CN107736277A

CN107736277A - The whole-process automatic harvesting machine of crawler type honey and its control method

Info

Publication number: CN107736277A
Application number: CN201711134815.9A
Authority: CN
Inventors: 刘平; 秦洪政; 张同勋
Original assignee: Shandong Agricultural University
Current assignee: Shandong Agricultural University
Priority date: 2017-11-16
Filing date: 2017-11-16
Publication date: 2018-02-27
Anticipated expiration: 2037-11-16
Also published as: CN107736277B

Abstract

The present invention relates to a kind of whole-process automatic harvesting machine of crawler type honey and its control method, including crawler type walking mechanism（2）, described crawler type walking mechanism（2）Deck（1）On be disposed with mechanical arm and honey extraction element from front to back（3）；Described honey extraction element（3）Including being connected with discharge nozzle（17）Centrifugal barrel（16）, described centrifugal barrel（16）Inside it is connected with and passes through central shaft（15）The inside casing of rotation（14）.The present invention can realize honey automatically harvesting and operating efficiency height by mechanized operation.

Description

The whole-process automatic harvesting machine of crawler type honey and its control method

Technical field

The present invention relates to agricultural machinery technological field, and in particular to a kind of whole-process automatic harvesting machine of crawler type honey and its Control method.

Background technology

Honey nutritive value enriches, and has the function that nourishing Yin and moistening dryness, qi-restoratives moistening lung, removing toxic substances, coordinating the drug actions of a prescription, and taste is sweet Sweet tea, it is suitable for people of all ages, liked by broad masses of the people.However, honey recovery process but very very complicated, it is necessary to expend a large amount of Manpower and materials, with the continuous improvement of the price of labour power, honey harvesting cost also increasingly increase.And honeybee is that one kind has Strong aggressive insect, often by sting interior to a certain extent when beekeeper harvests honey, beekeeper's working environment is badly in need of improving.

In the prior art, the step of taking of simplified honey is had focused largely on, honey is improved and takes efficiency, and improve honey Extraction efficiency etc. from sweet spleen, but these technologies still need manually to extract sweet spleen, people in beehive after realizing The mode that work extracts sweet spleen can not avoid disadvantages mentioned above.

The content of the invention

In view of the deficiencies of the prior art, the present invention provides a kind of whole-process automatic harvesting machine of crawler type honey and its controlling party Method, by mechanized operation, honey automatically harvesting and operating efficiency height can be realized.

The present invention is achieved through the following technical solutions：

There is provided a kind of crawler type honey whole-process automatic harvesting machine, including crawler type walking mechanism, described crawler-type traveling machine Mechanical arm and honey extraction element are disposed with the deck of structure from front to back；Described honey extraction element includes being connected with The centrifugal barrel of discharge nozzle, the inside casing by central axis is connected with described centrifugal barrel.

The mechanical arm being arranged on crawler type walking mechanism, the honey of diverse location can be facilitated to extract, passed through on deck Mechanical arm captures to sweet spleen in beehive, and the interior inframe for being put into centrifugal barrel is centrifuged, and realizes sweet spleen and honeybee Honey separation, shortens the honey collection working time, improves honey collection efficiency.

Further, described crawler type walking mechanism is belowdecks symmetrically installed with chassis bull wheel and bottom on the chassis of side Disk steamboat, the front and rear sides above described chassis bull wheel and chassis steamboat are respectively symmetrically provided with driving wheel and driven pulley, institute Connected between driving wheel, driven pulley, chassis bull wheel and the chassis steamboat stated by crawler belt, described driving wheel connects with drive device Connect.

Crawler type walking mechanism passes through the chassis bull wheel, chassis steamboat and the work of driving wheel and driven pulley that are connected with crawler belt With, it is possible to achieve the overall movement of device, meet a variety of conditions of work in hilly and mountainous land and Plain.

Further, described mechanical arm includes fixed rotatable base above deck, is hinged on described base There is large arm, described large arm is hinged forearm by cradle head, and gripper is installed in the end of described forearm by wrist.

Using sixdegree-of-freedom simulation formula structure, it is possible to achieve 360 ° of left rotation and right rotations, can realize in adjacent multiple beehives Honey collection device, therefore operating efficiency can be greatly improved.

Further, described gripper includes the rotation for being rotatably connected with wrist end and being driven by electric rotating machine Frame, fixed frame is fixed with described rotating frame, the fixed claw and movable claw mutually fastened, institute are installed on described fixed frame The end that the fixed claw and movable claw stated are located in fixed frame is fixed with intermeshing fixed gear and free gear, described Free gear and the steering wheel being fixed in fixed frame are rotatablely connected.

Mechanical arm is monodactyle formula, and the finger portion of gripper is the structure of gear engagement, and a gear is fixed, driven by steering wheel Another pinion rotation realizes crawl work.

Further, filter, the connection of described discharge nozzle are provided with the honey extraction element below inside casing There are storage facilities, be provided between described storage facilities and discharge nozzle for honey to be drawn into storage facilities from centrifugal barrel Straightway pump.

By setting straightway pump that the honey after filter plates is drawn into storage facilities, reduce the beeswax of sweet spleen Blocking to straightway pump, the recovery of honey is facilitated to store.

Further, control device is additionally provided with described deck, described control device includes single-chip microcomputer and information Acquisition camera, described information gathering camera are fixed on the wrist at rotating frame rear, and described single-chip microcomputer passes through control Circuit electrically connects with mechanical arm, drive device, steering wheel, centrifuge, straightway pump, information gathering camera respectively.

Device controls entirely through controller, the image information gathered using information gathering camera, and single-chip microcomputer control is each Individual plant running, realizes coordinated, realizes the collection of honey.

The control method of the whole-process automatic harvesting machine of above-mentioned crawler type honey, comprises the following steps：

Step 1: positioning beehive：Bee farm cartographic information is gathered by information gathering camera and obtains beehive（12）Position is sat The target location for being easy to crawl is calculated in mark, single-chip microcomputer.

Step 2: extract sweet spleen：Single-chip microcomputer control drive device moves to above-mentioned position, the motion of control machinery arm, machinery Pawl opens beehive lid and captures sweet spleen, is put into the idle inside casing of honey extraction element.

Step 3: the de- honey of centrifugation：After the inside casing of honey extraction element fills up, the gripper of mechanical arm is caught on central shaft The handle of side, rotated by gripper and drive inside casing centrifugal rotation, realize honey centrifugally operated.

Step 4: storage honey：After sweet spleen after centrifugation is put back to former beehive by single-chip microcomputer control machinery arm and gripper, open Straightway pump is opened, the honey in centrifugal barrel is imported by honey storage facilities by discharge nozzle.

Preferably, in step 2, information gathering camera by image in the sweet spleen of extraction compared with ripe sweet spleen, will not Meet that the sweet spleen that de- honey requires is put back in beehive.

Preferably, in step 3, the honey situation in information gathering camera collection centrifugal barrel, meet de- honey to sweet spleen It is required that single-chip microcomputer control machine machinery claw, which is stopped the rotation, completes being collected by centrifugation for honey.

Preferably, gathering the image of honey capacity in storage facilities by information gathering camera, treat that storage facilities reach To sets requirement, single-chip microcomputer control crawler type walking mechanism moves to storage facilities change station, the storage facilities more renewed.

Beneficial effects of the present invention：

First, mechanical arm, honey extraction element and honey storage device are arranged on same deck, can once realize honey Frame crawl, the centrifugation of sweet spleen and honey storage work, shorten operating distance, can effectively solve the tired of artificial harvesting honey It is difficult.

2nd, using track structure, a variety of conditions of work in hilly and mountainous land and Plain can be met, it is wide to adapt to place.

3rd, using sixdegree-of-freedom simulation formula structure, it is possible to achieve 360 ° of left rotation and right rotations, adjacent multiple beehives can be realized Middle honey collection device, therefore operating efficiency can be greatly improved.

4th, using modified honey centrifugal device, six sweet spleen centrifugations can be once realized, operating efficiency is greatly improved, Filter is provided with centrifugal barrel, double filtration effect is formed with inside casing.

5th, rotated by mechanical arm and drive inside casing and sweet spleen rotating centrifugal, can saved and motor is installed in centrifugal barrel Structure, unnecessary mechanism is reduced, improve operating efficiency.

Brief description of the drawings

Fig. 1 is the structural representation of the present invention；

Fig. 2 is the structural representation in 3 in Fig. 1；

Fig. 3 is in Fig. 12 structural representation；

Fig. 4 is the structural representation of mechanical arm in Fig. 1；

Fig. 5 is in Fig. 4 10 connection diagram；

Fig. 6 is the supporting beehive structural representation of the present invention；

Fig. 7 is the schematic diagram that the present invention opens beehive lid；

Fig. 8 is the schematic diagram that the present invention captures sweet spleen.

Fig. 9 is the schematic diagram of present invention centrifugation honey.

Figure 10 is schematic diagram of the present invention in original state；

Shown in figure：

1st, deck, 2, crawler type walking mechanism, 3, honey extraction element, 4, storage facilities, 5, base, 6, large arm, 7, rotate and close Section, 8, forearm, 9, information gathering camera, 10, gripper, 11, handle, 12, beehive, 13, control device, 14, inside casing, 15, Central shaft, 16, centrifugal barrel, 17, discharge nozzle, 18, driving wheel, 19, crawler belt, 20, chassis bull wheel, 21, chassis steamboat, 22, chassis, 23rd, driven pulley, 24, free gear, 25, fixed gear, 26, movable claw, 27, fixed claw, 28, steering wheel, 29, rotating frame, 30, honey Spleen, 31, filter, 32, handle, 33, fixed frame, 34, bolt, 35, wrist.

Embodiment

For the technical characterstic for illustrating this programme can be understood, below by embodiment, this programme is illustrated.

A kind of whole-process automatic harvesting machine of crawler type honey, including crawler type walking mechanism 2, described crawler-type traveling machine Mechanical arm and honey extraction element 3 are disposed with the deck 1 of structure 2 from front to back, on the chassis 22 of the described lower section of deck 1 It is symmetrically installed with the front and rear sides point of chassis bull wheel 20 and chassis steamboat 21, described chassis bull wheel 20 and the top of chassis steamboat 21 Driving wheel 18 and driven pulley 23, described driving wheel 18, driven pulley 23, chassis bull wheel 20 and chassis steamboat 21 are not symmetrically installed with Between connected by crawler belt 19, described driving wheel 18 is connected with drive device, realizes the steering on chassis 22 for convenience, can be with Differential mechanism is installed, drive device can be motor, here from servomotor.

Mechanical arm and honey extraction element 3 are disposed with from front to back on described deck 1；Described mechanical arm includes Rotatable base 5, large arm 6 is hinged with described base 5, described large arm 6 is hinged forearm 8 by cradle head 7, described Forearm 8 end pass through wrist 35 install gripper 10.

Described gripper 10 includes the rotating frame 29 for being rotatably connected with the end of wrist 35 and being driven by electric rotating machine, institute Fixed frame 33 is fixed with the rotating frame 29 stated, rotating frame 29 is fixedly connected with the fixed frame 33 of gripper 10 by bolt 34, rotation Rotating motor can drive fixed frame and gripper does 360 ° rotation movement, and described fixed claw 27 and movable claw 26 are located at fixed frame 29 Interior end is fixed with intermeshing fixed gear 25 and free gear 24, and described free gear 24 is with being fixed on fixed frame Steering wheel 28 in 29 is rotatablely connected.

Described honey extraction element 3 includes the centrifugal barrel 16 for being connected with discharge nozzle 17, is connected in described centrifugal barrel 16 There is the inside casing 14 rotated by central shaft 15.Multiple storage chambers of sweet spleen 30 are segmented into inside casing 14, for sweet spleen 30 is uniform Be placed on the inwall of inside casing 14, the inside casing 14 of the present embodiment is provided with 6 storage chambers, and the axle of each storage chamber and inside casing 14 The heart is in 60 °.

Filter 31 is provided with below inside casing 14 in the honey extraction element 3, described discharge nozzle 17 is connected with storage Device 4 is hidden, is provided between described storage facilities 4 and discharge nozzle 17 for honey to be drawn into storage facilities from centrifugal barrel 16 4 straightway pump.

Control device 13 is additionally provided with described deck 1, described control device 13 includes single-chip microcomputer and information gathering is taken the photograph As first 9, described information gathering camera 9 is fixed on the forearm 8 at the rear of gripper 10, and described single-chip microcomputer is by controlling electricity Road electrically connects with mechanical arm, drive device, steering wheel 28, electric rotating machine, straightway pump, information gathering camera 9 respectively.

Step 1: carrying out bee farm cartographic information collection by information gathering camera 9, and carry out image-receptive, image procossing, figure Picture identification work, structure bee farm map, obtains beehive position coordinates, is calculated and meets nearest apart from beehive 12 and can realize The target location of crawl.

Step 2: single-chip microcomputer control walking mechanism 2 moves to the rudder of the motion of control machinery arm and gripper 10 behind the position Machine 28 rotates, and gripper 10 catches beehive lid handle to open beehive lid, and information gathering camera 9 gathers picture number in beehive 12 According to the motion of single-chip microcomputer control machinery arm and gripper 10 capture frame handle 11, above carry rear information gathering camera 9 and gather sweet spleen Beeswax situation in 30, and compared with ripe sweet spleen beeswax, put back to be unsatisfactory for that de- honey requires in beehive 12；Meet that de- honey will Ask, mechanical arm is put it into the idle inside casing of honey extraction element 3.

Step 3: after the inside casing of honey extraction element 3 fills up, gripper 10 captures the handle 32 of inside casing upper end, and protects Demonstrate,prove mechanical wrist 35 to overlap with centrifugal barrel center line, the rotation of single-chip microcomputer control machine machinery claw drives inside casing 14 to rotate by handle 32 De- honey is carried out, information gathering camera 9 carries out IMAQ to inside casing 14 and feeds back to single-chip microcomputer, and the honey obtained to centrifugation is expired The de- honey of foot requires that single-chip microcomputer control stops centrifuge rotation, that is, completes being collected by centrifugation for honey.

Step 4: after the sweet spleen 30 after processing is put back to former beehive 12 by single-chip microcomputer control machinery arm and gripper 10, control Straightway pump is opened, and is imported the honey in centrifugal barrel 16 in honey storage facilities 4 by discharge nozzle 17.

Step 5: repeat step one to three, passes through the figure of honey capacity in the collection storage facilities 4 of information gathering camera 9 Picture, until storage facilities 4 meet sets requirement, single-chip microcomputer control crawler type walking mechanism 2 moves to storage facilities and changes website, The storage facilities more renewed, and repeat the above steps one to four.

Step 6: after completing honey harvesting work, the whole-process automatic harvesting machine of crawler type honey returns to robot placement Place, and original state is replied, such as accompanying drawing 7.

Certainly, described above is also not limited to the example above, the technical characteristic of the invention without description can by or Realized, will not be repeated here using prior art；Above example and accompanying drawing are merely to illustrate technical scheme It is limitation of the present invention, the present invention is described in detail with reference to preferred embodiment, the ordinary skill people of this area Member is it should be appreciated that change, remodeling, the addition that those skilled in the art are made in the essential scope of the present invention Or replace the claims that without departure from spirit of the invention, should also belong to the present invention.

Claims

A kind of 1. whole-process automatic harvesting machine of crawler type honey, it is characterised in that：Including crawler type walking mechanism（2）, it is described Crawler type walking mechanism（2）Deck（1）On be disposed with mechanical arm and honey extraction element from front to back（3）；Described Honey extraction element（3）Including being connected with discharge nozzle（17）Centrifugal barrel（16）, described centrifugal barrel（16）Inside it is connected with and passes through Central shaft（15）The inside casing of rotation（14）.
2. the whole-process automatic harvesting machine of crawler type honey according to claim 1, it is characterised in that：Described crawler type row Walk mechanism（2）On deck（1）The chassis of lower section（22）On be symmetrically installed with chassis bull wheel（20）With chassis steamboat（21）, it is described Chassis bull wheel（20）With chassis steamboat（21）The front and rear sides of top are respectively symmetrically provided with driving wheel（18）And driven pulley（23）, Described driving wheel（18）, driven pulley（23）, chassis bull wheel（20）With chassis steamboat（21）Between pass through crawler belt（19）Connection, institute The driving wheel stated（18）It is connected with drive device.
3. the whole-process automatic harvesting machine of crawler type honey according to claim 1 or 2, it is characterised in that：Described machinery Arm includes being fixed on deck（1）On rotatable base（5）, described base（5）On be hinged with large arm（6）, described is big Arm（6）Pass through cradle head（7）Be hinged forearm（8）, described forearm（8）End pass through wrist（35）Gripper is installed （10）.
4. the whole-process automatic harvesting machine of crawler type honey according to claim 3, it is characterised in that：Described gripper （10）Including with wrist（35）The rotating frame that end is rotatably connected and driven by electric rotating machine（29）, described rotating frame（29） On be fixed with fixed frame（33）, described fixed frame（33）On the fixed claw mutually fastened is installed（27）And movable claw（26）, Described fixed claw（27）And movable claw（26）Positioned at fixed frame（29）Interior end is fixed with intermeshing fixed gear （25）And free gear（24）, described free gear（24）With being fixed on fixed frame（29）Interior steering wheel（28）Rotation connection.
5. the whole-process automatic harvesting machine of crawler type honey according to claim 4, it is characterised in that：The honey extraction dress Put（3）Inherent inside casing（14）Lower section is provided with filter（31）, described discharge nozzle（17）It is connected with storage facilities（4）, it is described Storage facilities（4）With discharge nozzle（17）Between be provided with for by honey from centrifugal barrel（16）It is drawn into storage facilities（4）'s Straightway pump.
6. the whole-process automatic harvesting machine of crawler type honey according to claim 5, it is characterised in that：Described deck（1） On be additionally provided with control device（13）, described control device（13）Including single-chip microcomputer and information gathering camera（9）, described letter Cease acquisition camera（9）It is fixed on rotating frame（29）The wrist at rear（35）On, described single-chip microcomputer is distinguished by control circuit With mechanical arm, drive device, steering wheel（28）, electric rotating machine, straightway pump, information gathering camera（9）Electrical connection.
7. the control method of the whole-process automatic harvesting machine of crawler type honey according to claim 1, it is characterised in that：Including Following steps：

Step 1: positioning beehive：Pass through information gathering camera（9）Bee farm cartographic information is gathered and obtains beehive（12）Position The target location for being easy to crawl is calculated in coordinate, single-chip microcomputer；

Step 2: extract sweet spleen：Single-chip microcomputer control drive device moves to above-mentioned position, the motion of control machinery arm, gripper （10）Open beehive lid and capture sweet spleen（30）, it is put into honey extraction element（3）Idle inside casing（14）In；

Step 3: the de- honey of centrifugation：Treat honey extraction element（3）Inside casing（14）After filling up, the gripper of mechanical arm catches center Axle（15）The handle of top（32）, rotated by gripper and drive inside casing（14）Centrifugal rotation, realize honey centrifugally operated；

Step 4: storage honey：Single-chip microcomputer control machinery arm and gripper（10）By the sweet spleen after centrifugation（30）Put back to former beehive （12）Afterwards, straightway pump is opened, passes through discharge nozzle（17）By centrifugal barrel（16）In honey import honey storage facilities（4）.
8. the control method of the whole-process automatic harvesting machine of crawler type honey according to claim 7, it is characterised in that：Step In two, information gathering camera（9）By the sweet spleen of extraction（30）Middle image will be unsatisfactory for what de- honey required compared with ripe sweet spleen Sweet spleen（30）Put back to beehive（12）It is interior.
9. the control method of the whole-process automatic harvesting machine of crawler type honey according to claim 7, it is characterised in that：Step In three, information gathering camera（9）Gather centrifugal barrel（16）Interior honey situation, to sweet spleen（30）Reach de- honey to require, monolithic Machine control machine machinery claw, which is stopped the rotation, completes being collected by centrifugation for honey.
10. the control method of the whole-process automatic harvesting machine of crawler type honey according to claim 7, it is characterised in that：It is logical Cross information gathering camera（9）Gather storage facilities（4）The image of interior honey capacity, treats storage facilities（4）Reach sets requirement, Single-chip microcomputer controls crawler type walking mechanism（2）Storage facilities change station is moved to, the storage facilities more renewed.