CN107711077B - Traditional chinese medicine sesame oil picking robot - Google Patents
Traditional chinese medicine sesame oil picking robot Download PDFInfo
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- CN107711077B CN107711077B CN201710914275.XA CN201710914275A CN107711077B CN 107711077 B CN107711077 B CN 107711077B CN 201710914275 A CN201710914275 A CN 201710914275A CN 107711077 B CN107711077 B CN 107711077B
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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
The invention discloses a traditional Chinese medicine betel nut picking robot, and discloses a device for picking betel nut branches by climbing along a betel nut tree. The semi-circular plate fixing device is characterized in that a fixing clamping block is arranged on one side of the main semi-circular plate, a fixing clamping plate is arranged on one side of the auxiliary semi-circular plate and corresponds to the fixing clamping block, the other side of the auxiliary semi-circular plate is arranged on the two locking blocks, a clamping groove is formed in each locking block, the other side of the main semi-circular plate is arranged on each locking table, the locking tables can slide and arranged on the locking tables, the two locking tables correspond to the clamping grooves in the two locking blocks respectively, two sets of hangers are arranged on the outer side of the main semi-circular plate and the outer side of the auxiliary semi-circular plate respectively, the main fixing belt is connected with a set of hangers on the outer side of the main semi-circular plate through a set of hooks, the main fixing belt is arranged on.
Description
Technical Field
The invention discloses a traditional Chinese medicine betel nut picking robot, relates to a device for picking betel nuts used for traditional Chinese medicine, and belongs to the field of robot equipment. In particular to a device for cutting branches of areca nuts to pick by climbing along the areca-nut trees.
Background
At present, betel nut seeds contain 0.5 percent of alkaloid and mainly contain arecoline which has the function of paralyzing taenia solium, taenia bovis and taenia breve, the taenia is discharged out of a human body along with excrement after being paralyzing, so that diseases caused by parasites can be treated, particularly, the cure rate of the taenia solium is as high as 90 percent, the areca nuts have high medicinal value, the areca nuts are grown at the top ends of the areca-nut trees, the areca-nut trees are more than ten meters high and as high as thirty meters high, the picking work of the areca nuts is difficult to complete by a traditional high branch picking tool, the traditional areca-nut picking method is that people climb to the top ends of the areca-nut trees, connecting branches of the areca nuts are cut off by a knife to pick the whole areca-nut fruits, the areca-nut fruits are put into a portable cloth bag or thrown to the areca-nut trees to be collected, the picking mode is used for picking the areca nuts, the human, the four limbs are flexible and powerful, the manipulator can climb to the top end of the betel nut and smoothly slide down, the labor consumption of a person picking fruits is large, the danger of falling from high altitude easily occurs in long-time operation, when a person picking fruits climbs to the top end of the betel nut and cuts off fruit branches by using a knife, the person needs to clamp the body by one hand and two legs to prevent the person from sliding down, the person finishes operation by one hand, grasps betel nuts while cutting off the branches to prevent the betel nuts from falling off, the requirement on the skill proficiency of the person picking fruits is high, the betel nuts are thrown down from the top of the tree and then collected, the integrity of the fruits is easily damaged, and persons under the tree are easily injured by smashing, the person can carry with the bag to climb the bag, the flexibility of the body of the person picking fruits is reduced, and the operation danger is increased, for example, a picking device disclosed as CN104054453A is disclosed, a coconut picking device is characterized in that a gripper mechanism is matched, twist off fruit and connect branch, accomplish the picking of fruit, when using the device to pick the sesame oil, because of the sesame oil fruit is less, ground personnel are difficult to accurately control tongs mechanism and snatch the sesame oil fruit, adopt and directly snatch the fruit and connect the mode that branch carries out the rotation, appear easily at the rotation in-process, the condition that the sesame oil fruit drops everywhere and flies, and the sesame oil fruit usually grows in the round of betel nut, use the device to be difficult to once only reap the whole circle of sesame oil fruit, need readjust the position and pluck the fruit operation once more, be not suitable for the harvesting of sesame oil fruit.
Disclosure of Invention
In order to improve the situation, the traditional Chinese medicine betel nut picking robot provided by the invention provides a device for picking betel nut branches by climbing along a betel nut tree.
The invention relates to a robot for picking Chinese medicine betel nuts, which is realized by the following steps: the invention relates to a traditional Chinese medicine betel nut picking robot, which consists of a main body device, a power picking device and a control device, wherein the main body device consists of an auxiliary semicircular plate, a fixed clamping plate, a sliding chute, a roller, a baffle plate, a main semicircular plate, a hanging lug, a main fixing belt, a collecting bag, a hook, a fixed clamping block, an auxiliary fixing belt, a locking block, a locking buckle, a locking platform and a connecting rod, the fixed clamping block is arranged on one side of the main semicircular plate, the fixed clamping plate is arranged on one side of the auxiliary semicircular plate and corresponds to the fixed clamping block, the two locking blocks are respectively arranged on the other side of the auxiliary semicircular plate, the locking block is provided with a clamping groove, the two locking platforms are respectively arranged on the other side of the main semicircular plate, the locking buckle is slidably arranged on the locking platform, the two locking buckles respectively correspond to the clamping grooves on the two locking blocks, the two groups of hanging lugs are respectively arranged on the, the collecting bag mouth part is arranged on the main fixing belt, the auxiliary fixing belt is connected with a group of hangers on the outer side of the auxiliary semicircular plate through a group of hangers, the collecting bag mouth part is arranged on the auxiliary fixing belt, each group of hangers consists of two hangers, the upper side of the main semicircular plate and the upper side of the auxiliary semicircular plate are respectively provided with a chute, one side of each chute is provided with a blocking piece, two groups of connecting rods are respectively arranged on the main semicircular plate and the auxiliary semicircular plate, each group of connecting rods consists of two connecting rods, a roller is arranged at one end of each connecting rod and is positioned between the main semicircular plate and the auxiliary semicircular plate, the outer side of the roller is provided with a rubber pad, a spring is sleeved on each connecting rod, the power picking device consists of a blade fixing plate, a rotating blade, a fixing lug, a fixed blade, a transmission rod, two groups of fixed blades are respectively arranged on the upper side of the main semicircular plate and the upper side of the auxiliary semicircular plate, each group of fixed blades consists of a plurality of fixed blades, two blade fixing plates are respectively arranged in two chutes, a plurality of rotating blades are arranged on the blade fixing plates at equal intervals, the rotating blades and the fixed blades are respectively of inverted trapezoidal structures, fixing lugs are arranged on the blade fixing plates corresponding to the main semicircular plate, a fixing table is arranged on the outer side of the main semicircular plate, a driving motor is arranged on the fixing table, a rotating wheel is arranged on a motor shaft of the driving motor and is positioned between one side of the main semicircular plate and one side of the auxiliary semicircular plate, the rotating wheel is a hollow rubber roller, a fixing seat is arranged on the outer side of the main semicircular plate, the fixing motor is arranged on the fixing seat, a turntable is arranged on the motor shaft of the fixing motor,
controlling means is by the wireless signal transceiver, a controller, data transmission line, data processor, a power supply, power cord and signal converter are constituteed, the main semicircle board outside is arranged in to the wireless signal transceiver, signal converter is connected through data transmission line and wireless signal transceiver, and arrange the main semicircle board outside in, data processor is connected through data transmission line and signal converter, and arrange the main semicircle board outside in, the controller is respectively through data transmission line and driving motor, fixed motor, data processor is connected, and arrange the main semicircle board outside in, the power supply is connected through power cord and data processor, and arrange the main semicircle board outside in.
When the betel nut picker is used, a wireless signal transceiver is connected with an external mobile terminal through an Internet of things platform, then a main semicircular plate and an auxiliary semicircular plate are respectively buckled on a betel nut tree, a fixing clamping plate is correspondingly connected with a fixing clamping block, two locking tables are respectively buckled in clamping grooves on the corresponding locking blocks, under the action of spring force, two rollers on the inner side of the main semicircular plate and two rollers on the inner side of the auxiliary semicircular plate are respectively pressed on the surface of the betel nut, further, rotating wheels are also pressed on the surface of the betel nut, a driving motor starting signal is sent through the external mobile terminal, the wireless signal receiver receives a driving motor starting signal, transmits the signal to a signal converter through a data transmission line, the signal converter converts the signal and transmits the signal to a data processor, the data processor processes the signal and transmits the signal to a controller, and the controller controls the driving motor to work, the driving motor drives the rotating wheel to rotate, the rotating wheel drives the main semicircular plate and the auxiliary semicircular plate to move upwards along the betel nut through friction force between the rotating wheel and the betel nut, the roller wheel moves along the betel nut, when the main semicircular plate and the auxiliary semicircular plate move to the position of the betel nut, the main semicircular plate and the auxiliary semicircular plate continue to move upwards along the betel nut, branches with the betel nut are clamped between the fixed blade and the rotating blade, then a driving motor stop signal and a fixed motor starting signal are sent through an external moving rod terminal, the driving motor stops working, the fixed motor works and continuously rotates forwards and backwards, a motor shaft of the fixed motor drives the turntable to rotate back and forth, the turntable drives the transmission rod to move back and forth through the fixed rod, the transmission rod drives the connected blade fixing plates to move back and forth along the corresponding sliding grooves through the fixed lugs, and pushes the other blade fixing plate, the two blade fixing plates respectively drive the plurality of rotating blades connected with each other to move back and forth, so that the rotating blades and the fixed blades move relatively, betel palm branches are cut back and forth, the cut betel palm branches slide downwards and fall into corresponding collecting bags to be collected, after picking is finished, a fixing motor stop signal and a driving motor working signal are sent through an external mobile terminal, the fixing motor stops working, the driving motor rotates reversely, so that the rotating wheels are driven to rotate reversely, and the rotating wheels move downwards along the betel palm trees and fall off the betel palm trees;
the rubber pad is arranged outside the roller, so that the friction force between the roller and the betel nut can be increased, and the rotating wheel is assisted to move along the betel nut;
due to the design of the collecting bag, cut areca branches can be collected, and the areca fruits are prevented from falling on the ground to damage the areca fruits and influence the medicinal effect;
the rotating wheel is designed as a hollow rubber roller, and can be matched with the pressurization and shrinkage of the roller along with the diameter change of the trunk in the rising process, so that the contact width between the hollow rubber roller and the trunk is increased, and the stability and the friction force are increased; the rotating blade and the fixed blade are respectively designed to be of an inverted trapezoidal structure, and the rotating blade and the fixed blade are matched to form a triangular notch, so that the betel nuts can be cut more stably when being harvested;
the purpose of picking the betel nut which is used as the traditional Chinese medicine is achieved.
Has the beneficial effects.
Firstly, the efficiency of betel nut picking can be improved.
And secondly, the risk of picking the betel nuts is reduced.
Thirdly, the structure is simple, convenient and practical.
Drawings
Fig. 1 is a three-dimensional exploded view of a robot for picking betel nuts, which is a traditional Chinese medicine of the present invention;
fig. 2 is a three-dimensional structure diagram of a control device of a traditional Chinese medicine betel nut picking robot according to the present invention;
fig. 3 is a three-dimensional structure diagram of a locking buckle of a traditional Chinese medicine betel nut picking robot of the invention;
in the attached drawings
Wherein the parts are: assist semicircle board (1), fixed cardboard (2), spout (3), gyro wheel (4), blade fixed plate (5), rotate blade (6), fixed ear (7), fixed blade (8), transfer line (9), separation blade (10), carousel (11), dead lever (12), fixed motor (13), main semicircle board (14), hangers (15), driving motor (16), rotate wheel (17), main fixed band (18), collect bag (19), couple (20), fixed fixture block (21), assist fixed band (22), wireless signal transceiver (23), fixing base (24), controller (25), data transmission line (26), data processor (27), power (28), power cord (29), signal converter (30), latch segment (31), locking is detained (32), locking platform (33), connecting rod (34), fixed station (35).
The specific implementation mode is as follows:
the invention relates to a traditional Chinese medicine betel nut picking robot which is realized in such a way that when the robot is used, when betel nuts are picked, a wireless signal transceiver (23) is connected with an external mobile terminal through an Internet of things platform, then a main semicircular plate (14) and an auxiliary semicircular plate (1) are respectively buckled on the betel nuts, a fixed clamping plate (2) is correspondingly connected with a fixed clamping block (21), two locking tables (33) are respectively buckled into clamping grooves on corresponding locking blocks (31), under the action of spring force, two rollers (4) on the inner side of the main semicircular plate (14) and two rollers (4) on the inner side of the auxiliary semicircular plate (1) are respectively pressed on the surface of the betel nuts, a rotating wheel (17) is further pressed on the surface of the betel nuts, a driving motor (16) starting signal is sent through the external mobile terminal, the wireless signal receiver receives the driving motor (16) starting signal and transmits the signal to a signal converter (30) through a data transmission line (26), the signal converter (30) converts signals and transmits the signals to the data processor (27), the data processor (27) processes the signals and transmits the signals to the controller (25), the controller (25) controls the driving motor (16) to work, the driving motor (16) drives the rotating wheel (17) to rotate, the rotating wheel (17) drives the main semicircular plate (14) and the auxiliary semicircular plate (1) to move upwards along the betelnut through the friction force between the rotating wheel and the betelnut, the roller (4) moves along the betelnut, when the main semicircular plate (14) and the auxiliary semicircular plate (1) move to the betelnut position, the main semicircular plate and the auxiliary semicircular plate continue to move upwards along the betelnut, branches with the betelnut are clamped between the fixed blade (8) and the rotating blade (6), then, the driving motor (16) stop signal and the fixed motor (13) start signal are sent through the external moving rod terminal, and the driving motor (16) stops working, the fixed motor (13) works and continuously rotates forwards and backwards, a motor shaft of the fixed motor (13) drives the rotary table (11) to rotate back and forth, the rotary table (11) drives the transmission rod (9) to move back and forth through the fixed rod (12), the transmission rod (9) drives the connected blade fixing plates (5) to move back and forth along the corresponding chutes (3) through the fixed lugs (7), and pushes the other blade fixing plate (5) to move along the corresponding chute (3), the two blade fixing plates (5) respectively drive the connected rotating blades (6) to move back and forth, so that the rotating blades (6) and the fixed blades (8) move relatively, betel palm branches are cut back and forth, the cut betel palm branches slide downwards and fall into the corresponding collecting bags (19) to be collected, after picking, a stop signal of the fixed motor (13) and a working signal of the driving motor (16) are sent through an external mobile terminal, the fixed motor (13) stops working, the driving motor (16) rotates reversely, and then the rotating wheel (17) is driven to rotate reversely, and the rotating wheel (17) moves downwards along the areca nut to get down from the areca nut;
the rubber pad is arranged on the outer side of the roller (4), so that the friction force between the roller and the betel nut can be increased, and the rotating wheel (17) is assisted to move along the betel nut;
due to the design of the collecting bag (19), cut areca branches can be collected, and the areca fruits are prevented from falling on the ground to damage the areca fruits and influence the medicinal effect;
the rotating wheel (17) is designed as a hollow rubber roller, and can be matched with the pressurization and shrinkage of the roller (4) along with the diameter change of the trunk in the rising process, so that the contact width of the hollow rubber roller and the trunk is increased, and the stability and the friction force are increased; the rotating blade (6) and the fixed blade (8) are respectively designed to be of an inverted trapezoidal structure, and the rotating blade (6) and the fixed blade (8) are matched to form a triangular notch, so that the betel nuts can be cut more stably when being harvested;
the purpose of picking the betel nut which is used as the traditional Chinese medicine is achieved.
Claims (4)
1. A robot is picked to traditional chinese medicine sesame oil, characterized by: the device comprises a main body device, a power picking device and a control device, wherein the main body device comprises an auxiliary semicircular plate, a fixed clamping plate, a sliding groove, a roller, a separation blade, a main semicircular plate, a hanging lug, a main fixing band, a collecting bag, a hook, a fixed clamping block, an auxiliary fixing band, a locking block, a locking buckle, a locking platform and a connecting rod, the fixed clamping block is arranged at one side of the main semicircular plate, the fixed clamping plate is arranged at one side of the auxiliary semicircular plate and corresponds to the fixed clamping block, the two locking blocks are respectively arranged at the other side of the auxiliary semicircular plate, the locking blocks are provided with clamping grooves, the two locking platforms are respectively arranged at the other side of the main semicircular plate, the locking buckle is slidably arranged on the locking platform, the two locking buckles respectively correspond to the clamping grooves on the two locking blocks, the two groups of hanging lugs are respectively arranged at the outer sides of the main semicircular plate, the collecting bag opening part is arranged on the main fixing belt, the auxiliary fixing belt is connected with a group of hangers on the outer side of the auxiliary semicircular plate through a group of hangers, the collecting bag opening part is arranged on the auxiliary fixing belt, each group of hangers consists of two hangers, the upper side of the main semicircular plate and the upper side of the auxiliary semicircular plate are respectively provided with a sliding chute, one side of the sliding chute is provided with a blocking piece, two groups of connecting rods are respectively arranged on the main semicircular plate and the auxiliary semicircular plate, each group of connecting rods consists of two connecting rods, a roller is arranged at one end of each connecting rod and is positioned between the main semicircular plate and the auxiliary semicircular plate, a spring is sleeved on each connecting rod, the power picking device consists of a blade fixing plate, a rotating blade, a fixing lug, a fixed blade, a transmission rod, a turntable, a fixed rod, a fixed motor, a driving motor, a rotating wheel, a, each group of fixed blades consists of a plurality of fixed blades, two blade fixing plates are respectively arranged in two chutes, a plurality of rotating blades are equidistantly arranged on the blade fixing plates, fixing lugs are arranged on the blade fixing plates corresponding to the main semicircular plate, a fixing table is arranged on the outer side of the main semicircular plate, a driving motor is arranged on the fixing table, a rotating wheel is arranged on a motor shaft of the driving motor and is positioned between one side of the main semicircular plate and one side of the auxiliary semicircular plate, a fixing seat is arranged on the outer side of the main semicircular plate, the fixing motor is arranged on the fixing seat, a turntable is arranged on the motor shaft of the fixing motor, one end of the fixing rod is arranged on the turntable, one end of a transmission rod is connected with the other end of the fixing rod, the other end is connected with the fixing lugs, a control device consists of a wireless signal transceiver, a controller, a data transmission, the signal converter is connected with the wireless signal transceiver through the data transmission line and is arranged outside the main semicircular plate, the data processor is connected with the signal converter through the data transmission line and is arranged outside the main semicircular plate, the controller is connected with the driving motor, the fixed motor and the data processor through the data transmission line respectively and is arranged outside the main semicircular plate, and the power supply is connected with the data processor through the power line and is arranged outside the main semicircular plate.
2. The robot for picking betel nuts, which is a traditional Chinese medicine according to claim 1, is characterized in that the rotating wheel is a hollow rubber roller.
3. The robot for picking betel nuts as claimed in claim 1, wherein said rotating blade and said fixed blade are respectively in an inverted trapezoidal structure.
4. The robot for picking betel nuts, as claimed in claim 1, wherein a rubber pad is disposed outside said roller.
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 |
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| Publication Number | Publication Date |
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| CN107711077A CN107711077A (en) | 2018-02-23 |
| CN107711077B true CN107711077B (en) | 2020-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710914275.XA Active CN107711077B (en) | 2017-09-30 | 2017-09-30 | Traditional chinese medicine sesame oil picking robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108353628B (en) * | 2018-04-18 | 2023-08-18 | 东莞市蕾翱电子科技有限公司 | Betel nut picking machine |
| CN112470696B (en) * | 2020-11-24 | 2021-08-17 | 柳州工学院 | Leaf branch cutting mechanism and mulberry leaf picking equipment with same |
| CN113475236B (en) * | 2021-07-29 | 2024-06-25 | 海南大学 | Automatic betel nut picking machine |
| CN113575120A (en) * | 2021-08-04 | 2021-11-02 | 付建恒 | Device is picked with sesame oil flower to chinese-medicinal material processing |
| CN113853939B (en) * | 2021-09-16 | 2024-06-28 | 海南大学 | Automatic betel nut picking device |
| CN114208522B (en) * | 2021-11-29 | 2023-05-23 | 泰安市徂徕山林场 | Forestry engineering is with adjustable trees trimming means |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102612927B (en) * | 2012-04-01 | 2013-11-13 | 华南农业大学 | Fruit picking execution device |
| 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 |
| EP3203828A1 (en) * | 2014-10-07 | 2017-08-16 | Katholieke Universiteit Leuven | Automated harvesting apparatus |
| CN104663138A (en) * | 2015-02-26 | 2015-06-03 | 西北农林科技大学 | Apply picking manipulator |
| KR101698313B1 (en) * | 2015-02-27 | 2017-02-01 | 대한민국 | Apparatus for collecting fruit |
| CN106489431A (en) * | 2015-09-08 | 2017-03-15 | 牛晗 | A kind of device of safe fruit-picking |
| CN105123126B (en) * | 2015-10-10 | 2017-06-30 | 南京工程学院 | A kind of seed ball wins end effector of robot |
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2017
- 2017-09-30 CN CN201710914275.XA patent/CN107711077B/en active Active
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Effective date of registration: 20200828 Address after: Ecological science and Technology Industrial Park of Qiongzhong Li and Miao Autonomous County, Hainan Province Applicant after: Qiongzhong zhonghailong High Tech Research Institute Address before: 221000 Jiangsu province Xuzhou Quanshan District Science and Technology Building 13 layer Applicant before: Shang Panpan |
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