effectively accelerate wild rice stem
Pick rate；
(3) after the wild rice stem in step (2) enters in collecting box, when the gravity sensor of collecting box bottom senses collection
After wild rice stem reaches certain weight in case, the gate opening on collecting box discharge port, while material-pulling device is opened, pusher cylinder band
The movement of dynamic arc scraping wings releases the wild rice stem in collecting box from discharge port, then under the guiding function of oriented plate, fastly
Speed discharge collecting box is accumulated on ground, consequently facilitating the picking collection of subsequent wild rice stem is handled；
(4) while picking personnel drive picking vehicle to carry out picking processing to wild rice stem, carrying personnel manipulates carrier 1 over the ground
Wild rice stem on face carries out transportation processing, and wild rice stem is transported on truck, and carrying personnel manipulates carrier 1 and is moved into hay first
By white heap, while hydraulic cylinder 4 is opened and drives rack 3 mobile, is adjusted to the position of grab mechanisms 6, so that grab mechanisms 6
In the top of wild rice stem heap, then regulating device 5 is opened, and is adjusted cylinder 8 by the elongation of adjusting rod 12 and is retracted to grab mechanisms 6
Rotation process is carried out, 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 rate of part, simultaneous retractable cylinder 7 are opened, and carry out 6 upper and lower position of grab mechanisms by the elongation and retraction of telescopic rod 11
Adjustment, telescopic rod 11 extends, so that grab bucket component is moved to the position of wild rice stem to be grabbed, third driver 13 is opened, passed through
Left grab bucket 14 and 15 pairs of wild rice stems of right grab bucket carry out crawl operation, and after grab mechanisms 6 have grabbed wild rice stem, telescopic rod 11 is retracted, behaviour
Make personnel again to move carrier 1, wild rice stem is transported on truck, integrated operation automation, it is more convenient to use, real
The integration picking transport processing of existing wild rice stem, effectively accelerates the picking rate 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 transmitted in control room, so that operator finds the problem in time, improves safe operation performance, reduce the generation rate of accident.
Carrier 1 includes movement forklift 2, rack 3 and handling device, and rack 3 is connected by hydraulic cylinder 4 with movement forklift 2
It connects, elastic buffer frame 16 is provided between rack 3 and movement forklift 2, elastic buffer frame 16 includes left fixed plate 17, buffering main body
18 and right fixed plate 19, main body 18 is buffered positioned at left fixed plate 17 and right fixed plate 19 between, left fixed plate 17 and movement forklift 2
It is fixedly connected, right fixed plate 19 is fixedly connected with rack 3, and rack 3 and movement forklift 2 not only can be improved in elastic buffer frame 16
Between bonding strength, while elastic buffer frame 16 can make the movement of rack 3 more steady reliable again, handling device
Including regulating device 5 and grab mechanisms 6, regulating device 5 includes telescopic cylinder 7, adjusts cylinder 8, support frame 9 and connecting plate 10,
Telescopic cylinder 7 is fixedly connected with rack 3, and telescopic cylinder 7 is connected by telescopic rod 11 with support frame 9, adjusts cylinder 8 and support
Frame 9 is fixedly connected, and is adjusted cylinder 8 and is connected by adjusting rod 12 with connecting plate 10, one end of support frame 9 and the fixed company of rack 3
It connects, grab mechanisms 6 include third driver 13 and grab bucket component, and the top of third driver 13 is provided with connecting column 22, third
Driver 13 is connected by connecting column 22 with connecting plate 10, the design of connecting column 22 can in order to third driver 13 with connect
The installation of plate 10 is fixed, easy to install and disassemble, 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, hinged design meets design requirement, and left grab bucket 14 and right grab bucket 15 are symmetricly set on third driver 13
The left and right sides, the surface of left grab bucket 14 and right grab bucket 15 is evenly arranged with leakage hole 20, and the design of leakage hole 20 can be so as to
In cleaning of the later period cleaning device to left grab bucket 14 and right grab bucket 15, sewage after cleaning is avoided to remain in left grab bucket 14 and right grab bucket
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 camera shooting
First 26 and connection frame, connection frame includes the first fixed link 24 and the second fixed link 25, and one end of the first fixed link 24 and third are driven
Dynamic device 13 is connected, and the other end of the first fixed link 24 is flexibly connected with the second fixed link 25, camera 26 and the second fixed link
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, to find in time
Problem and solves the problems, such as, effectively improves safe operation performance, it is more reasonable that structure designs.
The above is only specific embodiments of the present invention, but technical characteristic of the invention is not limited thereto.It is any with this hair
Based on bright, to realize essentially identical technical effect, made ground simple change, equivalent replacement or modification etc. are all covered
Among protection scope of the present invention.
Claims (8)
1. a kind of automation wild rice stem picking method, which comprises the following steps:
(1) picking vehicle, is moved to specified wild rice stem planting base, restarts visual recognition line by manual control picking vehicle first
System, is transmitted to control computer for the landform of wild rice stem planting base and actual size, picking personnel pass through display screen in operating room
Information is read, determines that wild rice stem picks scheme further according to actual information, wild rice stem planting base is divided into the side of multiple 1m*1m
Lattice, then picking 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
It is white to pick, then the wild rice stem at the center of wild rice stem planting base is picked, close the picking more science of wild rice stem
Reason, when avoiding first picking the wild rice stem at the center of wild rice stem planting base, picking vehicle is in moving process to wild rice stem planting matrix
The wild rice stem of ground side is rolled, and the waste of resource is caused, and effectively controls the picking rate and picking amount of wild rice stem, more just
In actual operation；
(2) picking personnel control the work of picking claw, first starting picking cylinder in control room by manipulation button, by adopting
The movement that cylinder drives picking frame is plucked, after the first picking claw and the second picking claw are moved to above wild rice stem planting base, picking
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, thus 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 picking grid, the second picking claw is located at another piece of picking grid
Top, the first driver and the second driver start simultaneously, drive the first picking claw and the work of the second picking claw, while to two pieces
Wild rice stem in picking grid carries out picking processing, after the first picking claw and the second picking claw win wild rice stem, while starting first
First picking claw and the second picking claw are rotated to the top of collecting box, then first are adopted by rotary cylinder and the second rotary cylinder
It plucks pawl and the second picking claw unclamps, so that wild rice stem is fallen in collecting box, be convenient for subsequent processing, effectively accelerate the picking of wild rice stem
Rate；
(3) after the wild rice stem in step (2) enters in collecting box, when the gravity sensor of collecting box bottom senses in collecting box
After wild rice stem reaches certain weight, gate opening on collecting box discharge port, while material-pulling device is opened, pusher cylinder drives arc
Wild rice stem in collecting box is released from discharge port, then under the guiding function of oriented plate, quickly arranged by the movement of shape scraping wings
Collecting box is accumulated on ground out, consequently facilitating the picking collection of subsequent wild rice stem is handled；
(4) while picking personnel drive picking vehicle to carry out picking 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, the carrier includes movement forklift, rack and handling device,
The rack is connected by hydraulic cylinder with the movement forklift, and the handling device includes regulating device and grab mechanisms, institute
Regulating device is stated to include telescopic cylinder, adjust cylinder, support frame and connecting plate, the telescopic cylinder and the fixed company of the rack
It connecing, the telescopic cylinder is connected by telescopic rod with support frame as described above, and the adjusting cylinder is fixedly connected with support frame as described above,
The adjusting cylinder is connected by adjusting rod with the connecting plate, and one end of support frame as described above is fixedly connected with the rack,
The grab mechanisms include third driver and grab bucket component, and the grab bucket component includes left grab bucket and right grab bucket, and the left side is grabbed
Bucket and right grab bucket are symmetricly set on the left and right sides of the third driver；
Carrying personnel manipulates carrier and is moved by wild rice stem heap first, while hydraulic cylinder is opened and drives machine frame movement, to grabbing
The position of bucket device is adjusted, so that grab mechanisms are located at the top of wild rice stem heap, then regulating device is opened, and it is logical to adjust cylinder
The elongation and retraction of toning pole carry out rotation process to grab mechanisms, so that the angle of grab mechanisms is adjusted, so that grab bucket group
Part is right against above wild rice stem heap, improves the crawl rate of grab bucket component, and simultaneous retractable cylinder is opened, by the elongation of telescopic rod and
The adjustment for carrying out grab mechanisms upper and lower position, telescopic rod elongation are retracted, so that grab bucket component is moved to the position of wild rice stem to be grabbed,
Third driver is opened, and is carried out crawl operation to wild rice stem by left grab bucket and right grab bucket, after grab mechanisms have grabbed wild rice stem, is stretched
Contracting bar retracts, and operator again moves carrier, wild rice stem is transported on truck, integrated operation automation, using more
The convenience added realizes the integration picking transport processing of wild rice stem, effectively accelerates the picking rate 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 working condition of the camera to grab mechanisms
Monitoring, and monitored picture is transmitted in control room, so that operator finds the problem 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 rack and the movement
Elastic buffer frame is provided between fork truck, the elastic buffer frame includes left fixed plate, buffers main body and right fixed plate, described slow
Main body is rushed 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 rack.
4. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that: the left grab bucket and the right side
The surface of grab bucket is evenly arranged with leakage hole.
5. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that: the left grab bucket and the right side
Connecting rod is provided in grab bucket, the left grab bucket is driven by the connecting rod and the third with the right grab bucket
Device is flexibly connected.
6. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that: the left grab bucket and the right side
It is hinged between grab bucket.
7. a kind of automation wild rice stem picking method according to claim 1, it is characterised in that: the third driver it is upper
Side is provided with connecting column, and the third driver is connected by the connecting column with the connecting plate.
8. a kind of automation wild rice stem picking method according to claim 1, 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 connection frame, and the connection frame includes first
Fixed link and the second fixed link, one end of first fixed link are connected with the third driver, first fixed link
The other end be flexibly connected with second fixed link, the camera is connected with second fixed link.
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| MY195222A (en) * | 2019-03-15 | 2023-01-11 | Lim Sun Heng Bunnie | Vehicle for Collecting and Transporting Agricultural Articles Therefor |
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| 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 |
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