CN107711077A - A kind of Chinese medicine betel nut picking robot - Google Patents
A kind of Chinese medicine betel nut picking robot Download PDFInfo
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- CN107711077A CN107711077A CN201710914275.XA CN201710914275A CN107711077A CN 107711077 A CN107711077 A CN 107711077A CN 201710914275 A CN201710914275 A CN 201710914275A CN 107711077 A CN107711077 A CN 107711077A
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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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Abstract
A kind of Chinese medicine betel nut picking robot of the present invention discloses one kind by being climbed along betelnut tree, and betel nut is connected into branch cuts off the device plucked.It is characterized in that the main semi-circular plate side is equipped with fixed fixture block, the auxiliary semi-circular plate side is equipped with fixing chuck plate, it is and corresponding with fixed fixture block, two latch segments are respectively placed in auxiliary semi-circular plate opposite side, neck is provided with the latch segment, two locking platforms are respectively placed in main semi-circular plate opposite side, tight locking button is slidably disposed on locking platform, described two tight locking buttons are corresponding with the neck on two latch segments respectively, two groups of hangers are respectively placed on the outside of main semi-circular plate and on the outside of auxiliary semi-circular plate, main fixing band is connected by one group of hook with one group of hangers on the outside of main semi-circular plate, collecting bag oral area is placed in main fixing band, auxiliary fixing band is connected by one group of hook with one group of hangers on the outside of auxiliary semi-circular plate, collecting bag oral area is placed in auxiliary fixing band.
Description
Technical field
A kind of Chinese medicine betel nut picking robot of the present invention, is related to a kind of device for being used as medicine to Chinese medicine and being plucked with betel nut,
Belong to robot device field.Betel nut is connected branch and cut off and adopted by more particularly to one kind by being climbed along betelnut tree
The device plucked.
Background technology
At present, due to containing alkaloid about 0.5%, and predominantly arecaline in betel nut seed, arecaline has paralysis pig silk ribbon
Worm, the effect of teniarhynchosis, dwarf tapeworm, above-mentioned tapeworm is discharged into human body with excreta after paralysis, so as to treatment parasite
The disease brought, especially armed tapeworm's cure rate are up to 90%, therefore have high medical value, and betel nut is grown in betelnut tree
Apical position, more than ten meters of the betel nut height of tree reaches as high as more than 30 meters, and traditional high-branch fruit picking instrument is difficult to complete betel nut
Work is plucked, traditional betel nut picking method is the top that betelnut tree is climbed to by people, and the connection branch of betel nut is cut off with pocket knife
Fork takes the betel nut of whole strain, is put into the cloth bag carried with or is collected again under throwing away to betelnut tree, passes through this kind
Pluck fruit mode and carry out winning for betel nut, it is higher for plucking fruit human body competency profiling, pliable legs and it can effectively climb to betel nut
Treetop end is simultaneously smoothly slided, and larger for plucking fruit people's physical demands, the danger of falling from high altitude easily occurs in long working, plucks fruit
People is climbed to when fruit branch is cut off in betelnut tree top using pocket knife, it is necessary to clamping body by singlehanded and both legs prevents from gliding, single
Hand completes operation, needs to catch betel nut while branch is cut off with Anti-fall, higher to plucking fruit people's skill proficiency requirement,
Betel nut is abandon from treetop and is collected again, easily the integrity of fruit is damaged, and easily injures the personnel under tree by a crashing object,
Cloth bag climbing betelnut tree is carried with, reduces the flexibility for plucking fruit human body, increase operation is dangerous, existing picker, such as
Publication number CN104054453A, a kind of coconut picker is disclosed, coordinated by chain with mobile bar and lift handgrip mechanism
To coconut identical height, drive coconut to rotate using handgrip mechanism, twist into two parts fruit connection branch, complete winning for fruit, make
When winning betel nut with the device, because Areca is smaller, ground staff is difficult to accurately manipulate handgrip mechanism crawl Areca, adopts
The mode rotated with direct crawl fruit connection branch, is easily occurred in rotation process, Areca comes off to fly everywhere
Situation about penetrating, and Areca generally grows the circle in betelnut tree, and the betel nut for disposably gathering in whole circle is difficult to using the device
It is real to carry out plucking fruit operation again, it is necessary to readjust position, it is not suitable for the harvesting of Areca.
The content of the invention
In order to improve the above situation, a kind of Chinese medicine betel nut picking robot of the present invention provides one kind by entering along betelnut tree
Row climbing, betel nut is connected into branch and cuts off the device plucked.
A kind of Chinese medicine betel nut picking robot of the present invention is realized in：A kind of Chinese medicine betel nut picking robot of the present invention
Be made up of agent set, power picker and control device, agent set by auxiliary semi-circular plate, fixing chuck plate, chute, roller,
Catch, main semi-circular plate, hangers, main fixing band, collecting bag, hook, fixed fixture block, auxiliary fixing band, latch segment, tight locking button, locking
Platform and connecting rod composition, the main semi-circular plate side are equipped with fixed fixture block, and the auxiliary semi-circular plate side is equipped with fixing chuck plate, and and
Fixed fixture block is corresponding, and two latch segments are respectively placed in auxiliary semi-circular plate opposite side, and neck, two lockings are provided with the latch segment
Platform is respectively placed in main semi-circular plate opposite side, and tight locking button is slidably disposed on locking platform, described two tight locking buttons respectively with two
Neck on latch segment is corresponding, and two groups of hangers are respectively placed on the outside of main semi-circular plate and on the outside of auxiliary semi-circular plate, and main fixing band passes through
One group of hook is connected with one group of hangers on the outside of main semi-circular plate, and collecting bag oral area is placed in main fixing band, and auxiliary fixing band passes through
One group of hook is connected with one group of hangers on the outside of auxiliary semi-circular plate, and collecting bag oral area is placed in auxiliary fixing band, every group of hangers
It is made up of two hangers, every group of hook is made up of two hooks, and on the upside of the main semi-circular plate and auxiliary semi-circular plate upside is respectively
Chute is provided with, the chute side is equipped with catch, and two groups of connecting rods are respectively placed on main semi-circular plate and auxiliary semi-circular plate, described every group
Connecting rod is made up of two connecting rods, and roller is placed on connecting rod one end, and between main semi-circular plate and auxiliary semi-circular plate, it is described
Rubber blanket is equipped with the outside of roller, is equipped with spring in the connecting rod, power picker by blade fixed plate, rotating blade,
Fixed ear, fixed blade, drive link, rotating disk, fix bar, fixed motor, motor, rotating wheel, fixed seat and fixed station group
Into two groups of fixation blades are respectively placed on the upside of main semi-circular plate and on the upside of auxiliary semi-circular plate, and every group of fixation blade is by multiple fixations
Blade is formed, and two blade fixed plates are respectively placed in two chutes, and multiple rotating blades are equidistantly placed in blade fixed plate, institute
It is respectively inverted trapezoidal structure to state rotating blade and fixed blade, and fixed ear is placed in the blade fixed plate of corresponding main semi-circular plate, Gu
Determine platform to be placed on the outside of main semi-circular plate, motor is placed on fixed station, and rotating wheel is placed on the motor shaft of motor, and is located at
Between main semi-circular plate side and auxiliary semi-circular plate side, the rotating wheel is hollow rubber roll, and fixed seat is placed on the outside of main semi-circular plate, Gu
Determine motor to be placed in fixed seat, rotating disk is placed on the motor shaft of fixed motor, and fix bar one end is placed on rotating disk, drive link one end
It is connected with the fix bar other end, the other end is connected with fixed ear,
Control device is turned by wireless signal transceiver, controller, data line, data processor, power supply, power line and signal
Parallel operation is formed, and wireless signal transceiver is placed on the outside of main semi-circular plate, and signal adapter is received by data line and wireless signal
Hair device is connected, and is placed on the outside of main semi-circular plate, and data processor is connected by data line with signal adapter, and is put
On the outside of main semi-circular plate, controller is connected by data line with motor, fixed motor, data processor respectively,
And be placed on the outside of main semi-circular plate, power supply is connected by power line with data processor, and is placed on the outside of main semi-circular plate.
In use, when being plucked to betel nut, it is first that wireless signal transceiver is whole by platform of internet of things and outside movement
End is connected, and is then buckled in main semi-circular plate and auxiliary semi-circular plate on betelnut tree respectively, and by fixing chuck plate and fixes fixture block pair
It should connect, two locking platforms be tipped in the neck on corresponding latch segment respectively, under spring force, on the inside of main semi-circular plate
Two rollers on the inside of two rollers and auxiliary semi-circular plate are press respectively against betelnut tree surface, and then rotating wheel is also pressed on betel nut tree table
Face, motor enabling signal being sent by outside mobile terminal, wireless signals receive motor enabling signal, and
Signal is passed to by signal adapter by data line, after signal adapter changes signal, passes to data processor,
After data processor processes, controller, controller control motor work are passed to, motor drives rotating wheel to rotate,
Rotating wheel drives main semi-circular plate and auxiliary semi-circular plate to be moved up along betelnut tree by the frictional force between betelnut tree, roller edge
Betelnut tree movement, when main semi-circular plate and auxiliary semi-circular plate are moved to betel nut position, betelnut tree are continued on and moves up, make
Branch with betel nut is sticked between fixed blade and rotating blade, then, driving electricity is sent by outside mobile bar terminal
Machine stop signal and fixed electric motor starting signal, motor are stopped, fixed motor work, and constantly carry out positive and negative
Turn, the motor shaft of fixed motor drives rotating disk to carry out back rotation, and rotating disk drives drive link to move back and forth by fix bar, and drive link leads to
Crossing fixed ear drives connected blade fixed plate to be moved back and forth along corresponding chute, and promotes another blade to fix
Plate moves along corresponding chute, and two blade fixed plates drive connected multiple rotating blades to carry out to move back respectively
It is dynamic, and then rotating blade and fixed blade are relatively moved, the betel nut branch between is cut back and forth, the Bin cut away
Bulky branch slides downwards, falls into corresponding collecting bag and is collected, and after harvesting, passes through outside mobile terminal and sends fixation
Motor stop signal and motor working signal, fixed motor are stopped, and motor rotates backward, and then drives and rotate
Wheel rotates backward, and rotating wheel moves down along betelnut tree, gets off from betelnut tree；
The design of rubber blanket is equipped with the outside of the roller, by increasing capacitance it is possible to increase the frictional force between betelnut tree, auxiliary rotating wheel along
Betelnut tree is moved；
The design of the collecting bag, the betel nut branch cut away can be collected, prevent from dropping on the ground, to betel nut
Cause to damage, influence medicinal；
The rotating wheel is the design of hollow rubber roll, can coordinate roller in uphill process with the diameter change of trunk
Pressurization is shunk so that the width of hollow rubber roll and trunk contact becomes big, increases stability and frictional force；The rotating blade and
Fixed blade is respectively the breach for cooperatively forming triangle of the design of inverted trapezoidal structure, rotating blade and fixed blade, to Bin
Bulky when being gathered in, what can more be stablized cut；
Reach the purpose be used as medicine to Chinese medicine and plucked with betel nut.
Beneficial effect.
First, the efficiency of betel nut harvesting can be improved.
2nd, the danger of betel nut harvesting is reduced.
3rd, it is simple in construction, it is convenient and practical.
Brief description of the drawings
Fig. 1 is a kind of stereo-resolution figure of Chinese medicine betel nut picking robot of the present invention；
Fig. 2 is a kind of three-dimensional structure diagram of Chinese medicine betel nut picking robot control device of the present invention；
Fig. 3 is a kind of three-dimensional structure diagram of Chinese medicine betel nut picking robot tight locking button of the present invention；
In accompanying drawing
Wherein part is：Auxiliary semi-circular plate（1）, fixing chuck plate（2）, chute（3）, roller（4）, blade fixed plate（5）, rotating blade
（6）, fixed ear（7）, fixed blade（8）, drive link（9）, catch（10）, rotating disk（11）, fix bar（12）, fixed motor
（13）, main semi-circular plate（14）, hangers（15）, motor（16）, rotating wheel（17）, main fixing band（18）, collecting bag（19）, hang
Hook（20）, fixed fixture block（21）, auxiliary fixing band（22）, wireless signal transceiver（23）, fixed seat（24）, controller（25）, number
According to transmission line（26）, data processor（27）, power supply（28）, power line（29）, signal adapter（30）, latch segment（31）, lock
Link closely（32）, lock platform（33）, connecting rod（34）, fixed station（35）.
Embodiment：
A kind of Chinese medicine betel nut picking robot of the present invention is achieved in that in use, when being plucked to betel nut, first will
Wireless signal transceiver（23）It is connected by platform of internet of things with outside mobile terminal, then by main semi-circular plate（14）With auxiliary half
Plectane（1）It is buckled in respectively on betelnut tree, and by fixing chuck plate（2）With fixed fixture block（21）Corresponding connection, platform is locked by two
（33）Tip corresponding latch segment in respectively（31）On neck in, under spring force, main semi-circular plate（14）Two rollings of inner side
Wheel（4）With auxiliary semi-circular plate（1）Two rollers of inner side（4）It is press respectively against betelnut tree surface, and then rotating wheel（17）Also it is pressed on
Betelnut tree surface, motor is sent by outside mobile terminal（16）Enabling signal, wireless signals receive motor
（16）Enabling signal, and pass through data line（26）Signal is passed into signal adapter（30）, signal adapter（30）
After signal is changed, data processor is passed to（27）, data processor（27）After processing, controller is passed to（25）, control
Device（25）Control motor（16）Work, motor（16）Drive rotating wheel（17）Rotate, rotating wheel（17）By and Bin
Frictional force between bulky tree drives main semi-circular plate（14）With auxiliary semi-circular plate（1）Moved up along betelnut tree, roller（4）Along Bin
Lang Shu is moved, when main semi-circular plate（14）With auxiliary semi-circular plate（1）When being moved to betel nut position, betelnut tree is continued on to moving up
It is dynamic, the branch with betel nut is sticked into fixed blade（8）And rotating blade（6）Between, then, pass through outside mobile bar terminal
Send motor（16）Stop signal and fixed motor（13）Enabling signal, motor（16）It is stopped, fixed motor
（13）Work, and rotating is constantly carried out, fixed motor（13）Motor shaft drive rotating disk（11）Come back rotation, rotating disk（11）
Pass through fix bar（12）Drive drive link（9）Move back and forth, drive link（9）Pass through fixed ear（7）Connected blade is driven to fix
Plate（5）Along corresponding chute（3）Moved back and forth, and promote another blade fixed plate（5）Along corresponding chute
（3）Move, two blade fixed plates（5）Connected multiple rotating blades are driven respectively（6）Moved back and forth, Jin Erzhuan
Cutting blade（6）With fixed blade（8）Relatively moved, the betel nut branch between is cut back and forth, the betel nut cut away
Branch slides downwards, falls into corresponding collecting bag（19）Inside it is collected, after harvesting, is sent by outside mobile terminal solid
Determine motor（13）Stop signal and motor（16）Working signal, fixed motor（13）It is stopped, motor（16）Instead
To rotation, and then drive rotating wheel（17）Rotate backward, rotating wheel（17）Moved down along betelnut tree, above and below betelnut tree
Come；
The roller（4）Outside is equipped with the design of rubber blanket, by increasing capacitance it is possible to increase the frictional force between betelnut tree, aids in rotating wheel
（17）Moved along betelnut tree；
The collecting bag（19）Design, the betel nut branch cut away can be collected, prevent from dropping on the ground, to Bin
Bulky fruit causes to damage, and influences medicinal；
The rotating wheel（17）For the design of hollow rubber roll, rolling can be coordinated in uphill process with the diameter change of trunk
Wheel（4）Pressurization shrink so that the width of hollow rubber roll and trunk contact becomes big, increases stability and frictional force；The rotation
Blade（6）With fixed blade（8）The respectively design of inverted trapezoidal structure, rotating blade（6）With fixed blade（8）Cooperatively form
The breach of triangle, when being gathered in betel nut, what can more be stablized cut；
Reach the purpose be used as medicine to Chinese medicine and plucked with betel nut.
Claims (4)
1. a kind of Chinese medicine betel nut picking robot, it is characterized in that：It is made up of agent set, power picker and control device,
Agent set is by auxiliary semi-circular plate, fixing chuck plate, chute, roller, catch, main semi-circular plate, hangers, main fixing band, collecting bag, extension
Hook, fixed fixture block, auxiliary fixing band, latch segment, tight locking button, locking platform and connecting rod composition, the main semi-circular plate side are equipped with solid
Determine fixture block, the auxiliary semi-circular plate side is equipped with fixing chuck plate, and corresponding with fixed fixture block, and two latch segments are respectively placed in auxiliary half
Plectane opposite side, neck is provided with the latch segment, two locking platforms are respectively placed in main semi-circular plate opposite side, and tight locking button is slidably
Be placed in locking platform on, described two tight locking buttons are corresponding with the neck on two latch segments respectively, and two groups of hangers are respectively placed in
On the outside of main semi-circular plate and on the outside of auxiliary semi-circular plate, main fixing band is connected by one group of hook with one group of hangers on the outside of main semi-circular plate
Connect, collecting bag oral area is placed in main fixing band, and auxiliary fixing band is connected by one group of hook with one group of hangers on the outside of auxiliary semi-circular plate
Connect, collecting bag oral area is placed in auxiliary fixing band, and every group of hangers is made up of two hangers, and every group of hook is by two hooks
Composition, the main semi-circular plate upside and auxiliary semi-circular plate upside have chute, and the chute side is equipped with catch, two groups of connections
Bar is respectively placed on main semi-circular plate and auxiliary semi-circular plate, and every group of connecting rod is made up of two connecting rods, and roller is placed in connecting rod
On one end, and between main semi-circular plate and auxiliary semi-circular plate, spring is equipped with institute's connecting rod, power picker is by knife
Piece fixed plate, rotating blade, fixed ear, fixed blade, drive link, rotating disk, fix bar, fixed motor, motor, rotation
Wheel, fixed seat and fixed station composition, two groups of fixation blades are respectively placed on the upside of main semi-circular plate and on the upside of auxiliary semi-circular plate, described every group
Fixed blade is made up of multiple fixed blades, and two blade fixed plates are respectively placed in two chutes, and multiple rotating blades are equidistant
Fixed ear in blade fixed plate is placed in be placed in the blade fixed plate of corresponding main semi-circular plate, fixed station is placed on the outside of main semi-circular plate,
Motor is placed on fixed station, and rotating wheel is placed on the motor shaft of motor, and is located at main semi-circular plate side and auxiliary semicircle
Between plate side, fixed seat is placed on the outside of main semi-circular plate, and fixed motor is placed in fixed seat, and rotating disk is placed in the motor of fixed motor
On axle, fix bar one end is placed on rotating disk, and drive link one end is connected with the fix bar other end, and the other end is connected with fixed ear
Connect, control device is turned by wireless signal transceiver, controller, data line, data processor, power supply, power line and signal
Parallel operation is formed, and wireless signal transceiver is placed on the outside of main semi-circular plate, and signal adapter is received by data line and wireless signal
Hair device is connected, and is placed on the outside of main semi-circular plate, and data processor is connected by data line with signal adapter, and is put
On the outside of main semi-circular plate, controller is connected by data line with motor, fixed motor, data processor respectively,
And be placed on the outside of main semi-circular plate, power supply is connected by power line with data processor, and is placed on the outside of main semi-circular plate.
2. a kind of Chinese medicine betel nut picking robot according to claim 1, it is characterised in that the rotating wheel is middle hungry area
Roller.
3. a kind of Chinese medicine betel nut picking robot according to claim 1, it is characterised in that the rotating blade and fixation
Blade is respectively inverted trapezoidal structure.
4. a kind of Chinese medicine betel nut picking robot according to claim 1, it is characterised in that be equipped with rubber on the outside of the roller
Rubber cushion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710914275.XA CN107711077B (en) | 2017-09-30 | 2017-09-30 | Traditional chinese medicine sesame oil picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710914275.XA CN107711077B (en) | 2017-09-30 | 2017-09-30 | Traditional chinese medicine sesame oil picking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107711077A true CN107711077A (en) | 2018-02-23 |
| CN107711077B CN107711077B (en) | 2020-09-25 |
Family
ID=61209470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710914275.XA Active CN107711077B (en) | 2017-09-30 | 2017-09-30 | Traditional chinese medicine sesame oil picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107711077B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108353628A (en) * | 2018-04-18 | 2018-08-03 | 东莞市蕾翱电子科技有限公司 | A kind of betel nut picking machine |
| CN112470696A (en) * | 2020-11-24 | 2021-03-12 | 柳州工学院 | Leaf branch cutting mechanism and mulberry leaf picking equipment with same |
| CN113575120A (en) * | 2021-08-04 | 2021-11-02 | 付建恒 | Device is picked with sesame oil flower to chinese-medicinal material processing |
| CN114208522A (en) * | 2021-11-29 | 2022-03-22 | 泰安市徂徕山林场 | Tree trimming means with adjustable forestry engineering is used |
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| KR101459068B1 (en) * | 2013-04-01 | 2014-11-12 | 박지혜 | ruler which can be used as a stick for both collecting fruits and changing light bulbs |
| WO2016055552A1 (en) * | 2014-10-07 | 2016-04-14 | Katholieke Universiteit Leuven | Automated harvesting apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108353628A (en) * | 2018-04-18 | 2018-08-03 | 东莞市蕾翱电子科技有限公司 | A kind of betel nut picking machine |
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| CN112470696A (en) * | 2020-11-24 | 2021-03-12 | 柳州工学院 | Leaf branch cutting mechanism and mulberry leaf picking equipment with same |
| CN112470696B (en) * | 2020-11-24 | 2021-08-17 | 柳州工学院 | Leaf branch cutting mechanism and mulberry leaf picking equipment with same |
| CN113575120A (en) * | 2021-08-04 | 2021-11-02 | 付建恒 | Device is picked with sesame oil flower to chinese-medicinal material processing |
| CN114208522A (en) * | 2021-11-29 | 2022-03-22 | 泰安市徂徕山林场 | Tree trimming means with adjustable forestry engineering is used |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107711077B (en) | 2020-09-25 |
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